Vehicle control method, device and drive controller based on adjusted torque

Abstract

The embodiment of the present invention relates to the field of vehicle control technology, and discloses a vehicle control method, device and drive controller based on adjusting torque. The method includes: when the intelligent driving start instruction is triggered, the drive controller sends a first torque to the intelligent driving controller. The drive controller receives the first torque change curve sent by the intelligent driving controller and obtains the second torque of the vehicle. The first torque change curve is a change curve from the first torque to the required torque of the intelligent driving controller. The drive controller updates the first torque change curve according to the second torque to obtain a second torque change curve. Among them, the second torque change curve represents a transition curve from the second torque to the required torque. The drive controller can achieve a smooth transition from the second torque to the required torque according to the second torque change curve. Applying the technical solution of the present invention can improve the smoothness of the whole vehicle in the gliding intelligent driving condition.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle control technology, and in particular to a vehicle control method, device and drive controller based on adjusting torque. Background Art

[0002] Currently, users can control the vehicle to enter the intelligent driving mode, and the vehicle can determine the required torque of the vehicle in the intelligent driving mode based on road conditions. However, when the vehicle is in the gliding condition of the human driving mode, there is negative electric braking torque generated by the gliding energy recovery. In the gliding condition, if the vehicle enters the intelligent driving mode from the human driving mode, the operation of gliding energy recovery is disabled when the intelligent driving mode is activated, which may cause the vehicle to rush forward, jerk, and other problems, reducing the user experience. Summary of the invention

[0003] In view of the above problems, an embodiment of the present invention provides a vehicle control method, device and drive controller based on adjusting torque, which are used to solve problems such as forward rushing and jerking of the vehicle that may occur when the human driving mode enters the intelligent driving mode under gliding conditions.

[0004] According to one aspect of an embodiment of the present invention, a vehicle control method based on adjusting torque is provided, which is applied to a drive controller, and the method includes:

[0005] In response to an intelligent driving start instruction, sending a first torque to an intelligent driving controller of the vehicle; wherein the intelligent driving start instruction indicates starting an intelligent driving function of the vehicle, and the first torque represents a real-time torque of the vehicle when the intelligent driving start instruction is received;

[0006] receiving a first torque change curve generated according to the first torque and sent by the intelligent driving controller, and acquiring a second torque of the vehicle; wherein the first torque change curve represents a transition curve from the first torque to a required torque, the required torque represents a torque required by the vehicle, and the second torque is a real-time torque of the vehicle when the first torque change curve is received;

[0007] If the torque at the starting point of the first torque variation curve is inconsistent with the second torque, the first torque variation curve is updated according to the second torque to obtain a second torque variation curve; wherein the second torque variation curve represents a transition curve from the second torque to the required torque;

[0008] The real-time torque of the vehicle at a subsequent moment is adjusted according to the second torque change curve.

[0009] According to another aspect of an embodiment of the present invention, a vehicle control method based on adjusting torque is provided, which is applied to an intelligent driving controller, and the method includes:

[0010] Acquire a first torque sent by a drive controller; the first torque represents a real-time torque of the vehicle when the intelligent driving start instruction is received;

[0011] Acquire the current road condition information, and determine the required torque of the vehicle according to the road condition information; the required torque represents the torque required for the vehicle to travel under the road condition information;

[0012] generating a first torque variation curve according to the first torque and the required torque; the first torque variation curve representing a transition curve from the first torque to the required torque;

[0013] The first torque variation curve is sent to the drive controller.

[0014] According to another aspect of an embodiment of the present invention, there is provided a vehicle control device based on adjusting torque, which is applied to a drive controller, comprising:

[0015] A transceiver module, configured to send a first torque to an intelligent driving controller of a vehicle in response to an intelligent driving start instruction; wherein the intelligent driving start instruction indicates starting an intelligent driving function of the vehicle, and the first torque represents the real-time torque of the vehicle when the intelligent driving start instruction is received; receive a first torque change curve generated according to the first torque and sent by the intelligent driving controller, and obtain a second torque of the vehicle; wherein the first torque change curve represents a transition curve from the first torque to a required torque, the required torque represents the torque required by the vehicle, and the second torque is the real-time torque of the vehicle when the first torque change curve is received;

[0016] A control module, configured to update the first torque change curve according to the second torque to obtain a second torque change curve if the torque at the starting point of the first torque change curve is inconsistent with the second torque; wherein the second torque change curve represents a transition curve from the second torque to the required torque; and adjust the real-time torque of the vehicle at a subsequent moment according to the second torque change curve.

[0017] According to another aspect of an embodiment of the present invention, a vehicle control device based on adjusting torque is provided, which is applied to an intelligent driving controller, comprising:

[0018] A transceiver module, used to obtain a first torque sent by a drive controller; the first torque represents the real-time torque of the vehicle when the intelligent driving start instruction is received; obtain road condition information at the current moment, and determine the required torque of the vehicle according to the road condition information; the required torque represents the torque required for the vehicle to travel under the road condition information;

[0019] A processing module, configured to generate a first torque variation curve according to the first torque and the required torque; the first torque variation curve represents a transition curve from the first torque to the required torque;

[0020] The transceiver module is also used to send the first torque change curve to the drive controller.

[0021] According to another aspect of an embodiment of the present invention, there is provided a controller, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus, and the memory is used to store at least one executable instruction;

[0022] When the executable instructions cause the processor to perform operations of a method corresponding to a driving controller, the controller is a driving controller; when the executable instructions cause the processor to perform operations of a method corresponding to an intelligent driving controller, the controller is an intelligent driving controller.

[0023] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, and when the executable instruction runs on a drive controller, the drive controller performs the operations of the above method; when the executable instruction runs on an intelligent driving controller, the intelligent driving controller performs the operations of the above method.

[0024] In an embodiment of the present invention, the drive controller can obtain the first torque of the vehicle and send the first torque to the intelligent driving controller when obtaining the intelligent driving start instruction; the drive controller can also obtain the first torque change curve fed back by the intelligent driving controller; wherein, the first torque change curve represents the transition curve from the first torque to the required torque, and the required torque represents the torque required for the vehicle in the intelligent driving mode; at the same time, the drive controller can also obtain the second torque of the vehicle at the moment of obtaining the first torque change curve; if the second torque is different from the starting point of the first torque change curve, it means that if the drive controller directly updates the torque according to the first torque change curve, the torque of the vehicle will have a step; at this time, the drive controller can update the first torque change curve according to the second torque to obtain the second torque change curve; the drive controller can realize a smooth transition from the second torque to the required torque according to the second torque change curve; the embodiment of the present invention can ensure the smooth transition of the vehicle torque after the vehicle enters the intelligent driving mode, improve the vehicle smoothness in the gliding intelligent driving condition, improve the user experience, and avoid the occurrence of forward rushing, frustration and the like.

[0025] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0027] Figure 1 A schematic flow chart of a first embodiment of a vehicle control method based on adjusting torque provided by the present invention is shown;

[0028] Figure 2 A torque schematic diagram provided by the present invention is shown;

[0029] Figure 3 A signaling interaction diagram of a vehicle control method based on adjusting torque provided by the present invention is shown;

[0030] Figure 4 A schematic diagram showing the interaction between controllers provided by the present invention is shown;

[0031] Figure 5 A schematic structural diagram of a first embodiment of a vehicle control device based on adjusting torque provided by the present invention is shown;

[0032] Figure 6 A schematic structural diagram of an embodiment of a drive controller provided by the present invention is shown. DETAILED DESCRIPTION

[0033] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0034] Figure 1 The flowchart of the first embodiment of the vehicle control method based on adjusting torque of the present invention is shown, and the method is executed by a drive controller to realize the torque control of the motor of the drive controller. The drive controller is a controller set in the power domain of the vehicle. Figure 1 As shown, the method comprises the following steps:

[0035] Step 110: In response to the intelligent driving start instruction, a first torque is sent to the intelligent driving controller of the vehicle, wherein the intelligent driving start instruction indicates to start the intelligent driving function of the vehicle, and the first torque represents the real-time torque of the vehicle when the intelligent driving start instruction is received.

[0036] Among them, the drive controller can obtain the vehicle's intelligent driving start instruction. The intelligent driving start instruction can be generated when the vehicle's intelligent driving button is triggered and the vehicle's intelligent driving controller is started. Optionally, when the vehicle's intelligent driving controller is started, the vehicle's intelligent driving function is started. Optionally, the intelligent driving controller may be a controller in the vehicle's automatic driving domain. Optionally, an intelligent driving assistance system (Advanced Driving System, ADS) may be provided in the intelligent driving controller. Optionally, the user can start the vehicle's intelligent driving function while the vehicle is driving. The drive controller needs to send the vehicle's first torque to the intelligent driving controller when the intelligent driving start instruction is obtained. Optionally, the moment when the drive controller obtains the intelligent driving start instruction may be the first moment. For example, Figure 2 As shown, the first moment may be t1.

[0037] Step 120: Receive a first torque change curve generated according to the first torque and sent by the intelligent driving controller, and obtain a second torque of the vehicle. The first torque change curve represents a transition curve from the first torque to the required torque, the required torque represents the torque required by the vehicle, and the second torque is the real-time torque of the vehicle when the first torque change curve is received.

[0038] The drive controller may receive a first torque change curve sent by the intelligent driving controller. The drive controller may also obtain a second torque of the vehicle from the vehicle while the first torque change curve is sent by the intelligent driving controller. Optionally, the moment when the drive controller receives the first torque change curve sent by the intelligent driving controller may be the second moment.

[0039] Optionally, when the intelligent driving function of the vehicle is activated, the intelligent driving controller of the vehicle can obtain the current road condition information in real time and generate the driving information of the vehicle according to the road condition information. The driving information may include the required torque of the vehicle. The required torque is the torque required by the vehicle determined by the intelligent driving controller of the vehicle according to the current road condition information.

[0040] For example, in a straight section of road, the road condition information may include information such as the distance to the vehicle in front, the speed of the vehicle in front, and the speed limit of the road. The intelligent driving controller can determine the required speed of the vehicle when following the vehicle based on the distance to the vehicle in front, the speed of the vehicle in front, the speed limit of the road, and other information. The intelligent driving controller can calculate the required torque based on the required speed, current speed, and other information through the Proportional-Integral-Derivative Control Algorithm (PID). When the torque of the motor in the vehicle's drive controller reaches the required torque, the vehicle will follow the vehicle at the required speed.

[0041] Optionally, in order to avoid the influence of the original torque in the vehicle's drive controller during the adjustment to the required torque, the vehicle drive controller can clear the original torque and execute the required torque after obtaining the required torque sent by the intelligent driving controller. However, if the drive controller directly clears the original torque to execute the required torque, it may cause the vehicle torque to jump, which in turn causes abnormalities such as forward rushing and setbacks. Therefore, the intelligent driving controller can generate a first torque change curve based on the first torque and the required torque. The intelligent driving controller can send the first torque change curve to the drive controller. The drive controller can control the adjustment of the real-time torque of the vehicle according to the first torque change curve, so as to achieve a smooth transition of the vehicle from the first torque to the required torque. Among them, the first torque can be the real-time torque of the vehicle obtained by the drive controller when the intelligent driving start command is received. Optionally, the intelligent driving controller can generate a transition from the first torque to the required torque according to a preset smooth transition algorithm.

[0042] Optionally, since the present application is aimed at the working condition of coasting intelligent driving, under the coasting condition, there may be a coasting negative torque in the vehicle. The coasting negative torque is the negative torque generated when the vehicle realizes electric braking energy recovery. That is, the drive controller can obtain the negative torque generated during electric braking energy recovery as the coasting negative torque. At the same time, in order to improve the calculation efficiency, while ensuring the accuracy of the torque calculation and better ensuring the real-time adjustment of the vehicle torque, in the torque calculation process of the present application, the drive controller does not add the negative torque generated by the friction between the vehicle and the road during coasting to the coasting negative torque. For example, Figure 2 As shown, the horizontal axis represents time and the vertical axis represents torque. Time t1 may be the moment when the drive controller obtains the intelligent driving start command. Before time t1, the vehicle is in a coasting condition, and in the coasting condition, the vehicle automatically starts the electric braking energy recovery function. At this time, the negative torque generated by the electric braking energy recovery may be -1000. During the coasting energy recovery process, the negative torque is stably maintained at -1000. Optionally, the -1000 coasting negative torque is only an example.

[0043] Optionally, in response to the intelligent driving start command, the real-time torque of the drive controller is cleared.

[0044] Among them, the drive controller can clear the real-time torque of the drive controller when the intelligent driving start instruction is obtained. The clearing operation can enable the drive controller to change better according to the second torque change curve, thereby improving the accuracy of the torque change of the drive controller.

[0045] Step 130: If the torque at the starting point of the first torque variation curve is inconsistent with the second torque, the first torque variation curve is updated according to the second torque to obtain a second torque variation curve, wherein the second torque variation curve represents a transition curve from the second torque to the required torque.

[0046] Optionally, if the transmission between the drive controller and the intelligent driving controller is realized in real time, the time difference between the first moment and the second moment can be ignored for the drive controller. Optionally, at this time, the value of the second torque obtained by the drive controller is the same as the first torque. Optionally, at this time, the drive controller can directly adjust the real-time torque of the vehicle at subsequent moments according to the first torque change curve. For example, the first torque change curve can be as follows Figure 2 As shown in the lines of working conditions 1, 2 and 2 after time t1. Among them, working conditions 1 and 2 can be acceleration working conditions after coasting into intelligent driving. Optionally, the acceleration working condition is that the required speed determined by the intelligent driving controller according to the road condition information is greater than the current speed. The vehicle needs to accelerate to reach the required speed. Among them, working condition 3 can be a deceleration working condition after coasting into intelligent driving. Optionally, the acceleration working condition is that the required speed determined by the intelligent driving controller according to the road condition information is less than the current speed. The vehicle needs to decelerate to reach the required speed. Optionally, the part of the line of working conditions 1, 2 and 2 after time t1 that is parallel to the time axis is the state in which the vehicle maintains the required torque after reaching the required torque. Optionally, in the optimal case, the drive controller directly controls the real-time torque according to the first torque change curve, which can be shown as working condition 1. Optionally, the drive controller directly optimizes the second torque change curve according to the first torque change curve, and controls the real-time torque according to the second torque change curve, which can be shown as working condition 2.

[0047] Optionally, if an abnormality occurs in the transmission between the drive controller and the intelligent driving controller, it may cause the first torque indicated by the starting point of the first torque change curve to be different from the second torque at the current moment. At this time, if the drive controller continues to use the first torque change curve to adjust the real-time torque of the vehicle at subsequent moments, it may cause a torque step when switching from the second torque at the current moment to the first torque indicated by the starting point of the first torque change curve, thereby causing abnormalities such as vehicle forward rushing and jerking. Therefore, for this situation, the drive controller is required to perform a bottom-up filter before switching the torque to the first torque change curve to achieve a slow transition of the torque. This situation can be described as follows Figure 2 As shown in working condition 2.

[0048] Optionally, the transmission anomaly may be a time delay. That is, when the drive controller receives the first torque change curve at the second moment, the first torque indicated by the starting point of the first torque change curve is different from the second torque at the second moment. Figure 2 As shown in working condition 2, the starting point of the first torque change curve received by the drive controller is greater than the second torque at the current moment. At this time, the drive controller can generate a second torque change curve according to the second torque and the first torque change curve. The drive controller can adjust the torque of the vehicle at subsequent moments according to the second torque change curve to achieve a smooth transition of the torque of the vehicle. The second torque change curve may include a dotted line and a realization corresponding to working condition 2.

[0049] Among them, the bottom filtering can be implemented in the following two cases:

[0050] In one implementation, if there is a torque that is the same as the second torque in the first torque change curve, the torque that is the same as the second torque in the first torque change curve is used as the starting point, and the curve portion of the first torque change curve from the starting point to the end point of the first torque change curve is obtained to obtain the second torque change curve.

[0051] The drive controller may first determine whether there is a torque in the first torque change curve that is the same as the second torque. Specifically, the drive controller may obtain the slope of the first torque change curve and the first torque indicated by the starting point of the first torque change curve. If the slope is positive and the first torque is less than the second torque, the first torque change curve includes the second torque. Alternatively, if the slope is negative and the first torque is greater than the second torque, the first torque change curve includes the second torque.

[0052] After determining that the first torque variation curve has a torque that is the same as the second torque, the drive controller may obtain the point in the first torque variation curve that is the same as the second torque as a starting point. The drive controller may obtain a curve portion formed from the starting point to the end point of the first torque variation curve. The drive controller may use the curve portion as the second torque variation curve.

[0053] Step 132: If there is no torque identical to the second torque in the first torque variation curve, obtain the torque closest to the second torque in the first torque variation curve as the nearest point, and generate the second torque variation curve according to the second torque, the nearest point and the first torque variation curve.

[0054] After determining that there is no torque identical to the second torque in the first torque change curve, the drive controller can obtain the closest point to the second torque from the first torque change curve. Specifically, the drive controller can calculate the difference between each torque point in the first torque change and the second torque. The drive controller can obtain the smallest difference and the torque point corresponding to the difference. The controller can use the torque point as the closest point. For example, Figure 2As shown in working condition 2, the solid line portion is the portion corresponding to the first torque change curve. The nearest point can be the starting point for realizing the first torque change curve.

[0055] The drive controller may generate the second variation curve according to the closest point, the second torque and the first torque variation curve.

[0056] Optionally, the generation process of the second torque variation curve may specifically include the following steps:

[0057] Step 1321: Generate a first sub-curve according to the second torque and the closest point. The first sub-curve represents a transition curve from the second torque to the closest point.

[0058] The drive controller may generate a first sub-curve according to the second torque and the nearest point through a preset smoothing filtering algorithm. For example, the first sub-curve may be as follows: Figure 2 As shown by the dotted line in working condition 2.

[0059] Step 1322: Obtain a curve portion from the nearest point to the end point of the first torque change curve in the first torque change curve to obtain a second sub-curve.

[0060] The drive controller may obtain a curve portion from the nearest point to the end point of the first torque change curve in the first torque change curve, and the curve portion may be used as the second sub-curve.

[0061] Step 1323: Connect the first sub-curve and the second sub-curve to obtain a second torque variation curve.

[0062] The drive controller may connect the first sub-curve and the second sub-curve to obtain a second torque variation curve. The generation of the second torque variation curve may achieve a smooth transition of the torque.

[0063] Step 140: Adjust the real-time torque of the vehicle at a subsequent moment according to the second torque variation curve.

[0064] The drive controller can control the real-time torque of the vehicle at a subsequent moment according to the second torque variation curve. At a subsequent moment, the drive controller will output according to the torque value in the second torque variation curve, thereby ensuring that the vehicle can achieve a smooth transition of the torque of the vehicle according to the second torque variation curve.

[0065] The present application achieves a smooth transition of the vehicle's torque under gliding intelligent driving conditions by updating the first torque change curve according to the second torque to obtain the second torque change curve, thereby avoiding the problems of forward rushing and jerking of the vehicle under gliding intelligent driving conditions, improving the smoothness of the transition, and improving the user experience.

[0066] Figure 3 The first signaling interaction diagram of the vehicle control method based on adjusting torque of the present invention is shown. The method is implemented by the interaction between the drive controller and the intelligent driving controller. Figure 1 and Figure 2 Based on the embodiment shown, Figure 3 As shown, the method comprises the following steps:

[0067] Step 201: The drive controller sends a first torque to the intelligent driving controller of the vehicle in response to an intelligent driving start instruction; wherein the intelligent driving start instruction indicates to start the intelligent driving function of the vehicle, and the first torque represents the real-time torque of the vehicle when the intelligent driving start instruction is received;

[0068] Step 202: The intelligent driving controller obtains a first torque sent by the driving controller; the first torque represents the real-time torque of the vehicle when the intelligent driving start command is received;

[0069] Step 203: The intelligent driving controller obtains the current road condition information and determines the required torque of the vehicle according to the road condition information; the required torque represents the torque required for the vehicle to travel under the road condition information;

[0070] Step 204: The intelligent driving controller generates a first torque change curve according to the first torque and the required torque; the first torque change curve represents a transition curve from the first torque to the required torque;

[0071] Step 205: The intelligent driving controller sends a first torque change curve to the drive controller.

[0072] Step 206: The drive controller receives a first torque change curve generated according to the first torque and sent by the intelligent driving controller, and obtains a second torque of the vehicle; wherein the first torque change curve represents a transition curve from the first torque to the required torque, the required torque represents the torque required by the vehicle, and the second torque is the real-time torque of the vehicle when the first torque change curve is received;

[0073] Step 207: The drive controller determines whether the torque at the starting point of the first torque variation curve is consistent with the second torque.

[0074] Step 208: If they are consistent, the driving controller updates the first torque variation curve according to the second torque to obtain a second torque variation curve; wherein the second torque variation curve represents a transition curve from the second torque to the required torque;

[0075] Step 209: The drive controller adjusts the real-time torque of the vehicle at a subsequent moment according to the second torque variation curve.

[0076] Step 210: If they are inconsistent, the drive control adjusts the real-time torque of the vehicle at a subsequent moment according to the first torque change curve.

[0077] The first signaling interaction diagram provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principles and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0078] Based on the above embodiments, Figure 4 As shown, the drive controller VCU and the intelligent driving controller ADS, as well as the intelligent driving controller ADS and the braking control system IBCU can communicate via CANFD. The signal transmission process of the drive controller VCU, the intelligent driving controller ADS and the braking control system IBCU may include the following steps:

[0079] Step 310: The VCU sends the electric braking capacity AdsElecBrkCap=±X[Nm] to the ADS in real time.

[0080] Among them, AdsElecBrkCap is the variable name of the electric braking capacity during data transmission. X represents torque. The torque can include positive and negative states. Among them, when X is positive, it represents the torque of acceleration, and when X is negative, it represents the torque of deceleration. Nm is the unit of torque. Optionally, the electric braking capacity AdsElecBrkCap sent by the VCU in real time does not include the braking capacity generated by the road surface during sliding. The electric braking capacity AdsElecBrkCap sent by the VCU in real time only includes the torque under energy recovery. This setting can effectively improve the calculation efficiency of torque in the VCU.

[0081] Step 320: During the gliding intelligent driving process, the ADS accepts the current gliding negative torque of the VCU as the required torque.

[0082] Among them, the vehicle can enter the intelligent driving mode by triggering the intelligent driving button. ADS can obtain the torque at the moment when the intelligent driving mode is triggered in the process of obtaining the electric braking capacity sent by VCU in real time. The torque is the current sliding negative torque of the VCU undertaken by ADS. Optionally, the current sliding negative torque is a negative torque. Since the energy recovery of the vehicle slows down the vehicle in the sliding state, the torque is negative.

[0083] Step 330: During the intelligent driving process, if there is a step or gap between the torque requested by the ADS and the torque required by the VCU, the VCU needs to perform a bottom-up filter to slowly transition. For example, Figure 2 The ADS request condition 2 is shown. If there is no step between the ADS request torque and the VCU demand torque, the VCU can directly respond to the ADS request torque. For example, Figure 2 ADS request case 1 is shown.

[0084] Step 340: If the vehicle is coasting and entering the intelligent driving acceleration condition, the VCU needs to clear the coasting torque according to the intelligent driving activation enable bit to respond to the required torque of the ADS.

[0085] Among them, the acceleration condition after intelligent driving can be Figure 2 The ADS request conditions 1 and 2 are shown in FIG. The ADS demand torque is a positive torque. Therefore, the VCU needs to control the vehicle to transition from the current negative torque to the positive torque. In this process, in order to ensure that the ADS request torque is not affected by the VCU sliding torque when being responded to, the VCU needs to clear the sliding torque to improve the response effect.

[0086] Step 350: If the vehicle is coasting and entering the intelligent driving deceleration condition, the ADS may also request the electric braking torque to brake the entire vehicle, and it is necessary to transition from the coasting torque to the ADS electric braking torque request value.

[0087] Among them, the deceleration condition after intelligent driving can be as follows Figure 2 As shown in ADS request condition 3 in FIG. The required torque of the ADS is a negative torque. Therefore, the CVU can generate the second torque change curve based on the negative torque. Optionally, in order to ensure that the requested torque of the ADS is not affected by the VCU coasting torque when being responded to, the VCU can also clear the coasting torque to improve the response effect. At the same time, the increase in the negative torque can also optimize the response delay in parking mode.

[0088] Optionally, in the case shown in step 5, the VCU can also send the larger value of the converted value based on the battery capacity calculation value and the upper limit fixed value F=ma to the ADS. The larger value is the maximum torque that the battery supports the vehicle to achieve. For example, Figure 2 As shown, the maximum value may correspond to a torque of -3000. When the ADS generates the torque, the negative torque will not exceed the upper limit of -3000. That is, the negative torque is less than or equal to -3000.

[0089] Based on the above example, the process of synchronizing the limit value of the drive controller may include the following steps:

[0090] Step 410: Calculate a first torque limit value based on the battery information of the vehicle. The first torque limit value represents the maximum torque that the battery can support the vehicle to reach.

[0091] The drive controller may obtain the battery information of the vehicle. The drive controller may calculate the first torque limit of the vehicle based on the battery information of the vehicle and in combination with other information of the vehicle. The first torque limit is used to indicate the maximum torque that the battery of the vehicle supports the vehicle to reach. Optionally, the maximum torque may include two positive and negative values.

[0092] Step 420: If the absolute value of the first torque limit is greater than the absolute value of the preset fixed limit, the first torque limit is sent to the intelligent driving controller. If the absolute value of the first torque limit is less than or equal to the absolute value of the preset fixed limit, the preset fixed limit is sent to the intelligent driving controller.

[0093] Among them, a preset fixed value may also be stored in the drive controller. For example, the preset fixed value may be ±3000Nm. The drive controller may compare the first torque limit value with the preset fixed limit value. Since the first torque limit value may include two positive and negative values, and the preset fixed limit value also includes two positive and negative values, the drive controller may calculate the absolute values ​​of the two values ​​and then compare them. The drive controller may send a value with a larger absolute value to the intelligent driving controller.

[0094] If the absolute value of the first torque limit is greater than the absolute value of the preset fixed limit, the first torque limit is sent to the intelligent driving controller. If the absolute value of the first torque limit is less than or equal to the absolute value of the preset fixed limit, the preset fixed limit is sent to the intelligent driving controller.

[0095] Optionally, as the vehicle is used, the battery usage information of the vehicle will change, so the first torque limit is a short-term value. The drive controller can recalculate the first torque limit before each comparison to ensure the validity of the first torque limit.

[0096] On the basis of the above embodiment, if there is a braking request sent by the braking controller, the driving controller needs to obtain the braking request and merge the braking request with the first torque change curve. The braking controller may be provided with a braking control system (Intelligent Brake Control Unit, IBCU). The method comprises the following steps:

[0097] Step 510: In response to the intelligent driving start command, a first torque is sent to the intelligent driving controller of the vehicle. The intelligent driving start command indicates to start the intelligent driving function of the vehicle, and the first torque represents the real-time torque of the vehicle when the intelligent driving start command is received. The first torque is used to generate a first torque change curve, and the first torque change curve represents a transition curve from the first torque to the required torque, and the required torque represents the torque required by the vehicle.

[0098] Step 520: Receive the first torque change curve sent by the intelligent driving controller, and obtain the second torque of the vehicle, wherein the second torque is the real-time torque of the vehicle when the first torque change curve is received.

[0099] Among them, step 510 and step 520 are Figure 1 The implementation of step 110 and step 120 in the embodiment is similar, and will not be repeated here in this embodiment.

[0100] Step 530: Obtain a third torque variation curve required for controlling vehicle braking from the braking request. The third torque variation curve includes the torque sent to the vehicle by the braking controller.

[0101] Among them, the drive controller can also obtain a braking request sent by the brake controller. The braking request may include a third torque change curve. The third change curve includes the torque generated by the brake controller according to the braking behavior of the user before entering the intelligent driving mode. For example, the braking behavior may be stepping on the brake. Optionally, the change trend of the torque included in the third change curve is gradually tending to 0.

[0102] Step 540: superimpose the third torque variation curve in the braking request onto the first torque variation curve to obtain an updated first torque variation curve.

[0103] The drive controller may superimpose the third torque variation curve on the first torque variation curve to update the first torque variation curve. Specifically, the drive controller may superimpose the torque in the first torque variation curve and the torque in the third torque variation curve according to the time axis of the first torque variation curve and the time axis of the third torque variation curve.

[0104] Step 550: Update the first torque variation curve according to the second torque to obtain a second torque variation curve, wherein the second torque variation curve represents a transition curve from the second torque to the required torque.

[0105] Step 560: Adjust the real-time torque of the vehicle at a subsequent moment according to the second torque change curve.

[0106] Among them, step 550 and step 560 are Figure 1 The implementation of step 130 and step 140 in the embodiment is similar, and will not be repeated here in this embodiment.

[0107] The present application updates the first torque change curve by superimposing the third torque change curve and the first torque change curve. The drive controller can process according to the updated first torque change curve, so that the vehicle can smoothly transition to the superimposed torque, improve the smoothness of the vehicle during driving, and improve the user experience.

[0108] Based on the above embodiment, when the drive controller is represented as VCU and the intelligent driving controller is represented as an ADS domain controller or ADS, if there are electric braking requests from ADS and IBCU to the VCU at the same time after the intelligent driving is activated, the VCU needs to perform torque superposition processing.

[0109] Based on the above example, after the intelligent driving controller is activated, it can also send an electric braking enable switch to the drive controller and the brake controller. The drive controller can turn off the electric braking capability to the brake controller according to the switch ON signal. At the same time, the brake controller can also prohibit sending the brake energy recovery request of the Cooperative Regenerative Brake Systems (CRBS) to the drive controller when receiving the switch ON signal. This operation can prevent the superposition of negative torque, thereby improving the smooth transition effect of torque. The process may include: in response to the intelligent driving start instruction, setting the torque sent by the drive controller to the brake controller to 0. Among them, when the drive controller turns off the electric braking capability to the brake controller according to the switch ON signal, the drive controller can set the torque sent to the brake controller to 0, thereby ensuring that the drive controller does not send electric braking capability to the brake controller in the intelligent driving mode. Optionally, the drive controller can set the torque sent to the brake controller to 0 to inform the brake controller that the drive controller currently does not have braking capability.

[0110] Optionally, in one implementation, when the drive controller is represented by VCU, the intelligent driving controller is represented by ADS domain controller or ADS, the brake controller is represented by IBCU, and the cooperative regenerative braking system is represented by CRBS, as shown in FIG. Figure 3 As shown, the above process may include the following steps:

[0111] Step 610: When the VCU receives the ON signal sent by the ADS, the VCU may set the electric braking capability sent to the CRBS to 0, and send the full electric braking capability to the ADS.

[0112] Step 620: If the VCU receives the OFF signal sent by the ADS, the VCU can normally allocate the electric braking capacity to the CRBS. However, the VCU still needs to send the full electric braking capacity to the ADS.

[0113] Step 630: When the IBCU receives the brake request sent by the ADS, and the electric brake request is an ON signal, the IBCU will not forward the electric brake request of the CRBS to the VCU. If the IBCU needs to respond to the brake request of the ADS, the IBCU needs to start hydraulic pressure.

[0114] Step 640: When the IBCU receives the braking request sent by the ADS, and the electric braking request is an OFF signal, the IBCU will normally allocate the electric braking capacity and hydraulic pressure of the CRBS.

[0115] In the present application, the above-mentioned processing of the ON signal and the OFF signal based on the ADS can reduce the possibility of negative torque superposition, thereby improving the smoothness of vehicle driving.

[0116] Based on the above example, the drive controller can also periodically detect the communication signal between it and the intelligent driving controller, realize the intelligent driving of the vehicle while ensuring normal communication, and exit the intelligent driving mode in time when the communication is abnormal. The specific steps may include:

[0117] Step 710: After sending the first torque to the intelligent driving controller of the vehicle, periodically check whether the first torque change curve fed back by the intelligent driving controller is obtained.

[0118] Among them, the detection cycle of the drive controller can be determined according to the communication duration between the drive controller and the intelligent driving controller when the communication status of the vehicle is real-time communication. In the case of real-time communication, after the drive controller sends the first torque to the intelligent driving controller, the drive controller can detect the first torque change curve fed back by the intelligent driving controller during the detection of the first cycle. If the real-time communication is abnormal, the drive controller can perform periodic detection before receiving the first torque change curve fed back by the intelligent driving controller. Optionally, this one cycle can correspond to one frame of data.

[0119] Step 720: If the first torque variation curve is not obtained, the number of cycles in which the first torque variation curve is not obtained is accumulated.

[0120] The drive controller may, while performing periodic detection, accumulate the number of cycles in which the first torque variation curve is not obtained.

[0121] Step 730: If the number of cycles is greater than or equal to the preset number, a communication failure is determined and the intelligent driving mode is exited.

[0122] Among them, a preset number may be set in the drive controller. For example, the preset number may be 10. If the drive controller has not obtained the first torque change curve when the number of cycles reaches the preset number, the drive controller may determine that the communication with the intelligent driving controller fails. At this time, the drive controller may instruct the vehicle to exit the intelligent driving mode.

[0123] Step 740: If the number of cycles is less than the preset number, the first torque variation curve is obtained, and the number of cycles is cleared.

[0124] If the drive controller obtains the first torque variation curve before the number of cycles reaches a preset number, the drive controller may reset the number of cycles to zero and re-accumulate the number of cycles when performing data transmission next time.

[0125] Optionally, the above method is applied to the communication between the drive controller and the intelligent driving controller, and the transmitted information is not limited to the first torque change curve. Among them, the device that performs periodic detection is not limited to the drive controller. For example, when the drive controller sends a request to the intelligent driving controller and requires the intelligent driving controller to return information, the drive controller can perform the communication detection of the above steps. For another example, when the intelligent driving controller sends a request to the drive controller and requires the drive controller to return information, the intelligent driving controller performs the communication detection of the above steps.

[0126] Optionally, based on the above embodiment, in one implementation, when the drive controller is represented by a VCU, the intelligent driving controller is represented by an ADS domain controller or an ADS, and the brake controller is represented by an IBCU, the VCU, the IBCU, and the ADS need to have the following capabilities to implement the above steps:

[0127] The VCU and IBCU should have self-checking capabilities. When the VCU and IBCU find a fault in their own system, they should send a prompt message to the ADS that their own system capability status is unavailable.

[0128] VCU and IBCU should have the ability to detect CAN communication faults. VCU and IBCU should have corresponding detection mechanisms for the interruption, delay, data error, frame loss, sequence error and other fault types of the ADS data used. The detection mechanism needs to be robust. Specifically, when VCU and IBCU do not detect ADS data for 10 consecutive cycles, VCU and IBCU can confirm CAN communication failure.

[0129] VCU and IBCU should have the ability to handle CAN communication faults. In the time between the first detection of a fault and the final confirmation of the fault, VCU and IBCU should be able to control the vehicle using the value of the frame before the first detection of the fault. After confirming the communication failure, VCU and IBCU can no longer respond to ADS instructions and exit intelligent driving. For example, after obtaining the torque sent by ADS in the first frame, the VCU does not obtain the torque subsequently sent by ADS from the second frame to the eleventh frame, then the VCU controls the vehicle according to the torque obtained in the first frame from the second frame to the eleventh frame. And in the twelfth frame, the VCU no longer responds to ADS instructions and exits intelligent driving.

[0130] The VCU and IBCU shall have the ability to recover from CAN communication failures. The VCU and IBCU can determine that the CAN communication has failed when no data is received for 10 consecutive frames. However, the VCU and IBCU will not latch the fault and allow communication to be restored within the same ignition cycle. If the VCU and IBCU obtain the information sent by the ADS again within the same ignition cycle, the VCU and IBCU can confirm that the communication has been restored when 10 consecutive frames of messages are received.

[0131] On the basis of the above embodiment, the vehicle can also, according to the intelligent driving requirements, set the torque of the electric drive motor end after negative torque braking at a slope of 15% and full load to 300Nm and last for 6 seconds.

[0132] Figure 5 FIG. 2 shows a schematic diagram of the structure of an embodiment of a vehicle control device based on adjusting torque according to the present invention. Figure 5 As shown, the vehicle control device 800 based on adjusting torque includes: a transceiver module 810 and a control module 820 .

[0133] The transceiver module 810 is used to send a first torque to the intelligent driving controller of the vehicle in response to an intelligent driving start instruction. The intelligent driving start instruction indicates to start the intelligent driving function of the vehicle, and the first torque represents the real-time torque of the vehicle when the intelligent driving start instruction is received. The first torque is used to generate a first torque change curve, which represents a transition curve from the first torque to the required torque, and the required torque represents the torque required by the vehicle. The first torque change curve sent by the intelligent driving controller is received, and the second torque of the vehicle is obtained. The second torque is the real-time torque of the vehicle when the first torque change curve is received.

[0134] The control module 820 is used to update the first torque change curve according to the second torque to obtain a second torque change curve, wherein the second torque change curve represents a transition curve from the second torque to the required torque, and adjust the real-time torque of the vehicle at a subsequent moment according to the second torque change curve.

[0135] In an optional manner, the control module 820 is used to:

[0136] If there is a torque identical to the second torque in the first torque variation curve, the torque identical to the second torque in the first torque variation curve is taken as the starting point, and the curve portion from the starting point to the end point of the first torque variation curve is obtained to obtain the second torque variation curve.

[0137] If there is no torque identical to the second torque in the first torque variation curve, the torque closest to the second torque in the first torque variation curve is obtained as the nearest point, and the second torque variation curve is generated according to the second torque, the nearest point and the first torque variation curve.

[0138] In an optional manner, the control module 820 is used to:

[0139] A first sub-curve is generated according to the second torque and the closest point. The first sub-curve represents a transition curve from the second torque to the closest point.

[0140] A curve portion from the nearest point to the end point of the first torque variation curve is obtained to obtain a second sub-curve.

[0141] The first sub-curve and the second sub-curve are connected to obtain a second torque variation curve.

[0142] In an optional manner, the control module 820 is used to:

[0143] If the torque at the starting point of the first torque variation curve is consistent with the second torque, the real-time torque of the vehicle at a subsequent moment is adjusted according to the first torque variation curve.

[0144] In an optional manner, if there is a braking request sent by the brake controller, the control module 820 is used to:

[0145] A third torque variation curve required for controlling vehicle braking is obtained from the braking request. The third torque variation curve includes the torque sent to the vehicle by the braking controller.

[0146] The third torque variation curve in the braking request is superimposed on the first torque variation curve to obtain an updated first torque variation curve.

[0147] In an optional manner, the control module 820 is used to:

[0148] According to the time axis of the first torque variation curve and the time axis of the third torque variation curve, the torque in the first torque variation curve and the torque in the third torque variation curve are superimposed.

[0149] In an optional manner, the control module 820 is used to:

[0150] The first torque limit is calculated based on the battery information of the vehicle. The first torque limit represents the maximum torque that the battery supports the vehicle to reach.

[0151] If the absolute value of the first torque limit is greater than the absolute value of the preset fixed limit, the first torque limit is sent to the intelligent driving controller.

[0152] If the absolute value of the first torque limit is less than or equal to the absolute value of the preset fixed limit, the preset fixed limit is sent to the intelligent driving controller.

[0153] In an optional manner, the control module 820 is used to:

[0154] In response to the intelligent driving start command, the real-time torque of the drive controller is cleared.

[0155] In an optional manner, the control module 820 is used to:

[0156] In response to the intelligent driving start command, the torque sent by the drive controller to the brake controller is set to 0.

[0157] In an optional manner, the control module 820 is used to:

[0158] After sending the first torque to the intelligent driving controller of the vehicle, periodically check whether the first torque change curve fed back by the intelligent driving controller is obtained.

[0159] If the first torque variation curve is not obtained, the number of cycles in which the first torque variation curve is not obtained is accumulated.

[0160] If the number of cycles is greater than or equal to the preset number, a communication failure is determined and the intelligent driving system is exited.

[0161] In an optional manner, the control module 820 is used to:

[0162] If the number of cycles is less than the preset number, the first torque variation curve is obtained and the number of cycles is reset to zero.

[0163] The vehicle control device 800 based on adjusting torque provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principle and technical effects can be found in the above method embodiment, which will not be described in detail in this embodiment.

[0164] Figure 6 The schematic diagram of the structure of the embodiment of the driving controller of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the driving controller.

[0165] like Figure 6 As shown, the drive controller may include: a processor (processor) 902 , a communication interface (Communications Interface) 904 , a memory (memory) 906 , and a communication bus 909 .

[0166] The processor 902, the communication interface 904, and the memory 906 communicate with each other via a communication bus 909. The communication interface 904 is used to communicate with other devices such as a client or other server network elements. The processor 902 is used to execute a program 910, which can specifically execute the relevant steps in the above-mentioned embodiment of the vehicle control method based on adjusting torque.

[0167] Specifically, the program 910 may include program code, which includes computer-executable instructions.

[0168] The processor 902 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the drive controller may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0169] The memory 906 is used to store the program 910. The memory 906 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0170] Program 910 can be specifically called by processor 902 to enable the drive controller or intelligent driving controller to execute the operation of the method in any of the above embodiments. Its specific implementation principles and technical effects can be found in the above method embodiments, and this embodiment will not be repeated here.

[0171] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on a drive controller, the drive controller executes the vehicle control method based on adjusting torque in any of the above-mentioned method embodiments. The specific implementation principles and technical effects can be found in the above-mentioned method embodiments, and this embodiment will not be repeated here.

[0172] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0173] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0174] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0175] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A vehicle control method, characterized in that: Applicable to drive controllers, including: In response to an intelligent driving start instruction, sending a first torque to an intelligent driving controller of the vehicle; wherein the intelligent driving start instruction indicates starting an intelligent driving function of the vehicle, and the first torque represents a real-time torque of the vehicle when the intelligent driving start instruction is received; receiving a first torque change curve generated according to the first torque and sent by the intelligent driving controller, and acquiring a second torque of the vehicle; wherein the first torque change curve represents a transition curve from the first torque to a required torque, the required torque represents a torque required by the vehicle, and the second torque is a real-time torque of the vehicle when the first torque change curve is received; If the torque at the starting point of the first torque variation curve is inconsistent with the second torque, the first torque variation curve is updated according to the second torque to obtain a second torque variation curve; wherein the second torque variation curve represents a transition curve from the second torque to the required torque; adjusting the real-time torque of the vehicle at a subsequent moment according to the second torque change curve; Wherein, updating the first torque variation curve according to the second torque to obtain the second torque variation curve includes: If there is a torque identical to the second torque in the first torque variation curve, taking the torque identical to the second torque in the first torque variation curve as a starting point, and obtaining a curve portion of the first torque variation curve from the starting point to an end point of the first torque variation curve to obtain the second torque variation curve; If there is no torque identical to the second torque in the first torque variation curve, the torque closest to the second torque in the first torque variation curve is obtained as the nearest point, and the second torque variation curve is generated according to the second torque, the nearest point and the first torque variation curve.

2. The method according to claim 1, characterized in that: Generating the second torque change curve according to the second torque, the closest point and the first torque change curve includes: Generate a first sub-curve according to the second torque and the closest point; the first sub-curve represents a transition curve from the second torque to the closest point; Acquire a curve portion from the closest point to an end point of the first torque change curve in the first torque change curve to obtain a second sub-curve; The first sub-curve and the second sub-curve are connected to obtain the second torque variation curve.

3. The method according to claim 1, characterized in that Also includes: If the torque at the starting point of the first torque variation curve is consistent with the second torque, the real-time torque of the vehicle at a subsequent moment is adjusted according to the first torque variation curve.

4. The method according to claim 1, characterized in that If there is a braking request sent by the brake controller, before updating the first torque variation curve according to the second torque, the method further includes: Acquire a third torque variation curve required for controlling the braking of the vehicle from the braking request; the third torque variation curve includes the torque sent by the braking controller to the vehicle; The third torque variation curve in the braking request is superimposed on the first torque variation curve to obtain an updated first torque variation curve.

5. The method according to any one of claims 1 to 4, characterized in that In response to the intelligent driving start instruction, before sending the first torque to the intelligent driving controller of the vehicle, the method further includes: Calculating a first torque limit value based on the battery information of the vehicle; the first torque limit value represents the maximum torque that the battery supports the vehicle to achieve; If the absolute value of the first torque limit is greater than the absolute value of the preset fixed limit, sending the first torque limit to the intelligent driving controller; If the absolute value of the first torque limit is less than or equal to the absolute value of a preset fixed limit, the preset fixed limit is sent to the intelligent driving controller.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: In response to the intelligent driving start instruction, clearing the real-time torque of the drive controller; In response to the intelligent driving start instruction, the torque sent by the drive controller to the brake controller is set to 0.

7. The method according to any one of claims 1 to 4, characterized in that The method further comprises: After sending the first torque to the intelligent driving controller of the vehicle, periodically detecting whether the first torque change curve fed back by the intelligent driving controller is obtained; If the first torque variation curve is not obtained, accumulating the number of cycles in which the first torque variation curve is not obtained; If the number of cycles is greater than or equal to a preset number, a communication failure is determined and the intelligent driving mode is exited.

8. A drive controller, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus, and the memory is used to store at least one executable instruction; The executable instructions enable the processor to execute the method according to any one of claims 1 to 7.

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