Vehicle motion control method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle motion control method and device, electronic equipment and a storage medium. The method comprises the steps that various vehicle control requests are received, and the vehicle control requests comprise a vehicle control request of manual operation and a vehicle control request generated by an intelligent driving system; arbitrating the same type of manually operated vehicle control request and the vehicle control request generated by the intelligent driving system, and generating a corresponding vehicle control signal; the vehicle control signal is sent to a corresponding vehicle control system, so that the vehicle control system executes corresponding vehicle control operation according to the vehicle control signal; and in the whole vehicle movement process, environment sensing signals and vehicle state information of the vehicle are monitored in real time, vehicle control signals are updated based on the monitoring result, and a movement model of the vehicle is dynamically adjusted. According to the invention, control paths can be reduced, and the control request and the arbitration mechanism are integrated, so that the arbitration and execution efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a whole vehicle motion control method, device, electronic equipment and storage medium. Background Art

[0002] Vehicle motion control refers to the coordination and control of the vehicle's acceleration, deceleration, steering and posture during driving to ensure that the vehicle runs according to the expected trajectory and state. As traditional vehicles gradually develop into smart driving vehicles, the vehicle's motion control mode has become more complex, not only responding to the driver's operation requests, but also processing the control requests generated by the smart driving system.

[0003] Existing vehicle motion control systems usually use decentralized control paths to handle driver operations and intelligent driving system control requests separately. For example, acceleration is transmitted by the driver's accelerator pedal signal and the acceleration request of the intelligent driving module to the vehicle control module for arbitration, and finally executed by the motor module; deceleration is arbitrated by the brake pedal and the intelligent driving module, and executed by the braking system; steering is generated by the steering wheel and the intelligent driving module. The steering system is responsible for arbitration and execution.

[0004] Although this decentralized control achieves basic vehicle motion control functions, it also exposes some obvious shortcomings. First, each control path is relatively independent and lacks unified coordination and integration, which increases the overall complexity of the system, makes the control link longer, and causes slow response. Second, multiple modules arbitrate different motion requests, making it difficult to effectively achieve global optimization, and may cause problems such as inconsistent motion control or delayed response. This approach not only increases the difficulty of development and integration, but also brings potential safety hazards in complex driving scenarios. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a whole vehicle motion control method, device, electronic device and storage medium to solve the problems existing in the prior art of complex control paths and decentralized arbitration mechanisms, which lead to reduced arbitration and execution efficiency.

[0006] According to a first aspect of an embodiment of the present application, a whole vehicle motion control method is provided, comprising: receiving multiple vehicle control requests, wherein the vehicle control requests include manually operated vehicle control requests and vehicle control requests generated by an intelligent driving system; arbitrating the same type of manually operated vehicle control requests and vehicle control requests generated by the intelligent driving system to generate corresponding vehicle control signals; sending the vehicle control signals to the corresponding vehicle control system so that the vehicle control system performs corresponding vehicle control operations according to the vehicle control signals; during the whole vehicle motion, real-time monitoring of the vehicle's environmental perception signals and vehicle status information, updating the vehicle control signals based on the monitoring results, and dynamically adjusting the vehicle's motion model.

[0007] According to a second aspect of an embodiment of the present application, a whole-vehicle motion control device is provided, comprising: a receiving module, configured to receive multiple vehicle control requests, wherein the vehicle control requests include manually operated vehicle control requests and vehicle control requests generated by an intelligent driving system; an arbitration module, configured to arbitrate the same type of manually operated vehicle control requests and vehicle control requests generated by an intelligent driving system, and generate corresponding vehicle control signals; a sending module, configured to send the vehicle control signal to a corresponding vehicle control system, so that the vehicle control system performs corresponding vehicle control operations according to the vehicle control signal; and an adjustment module, configured to monitor the vehicle's environmental perception signals and vehicle status information in real time during the whole-vehicle motion, update the vehicle control signal based on the monitoring results, and dynamically adjust the vehicle's motion model.

[0008] According to a third aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the computer program.

[0009] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0010] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0011] By receiving multiple vehicle control requests, including vehicle control requests operated manually and vehicle control requests generated by an intelligent driving system; arbitrating the same type of vehicle control requests operated manually and vehicle control requests generated by an intelligent driving system, generating corresponding vehicle control signals; sending the vehicle control signals to the corresponding vehicle control system so that the vehicle control system performs corresponding vehicle control operations according to the vehicle control signals; during the movement of the whole vehicle, real-time monitoring of the vehicle's environmental perception signals and vehicle status information, updating the vehicle control signals based on the monitoring results, and dynamically adjusting the vehicle's motion model. The present application can reduce the control path, integrate the control request and arbitration mechanism, and thus improve the arbitration and execution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a schematic diagram of the overall architecture of the vehicle motion control integrated system provided in an embodiment of the present application;

[0014] Figure 2 It is a local network topology diagram of the vehicle motion control integrated system provided in the embodiment of the present application;

[0015] Figure 3 It is a flow chart of the whole vehicle motion control method provided by the embodiment of the present application;

[0016] Figure 4 is a schematic structural diagram of a vehicle motion control device provided in an embodiment of the present application;

[0017] Figure 5 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0019] It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0020] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] Vehicle motion control refers to ensuring that the vehicle operates as expected by controlling the acceleration, deceleration, steering and posture of the vehicle during driving. The motion control of traditional vehicles mainly relies on the driver's operational input, such as stepping on the accelerator pedal or brake pedal, and steering through the steering wheel. This human driving control method is relatively intuitive and simple in operation.

[0023] With the gradual development of intelligent driving technology, the vehicle motion control mode has changed significantly. The core of intelligent driving is to replace or assist the driver in controlling the vehicle through computer systems and sensors. Therefore, on the basis of traditional driver operations, the intelligent driving system has added control requests for vehicle motion. This means that vehicle motion control is no longer solely dependent on the driver's input, but is combined with control requests from the intelligent driving module, and the two jointly determine the vehicle's motion state.

[0024] Under the existing intelligent driving technology framework, the vehicle's motion control path is relatively complex and scattered across multiple modules, as shown in the following aspects:

[0025] 1. Acceleration control: The driver issues an acceleration request through the accelerator pedal, and the intelligent driving module can also issue an acceleration request. After receiving these two requests, the vehicle control module is responsible for arbitrating the final acceleration command and executing the acceleration operation through the motor module.

[0026] 2. Deceleration control: The driver issues a deceleration request through the brake pedal, and the intelligent driving module can also issue a deceleration request. The braking system is responsible for arbitrating these two requests, determining the deceleration command, and executing the deceleration action.

[0027] 3. Steering control: The driver issues a steering request through the steering wheel, and the intelligent driving module can also provide steering instructions. The steering system determines the final steering angle and executes it through an arbitration mechanism.

[0028] Although the existing technology has achieved intelligent driving control with human-machine collaboration, the acceleration, deceleration, steering and other controls are handled and executed by different systems or modules, which makes the entire control process too complicated and the coordination between systems is not high. This decentralized control path increases the complexity of hardware and software integration, and in actual applications may lead to untimely response, waste of resources and potential safety hazards.

[0029] Based on the decentralized control mode of the existing technology, there are mainly the following problems:

[0030] 1. Complex control path: Since acceleration, deceleration and steering control are performed by independent modules, control signals need to be transmitted between different systems, and the path is long, which increases the delay and complexity of the system.

[0031] 2. Dispersed arbitration mechanism: Each module has its own arbitration mechanism. For example, acceleration is arbitrated by the vehicle control module, deceleration is arbitrated by the braking system, and steering is arbitrated by the steering system. This approach leads to poor overall coordination of the system.

[0032] 3. Low execution efficiency: Due to the complex control path and decentralized processing, the system's execution efficiency is difficult to achieve optimal, especially in high-dynamic driving scenarios, where response lags or resource redundancy problems may occur, affecting the overall performance and safety of the vehicle.

[0033] Therefore, how to simplify the path of vehicle motion control and improve the collaborative working efficiency among various systems is a technical problem that needs to be urgently solved in the current field of intelligent driving.

[0034] In response to the problems existing in the above-mentioned prior art, this application provides a design method for integrated vehicle motion control, aiming to solve the current problems of complex vehicle motion control links and decentralized arbitration. This application solution integrates human operations with the control requests of the intelligent driving system, completes the arbitration of motion control in an intelligent integrated control module, and uniformly manages requests such as acceleration, deceleration, steering, and suspension height, thereby reducing the control path, greatly simplifying the control process, optimizing the arbitration strategy, and improving the driving safety of the whole vehicle; at the same time, the arbitration of human control and the arbitration of vehicle control are integrated to reduce the arbitration development work of components and improve the arbitration and execution efficiency of the whole vehicle.

[0035] The following is an explanation of the architecture of the vehicle motion control integrated system involved in the technical solution of the present application in actual scenarios in conjunction with the accompanying drawings. Figure 1 Schematic diagram of the overall architecture of the vehicle motion control integrated system provided by the embodiment of the present application. Figure 1 As shown, the vehicle motion control integrated system may specifically include the following contents:

[0036] The present application provides a vehicle motion control integrated system, which arbitrates various vehicle motion control requests through an intelligent integrated control module, and then sends control signals to the corresponding execution system to achieve efficient control of the vehicle motion state. Figure 1 As shown in the figure, the vehicle motion control integrated system includes the following main modules:

[0037] Human-controlled input devices: such as the accelerator pedal, brake pedal, steering wheel, and suspension height adjustment buttons, which are input into the intelligent integrated control module through hard-wired signals.

[0038] Intelligent driving module: Generates acceleration, deceleration, steering and suspension height requests based on the vehicle's environmental perception system and path planning system. These requests are input into the intelligent integrated control module through signals.

[0039] Intelligent integrated control module: As the core of the system, it arbitrates various motion control requests from human control and intelligent driving systems, and generates corresponding control signals.

[0040] Execution system: includes braking system, drive motor, steering system and suspension system, responsible for executing vehicle acceleration, deceleration, steering and suspension adjustment operations according to the arbitration results of the intelligent integrated control module.

[0041] 1. Braking request

[0042] The intelligent integrated control module receives two types of brake requests:

[0043] Manual braking request is input to the control module through hard-wired signal from the brake pedal;

[0044] The deceleration request generated by the intelligent driving system is input to the control module based on the environmental perception information and path planning signals.

[0045] The intelligent integrated control module arbitrates these two types of requests according to the preset arbitration strategy, determines whether to respond to the intelligent driving system or human operation first, and generates a corresponding deceleration control signal. The deceleration signal is sent to the braking system through the communication link to perform the corresponding braking operation.

[0046] 2. Acceleration Request

[0047] The intelligent integrated control module receives the following acceleration requests:

[0048] Human-operated acceleration requests, input through hard-wired signals from the accelerator pedal;

[0049] The acceleration request generated by the intelligent driving system is based on the vehicle environment perception system and path planning system.

[0050] The intelligent integrated control module arbitrates these two types of acceleration requests, taking into account the driver's intention and the optimization requirements of autonomous driving, and generates an acceleration control signal. The arbitrated acceleration torque request signal is sent to the drive motor through the communication link to perform the corresponding acceleration operation.

[0051] 3. Redirection Request

[0052] In terms of vehicle steering control, the intelligent integrated control module also receives two types of steering requests:

[0053] Human-controlled steering requests are input through steering wheel angle signals;

[0054] The steering request generated by the intelligent driving system is based on the environment perception and path planning signals.

[0055] The intelligent integrated control module generates the final steering control signal based on the arbitration strategy, taking into account the driver's steering intention and the path planning results of the autonomous driving system. This signal is sent to the steering system through the communication link to perform the steering operation.

[0056] 4. Suspension height requirements

[0057] The intelligent integrated control module is also responsible for processing the vehicle's suspension height control requests. The two types of height requests include:

[0058] Manually controlled suspension height request, input through hard-wired signal from the suspension height adjustment button;

[0059] The suspension height request generated by the intelligent driving system is generated based on environmental perception information and path planning signals.

[0060] The intelligent integrated control module arbitrates these two types of height requests, generates a suspension height control signal, and sends it to the suspension system through a communication link to adjust the suspension height.

[0061] The vehicle motion control integrated system can unify the human operation and the request of the intelligent driving system through the intelligent integrated control module, thus forming a highly integrated control architecture. Its advantages are:

[0062] Reduce the complexity of the control link: The intelligent integrated control module can uniformly handle multiple types of control requests, simplify the control link, and improve the response speed of the system;

[0063] Improve arbitration and execution efficiency: Through a centralized arbitration mechanism, the coordination between human control and the intelligent driving system is optimized, making vehicle control more accurate and efficient in complex environments;

[0064] Global coordination and execution: After arbitrating various control requests, the intelligent integrated control module can generate the optimal vehicle control signals and ensure that operations such as acceleration, deceleration, steering and suspension height adjustment are executed quickly and accurately.

[0065] In addition to disclosing the architecture of the above-mentioned vehicle motion control integrated system, the embodiment of the present application also provides a local network topology diagram of the vehicle motion control integrated system. Figure 2 : is a local network topology diagram of the vehicle motion control integrated system provided by the embodiment of the present application. Figure 2 As shown, the local network topology diagram of the vehicle motion control integrated system may specifically include the following contents:

[0066] 1) Intelligent integrated control module, which supports the scene construction of intelligent driving functions, the construction of vehicle motion models, the arbitration and compensation of intelligent driving motion requests and human control requests, and the lateral, longitudinal and vertical motion control of the vehicle;

[0067] 2) The redundant design of the braking system and steering system under the CANFD communication 1 network segment of the intelligent integrated control module meets the functional safety ASIL D requirements of braking and steering;

[0068] 3) The intelligent integrated control module communicates with the braking system, steering system, suspension system and drive motor in the CANFD 2 network segment, and wakes up the communication with the vehicle control domain control module;

[0069] 4) Braking system, steering system, drive motor and suspension system, load motion control and execution and motion feedback, receiving control requests and feeding back the current four-wheel vehicle speed, front and rear turning angles, power feedback and IMU attitude, etc.;

[0070] 5) The body domain control module integrates body control and low-voltage power management functions, as well as thermal management, high-voltage power management, gear management and charging management. It is responsible for vehicle power-on and charging interface control, and communicates with the intelligent integrated control module via ETH Ethernet.

[0071] The contents of the technical solution of the present application are described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0072] Figure 3 FIG. 1 is a flow chart of the vehicle motion control method provided in the embodiment of the present application. Figure 3 As shown, the whole vehicle motion control method may specifically include:

[0073] S301, receiving multiple vehicle control requests, wherein the vehicle control requests include vehicle control requests manually operated and vehicle control requests generated by an intelligent driving system;

[0074] S302, arbitrating the same type of manually operated vehicle control request and the vehicle control request generated by the intelligent driving system, and generating a corresponding vehicle control signal;

[0075] S303, sending the vehicle control signal to the corresponding vehicle control system, so that the vehicle control system performs the corresponding vehicle control operation according to the vehicle control signal;

[0076] S304, during the movement of the whole vehicle, the vehicle's environmental perception signals and vehicle status information are monitored in real time, the vehicle control signals are updated based on the monitoring results, and the vehicle's motion model is dynamically adjusted.

[0077] In some embodiments, a plurality of vehicle control requests are received, including:

[0078] receiving a manually operated vehicle control request, wherein the manually operated vehicle control request includes an acceleration request inputted by a hard-line signal of an accelerator pedal, a deceleration request inputted by a hard-line signal of a brake pedal, a steering request inputted by a hard-line signal of a steering wheel, and a suspension height request inputted by a hard-line signal of a suspension height adjustment button;

[0079] A vehicle control request generated by an intelligent driving system is received, wherein the vehicle control request generated by the intelligent driving system includes an acceleration request, a deceleration request, a steering request, and a suspension height request generated by the intelligent driving system according to an environmental perception signal and a path planning signal of the vehicle.

[0080] Specifically, the vehicle motion control system receives multiple vehicle control requests through the intelligent integrated control module, which come from two main channels: vehicle control requests from human operators and vehicle control requests generated by the intelligent driving system. The following describes the receiving and processing process of these requests.

[0081] The intelligent integrated control module first receives vehicle control requests from the driver's manual operation. These requests are input to the intelligent integrated control module through hard-wired signals, including but not limited to the following types:

[0082] Acceleration request: When the driver presses the accelerator pedal, the hard-wired signal of the accelerator pedal is directly transmitted to the intelligent integrated control module, which generates an acceleration request signal based on the travel of the accelerator pedal and the driver's intention. This signal contains the target value of the acceleration torque and will be input to the module as part of the final acceleration arbitration.

[0083] Deceleration request: When the driver presses the brake pedal, the hard-wired signal of the brake pedal is transmitted to the intelligent integrated control module. The module receives the signal and generates a corresponding deceleration request according to the travel of the brake pedal to perform the vehicle's braking control.

[0084] Steering request: When the driver turns the steering wheel, the steering wheel angle signal is transmitted to the intelligent integrated control module through hard wire. The module analyzes the steering signal and generates a corresponding steering request signal based on the driver's steering intention to adjust the vehicle's driving direction.

[0085] Suspension height request: If the driver operates the suspension height adjustment button, the suspension system height request is input into the intelligent integrated control module through a hard-wired signal. After receiving the request signal, the module adjusts the vehicle's suspension height according to the driver's preference, thereby adjusting the vehicle chassis height.

[0086] In an embodiment of the present application, the intelligent integrated control module also receives vehicle control requests generated by the intelligent driving system. These requests are usually based on the vehicle's environmental perception signals and path planning signals, and are transmitted to the intelligent integrated control module through a digital communication interface. The requests generated by the intelligent driving system include but are not limited to the following types:

[0087] Acceleration request: The intelligent driving system dynamically generates acceleration requests based on real-time environmental information (such as the distance of obstacles ahead, road speed limits) and the results of path planning. This acceleration request signal is sent to the intelligent integrated control module through the communication interface for arbitration with the human-controlled acceleration request.

[0088] Deceleration request: When the intelligent driving system detects a situation that requires deceleration, such as an obstacle ahead or the vehicle is approaching a parking area, the system generates a deceleration request signal. This signal is generated based on the requirements of the path planning and the current environmental data around the vehicle, and is transmitted to the intelligent integrated control module through the digital interface.

[0089] Steering request: In the autonomous driving mode, the intelligent driving system generates a steering request signal based on the results of path planning and the perception of the surrounding environment (such as obstacles or lane information around the vehicle). This signal is transmitted to the intelligent integrated control module through the communication interface to adjust the vehicle's driving direction.

[0090] Suspension height request: The intelligent driving system generates a suspension height adjustment request in complex road conditions or different driving modes (such as off-road mode or comfort mode). The request is generated based on the ups and downs of the road or the change of driving mode, and is transmitted to the intelligent integrated control module through a signal to adjust the vehicle's suspension height to ensure the vehicle's stability and comfort.

[0091] Furthermore, after receiving the control requests generated by the above-mentioned human operation and the intelligent driving system, the intelligent integrated control module will arbitrate the same type of requests. For example, when the hard-wired signal of the accelerator pedal and the acceleration request of the intelligent driving system are received at the same time, the module will respond to one of the requests first or perform weighted processing on the requests according to the preset arbitration strategy to generate the final acceleration control signal. Similarly, deceleration, steering and suspension height requests will also generate final control signals through a similar arbitration mechanism.

[0092] Through the above-mentioned method of this embodiment, this embodiment can achieve efficient coordination between driver operation and intelligent driving system control, so that the vehicle can respond quickly in different driving modes and maintain a good driving experience and safety. This embodiment provides a way to integrate multiple request signals of human control and intelligent driving system, and realizes high integration and optimized control of the system through intelligent integrated control module. This control method can effectively reduce the complexity of the control link and improve the response speed and system efficiency of vehicle motion control.

[0093] In some embodiments, arbitrating the same type of human-operated vehicle control request and the vehicle control request generated by the intelligent driving system to generate a corresponding vehicle control signal includes:

[0094] According to the preset arbitration strategy, the acceleration request of the human operation and the acceleration request generated by the intelligent driving system are arbitrated to generate an acceleration control signal;

[0095] According to the preset arbitration strategy, the deceleration request of the manual operation and the deceleration request generated by the intelligent driving system are arbitrated to generate a deceleration control signal;

[0096] According to a preset arbitration strategy, the steering request of the human operation and the steering request generated by the intelligent driving system are arbitrated to generate a steering control signal;

[0097] According to the preset arbitration strategy, the suspension height request of manual operation and the suspension height request generated by the intelligent driving system are arbitrated to generate a suspension height control signal.

[0098] Specifically, the vehicle motion control system arbitrates the vehicle control requests from human operators and the vehicle control requests generated by the intelligent driving system through the intelligent integrated control module, and then generates the final vehicle control signal to perform the corresponding acceleration, deceleration, steering and suspension height adjustment operations. The arbitration process is based on the preset arbitration strategy to ensure that the system can select the best solution when different control requests conflict or overlap.

[0099] I. Arbitration of Requests for Acceleration

[0100] In this embodiment, the intelligent integrated control module receives acceleration requests from two sources: human-operated acceleration requests, i.e., hard-wired signal input through the accelerator pedal; and acceleration requests generated by the intelligent driving system, which are generated based on the vehicle's environmental perception information (such as road conditions ahead, speed limits, etc.) and path planning signals.

[0101] According to the preset arbitration strategy, the intelligent integrated control module first detects whether there is an emergency or special driving environment (such as an obstacle ahead or a speed limit). If these conditions are detected, the acceleration request generated by the intelligent driving system is prioritized to ensure the safety of vehicle driving. If the environmental conditions allow and there is no emergency, the system will prioritize responding to the acceleration request from manual operation. After the arbitration is completed, the system generates the final acceleration control signal and sends the signal to the drive motor through the communication interface. The drive motor adjusts the output torque according to the signal and performs the corresponding acceleration operation.

[0102] II. Arbitration of Speed ​​Reduction Requests

[0103] During vehicle driving, the intelligent integrated control module also needs to process deceleration requests from human operation and the intelligent driving system: the deceleration request from human operation is input to the control module through the hard-wired signal of the brake pedal; and the deceleration request generated by the intelligent driving system is based on the environmental perception system and the path planning system, such as detecting obstacles ahead, traffic lights or speed bumps.

[0104] When performing arbitration, the intelligent integrated control module will give priority to determining whether the request generated by the intelligent driving system has a higher priority. For example, if there is a risk of collision ahead or emergency braking is required, the system will give priority to the deceleration request generated by the intelligent driving and generate a corresponding deceleration control signal. If the intelligent driving system does not detect an emergency, the system responds to the manual deceleration request based on the travel of the brake pedal. The final deceleration signal is sent to the braking system through the communication interface, and the braking system adjusts the braking force according to the signal to achieve the deceleration operation.

[0105] III. Arbitration of the request for transfer

[0106] For vehicle steering control, the intelligent integrated control module receives two types of signals: the steering request from human operators is input through the hard-wired signal of the steering wheel angle; and the steering request generated by the intelligent driving system is based on the input from the path planning system and the environmental perception system (such as the intersection ahead and lane line information).

[0107] During steering arbitration, the intelligent integrated control module makes a judgment based on the current state of the vehicle. For example, when the intelligent driving system is enabled and detects that the vehicle needs to automatically steer to maintain the lane or avoid obstacles, the system prioritizes responding to the steering request generated by the intelligent driving system. If the driver performs active steering operations and the intelligent driving system is not in an emergency, the system prioritizes the steering request from manual operation. The arbitrated steering control signal is sent to the steering system through the communication interface, and the steering system adjusts the steering angle of the front and rear wheels according to the signal and performs the corresponding steering operation.

[0108] 4. Arbitration of suspension height requests

[0109] In an embodiment of the present application, the intelligent integrated control module is also responsible for processing suspension height adjustment requests, which include: manually controlled suspension height requests, which are input into the intelligent integrated control module through the driver's buttons; and suspension height requests generated by the intelligent driving system, which are generated based on current road conditions, driving modes (such as off-road mode, comfort mode) and environmental perception information.

[0110] The intelligent integrated control module arbitrates the two requests. In non-emergency situations, the system usually responds to the driver's input first and executes the manually controlled suspension height request. However, in certain situations, such as when the road conditions change drastically or the system detects that the vehicle has entered a special driving mode (such as off-road mode), the system will prioritize the suspension height request generated by the intelligent driving system. The final suspension height control signal is sent to the suspension system through the communication interface, and the suspension system adjusts the suspension height according to the signal to ensure the stability and driving comfort of the vehicle.

[0111] Furthermore, in the arbitration process of all these control requests, the intelligent integrated control module relies on preset arbitration strategies. These strategies are automatically adjusted according to the priorities in different scenarios. For example, when the intelligent driving system detects a road emergency (such as the risk of a forward collision), it will give priority to responding to intelligent driving requests; when the driving environment is relatively stable, it will give priority to responding to requests for manual operation. Through this flexible arbitration strategy, the system can achieve a good balance between safety and driver experience.

[0112] According to the method of the present embodiment described above, the present embodiment effectively arbitrates the vehicle control requests generated by human operation and the intelligent driving system through the intelligent integrated control module, ensuring that the vehicle can be efficiently and safely controlled in a complex driving environment. By combining the processing of acceleration, deceleration, steering and suspension height requests, the present embodiment provides an integrated and efficient vehicle motion control solution.

[0113] In some embodiments, the arbitration strategy includes:

[0114] Prioritize responses to vehicle control requests generated by the intelligent driving system when the intelligent driving system detects an emergency or a change in path planning;

[0115] Prioritize human-operated vehicle control requests when the intelligent driving system does not detect an emergency or the path planning has not changed;

[0116] When there is a conflict between the vehicle control request generated by the intelligent driving system and the vehicle control request operated by humans, arbitration is performed based on the vehicle's current state, environmental perception information and target path planning to generate a comprehensive control signal.

[0117] Specifically, the vehicle motion control system uses an intelligent integrated control module to arbitrate vehicle control requests generated by human operators and intelligent driving systems. The system's arbitration strategy is dynamically adjusted according to different driving conditions and vehicle states to ensure the best balance between safety and driving experience. Specifically, the arbitration strategy is divided into three situations, namely, giving priority to intelligent driving requests, giving priority to human requests, and generating a comprehensive control signal when the two conflict.

[0118] On the one hand, when the intelligent driving system detects that the vehicle is in an emergency or the path planning changes, the arbitration strategy will give priority to responding to the control request generated by the intelligent driving system. These emergency situations may include:

[0119] Obstacles or collision risks ahead: If the intelligent driving system detects an obstacle ahead of the vehicle through the environmental perception system, or if the path planning changes (such as emergency parking, obstacle avoidance, etc.), the intelligent integrated control module will prioritize the deceleration or steering requests generated by the intelligent driving system and ignore or delay the processing of human-operated control requests. This strategy ensures that the system can prioritize the safety of the vehicle and passengers in dangerous moments.

[0120] Dangerous road conditions: The intelligent driving system generates appropriate deceleration or steering requests based on changes in the environmental perception system (such as slippery roads, curves, etc.) or path planning. In this case, even if the driver inputs different acceleration or steering instructions, the system will still give priority to responding to the control request of the intelligent driving system, generate the final acceleration, deceleration or steering control signal, and send it to the corresponding execution system (such as the drive motor, braking system or steering system).

[0121] On the other hand, when the intelligent driving system does not detect an emergency or the path planning has not changed, the system will give priority to responding to the driver's operation. At this time, the driver's control signals such as acceleration, deceleration, steering and suspension adjustment are input into the intelligent integrated control module through hard-wired signals, and the system generates corresponding control requests based on these signals.

[0122] Acceleration operation: If the intelligent driving system does not detect any danger and the driver presses the accelerator pedal, the intelligent integrated control module will give priority to the human acceleration request and generate a corresponding acceleration control signal, which will be transmitted to the drive motor to perform the acceleration operation.

[0123] Deceleration operation: Similarly, if the driver steps on the brake pedal and the intelligent driving system has no special request, the system will generate a corresponding deceleration control signal based on the driver's braking request and transmit it to the braking system to perform a deceleration operation.

[0124] Steering operation: If the driver turns the steering wheel, the intelligent integrated control module will prioritize the steering wheel angle signal to generate a steering control signal and send it to the steering system for execution, unless the intelligent driving system has a higher priority intervention requirement.

[0125] In some cases, the driver's operation request may conflict with the request generated by the intelligent driving system. For example, when the driver tries to accelerate but the intelligent driving system detects a risk of collision ahead and generates a deceleration request, the system needs to consider the current vehicle status, environmental perception data (such as the distance of the obstacle ahead) and target path planning for arbitration. In this case, the intelligent integrated control module will combine these factors to generate the final control signal, such as reducing the acceleration torque or directly performing a deceleration operation to ensure safety.

[0126] In another example, when the vehicle is in autonomous driving mode, if the driver attempts to steer manually but the intelligent driving system requires the vehicle to keep going straight, the system will make a comprehensive judgment based on the current driving status (such as lane information, road conditions ahead). If the system believes that the driver's steering operation may cause danger (such as lane deviation or collision with other vehicles), the system may partially ignore or correct the driver's steering operation and give priority to the intelligent driving request to keep the vehicle going straight.

[0127] In the above conflict situations, the intelligent integrated control module generates the final integrated control signal through comprehensive evaluation of the vehicle's current state, environmental perception information (such as vehicle speed, surrounding obstacles, road conditions) and target path planning. This signal can be either a partial correction to the intelligent driving system's request or a partial intervention in the driver's operation to ensure driving safety and vehicle stability.

[0128] In either case, the final vehicle control signal will be transmitted to the corresponding execution system through the intelligent integrated control module after arbitration: the acceleration signal is transmitted to the drive motor; the deceleration signal is transmitted to the braking system; the steering signal is transmitted to the steering system; and the suspension adjustment signal is transmitted to the suspension system.

[0129] This comprehensive signal not only ensures that the system achieves optimal arbitration between the driver and the intelligent driving system's requests, but also effectively responds to conflicts in emergency situations and complex scenarios, ensuring a reasonable balance between the safety of vehicle movement and the driver's operating intentions.

[0130] This embodiment describes an arbitration strategy based on intelligent driving system and human operation requests. When processing control requests in different driving scenarios, the system can flexibly respond to emergency situations, changes in path planning, and conflicts in driver operations, and generate the best comprehensive control signal. Through this intelligent arbitration mechanism, the vehicle motion control system can ensure driving safety, improve driving experience, and maintain the efficiency and intelligence of system response.

[0131] Furthermore, in some embodiments, the embodiments of the present application also provide a compensation strategy after arbitrating the vehicle control request. The specific content of the compensation strategy of the present application is described below with reference to specific examples, which may specifically include the following two situations:

[0132] Scenario 1: When a human driver requests control, the integrated module checks the surrounding environment. When it is confirmed that there is no danger, it directly responds to the human driver's request. When there is a risk, it increases or decreases the control parameters to compensate, reminds the user, and sends the adjusted control parameters to the execution module.

[0133] Scenario 2: When the driver requests control, the manual operation does not meet the frame motion control request. The manual operation adjusts the motion control through acceleration or steering compensation. The integrated module arbitrates vehicle control and human control. When there is no risk of surrounding collision, human control compensation is added on the basis of vehicle control, and vehicle control parameters are learned to form a habit of satisfactory human operation.

[0134] In some embodiments, sending the vehicle control signal to a corresponding vehicle control system so that the vehicle control system performs a corresponding vehicle control operation according to the vehicle control signal includes:

[0135] Transmitting the acceleration control signal to the drive motor control system so that the drive motor control system adjusts the output torque according to the acceleration control signal;

[0136] The deceleration control signal is transmitted to the brake system so that the brake system controls the vehicle to brake according to the deceleration control signal;

[0137] The steering control signal is transmitted to the steering system so that the steering system adjusts the steering angles of the front and rear wheels according to the steering control signal;

[0138] The suspension height control signal is transmitted to the suspension system so that the suspension system adjusts the suspension height of the vehicle according to the suspension height control signal.

[0139] Specifically, the vehicle motion control system generates and sends vehicle control signals through the intelligent integrated control module, and these control signals are transmitted to various vehicle control systems to perform corresponding control operations. The system transmits control signals for vehicle acceleration, deceleration, steering and suspension height to the corresponding execution modules to ensure that the vehicle can respond to control commands efficiently and accurately under different driving conditions. The specific implementation of these signal transmission and execution processes is described in detail below.

[0140] 1. Accelerate the transmission and execution of control signals

[0141] In this embodiment, when the intelligent integrated control module generates an acceleration control signal, the signal will be transmitted to the drive motor control system. The acceleration control signal is based on the driver's accelerator pedal operation or the acceleration request of the intelligent driving system, and the final acceleration torque output is determined after arbitration.

[0142] Transmission process: The acceleration control signal is transmitted to the drive motor control system through the communication interface. The communication interface can use the vehicle bus protocol (such as CAN, CAN FD, etc.) for real-time transmission to ensure that the signal reaches the drive motor control system within milliseconds.

[0143] Execution process: The drive motor control system adjusts the output torque of the drive motor according to the received acceleration control signal. Specifically, the control system adjusts the power output of the motor to increase or decrease the driving force, thereby achieving the acceleration operation of the vehicle.

[0144] For example, in a normal acceleration scenario, the intelligent integrated control module will generate a corresponding acceleration request based on the travel of the accelerator pedal and transmit it to the drive motor through a control signal to execute the acceleration operation. In an emergency, the system may give priority to responding to the acceleration request of the intelligent driving system to ensure safety.

[0145] 2. Transmission and execution of deceleration control signal

[0146] For deceleration, the ICM generates a deceleration control signal and transmits it to the brake system. This signal can come from a hard-wired signal from the driver pressing the brake pedal, or from an automatic braking request from the intelligent driving system (such as emergency braking to avoid a collision).

[0147] Transmission process: The deceleration control signal is transmitted to the braking system through the communication interface. The braking system adjusts the vehicle's braking force according to the deceleration request value in the signal.

[0148] Execution process: The braking system adjusts the brake pressure according to the deceleration control signal received, so that the vehicle produces the corresponding deceleration. The braking system can be an electronic braking system (EBS) or a traditional hydraulic braking system, and its specific execution mechanism will adjust the braking force distribution in real time according to the received signal.

[0149] For example, when the driver steps on the brake pedal, the system transmits the braking request to the braking system through the deceleration control signal, and the braking system generates the corresponding braking force according to the brake pedal travel. When the intelligent driving system detects the risk of collision, the system will actively generate a deceleration control signal based on the environmental perception signal and perform automatic braking.

[0150] 3. Transmission and execution of steering control signals

[0151] In this embodiment, the steering control signal generated by the intelligent integrated control module is used to adjust the steering angle of the vehicle, and the signal is based on the driver's steering wheel operation or the path planning request of the intelligent driving system.

[0152] Transmission process: The steering control signal is transmitted to the steering system through the communication interface, which may be an electronic power steering system (EPS) or an active steering system (AS). The system adjusts the steering angle of the front and rear wheels based on the signal.

[0153] Execution process: The steering system adjusts the steering angle of the front wheels (or in some cases, the rear wheels) according to the steering control signal received. The system uses the motor-driven power assist device to implement the corresponding steering operation according to the steering angle command in the signal.

[0154] For example, when the driver turns the steering wheel, the intelligent integrated control module generates a steering control signal based on the steering wheel angle. After the signal is transmitted to the steering system, the steering system adjusts the steering angle of the front and rear wheels of the vehicle according to the angle signal. Similarly, in the autonomous driving mode, the intelligent driving system automatically generates a steering request based on the path planning and adjusts the direction of the vehicle through the control signal.

[0155] 4. Transmission and execution of suspension height control signals

[0156] For suspension height adjustment, the intelligent integrated control module generates a suspension height control signal and transmits it to the suspension system. The control signal may be generated based on the driver's suspension height adjustment operation or an automatic adjustment request issued by the intelligent driving system based on road conditions or driving modes (such as off-road mode, sports mode, etc.).

[0157] Transmission process: The suspension height control signal is transmitted to the suspension system through the communication interface. This signal is used to adjust the vehicle's suspension height to adapt to different road conditions and driving conditions.

[0158] Implementation: The suspension system uses electronic or pneumatic control devices to adjust the vehicle's suspension height based on the height control signal received. For example, in off-road mode, the system may raise the vehicle's suspension height to cope with rough roads; while at high speeds, the system may lower the suspension height to enhance stability.

[0159] For example, when the driver uses the suspension adjustment button, the system will generate a corresponding suspension height control signal and transmit it to the suspension system, and the system will adjust the suspension height according to the signal. Similarly, when the intelligent driving system detects a specific driving mode (such as switching to sports mode), it will actively generate a suspension adjustment request.

[0160] This embodiment describes in detail the transmission and execution process of acceleration, deceleration, steering and suspension height control signals in the vehicle motion control system. The intelligent integrated control module generates corresponding control signals and transmits them to each execution system by receiving requests from the driver or the intelligent driving system, ensuring that the vehicle can accurately perform acceleration, deceleration, steering and suspension height adjustment operations, thereby optimizing the driving experience and ensuring the safety of vehicle driving.

[0161] In some embodiments, when the vehicle is in a braking scenario, the vehicle's environmental perception signal and vehicle status information are monitored in real time, and the vehicle control signal is updated based on the monitoring result, including:

[0162] When the user steps on the brake pedal, the environmental conditions around the vehicle are judged based on the environmental perception signal. When the vehicle is in a safe environment, a corresponding deceleration control signal is generated according to the travel of the brake pedal; when the vehicle is in an unsafe environment, the deceleration control signal is dynamically adjusted according to the safe distance between the front and rear vehicles;

[0163] When the user does not step on the brake pedal, a judgment is made based on the environmental perception signal and the path planning signal. When a collision risk is identified ahead, a deceleration control signal is generated and a reminder is sent to the user. When the path planning detects that the road ahead has changed, a deceleration control signal is generated and the user is reminded to take corresponding actions.

[0164] Specifically, when the vehicle is in a braking scenario, the vehicle motion control system monitors the vehicle's environmental perception signals and vehicle status information in real time through the intelligent integrated control module, and dynamically updates the vehicle's deceleration control signal based on these monitoring results. This process can generate appropriate deceleration control signals based on the vehicle's current environmental conditions, driver operations, and the planning results of the intelligent driving system, thereby ensuring that the vehicle decelerates under safe conditions and reminding the driver to take action when necessary.

[0165] 1. When the driver actively steps on the brake pedal

[0166] a) The vehicle is in a safe environment

[0167] When the driver actively steps on the brake pedal, the intelligent integrated control module will judge the environmental conditions around the vehicle based on the environmental perception signal. If the judgment result shows that the environment around the vehicle is in a safe state (for example, there are no obstacles in front and behind or the vehicle is in normal driving state), the system will generate a corresponding deceleration control signal according to the travel of the brake pedal.

[0168] Signal generation process: When the driver presses the brake pedal, the hard-wired signal of the brake pedal is input to the intelligent integrated control module. The module combines the safety information sent back by the environmental perception system to generate a deceleration control signal corresponding to the pedal travel.

[0169] Execution process: The signal is transmitted to the brake system through the communication interface, and the brake system adjusts the braking force of the vehicle according to the signal to decelerate the vehicle smoothly. This process ensures that the vehicle decelerates appropriately according to the driver's instructions in a safe environment.

[0170] b) The vehicle is in an unsafe environment

[0171] If the environmental perception system detects an unsafe environment through sensors, such as an obstacle ahead or a vehicle behind is too close, the intelligent integrated control module will dynamically adjust the deceleration control signal based on these risk factors.

[0172] Dynamic adjustment process: In this case, the intelligent integrated control module not only generates a deceleration signal based on the travel of the brake pedal, but also adjusts it according to the safe distance between the front and rear vehicles. If there is an obstacle in front, the system will increase the deceleration request value to avoid a collision; if there is a vehicle following too closely behind, the system may appropriately reduce the deceleration to avoid a rear-end collision with the rear vehicle.

[0173] Execution process: The adjusted deceleration control signal will also be transmitted to the braking system. The system adjusts the braking force according to the adjusted signal to ensure safe deceleration of the vehicle.

[0174] 2. When the driver does not step on the brake pedal

[0175] a) There is a risk of collision

[0176] When the driver does not step on the brake pedal, the intelligent integrated control module monitors the road conditions ahead in real time through the environmental perception system. When the system identifies a potential collision risk ahead (such as a sudden deceleration of the vehicle ahead or the sudden appearance of an obstacle), the system will actively generate a deceleration control signal and issue a warning to the driver.

[0177] Risk detection and signal generation: When the environmental perception system identifies danger ahead, the intelligent integrated control module automatically generates a deceleration request signal without the driver having to operate the brake pedal. This signal is transmitted to the braking system through the communication interface, and the braking system automatically performs a deceleration operation based on the signal.

[0178] User reminder: While generating the deceleration signal, the system will issue a collision warning to the driver through the instrument panel or other human-machine interface, reminding him to take further braking action or perform evasive action.

[0179] b) Changes in the road ahead

[0180] When the driver does not step on the brake pedal and the path planning system recognizes changes in the road ahead, such as a curve, a sharp slope or road construction ahead, the intelligent integrated control module will also actively generate a deceleration request signal.

[0181] Path planning detection and signal generation: The path planning system updates the road conditions ahead in real time. When a road change that requires deceleration (such as a sharp turn or a ramp) is detected, the system will generate a corresponding deceleration control signal and transmit it to the braking system to ensure that the vehicle decelerates in a timely manner.

[0182] User reminder: At the same time, the system will remind the driver of changes in road conditions ahead through the human-computer interaction interface, prompting the driver to take appropriate actions to avoid potential dangers.

[0183] 3. Coordination of intelligent integrated control module

[0184] In the entire braking scenario, the intelligent integrated control module realizes intelligent control of the vehicle deceleration process by integrating environmental perception signals, driver operations and path planning information:

[0185] When the driver is actively operating, the system prioritizes the driver's intention, but dynamically adjusts the deceleration signal when danger is detected;

[0186] When the driver does not take active action, the system can proactively generate deceleration requests and issue warning reminders through environmental perception and path planning information.

[0187] This dynamic adjustment mechanism ensures that the vehicle can always be in a safe deceleration state under complex road conditions and different driving conditions, which not only improves driving safety but also enhances the vehicle's automated control capabilities.

[0188] This embodiment describes in detail how the intelligent integrated control module dynamically generates and adjusts the deceleration control signal based on environmental perception signals, path planning information, and driver operations when the vehicle is in a braking scenario. This intelligent braking control method can not only ensure that the driver decelerates normally in a safe environment, but also automatically intervene in the vehicle's deceleration operation in potentially dangerous situations, significantly improving the safety of vehicle driving.

[0189] In some embodiments, dynamically adjusting the motion model of the vehicle includes:

[0190] In the case of an emergency turn of the vehicle, the deceleration parameter carried by the deceleration request of each wheel is adjusted to adjust the deceleration degree of each wheel, the steering angle of the vehicle is adjusted by the steering system, and the suspension height is adjusted by the suspension system;

[0191] The vehicle's motion model is dynamically adjusted according to different preset driving modes. In comfort mode, the vehicle speed and suspension height are reduced based on user requests and environmental perception information around the vehicle. In sports mode, the vehicle speed and suspension height are optimized without causing a collision or rollover.

[0192] Specifically, the vehicle motion control system dynamically adjusts the vehicle's motion model through an intelligent integrated control module. Especially when the vehicle makes an emergency turn or is controlled according to different driving modes, the system can adjust various parameters of the vehicle in real time to ensure driving safety and stability. This part of the technical solution is described in detail below.

[0193] 1. Dynamic adjustment in emergency turning situations

[0194] When a vehicle encounters an emergency turn during driving, the intelligent integrated control module needs to coordinate and control multiple systems of the vehicle to ensure the stability and safety of the vehicle in an emergency. This adjustment includes comprehensive control of wheel deceleration requests, steering systems, and suspension systems.

[0195] a) Deceleration control for each wheel

[0196] During emergency turns, the intelligent integrated control module controls the deceleration request for each wheel based on real-time environmental perception information and the driver's steering operation.

[0197] Control process: The intelligent integrated control module obtains the current driving state of the vehicle through the environmental perception system, and generates different deceleration request signals for each wheel according to the turning angle and steering force. Usually, in emergency turns, the deceleration request of the outer wheels is smaller, while the deceleration request of the inner wheels is larger to ensure that the vehicle can turn smoothly and avoid skidding or loss of control.

[0198] Implementation process: These deceleration request signals are transmitted to the braking system, which adjusts the braking force according to the deceleration request of each wheel to ensure that the vehicle maintains the best turning trajectory and stability during the turn.

[0199] b) Adjustment of steering system

[0200] While handling emergency turns, the intelligent integrated control module also controls the steering system and adjusts the steering angles of the vehicle's front and rear wheels.

[0201] Control process: Based on the driver's steering operation and the turning requirements of the path planning system, the intelligent integrated control module accurately controls the steering angle of the front wheels to ensure that the vehicle can turn at the expected angle. In addition, in some vehicles, the rear wheels also have a certain steering ability. The module will control the steering of the rear wheels at the same time according to the vehicle's speed and turning angle to further enhance the stability of the turn.

[0202] Implementation process: These steering angle signals are transmitted to the steering system through the communication interface. The system adjusts the angles of the front and rear wheels according to the received signals to achieve smooth and safe steering of the vehicle.

[0203] c) Adjustment of the suspension system

[0204] In order to maintain the vehicle's body stability during emergency turns, the intelligent integrated control module also dynamically adjusts the vehicle's suspension system.

[0205] Control process: When making an emergency turn, the system will automatically adjust the suspension height according to the vehicle's speed, steering angle and road conditions. Usually at high speeds or sharp turns, the suspension system will lower the vehicle body height to reduce the risk of tilting and rolling over.

[0206] Execution process: The suspension height adjustment signal is transmitted to the suspension system. The system adjusts the height of the vehicle suspension according to the received signal to ensure the stability of the vehicle body during cornering.

[0207] Through the joint control of wheel deceleration requests, steering system and suspension system, the intelligent integrated control module can ensure that the vehicle can complete steering operations safely and stably during emergency turns, avoiding the risk of vehicle loss of control or rollover.

[0208] 2. Dynamically adjust the vehicle motion model according to the driving mode

[0209] The intelligent integrated control module can also dynamically adjust the vehicle's motion model according to different preset driving modes to adapt to different driving needs, including the control of vehicle speed, suspension height and other parameters.

[0210] a) Comfort mode

[0211] In Comfort mode, the system prioritizes driving smoothness and comfort, so adjustments need to be made to vehicle speed and suspension height.

[0212] Speed ​​adjustment: The intelligent integrated control module will appropriately reduce the vehicle's driving speed based on user requests and surrounding environmental perception information. The system automatically adjusts the speed based on environmental perception data (such as road conditions and distance to obstacles ahead) to ensure smooth driving of the vehicle and reduce vibration and noise.

[0213] Suspension height adjustment: At the same time, the suspension system will lower the vehicle suspension height to further reduce the shaking and vibration of the vehicle body and improve the comfort of the ride in the vehicle. The intelligent integrated control module will transmit the appropriate suspension height control signal to the suspension system according to the driving mode signal, and the system will perform the operation of lowering the suspension height.

[0214] b) Sports Mode

[0215] In sport mode, the system prioritizes the vehicle's dynamic performance and driving experience, so it optimizes the vehicle's speed and suspension height to ensure a more intense driving experience while ensuring vehicle safety.

[0216] Speed ​​Optimization: The intelligent integrated control module allows the vehicle to travel at a higher speed while ensuring safety, while providing more sensitive acceleration response and steering control. The system monitors the surrounding conditions in real time through the environmental perception system, and maximizes the vehicle's dynamic performance while avoiding collisions or rollovers.

[0217] Suspension height adjustment: In sport mode, the suspension system usually adjusts the suspension height to improve the vehicle's grip and stability. The intelligent integrated control module lowers the suspension height through control signals to ensure that the vehicle is more stable at high speeds and reduce body roll during cornering or other rapid operations.

[0218] This embodiment describes in detail how the intelligent integrated control module dynamically adjusts the vehicle's motion model to ensure safety and driving experience in emergency turns or different driving modes. Through the deceleration request for each wheel, the joint control of the steering system and the suspension system, the system can effectively control the vehicle's posture and stability in emergency turns; and in different driving modes, the intelligent integrated control module can dynamically adjust the vehicle's speed and suspension height to achieve comfortable or sporty driving needs. This dynamic adjustment mechanism improves the vehicle's safety, driving comfort and driving experience.

[0219] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0220] Figure 4 Schematic diagram of the structure of the vehicle motion control device provided in the embodiment of the present application. Figure 4 As shown, the whole vehicle motion control device includes:

[0221] The receiving module 401 is configured to receive a plurality of vehicle control requests, wherein the vehicle control requests include vehicle control requests manually operated and vehicle control requests generated by the intelligent driving system;

[0222] An arbitration module 402 is configured to arbitrate the same type of human-operated vehicle control requests and vehicle control requests generated by the intelligent driving system, and generate corresponding vehicle control signals;

[0223] The sending module 403 is configured to send the vehicle control signal to the corresponding vehicle control system so that the vehicle control system performs the corresponding vehicle control operation according to the vehicle control signal;

[0224] The adjustment module 404 is configured to monitor the vehicle's environmental perception signals and vehicle status information in real time during the movement of the vehicle, update the vehicle control signals based on the monitoring results, and dynamically adjust the vehicle's motion model.

[0225] In some embodiments, Figure 4 The receiving module 401 receives vehicle control requests generated by human operation, wherein the vehicle control requests generated by human operation include acceleration requests input by hard-wired signals of an accelerator pedal, deceleration requests input by hard-wired signals of a brake pedal, steering requests input by hard-wired signals of a steering wheel, and suspension height requests input by hard-wired signals of a suspension height adjustment button; and receives vehicle control requests generated by an intelligent driving system, wherein the vehicle control requests generated by the intelligent driving system include acceleration requests, deceleration requests, steering requests, and suspension height requests generated by the intelligent driving system according to environmental perception signals and path planning signals of the vehicle.

[0226] In some embodiments, Figure 4 The arbitration module 402 arbitrates the acceleration request of manual operation and the acceleration request generated by the intelligent driving system according to the preset arbitration strategy, and generates an acceleration control signal; arbitrates the deceleration request of manual operation and the deceleration request generated by the intelligent driving system according to the preset arbitration strategy, and generates a deceleration control signal; arbitrates the steering request of manual operation and the steering request generated by the intelligent driving system according to the preset arbitration strategy, and generates a steering control signal; and arbitrates the suspension height request of manual operation and the suspension height request generated by the intelligent driving system according to the preset arbitration strategy, and generates a suspension height control signal.

[0227] In some embodiments, Figure 4 The arbitration module 402 gives priority to responding to the vehicle control request generated by the intelligent driving system when the intelligent driving system detects an emergency situation or a change in the path planning; gives priority to responding to the vehicle control request generated by manual operation when the intelligent driving system does not detect an emergency situation or the path planning does not change; when there is a conflict between the vehicle control request generated by the intelligent driving system and the vehicle control request generated by manual operation, arbitration is performed in combination with the current state of the vehicle, environmental perception information and target path planning to generate a comprehensive control signal.

[0228] In some embodiments, Figure 4 The sending module 403 transmits the acceleration control signal to the drive motor control system, so that the drive motor control system adjusts the output torque according to the acceleration control signal; transmits the deceleration control signal to the braking system, so that the braking system controls the vehicle to brake according to the deceleration control signal; transmits the steering control signal to the steering system, so that the steering system adjusts the steering angles of the front and rear wheels according to the steering control signal; transmits the suspension height control signal to the suspension system, so that the suspension system adjusts the suspension height of the vehicle according to the suspension height control signal.

[0229] In some embodiments, when the vehicle is in a braking scenario, Figure 4 When the user steps on the brake pedal, the adjustment module 404 determines the environmental conditions around the vehicle based on the environmental perception signal, wherein when the vehicle is in a safe environment, a corresponding deceleration control signal is generated according to the travel of the brake pedal; when the vehicle is in an unsafe environment, the deceleration control signal is dynamically adjusted according to the safe distance between the front and rear vehicles; when the user does not step on the brake pedal, a judgment is made based on the environmental perception signal and the path planning signal, wherein when it is identified that there is a risk of collision ahead, a deceleration control signal is generated and a reminder is sent to the user, and when the path planning detects that the road ahead has changed, a deceleration control signal is generated and the user is reminded to take corresponding actions.

[0230] In some embodiments, Figure 4 The adjustment module 404 adjusts the deceleration parameters carried by the deceleration request of each wheel to adjust the deceleration degree of each wheel when the vehicle makes an emergency turn, adjusts the steering angle of the vehicle using the steering system, and adjusts the suspension height using the suspension system; dynamically adjusts the vehicle's motion model according to different preset driving modes, wherein in the comfort mode, the vehicle speed and suspension height are reduced based on user requests and environmental perception information around the vehicle; in the sports mode, the vehicle speed and suspension height are optimized without causing a collision or rollover.

[0231] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0232] Figure 5 Schematic diagram of the structure of the electronic device 5 provided in the embodiment of the present application. Figure 5As shown, the electronic device 5 of this embodiment includes: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program 503, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 501 executes the computer program 503, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0233] Exemplarily, the computer program 503 may be divided into one or more modules / units, which are stored in the memory 502 and executed by the processor 501 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 503 in the electronic device 5.

[0234] The electronic device 5 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that Figure 5 It is only an example of the electronic device 5 and does not constitute a limitation of the electronic device 5. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0235] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0236] The memory 502 may be an internal storage unit of the electronic device 5, for example, a hard disk or memory of the electronic device 5. The memory 502 may also be an external storage device of the electronic device 5, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 5. Further, the memory 502 may also include both an internal storage unit of the electronic device 5 and an external storage device. The memory 502 is used to store computer programs and other programs and data required by the electronic device. The memory 502 may also be used to temporarily store data that has been output or is to be output.

[0237] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0238] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0239] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0240] In the embodiments provided in the present application, it should be understood that the disclosed devices / computer equipment and methods can be implemented in other ways. For example, the device / computer equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0241] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0242] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0243] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0244] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle motion control method, characterized in that: include: Receiving multiple vehicle control requests, wherein the vehicle control requests include vehicle control requests manually operated and vehicle control requests generated by an intelligent driving system; arbitrating the same type of manually operated vehicle control request and the vehicle control request generated by the intelligent driving system, and generating a corresponding vehicle control signal; Sending the vehicle control signal to a corresponding vehicle control system so that the vehicle control system performs a corresponding vehicle control operation according to the vehicle control signal; During the movement of the vehicle, the environmental perception signal and vehicle status information of the vehicle are monitored in real time, the vehicle control signal is updated based on the monitoring results, and the movement model of the vehicle is dynamically adjusted.

2. The method according to claim 1, characterized in that The receiving of multiple vehicle control requests includes: receiving the manually operated vehicle control request, wherein the manually operated vehicle control request includes an acceleration request inputted by a hard-line signal of an accelerator pedal, a deceleration request inputted by a hard-line signal of a brake pedal, a steering request inputted by a hard-line signal of a steering wheel, and a suspension height request inputted by a hard-line signal of a suspension height adjustment button; Receive a vehicle control request generated by the intelligent driving system, wherein the vehicle control request generated by the intelligent driving system includes an acceleration request, a deceleration request, a steering request, and a suspension height request generated by the intelligent driving system according to an environmental perception signal and a path planning signal of the vehicle.

3. The method according to claim 1, characterized in that The arbitrating the same type of manually operated vehicle control request and the vehicle control request generated by the intelligent driving system to generate a corresponding vehicle control signal includes: According to the preset arbitration strategy, the acceleration request of the human operation and the acceleration request generated by the intelligent driving system are arbitrated to generate an acceleration control signal; According to the preset arbitration strategy, the deceleration request of the manual operation and the deceleration request generated by the intelligent driving system are arbitrated to generate a deceleration control signal; According to a preset arbitration strategy, the steering request of the human operation and the steering request generated by the intelligent driving system are arbitrated to generate a steering control signal; According to the preset arbitration strategy, the suspension height request of manual operation and the suspension height request generated by the intelligent driving system are arbitrated to generate a suspension height control signal.

4. The method according to claim 3, characterized in that The arbitration strategy includes: In the event that the intelligent driving system detects an emergency or a change in path planning, giving priority to responding to a vehicle control request generated by the intelligent driving system; When the intelligent driving system does not detect an emergency situation or the path planning does not change, giving priority to responding to the human-operated vehicle control request; When there is a conflict between the vehicle control request generated by the intelligent driving system and the vehicle control request of the manual operation, arbitration is performed in combination with the current state of the vehicle, environmental perception information and target path planning to generate a comprehensive control signal.

5. The method according to claim 3, characterized in that: The step of sending the vehicle control signal to a corresponding vehicle control system so that the vehicle control system performs a corresponding vehicle control operation according to the vehicle control signal includes: transmitting the acceleration control signal to a drive motor control system so that the drive motor control system adjusts the output torque according to the acceleration control signal; transmitting the deceleration control signal to a braking system so that the braking system controls the vehicle to brake according to the deceleration control signal; transmitting the steering control signal to a steering system so that the steering system adjusts the steering angles of the front and rear wheels according to the steering control signal; The suspension height control signal is transmitted to a suspension system so that the suspension system adjusts the suspension height of the vehicle according to the suspension height control signal.

6. The method according to claim 1, characterized in that When the vehicle is in a braking scenario, real-time monitoring of the vehicle's environmental perception signal and vehicle status information, and updating the vehicle control signal based on the monitoring result, include: When the user steps on the brake pedal, the environmental conditions around the vehicle are judged based on the environmental perception signal. When the vehicle is in a safe environment, a corresponding deceleration control signal is generated according to the travel of the brake pedal; when the vehicle is in an unsafe environment, the deceleration control signal is dynamically adjusted according to the safe distance between the front and rear vehicles; When the user does not step on the brake pedal, a judgment is made based on the environmental perception signal and the path planning signal. When a collision risk is identified ahead, a deceleration control signal is generated and a reminder is sent to the user. When the path planning detects that the road ahead has changed, a deceleration control signal is generated and the user is reminded to take corresponding actions.

7. The method according to claim 1, characterized in that The dynamically adjusting the motion model of the vehicle includes: In the case of an emergency turn of the vehicle, the deceleration parameter carried by the deceleration request of each wheel is adjusted to adjust the deceleration degree of each wheel, the steering angle of the vehicle is adjusted by the steering system, and the suspension height is adjusted by the suspension system; The vehicle's motion model is dynamically adjusted according to different preset driving modes. In comfort mode, the vehicle speed and suspension height are reduced based on user requests and environmental perception information around the vehicle. In sports mode, the vehicle speed and suspension height are optimized without causing a collision or rollover.

8. A vehicle motion control device, characterized in that: include: A receiving module is configured to receive a plurality of vehicle control requests, wherein the vehicle control requests include vehicle control requests manually operated and vehicle control requests generated by an intelligent driving system; an arbitration module, configured to arbitrate the same type of the manually operated vehicle control request and the vehicle control request generated by the intelligent driving system, and generate a corresponding vehicle control signal; a sending module, configured to send the vehicle control signal to a corresponding vehicle control system, so that the vehicle control system performs a corresponding vehicle control operation according to the vehicle control signal; The adjustment module is configured to monitor the vehicle's environmental perception signals and vehicle status information in real time during the movement of the vehicle, update the vehicle control signals based on the monitoring results, and dynamically adjust the vehicle's motion model.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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