Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicles, and discloses a vehicle control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the communication state of an ADS in a process of detecting the activation of an AEB; when the communication state of the ADS is abnormal and the continuous frame number is larger than the preset frame number, the target execution torque of any frame in the last N frames when it is detected that the communication state of the ADS is abnormal is obtained, and N is an integer; and according to the target execution torque, the vehicle is controlled to be braked and stopped. By means of the technical scheme, it can be guaranteed that the AEB is continuously triggered so that the vehicle can be safely braked, and collision accidents caused by accidental interruption in the AEB process are avoided.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and specifically to a vehicle control method, device, vehicle, and storage medium. Background Art

[0002] With the rapid development of autonomous driving technology, more and more autonomous driving systems (ADS) are integrated into modern vehicles. Among them, the automatic emergency braking system (AEB) as a key safety function can automatically activate the brakes when a collision risk occurs, reducing or avoiding collision accidents.

[0003] When the AEB automatic emergency braking function is triggered, the AEB function may fail or be interrupted due to frame loss, interruption, or verification abnormality in the communication between the ADS intelligent driving domain controller and the electronic stability control system (ESC) brake controller.

[0004] Therefore, how to prevent the vehicle from failing to stop in time, thereby posing a threat to the safety of the vehicle, has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the above problems, the embodiments of the present invention provide a vehicle control method, device, vehicle and storage medium, which are used to solve the problem in the prior art that the vehicle fails to stop in time, posing a threat to the safety of the vehicle.

[0006] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, the method comprising:

[0007] When the automatic emergency braking system AEB is detected to be activated, the communication status of the automatic driving system ADS is obtained;

[0008] When the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, obtaining a target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, where N is an integer;

[0009] The vehicle is controlled to perform a brake stop process according to the target execution torque.

[0010] According to another aspect of an embodiment of the present invention, there is provided a vehicle control device, comprising:

[0011] A first acquisition module is used to acquire the communication status of the automatic driving system ADS when the automatic emergency braking system AEB is detected to be activated;

[0012] A second acquisition module is used to acquire, when the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, a target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, where N is an integer;

[0013] The control module is used to control the vehicle to perform a braking process according to the target execution torque.

[0014] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0015] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle control method.

[0016] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables a vehicle control device / vehicle to perform operations of a vehicle control method.

[0017] According to another aspect of an embodiment of the present invention, a computer program product is provided, characterized in that it includes a computer program, and when the computer program is executed by a processor, the vehicle control device / vehicle executes the above-mentioned vehicle control method.

[0018] The embodiment of the present invention obtains the communication status of ADS during the process of detecting AEB activation; when the communication status of ADS is abnormal and the number of continuous frames is greater than the preset number of frames, the target execution torque of any frame in the last N frames when the communication status of ADS is detected to be abnormal is obtained, where N is an integer; and the vehicle is controlled to brake according to the target execution torque. By applying the technical solution of the present invention, during the process of AEB activation, it is possible to detect that the ADS communication is abnormal and the abnormality lasts for more than a certain number of frames, and it is determined that the current communication status cannot work normally and an emergency response is required. At this time, the target execution torque in the data of the last N frames is obtained to adjust the braking force to ensure that the vehicle can still stop safely in the case of ADS communication abnormality, thereby preventing the risk of accidents caused by communication failures.

[0019] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0021] Figure 1 A schematic diagram showing the interaction principle between ADS and ESC provided by the present invention is shown;

[0022] Figure 2 A flow chart showing a first embodiment of a vehicle control method provided by the present invention;

[0023] Figure 3 A flow chart showing a second embodiment of a vehicle control method provided by the present invention;

[0024] Figure 4 A schematic diagram of the interaction between the ADS and ESC torque signal request interfaces provided by the present invention is shown;

[0025] Figure 5 A schematic structural diagram of an embodiment of a vehicle control device provided by the present invention is shown;

[0026] Figure 6 A schematic structural diagram of an embodiment of a vehicle provided by the present invention is shown. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0028] With the rapid development of autonomous driving technology, more and more ADS are integrated into modern vehicles. AEB, as a key safety function, can automatically activate the brakes when a collision risk occurs to reduce or avoid collision accidents. The AEB system usually works together with the ADS intelligent driving domain controller and the ESC brake controller, relying on real-time data exchange and precise collaboration between them to perform braking operations.

[0029] However, in actual applications, the AEB system may face multiple potential problems during the triggering process, especially during the communication between the ADS intelligent driving domain controller and the ESC brake controller. Due to various factors (such as long-term frame loss, large communication delay, and cyclic redundancy check (CRC) abnormalities, etc.), the system may not be able to respond correctly, causing the AEB function to fail or be interrupted.

[0030] Especially in emergency situations, this failure may cause the vehicle to fail to stop in time, increasing the risk of collision and posing a threat to vehicle safety.

[0031] Based on the above technical problems, the technical concept of the present invention is as follows: during the communication process between the ADS intelligent driving domain controller and the ESC brake controller, due to a communication failure, the braking information cannot be received when the AEB automatic emergency braking function is triggered. At this time, if the execution torque in the frame before the communication failure is used as the execution torque of AEB, the vehicle can continue to stop and reduce the risk of collision of the vehicle.

[0032] Figure 1 The schematic diagram of the interaction principle between ADS and ESC provided by the present invention is shown as follows: Figure 1 As shown, the schematic diagram includes: an ADS domain controller and an ESC controller.

[0033] In this implementation, there is a Serial Peripheral Interface (SPI) communication between the System on Chip (SOC) and the Microcontroller Unit (MCU) in the ADS domain controller;

[0034] The ADS domain controller and the ESC controller communicate via Controller Area Network Flexible Data-rate (CANFD);

[0035] In the ESC controller part (including intelligent Electronic Parking Brake (iEPB)), the communication verification is detected in real time to see if there is any abnormality, and the result is transmitted to ESC_ECU; then the logic is implemented and judged. When there is no abnormality in the communication verification, the AEB responds to the logic normally. If the communication verification is abnormal, the AEB responds to the abnormal logic (1, based on the last frame enable and braking torque execution; 2, does not exit the ESC response interface until the vehicle stops; 3, finally pulls up the Electronic Parking Brake (EPB)).

[0036] The technical solution of the present invention is described in detail below through specific embodiments. The implementation subject of the present invention is a vehicle, specifically a controller in the vehicle, specifically an ESC controller.

[0037] It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0038] Figure 2 FIG. 1 is a flow chart showing a first embodiment of a vehicle control method provided by the present invention, wherein the method is executed by a vehicle. Figure 2 As shown, the method comprises the following steps:

[0039] Step 21, when detecting the activation of AEB, obtaining the communication status of ADS;

[0040] In this step, AEB works based on real-time perception of the vehicle's surroundings. When sensors (such as radar, lidar, camera, etc.) detect an obstacle ahead and the system determines that there is a risk of collision, AEB will be activated.

[0041] However, in ADS, the data from the above sensors needs to be transmitted in a timely manner in the vehicle communication network to ensure that AEB can quickly determine the risk of collision and activate. Communication problems such as communication delays or data loss will affect the response speed of AEB, which in turn affects the calculation and execution of braking torque.

[0042] Therefore, when detecting the activation of AEB, it is necessary to obtain the communication status of ADS in real time.

[0043] Optionally, the communication status of ADS can be classified as normal or abnormal. The abnormal situations may be: communication delay, communication packet loss or data loss, communication interruption, verification abnormality, etc.

[0044] Step 22, when the communication state of the ADS is abnormal and the number of continuous frames is greater than the preset number of frames, obtaining the target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal;

[0045] Wherein, N is an integer;

[0046] In this step, when it is detected that the communication status of the ADS is abnormal, the number of continuous frames in the abnormal state is obtained. This implementation is mainly to avoid misjudgment of the ADS loss state. A certain time is set for verification. When the continuous number of frames is greater than the preset number of frames, the execution torque of any frame in the last N frames when the communication status of the ADS is detected to be abnormal is obtained as the target execution torque.

[0047] Preferably, the preset number of frames may be set to 10, and when the continuous number of frames is greater than 10 frames, the target execution torque corresponding to any frame in the last N frames is obtained.

[0048] In a possible implementation, the ESC detects that the ADS communication abnormality lasts for 10 frames before determining it as a communication failure, and handles it according to normal communication logic within 10 frames.

[0049] Preferably, N can be set to 1, and then the target execution torque of the last frame when the communication state of the ADS is detected to be abnormal is obtained.

[0050] In a possible implementation, the ESC extracts the most recent frame before the fault is detected as an interrupt instruction of the ADS, that is, AdsAebBrkTq=xx Nm is used as the target execution torque for braking.

[0051] Step 23: Control the vehicle to brake according to the target execution torque.

[0052] In this step, after the target execution torque is obtained, the vehicle performs a brake stop operation with the target execution torque.

[0053] Optionally, a possible implementation of step 23 may be: controlling the vehicle to perform a brake stop process according to the target execution torque and the preset execution condition;

[0054] Among them, the preset execution conditions include at least one of the following: not limiting the rate of change of the vehicle's current torque adjusted to the target execution torque, controlling the torque fluctuation value to be less than the maximum value between the preset torque and the first torque during the execution of the target execution torque, and the first torque being the product of the target execution torque and the preset coefficient.

[0055] In the implementation of one of the preset execution conditions, during the AEB torque request process, the torque rising slope should not be limited due to a fault, that is, the rate of change of adjusting the current torque of the vehicle to the target execution torque should not be limited.

[0056] For example, when the ADS is in normal communication, the ESC torque rising slope during the AEB torque request is greater than 10000Nm / s. When the communication status of the ADS is abnormal, the ESC should not limit the torque rising slope due to a fault while executing the target execution torque.

[0057] In the implementation of another condition of the preset execution condition, the preset coefficient may be 5%, the target execution torque, namely AebBrkTq, is, for example, 3000 Nm, and the preset torque is 100 Nm.

[0058] For example, when the ESC is executing the target execution torque, the torque fluctuation should not exceed Max (100 Nm, 5%*3000 Nm).

[0059] Optionally, during a vehicle ignition cycle corresponding to an abnormal communication state of the ADS, the ESC is controlled not to latch the communication fault, and the response interface of the ESC is kept available.

[0060] In this implementation, ESC is set not to latch the communication fault in the current ignition cycle, and the response interface of ESC remains available (EscAebTqAvl=Available). If ADS communication is restored and AEB is requested again in the current ignition cycle, ESC can still respond normally (EscAebActvSts=Active), thereby realizing reliable operation of the vehicle in a timely manner.

[0061] The vehicle control method provided by the embodiment of the present invention obtains the communication status of ADS during the process of detecting the activation of AEB; when the communication status of ADS is abnormal and the number of continuous frames is greater than the preset number of frames, the target execution torque of any frame in the last N frames when the communication status of ADS is detected to be abnormal is obtained, where N is an integer; and the vehicle is controlled to brake according to the target execution torque. By applying the technical solution of the present invention, during the process of AEB activation, it is possible to detect that the ADS communication is abnormal and the abnormality lasts for more than a certain number of frames, and it is determined that the current communication status cannot work normally and an emergency response is required. At this time, the target execution torque in the data of the last N frames is obtained to adjust the braking force to ensure that the vehicle can still stop safely in the case of ADS communication abnormality, thereby preventing the risk of accidents caused by communication failures.

[0062] Based on the above embodiments, Figure 3 FIG. 2 is a flow chart showing a second embodiment of a vehicle control method provided by the present invention, wherein the method is executed by a vehicle. Figure 3 As shown, after step 23, the following possible implementations are possible:

[0063] Step 31: After detecting that the vehicle has stopped, controlling the ESC of the vehicle to enter a pressure-maintaining state;

[0064] In this step, in order to avoid unsafe situations such as the vehicle rolling, after detecting that the vehicle has stopped, the ESC will enter a static state to maintain pressure. In this state, the ESC will maintain a certain braking force to ensure that the working pressure of the brake system will not drop rapidly, thereby preventing the brake from failing or loosening.

[0065] Optionally, in the pressure-maintaining state, during the braking process, the pressure change of the hydraulic system may cause the brakes to loosen, and pressure maintenance can avoid this situation and ensure the continuous effect of the braking system.

[0066] Step 32: after detecting that the duration of the pressure-maintaining state is longer than a first preset duration, controlling the EPB to be pulled up;

[0067] In this step, when the ESC completes the pressure-holding state for a certain period of time, the EPB will automatically intervene after the vehicle stops completely and activate the parking brake.

[0068] The realization lies in that during the ESC pressure maintenance process, the pressure of the brake system has been effectively maintained and the vehicle is in a completely stationary state. The use of EPB can ensure that the vehicle is more stable when parked and avoid accidental sliding of the vehicle due to road slope or external environmental changes (such as wind, slope slip, etc.).

[0069] Preferably, the first preset time length may be 2 seconds.

[0070] In a possible implementation, the EPB is actively pulled up after the ESC maintains pressure for 2 seconds.

[0071] Optionally, after the implementation of step 32, there are the following two possible implementations:

[0072] The first type is to control the ESC response interface to exit after detecting that the EPB is pulled up, and control the vehicle's brake fluid pressure to return to zero at a preset slope;

[0073] In this implementation, in order to ensure the stability and safety of the vehicle after an emergency stop, the parking brake task can be automatically taken over by EPB. After ESC exits, the system will smoothly reduce the brake hydraulic pressure to avoid unnecessary braking intervention.

[0074] In a possible implementation, after the EPB is fully pulled up (EpbSts=applied), the ESC executes the exit response interface EscAebActvSts=NotActive, and at the same time, the EscAebTq brake fluid pressure slowly returns to 0 at a certain slope.

[0075] The second type is to control the ESC to enter a pressure-maintaining state when it is detected that the EPB is faulty and has not been pulled up for a duration greater than a second preset duration.

[0076] In this implementation, when the EPB is not pulled up and continues to time out, the ESC can enter the pressure holding state, using the brake hydraulics of the electronic stability control system to maintain an appropriate amount of pressure on the wheels to ensure that the vehicle stops steadily and prevent the vehicle from sliding due to failure of the parking brake.

[0077] Preferably, the second preset time length is 5s.

[0078] In a possible implementation, if the EPB fails and cannot be pulled up for 5 seconds, the ESC should remain in the Standstill state and can also be set to support a 10-minute pressure holding time.

[0079] Further, after step 2, when it is detected that the travel of the vehicle's brake pedal is greater than a first preset value, or when the vehicle's gear is switched and the travel of the vehicle's accelerator pedal is greater than a second preset value, the ESC is controlled to exit the pressure holding state.

[0080] In this implementation, when a user takes over the vehicle, the ESC can determine whether the vehicle is taken over by the user by monitoring key control signals such as the brake pedal, accelerator pedal, gear position, etc., so as to exit the pressure holding state.

[0081] Preferably, the first preset value may be 70%, and the second preset value may be 10%.

[0082] In a possible implementation, when the user takes over the vehicle, the static pressure holding is exited after the brake pedal is depressed by >70%||DR gear is switched and the accelerator pedal is depressed by >10%.

[0083] The vehicle control method provided by the embodiment of the present invention controls the vehicle's electric motor controller ESC to enter a pressure-holding state after detecting that the vehicle has stopped, and controls the electronic parking brake EPB to be pulled up after detecting that the duration of the pressure-holding state is greater than a first preset duration. The technical solution of the present invention can be used to pull up the EPB in time to prevent the risk of the vehicle rolling due to the driver's failure to take over in time.

[0084] Based on the above embodiments, Figure 4 FIG. 4 shows a schematic diagram of the interaction between the ADS and ESC torque signal request interface provided by the present invention, such as Figure 4 As shown, the schematic diagram includes: an ADS domain controller and an ESC controller.

[0085] In this interactive implementation, combined with Figure 1 A possible overall implementation description of the embodiment of the present invention is as follows:

[0086] Step 1: During AEB activation, ADS continues to send requests;

[0087] The request includes: AdsAebBrkTqEnable=Enable, AdsAebBrkTqVld=Valid, AdsAebBrkTq=xx Nm;

[0088] Step 2: During AEB activation, ESC continuously provides feedback;

[0089] The feedback information includes: EscAebActvSts=Active, EscHydBrkActvTq=xx Nm, EpbSts=release;

[0090] Step 3: ESC detects ADS communication abnormality for 10 frames before it can be determined that the communication status is abnormal. It will be processed according to normal communication logic within 10 frames.

[0091] Step 4: After the abnormality is detected for more than 10 frames, the ESC needs to extract the last frame before the fault is detected as the interrupt instruction of ADS;

[0092] That is, AdsAebBrkTq=xx Nm is used as the target execution torque for braking;

[0093] Step 5: During normal communication, the ESC torque rise slope during the AEB torque request process is greater than 10000Nm / s. During the execution of the target torque, the ESC should not limit the torque rise slope due to a fault.

[0094] Step 6. The torque fluctuation of ESC during the execution of target torque should not exceed Max (100Nm, 5% AebBrkTq);

[0095] Step 7: After the abnormality is detected for more than 10 frames, the response state of ESC still needs to be maintained (EscAebActvSts=Active), and the interface should not be exited actively;

[0096] Step 8: After the ESC stops, it should enter the StandStill state to maintain pressure;

[0097] Step 9: ESC needs to maintain pressure for 2 seconds and then automatically pull up the EPB;

[0098] Step 10: After EPB is fully pulled up (EpbSts=applied), ESC can exit the response interface EscAebActvSts=NotActive, and at the same time, the EscAebTq brake fluid pressure slowly returns to 0 at a certain slope;

[0099] Step 11: If the EPB fails to pull up for 5 seconds, the ESC should remain in a static state and can support pressure maintenance for up to 10 minutes until the driver takes over (including brake pedal pressed > 70% || DR gear switched && accelerator pedal > 10%) and then exits Standstill pressure maintenance;

[0100] Step 12: ESC should not latch the communication fault in the current ignition cycle, and the interface remains available (EscAebTqAvl=Available). If ADS communication is restored and AEB is requested again in the current ignition cycle, ESC can still respond normally (EscAebActvSts=Active).

[0101] In an embodiment of the present invention, when the ESC continuously detects ADS communication abnormalities for more than 10 frames during the AEB triggering process, the ESC cannot exit the response interface, and continuously maintains the last frame before the fault is detected as the braking torque request of the ADS and keeps the vehicle stopped. After the brake is stopped, the EPB is promptly pulled up to prevent the risk of the vehicle slipping due to the driver's failure to take over in time. At the same time, if the EPB also has a fault and is not pulled up in time, the ESC needs to continue to maintain a stationary state until the driver takes over.

[0102] Figure 5 FIG. 2 is a schematic diagram showing the structure of an embodiment of a vehicle control device provided by the present invention. Figure 5 As shown, the device comprises:

[0103] A first acquisition module 51 is used to acquire the communication status of the automatic driving system ADS when the automatic emergency braking system AEB is detected to be activated;

[0104] The second acquisition module 52 is used to acquire the target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, when the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, where N is an integer;

[0105] The control module 53 is used to control the vehicle to perform a braking process according to the target execution torque.

[0106] In one or more embodiments, the control module 53 is specifically configured to:

[0107] The vehicle is controlled to brake according to the target execution torque and preset execution conditions, and the preset execution conditions include at least one of the following: not limiting the rate of change of the vehicle's current torque adjusted to the target execution torque, and controlling the torque fluctuation value to be less than the maximum value between the preset torque and the first torque during the execution of the target execution torque, and the first torque being the product of the target execution torque and a preset coefficient.

[0108] In one or more embodiments, the control module 53 is further configured to:

[0109] After the vehicle brakes to a stop, the electric motor controller ESC that controls the vehicle enters a pressure-maintaining state;

[0110] After detecting that the duration of the pressure-holding state is greater than the first preset duration, the electronic parking brake EPB is controlled to be pulled up.

[0111] In one or more embodiments, the control module 53 is further configured to:

[0112] After the EPB is detected to be pulled up, the response interface of the ESC is controlled to exit, and the brake fluid pressure of the vehicle is controlled to return to zero at a preset slope.

[0113] In one or more embodiments, the control module 53 is further configured to:

[0114] When it is detected that the EPB is faulty and the duration of not being pulled up is greater than a second preset duration, the ESC is controlled to enter a pressure-maintaining state.

[0115] In one or more embodiments, the control module 53 is further configured to:

[0116] When it is detected that the travel of the brake pedal of the vehicle is greater than a first preset value, or when the gear of the vehicle is switched and the travel of the accelerator pedal of the vehicle is greater than a second preset value, the ESC is controlled to exit the pressure holding state.

[0117] In one or more embodiments, the control module 53 is further configured to:

[0118] During the vehicle ignition cycle corresponding to the abnormal communication status of the ADS, the ESC is controlled not to latch the communication fault and the response interface of the ESC is kept available.

[0119] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, all or part of them can be integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements. They can also be implemented in the form of hardware. Some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0120] From the above, it can be seen that the vehicle control device provided in the embodiment of the present invention can detect ADS communication abnormalities during AEB activation and the abnormalities continue for more than a certain number of frames, and determine that the current communication status cannot work normally and an emergency response is required. At this time, the target execution torque in the data of the last N frames is obtained to adjust the braking force to ensure that the vehicle can still stop safely in the case of ADS communication abnormalities, thereby preventing the risk of accidents caused by communication failures.

[0121] Figure 6 FIG. 1 shows a schematic diagram of a structure of an embodiment of a vehicle provided by the present invention, such as Figure 6 As shown, the vehicle may include: a processor 62 , a communications interface 64 , a memory 66 , and a communications bus 68 .

[0122] The processor 62, the communication interface 64, and the memory 66 communicate with each other via the communication bus 68. The communication interface 64 is used to communicate with other devices such as a client or other server network elements. The processor 62 is used to execute the program 60, and specifically, can execute the relevant steps in the above-mentioned vehicle control method embodiment.

[0123] Specifically, the program 60 may include program codes including computer-executable instructions.

[0124] The processor 62 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle may be processors of the same type, such as one or more CPUs. They may also be processors of different types, such as one or more CPUs and one or more ASICs.

[0125] The memory 66 is used to store the program 60. The memory 66 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0126] The program 60 can be specifically called by the processor 62 to enable the vehicle to perform the following operations:

[0127] When the automatic emergency braking system AEB is detected to be activated, the communication status of the automatic driving system ADS is obtained;

[0128] When the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, obtaining a target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, where N is an integer;

[0129] The vehicle is controlled to perform a brake stop process according to the target execution torque.

[0130] In one or more embodiments, controlling the vehicle to perform a brake stop process according to the target execution torque includes:

[0131] The vehicle is controlled to perform braking according to the target execution torque and preset execution conditions, and the preset execution conditions include at least one of the following: not limiting the rate of change of the vehicle's current torque adjusted to the target execution torque, and controlling the torque fluctuation value to be less than the maximum value between the preset torque and the first torque during the execution of the target execution torque, wherein the first torque is the product of the target execution torque and a preset coefficient.

[0132] In one or more embodiments, the following is also performed:

[0133] After the vehicle is detected to have stopped, the electric motor controller ESC of the vehicle is controlled to enter a pressure-maintaining state;

[0134] After detecting that the duration of the pressure-holding state is greater than the first preset duration, the electronic parking brake EPB is controlled to be pulled up.

[0135] In one or more embodiments, the following is also performed:

[0136] After the EPB is detected to be pulled up, the response interface of the ESC is controlled to be exited, and the brake fluid pressure of the vehicle is controlled to be reduced to zero at a preset slope.

[0137] In one or more embodiments, the following is also performed:

[0138] When it is detected that the EPB is faulty and the duration of not being pulled up is greater than a second preset duration, the ESC is controlled to enter a pressure-maintaining state.

[0139] In one or more embodiments, the following is also performed:

[0140] When it is detected that the travel of the brake pedal of the vehicle is greater than a first preset value, or when the gear of the vehicle is switched and the travel of the accelerator pedal of the vehicle is greater than a second preset value, the ESC is controlled to exit the pressure holding state.

[0141] In one or more embodiments, the following is also performed:

[0142] During a vehicle ignition cycle corresponding to an abnormal communication state of the ADS, the ESC is controlled not to latch a communication fault, and a response interface of the ESC is kept available.

[0143] From the above, it can be seen that the vehicle provided by the embodiment of the present invention can detect ADS communication abnormalities during AEB activation and the abnormalities continue for more than a certain number of frames, and determine that the current communication status cannot work normally and an emergency response is required. At this time, the target execution torque in the data of the last N frames is obtained to adjust the braking force to ensure that the vehicle can still stop safely in the case of ADS communication abnormalities, thereby preventing the risk of accidents caused by communication failures.

[0144] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on a vehicle control device / vehicle, the vehicle control device / vehicle executes the vehicle control method in any of the above method embodiments.

[0145] The executable instructions may be specifically used to cause the vehicle control device / vehicle to perform the following operations:

[0146] When the automatic emergency braking system AEB is detected to be activated, the communication status of the automatic driving system ADS is obtained;

[0147] When the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, obtaining a target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, where N is an integer;

[0148] The vehicle is controlled to perform a brake stop process according to the target execution torque.

[0149] In one or more embodiments, controlling the vehicle to perform a brake stop process according to the target execution torque includes:

[0150] The vehicle is controlled to perform braking according to the target execution torque and preset execution conditions, and the preset execution conditions include at least one of the following: not limiting the rate of change of the vehicle's current torque adjusted to the target execution torque, and controlling the torque fluctuation value to be less than the maximum value between the preset torque and the first torque during the execution of the target execution torque, wherein the first torque is the product of the target execution torque and a preset coefficient.

[0151] In one or more embodiments, the following is also performed:

[0152] After the vehicle is detected to have stopped, the electric motor controller ESC of the vehicle is controlled to enter a pressure-maintaining state;

[0153] After detecting that the duration of the pressure-holding state is greater than the first preset duration, the electronic parking brake EPB is controlled to be pulled up.

[0154] In one or more embodiments, the following is also performed:

[0155] After the EPB is detected to be pulled up, the response interface of the ESC is controlled to be exited, and the brake fluid pressure of the vehicle is controlled to be reduced to zero at a preset slope.

[0156] In one or more embodiments, the following is also performed:

[0157] When it is detected that the EPB is faulty and the duration of not being pulled up is greater than a second preset duration, the ESC is controlled to enter a pressure-maintaining state.

[0158] In one or more embodiments, the following is also performed:

[0159] When it is detected that the travel of the brake pedal of the vehicle is greater than a first preset value, or when the gear of the vehicle is switched and the travel of the accelerator pedal of the vehicle is greater than a second preset value, the ESC is controlled to exit the pressure holding state.

[0160] In one or more embodiments, the following is also performed:

[0161] During a vehicle ignition cycle corresponding to an abnormal communication state of the ADS, the ESC is controlled not to latch a communication fault, and a response interface of the ESC is kept available.

[0162] From the above, it can be seen that the vehicle control device / vehicle provided in the embodiment of the present invention can detect ADS communication abnormalities during AEB activation and the abnormalities continue for more than a certain number of frames, and determine that the current communication status cannot work normally and an emergency response is required. At this time, the target execution torque in the data of the last N frames is obtained to adjust the braking force to ensure that the vehicle can still stop safely in the case of ADS communication abnormalities, thereby preventing the risk of accidents caused by communication failures.

[0163] An embodiment of the present invention provides a computer program product, including a computer program, which implements the operations of the above-mentioned vehicle control method when executed by a processor.

[0164] Its implementation principle and technical effects are shown in the above disclosure.

[0165] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0166] The methods disclosed in the various method embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments.

[0167] The features disclosed in the various product embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new product embodiments.

[0168] The features disclosed in the various method or device embodiments provided by the present invention can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0169] It should be noted that the computer-readable storage medium may be a ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM). It may also be various vehicles including one or any combination of the above memories.

[0170] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0171] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0172] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus necessary general hardware nodes, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, vehicle terminal or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0173] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices, apparatuses, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0174] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0175] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The algorithm or display provided herein of the steps of the functions specified in the blocks or multiple blocks is not inherently related to any specific computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any specific programming language.

[0176] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the automatic emergency braking system AEB is detected to be activated, the communication status of the automatic driving system ADS is obtained; When the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, obtaining a target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, where N is an integer; The vehicle is controlled to perform a brake stop process according to the target execution torque.

2. The method according to claim 1, characterized in that The step of controlling the vehicle to perform a brake stop process according to the target execution torque includes: The vehicle is controlled to perform braking according to the target execution torque and preset execution conditions, and the preset execution conditions include at least one of the following: not limiting the rate of change of the vehicle's current torque adjusted to the target execution torque, and controlling the torque fluctuation value to be less than the maximum value between the preset torque and the first torque during the execution of the target execution torque, wherein the first torque is the product of the target execution torque and a preset coefficient.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: After the vehicle is detected to have stopped, the electric motor controller ESC of the vehicle is controlled to enter a pressure-maintaining state; After detecting that the duration of the pressure-holding state is greater than the first preset duration, the electronic parking brake EPB is controlled to be pulled up.

4. The method according to claim 3, characterized in that The method further comprises: After the EPB is detected to be pulled up, the response interface of the ESC is controlled to be exited, and the brake fluid pressure of the vehicle is controlled to be reduced to zero at a preset slope.

5. The method according to claim 3, characterized in that: The method further comprises: When it is detected that the EPB is faulty and the duration of not being pulled up is greater than a second preset duration, the ESC is controlled to enter a pressure-maintaining state.

6. The method according to claim 5, characterized in that The method further comprises: When it is detected that the travel of the brake pedal of the vehicle is greater than a first preset value, or when the gear of the vehicle is switched and the travel of the accelerator pedal of the vehicle is greater than a second preset value, the ESC is controlled to exit the pressure holding state.

7. The method according to claim 1 or 2, characterized in that: The method further comprises: During a vehicle ignition cycle corresponding to an abnormal communication state of the ADS, the ESC is controlled not to latch a communication fault, and a response interface of the ESC is kept available.

8. A vehicle control device, characterized in that: The device comprises: A first acquisition module is used to acquire the communication status of the automatic driving system ADS when the automatic emergency braking system AEB is detected to be activated; A second acquisition module is used to acquire, when the communication state of the ADS is abnormal and the number of continuous frames is greater than a preset number of frames, a target execution torque of any frame in the last N frames when the communication state of the ADS is detected to be abnormal, where N is an integer; The control module is used to control the vehicle to perform a braking process according to the target execution torque.

9. A vehicle, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the vehicle control device / vehicle, the vehicle control device / vehicle executes the operation of the vehicle control method as described in any one of claims 1-7.

Images