Domain controller, vehicle control method and system, vehicle and readable storage medium

Abstract

The invention provides a domain controller which is connected with an execution unit of a vehicle, and further, the domain controller obtains vehicle information through the execution unit, determines torque control information and a control signal according to the vehicle information and sends the control signal to the execution unit, so that the execution unit controls the vehicle to run according to the control signal. Based on the execution unit and the domain controller, data processing in the vehicle can be completed through the domain controller, and the computing power is centralized. The situation that a plurality of ECUs need to be arranged in the vehicle to achieve acceleration and deceleration is avoided, the controller cost and the wiring harness cost are reduced, meanwhile, due to the fact that various data processing can be achieved through the domain controller, interaction of various processed data can be converted into variable calling in the domain controller, the vehicle response timeliness and safety are improved, and the safety of the vehicle is improved. And the computing power of the domain controller can be fully utilized. And the subsequent upgrading of one or more functional modules can be completed through the domain controller, so that the upgrading of the functional modules in the vehicle can be efficiently executed.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a domain controller, a vehicle control method, a vehicle control system, a vehicle, and a computer-readable storage medium. Background Art

[0002] In the traditional EE (Electrical Electronic) architecture, the vehicle contains multiple ECUs (Electronic Control Units) to implement different independent functions. For example, during the acceleration and deceleration of the vehicle, the ECU and motor controller corresponding to the vehicle controller need to work together to collect vehicle information and calculate torque, that is, signal acquisition and data processing during acceleration and deceleration are distributed in multiple ECUs. However, in this way, the computing power is dispersed, and the number of related hardware used to perform vehicle acceleration and deceleration is large and the cost is high. Summary of the invention

[0003] The present application provides a domain controller, a vehicle control method, a vehicle control system, a vehicle, and a computer-readable storage medium.

[0004] An embodiment of the present application provides a domain controller for a vehicle, wherein the domain controller is connected to an execution unit of the vehicle;

[0005] The domain controller is configured to determine a control signal based on the vehicle information collected by the execution unit, and send the control signal to the execution unit so that the execution unit controls the vehicle driving according to the control signal, and the control signal includes torque control information.

[0006] The domain controller provided in the implementation mode of the present application is connected to the execution unit of the vehicle, and then the domain controller obtains vehicle information such as vehicle speed, remaining power, gear position and brake pedal opening through the execution unit, and determines the torque control information and the corresponding control signal according to the vehicle information, and sends the control signal to the execution unit, so that the execution unit controls the corresponding components in the vehicle according to the control signal, generates power or braking corresponding to the torque control information, and completes the vehicle driving control. In this way, the implementation mode of the present application is based on the execution unit and the domain controller, so that the data processing in the vehicle can be completed by the domain controller, that is, the domain controller completes the corresponding data processing to generate the vehicle control signal according to the vehicle information collected by the execution unit, and then, after sending the control signal to the execution unit, the execution unit can complete the acceleration or deceleration of the vehicle according to the received control signal, thereby centralizing the computing power in the vehicle. Therefore, the implementation method of the present application avoids the situation where multiple ECUs need to be set up in the vehicle to achieve vehicle acceleration and deceleration, so that the hardware cost of the vehicle, such as the controller cost and the wiring harness cost, can be reduced. At the same time, because all kinds of data processing can be implemented by the domain controller, there is no need to perform multiple data processing through multiple processors and then interact with each other in multiple processors, so that the interaction of various processed data can be converted into variable calls inside the domain controller, thereby improving the timeliness and safety of vehicle response, and making full use of the computing power of the domain controller. In addition, when upgrading one or more functional modules in the future, it can also be done directly through the domain controller, so that the upgrade of the functional modules in the vehicle can be efficiently executed.

[0007] In some implementations of the present application, the domain controller is configured as:

[0008] Determine the control signal according to the vehicle information collected by the collection subunit of the execution unit; and send the control signal to the execution subunit of the execution unit, so that the execution subunit controls the vehicle to travel according to the control signal.

[0009] In this way, the implementation mode of the present application is based on an execution unit composed of a collection subunit and an execution subunit, so that the information collection action and the component control action of the execution unit are separated, thereby ensuring the execution efficiency of the execution unit to a certain extent.

[0010] In some embodiments, the domain controller is configured to:

[0011] According to the required torque of the whole vehicle, a target drive unit in the vehicle and the control signal corresponding to the target drive unit are determined, and the required torque of the whole vehicle is determined according to the vehicle information.

[0012] In this way, the embodiments of the present application enable the acceleration and deceleration of the vehicle to be stably operated based on the determination of the required torque of the whole vehicle and the target drive unit, and the determination of the output torque of the target drive unit.

[0013] In some embodiments, the domain controller is configured to:

[0014] Determining the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position according to the vehicle information;

[0015] The vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position.

[0016] In this way, the implementation manner of the present application determines the vehicle's required torque based on the accelerator pedal opening, vehicle speed, driving mode and gear position, making the vehicle's required torque more credible, thereby further ensuring reliable control of the vehicle.

[0017] In some embodiments, the domain controller is configured to:

[0018] Determining a target data mapping table corresponding to the current driving mode based on a pre-stored data mapping table corresponding to each driving mode;

[0019] Based on the target data mapping table, the vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed and the current gear position.

[0020] In this way, the implementation method of the present application is based on the data mapping table of different driving modes, so that the domain controller can determine the required torque of the whole vehicle according to the different driving modes of the vehicle, and the credibility of the required torque of the whole vehicle can be further improved.

[0021] In some embodiments, the domain controller is configured to:

[0022] determining a brake pedal opening according to the vehicle information;

[0023] Determining a torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated brake domain controller;

[0024] The target drive unit and the control signal are determined according to the torque arbitration result.

[0025] In this way, the implementation mode of the present application is based on torque arbitration, so that the target drive unit can operate based on a torque arbitration result with higher credibility, avoiding the situation where the domain controller controls the vehicle based on an erroneous vehicle demand torque, and ensuring the smooth operation of the vehicle.

[0026] In some embodiments, the target drive unit includes a plurality of target drive units, and the domain controller is configured as follows:

[0027] determining a distributed torque of each of the target drive units according to the torque arbitration result;

[0028] The control signal of each of the target drive units is determined according to the distributed torque and the first operation information of each of the target drive units.

[0029] In this way, the implementation mode of the present application is based on the collection of torque distribution and first operating information, so that the output torque allocated to the target drive unit is determined according to the operating information of the target drive unit, thereby ensuring the reasonable setting of the control signal. Furthermore, the target drive unit can normally perform corresponding actions based on the control signal, so that the stable driving of the vehicle can be guaranteed.

[0030] In some embodiments, the domain controller is configured to:

[0031] The control signal of each of the target drive units is determined according to the distributed torque, vehicle battery information, and motor information of each of the target drive units.

[0032] In this way, the implementation mode of the present application enables the domain controller to accurately determine the current operating status of each target drive unit based on the vehicle battery information and the motor information of each target drive unit, thereby accurately allocating torque to each target drive unit and ensuring the stable operation of the target drive unit.

[0033] In some embodiments, the domain controller is configured to:

[0034] In the case of sending the control signal to the execution unit, determining the current generated torque of the target drive unit according to the second operation information of the target drive unit;

[0035] In a case where the currently generated torque does not satisfy the target torque corresponding to the torque control information, determining an adjusted control signal according to the currently generated torque and the target torque;

[0036] The adjusted control signal is sent to the execution unit, so that the execution unit controls the target drive unit to operate according to the adjusted control signal, so that the target drive unit generates the target torque.

[0037] In this way, the implementation manner of the present application is based on the collection of the second operating information, so that the domain controller can adjust the output torque of the target drive unit according to the execution status of the target drive unit, so that after the adjustment, the target drive unit can generate the corresponding target torque, thereby ensuring the stable operation of the vehicle.

[0038] In some implementations, the control signal is obtained by performing space vector pulse width modulation processing on the torque control information.

[0039] In this way, the implementation method of the present application is based on space vector pulse width modulation, so that the execution unit can stably and accurately complete the motor control, thereby ensuring the stable driving of the vehicle.

[0040] The embodiment of the present application provides a method for controlling a vehicle, wherein the vehicle includes the above-mentioned domain controller, and the method includes:

[0041] Determine a control signal according to the vehicle information collected by the execution unit, wherein the control signal includes torque control information;

[0042] The control signal is sent to the execution unit so that the execution unit controls the vehicle to travel according to the control signal.

[0043] In this way, the implementation of the present application is based on the execution unit and the domain controller, so that the data processing in the vehicle can be completed by the domain controller, that is, the domain controller completes the corresponding data processing to generate the vehicle control signal according to the vehicle information collected by the execution unit, and then, after sending the control signal to the execution unit, the execution unit can complete the acceleration or deceleration of the vehicle according to the received control signal, thereby centralizing the computing power in the vehicle. Therefore, the implementation of the present application avoids the situation where multiple ECUs need to be set up in the vehicle to achieve vehicle acceleration and deceleration, so that the hardware cost of the vehicle, such as the controller cost and the wiring harness cost, can be reduced. At the same time, because all kinds of data processing can be realized by the domain controller, then, there is no need to perform multiple data processing through multiple processors and processors, and then the processed data interacts with each other in multiple processors, so that the interaction of various processed data can be converted into variable calls inside the domain controller, and then, the vehicle response timeliness and safety can be improved, and the computing power of the domain controller can be fully utilized. And, when upgrading one or more functional modules in the future, it can also be completed directly through the domain controller, so that the upgrade of the functional modules in the vehicle can be efficiently executed.

[0044] In some embodiments, determining the control signal according to the vehicle information collected by the execution unit includes:

[0045] Determining the control signal according to the vehicle information collected by the collection subunit of the execution unit;

[0046] The step of sending the control signal to the execution unit so that the execution unit controls the vehicle to travel according to the control signal includes:

[0047] The control signal is sent to an execution subunit of the execution unit, so that the execution subunit controls the vehicle to travel according to the control signal.

[0048] In this way, the implementation mode of the present application is based on an execution unit composed of a collection subunit and an execution subunit, so that the information collection action and the component control action of the execution unit are separated, thereby ensuring the execution efficiency of the execution unit to a certain extent.

[0049] In some embodiments, determining the control signal according to the vehicle information collected by the execution unit includes:

[0050] According to the required torque of the whole vehicle, a target drive unit in the vehicle and the control signal corresponding to the target drive unit are determined, and the required torque of the whole vehicle is determined according to the vehicle information.

[0051] In this way, the embodiments of the present application enable the acceleration and deceleration of the vehicle to be stably operated based on the determination of the required torque of the whole vehicle and the target drive unit, and the determination of the output torque of the target drive unit.

[0052] In certain embodiments, the method further comprises:

[0053] Determining the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position according to the vehicle information;

[0054] The vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position.

[0055] In this way, the implementation manner of the present application determines the vehicle's required torque based on the accelerator pedal opening, vehicle speed, driving mode and gear position, making the vehicle's required torque more credible, thereby further ensuring reliable control of the vehicle.

[0056] In some embodiments, determining the vehicle required torque according to the accelerator pedal opening, the vehicle speed, the driving mode and the gear position includes:

[0057] Determining a target data mapping table corresponding to the current driving mode based on a pre-stored data mapping table corresponding to each driving mode;

[0058] Based on the target data mapping table, the vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed and the current gear position.

[0059] In this way, the implementation method of the present application is based on the data mapping table of different driving modes, so that the domain controller can determine the required torque of the whole vehicle according to the different driving modes of the vehicle, and the credibility of the required torque of the whole vehicle can be further improved.

[0060] In some embodiments, determining the target drive unit in the vehicle and the control signal corresponding to the target drive unit according to the vehicle required torque includes:

[0061] determining a brake pedal opening according to the vehicle information;

[0062] Determining a torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated braking system;

[0063] The target drive unit and the control signal of the target drive unit are determined according to the torque arbitration result.

[0064] In this way, the implementation mode of the present application is based on torque arbitration, so that the target drive unit can operate based on a torque arbitration result with higher credibility, avoiding the situation where the domain controller controls the vehicle based on an erroneous vehicle demand torque, and ensuring the smooth operation of the vehicle.

[0065] In some embodiments, there are multiple target drive units, and determining the target drive unit and the control signal of the target drive unit according to the torque arbitration result includes:

[0066] determining a distributed torque of each of the target drive units according to the torque arbitration result;

[0067] The control signal of each of the target drive units is determined according to the distributed torque and the first operation information of each of the target drive units.

[0068] In this way, the implementation mode of the present application is based on the collection of torque distribution and first operating information, so that the output torque allocated to the target drive unit is determined according to the operating information of the target drive unit, thereby ensuring the reasonable setting of the control signal. Furthermore, the target drive unit can normally perform corresponding actions based on the control signal, so that the stable driving of the vehicle can be guaranteed.

[0069] In some implementations, determining the control signal of each target drive unit according to the distributed torque and the first operating information of each target drive unit includes:

[0070] The control signal of each of the target drive units is determined according to the distributed torque, vehicle battery information, and motor information of each of the target drive units.

[0071] In this way, the implementation mode of the present application enables the domain controller to accurately determine the current operating status of each target drive unit based on the vehicle battery information and the motor information of each target drive unit, thereby accurately allocating torque to each target drive unit and ensuring the stable operation of the target drive unit.

[0072] In certain embodiments, the method further comprises:

[0073] In the case of sending the control signal to the execution unit, determining the current generated torque of the target drive unit according to the second operation information of the target drive unit;

[0074] When the currently generated torque does not meet the target torque corresponding to the torque control information, an adjusted control signal is sent to the execution unit so that the execution unit controls the operation of the target drive unit according to the adjusted control signal, so that the target drive unit generates the target torque, wherein the adjusted control signal is determined based on the currently generated torque and the target torque.

[0075] In this way, the implementation manner of the present application is based on the collection of the second operating information, so that the domain controller can adjust the output torque of the target drive unit according to the execution status of the target drive unit, so that after the adjustment, the target drive unit can generate the corresponding target torque, thereby ensuring the stable operation of the vehicle.

[0076] An embodiment of the present application provides a vehicle control system, including the above-mentioned domain controller.

[0077] An embodiment of the present application provides a vehicle, including a vehicle body; the vehicle body is installed with the above-mentioned domain controller or the above-mentioned vehicle control system.

[0078] An embodiment of the present application provides a vehicle, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0079] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0080] The vehicle control system, vehicle and computer-readable storage medium provided by the embodiment of the present application are based on the execution unit and the domain controller, so that the data processing in the vehicle can be completed by the domain controller, that is, the domain controller completes the corresponding data processing to generate the vehicle control signal according to the vehicle information collected by the execution unit, and then, after sending the control signal to the execution unit, the execution unit can complete the acceleration or deceleration of the vehicle according to the received control signal, thereby centralizing the computing power in the vehicle. Therefore, the embodiment of the present application avoids the situation that multiple ECUs need to be set up in the vehicle to realize the acceleration and deceleration of the vehicle, so that the hardware cost of the vehicle, such as the controller cost and the wiring harness cost, can be reduced. At the same time, because all kinds of data processing can be realized by the domain controller, then, there is no need to perform the processing of multiple data through multiple processors and processors, and then the processed data interact with each other in multiple processors, so that the interaction of various processed data can be converted into variable calls inside the domain controller, and then, the vehicle response timeliness and safety can be improved, and the computing power of the domain controller can be fully utilized. And, when upgrading one or more functional modules in the future, it can also be completed directly through the domain controller, so that the upgrade of the functional modules in the vehicle can be efficiently executed.

[0081] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0083] Figure 1 A schematic diagram of the interior of the vehicle;

[0084] Figure 2 A schematic diagram of the interior of a vehicle in some embodiments of the present application;

[0085] Figure 3 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0086] Figure 4 A schematic diagram of the interior of a vehicle in some embodiments of the present application;

[0087] Figure 5 A schematic diagram of the interior of a vehicle in some embodiments of the present application;

[0088] Figure 6 A flow chart of a vehicle control method in some embodiments of the present application

[0089] Figure 7 A schematic diagram of a collection subunit in certain embodiments of the present application;

[0090] Figure 8 A schematic diagram of an execution subunit in certain embodiments of the present application;

[0091] Fig. 9 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0092] Fig.10 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0093] Fig.11 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0094] Fig.12 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0095] Fig.13 A schematic flow chart of a vehicle control method in certain embodiments of the present application;

[0096] Fig.14 This is a flow chart of a vehicle control method in certain embodiments of the present application. DETAILED DESCRIPTION

[0097] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0098] In the traditional vehicle EE (Electrical Electronic) architecture, the vehicle contains multiple ECUs (Electronic Control Units), and different ECUs are used to implement different functions. For example, the air conditioner, seats, and display screens are all controlled by corresponding ECUs. For another example, the vehicle control unit (VCU) is implemented by the corresponding ECU.

[0099] However, as user demand continues to increase, the number of ECUs in vehicles is also increasing, and the length of wiring harnesses in the vehicle is growing, resulting in higher difficulty in wiring inside the vehicle and a larger weight for the entire vehicle.

[0100] Moreover, when several functional modules in the car need to work together to achieve specific functions, the ECUs of each functional module need to consume certain communication resources for data exchange, and due to hardware limitations, the computing power of each ECU is low, and the efficiency of each ECU outputting the corresponding data processing results is low. As a result, the processing efficiency of several functional modules working together is low.

[0101] For example, see Figure 1 , Figure 1 is a schematic diagram of a vehicle. That is, during the operation of the vehicle, the VCU (Transmission Control Unit) collects the user's driving intention, that is, collects the accelerator pedal opening signal and the brake pedal opening signal, and combines the vehicle information such as vehicle acceleration and vehicle acceleration to determine the torque and other information required by the user, and then sends the torque to the MCU (Motor Control Unit). Based on the received torque and other information, the MCU determines the stator input current of the motor, and then controls the motor operation based on the input current, thereby providing the vehicle with corresponding power or braking force.

[0102] Similarly, based on the detected vehicle information, the VCU sends various information (such as torque or vehicle speed) to the IPB (Integrated Power Brake) and / or TCU (Transmission Control Unit) through the CAN (Controller Area Network) bus, so that the IPB performs vehicle braking and / or the TCU adjusts the engine torque. At the same time, the instrument cluster (IC) displays the corresponding content (including but not limited to vehicle speed, fuel level, etc.) according to the information received by the CAN bus.

[0103] As shown in the above example, it can be seen that information collection, torque calculation, and braking execution during the braking / acceleration process are implemented by modules such as VCU and MCU, or in other words, information collection, torque calculation, and braking execution are implemented by ECUs corresponding to modules such as VCU and MCU. The computing power is dispersed in each ECU, and the execution of braking / acceleration depends on multiple ECUs. The hardware cost required to execute braking / acceleration is high. In addition, because the computing power of each ECU is not high, multiple ECUs need to consume certain communication resources for data exchange, resulting in low efficiency in the execution of braking / acceleration.

[0104] Based on the above problems you may encounter, please refer to Figure 2, an embodiment of the present application provides a domain controller 100 for a vehicle, wherein the domain controller is connected to an execution unit 200 of the vehicle. The domain controller 100 is configured to determine a control signal according to vehicle information collected by the execution unit 200, and send the control signal to the execution unit 200, so that the execution unit 200 controls the vehicle to travel according to the control signal, and the control signal includes torque control information.

[0105] See also Figure 3 The embodiment of the present application provides a vehicle control method, the vehicle includes the above-mentioned domain controller 100, and the control method includes:

[0106] 01: Determine a control signal according to the vehicle information collected by the execution unit, wherein the control signal includes torque control information;

[0107] 02: Send the control signal to the execution unit, so that the execution unit controls the vehicle to travel according to the control signal.

[0108] The embodiment of the present application provides a vehicle, including a memory and a processor. The vehicle control method of the embodiment of the present application can be implemented by the vehicle of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to determine a control signal according to vehicle information collected by an execution unit, wherein the control signal includes torque control information; and send the control signal to the execution unit so that the execution unit controls the vehicle to travel according to the control signal.

[0109] That is, the power control of the vehicle in the embodiment of the present application can be realized by two parts, one of which is the execution unit 200, which is used to collect vehicle information, including but not limited to vehicle speed, pedal opening and acceleration, etc. and to control various components in the vehicle and / or the valves and motors of the components according to the received control signals, so that the vehicle can generate corresponding power or braking force.

[0110] The second is a domain controller 100 connected to the execution unit 200, which is used to receive or read the vehicle information collected by the execution unit 200, and determine the user's intention based on the vehicle information, that is, determine the speed that the user wants to increase / decrease when stepping on the brake pedal / accelerator pedal based on the vehicle information. Then, the domain controller 100 calculates the corresponding torque (or torque control information) and generates a corresponding control signal to send the control signal to the execution unit 200, so that the execution unit 200 controls the vehicle (or controls the components in the vehicle) to generate a torque corresponding to the torque control information according to the control signal.

[0111] It should be noted that the domain controller 100 in the implementation mode of the present application can be understood as a device with a computing power higher than that of the ECU and capable of controlling various devices in a certain area of ​​the vehicle. Specifically, in the EE architecture based on domain control, the vehicle is divided into multiple areas, such as dividing the vehicle into 5 areas including the autonomous driving domain, the cockpit domain, the power domain, the chassis domain and the body domain. Each area is configured with a separate regional controller, and then the operation of each device in an area is controlled by a regional controller. For example, if the power domain includes motors, inverters, reducers, etc., the operation of the motors, inverters, and reducers is controlled by the regional controller corresponding to the power domain. Furthermore, the domain controller 100 in the implementation mode of the present application can be understood as a regional controller in the EE architecture based on domain control.

[0112] Alternatively, in an EE architecture based on cross-domain fusion, electronic devices in multiple areas of the vehicle will be controlled by a body controller (or central computing unit). For example, all electronic devices in the three areas of the autonomous driving domain, the power domain, and the body domain are controlled by a body controller. Furthermore, the domain controller 100 in the embodiment of the present application can also be understood as a body controller in an EE architecture based on cross-domain fusion.

[0113] Thus, compared with the situation that a large number of ECUs are required to complete the in-vehicle data processing in the traditional EE architecture, the implementation method of the present application completes the in-vehicle data processing based on a small number of domain controllers, and then, the signal transmission path in the car is unified, that is, each signal / information can be transmitted to the domain controller, so the difficulty of in-vehicle wiring is reduced, and the degree of in-vehicle wiring harness is also reduced. At the same time, because data processing is all implemented by the domain controller with higher computing power than ECU, under the condition that data processing efficiency can be guaranteed, data processing in the car can no longer be performed by multiple units, and computing power is centralized.

[0114] It should also be noted that there may be multiple execution units 200 in the embodiment of the present application, and different execution units 200 may be configured with different types of sensors to detect temperature, motor speed, vehicle speed, etc. Similarly, there may also be multiple execution units in the embodiment of the present application, and different execution units are used to control different valves and / or motors, etc.

[0115] Further, based on the implementation of the present application, the execution unit 200 and the domain controller 100 are provided, and any function in the vehicle can be implemented by the execution unit 200 and the domain controller 100. For example, for the unlocking function based on temperature, the execution unit 200 corresponding to the target component (corresponding to the unlocking function) can collect temperature information and send the temperature information to the domain controller 100. When the domain controller 100 determines that the target component can perform unlocking or locking actions based on the temperature information, the domain controller 100 generates a corresponding control signal and sends the control signal to the execution unit 200. After receiving the control signal, the execution unit 200 can control the target component to perform unlocking or locking actions.

[0116] For another example, when the execution unit 200 receives a door lock or unlock signal, it may send the door lock or unlock signal to the domain controller 100. After the domain controller 100 determines that the door can perform a locking action or an unlocking action based on the received door lock or unlock signal, it sends a corresponding control instruction to the execution unit 200 so that the execution unit 200 controls the door to perform a locking action or an unlocking action.

[0117] For example, see Figure 4 That is, the domain controller 100 of the implementation mode of the present application can realize the functions related to IPB, MCU and VCU. For example, a common VCU can calculate the corresponding torque based on the collected vehicle information and control the vehicle braking based on the torque. Accordingly, the domain controller 100 in the implementation mode of the present application can determine the vehicle information required for the VCU to calculate the torque based on the vehicle information collected by the execution unit 200, such as the accelerator pedal opening, the brake pedal opening and the vehicle speed, or obtain the vehicle information based on "one or more execution units 200 that can collect vehicle information", and then calculate the corresponding torque based on the vehicle information, and then send the torque to the execution unit 200, so that the execution unit controls the vehicle driving according to the torque, thereby realizing the corresponding function of the VCU.

[0118] Furthermore, the VCU may need to work in conjunction with the MCU to control the vehicle's travel. For example, the VCU may also need to send the calculated torque to the MCU so that the MCU can determine the stator input current of the motor, and the MCU controls the motor operation based on the stator input current, thereby providing the vehicle with corresponding power or braking force. However, after determining the output torque, the domain controller 100 in the embodiment of the present application can directly determine the stator input current of the motor based on the output torque because it can realize the functions of both the MCU and the VCU, generate a corresponding control signal based on the stator input current, and send the control signal to the execution unit 200, which controls the motor operation, thereby providing the vehicle with corresponding power or braking force.

[0119] In this way, the implementation of the present application realizes the collaborative interaction of different functions or different systems in the vehicle based on the execution unit 200 and the domain controller 100. At the same time, as in the above example, because different functional modules (such as VCU and MCU) are implemented by the domain controller 100 in the implementation of the present application, in the scenario where different functional modules need to work together (such as VCU and MCU working together to accelerate the vehicle), the data between different functional modules does not need to be transmitted through multiple devices, thereby reducing or avoiding the communication resources consumed by data interaction, and also reducing the risk of leakage during data transmission, and improving the speed of the vehicle responding to user operations. At the same time, because the computing power of the domain controller 100 is relatively high, the data processing efficiency in the vehicle can be guaranteed.

[0120] Moreover, since the domain controller 100 can be used to implement different functional modules in the vehicle, when multiple functional modules need to be upgraded online, that is, when an OTA (Over The Air) upgrade is required, the domain controller 100 can complete the update of one or more functional modules after receiving the corresponding upgrade data. Compared with the method of receiving the upgrade data through the ECU corresponding to the functional module to perform a separate function upgrade, the implementation method of the present application enables different functional modules to be upgraded at the same time, and thus, the update of the functional modules in the vehicle can be carried out efficiently.

[0121] In summary, the implementation of the present application is based on the execution unit and the domain controller, so that the data processing in the vehicle can be completed by the domain controller, that is, the domain controller completes the corresponding data processing to generate the vehicle control signal according to the vehicle information collected by the execution unit, and then, after sending the control signal to the execution unit, the execution unit can complete the acceleration or deceleration of the vehicle according to the received control signal, thereby centralizing the computing power in the vehicle. Therefore, the implementation of the present application avoids the situation where multiple ECUs need to be set up in the vehicle to achieve vehicle acceleration and deceleration, so that the hardware cost of the vehicle, such as the controller cost and the wiring harness cost, can be reduced. At the same time, because all kinds of data processing can be realized by the domain controller, then, there is no need to perform multiple data processing through multiple processors and processors, and then the processed data interacts with each other in multiple processors, so that the interaction of various processed data can be converted into variable calls inside the domain controller, and then, the vehicle response timeliness and safety can be improved, and the computing power of the domain controller can be fully utilized. And, when upgrading one or more functional modules in the future, it can also be completed directly through the domain controller, so that the upgrade of the functional modules in the vehicle can be efficiently executed.

[0122] In certain embodiments of this application, please refer to Figure 5 , the domain controller is configured as:

[0123] Determine the control signal according to the vehicle information collected by the collection subunit 210 of the execution unit 200; and send the control signal to the execution subunit 220 of the execution unit 200, so that the execution subunit 220 controls the vehicle to travel according to the control signal.

[0124] See also Figure 6 In the control method provided in the embodiment of the present application, step 01 includes:

[0125] 010: Determine the control signal according to the vehicle information collected by the collection subunit of the execution unit.

[0126] Step 02 includes:

[0127] 020: Send the control signal to the execution subunit of the execution unit, so that the execution subunit controls the driving of the vehicle according to the control signal.

[0128] That is, the execution unit 200 of the embodiment of the present application can be divided into two parts, one is a collection subunit 210 that can be used to collect vehicle information, and the other is an execution subunit 220 that can be used to control components in the vehicle and / or control valves and motors of components.

[0129] It should be noted that the execution unit 200 of the implementation mode of the present application can be implemented by a single hardware device, or can be composed of two types of hardware devices (ie, the acquisition subunit 210 and the execution subunit 220).

[0130] It should also be noted that, in cases where the control logic is more complex (such as torque control and power distribution), the execution unit 200 based on "implemented by a single hardware device" may find it difficult to execute information collection actions and component control actions in parallel, resulting in low vehicle control efficiency.

[0131] Therefore, in order to avoid the above problems, the execution unit 200 of the embodiment of the present application is composed of a collection sub-unit 210 and an execution sub-unit 220, and thus the information collection action and the component control action are separated, and thus the execution unit 200 can independently complete the information collection action and the component control action.

[0132] In this way, the implementation mode of the present application is based on the execution unit 200 composed of the collection subunit 210 and the execution subunit 220, so that the information collection action and the component control action of the execution unit 200 are separated, and thus, the execution efficiency of the execution unit 200 can be guaranteed to a certain extent.

[0133] In addition, it can be understood that the connection relationship between the acquisition subunit 210, the domain controller 100 and the execution subunit 220 in the embodiments of the present application can be set according to actual conditions. For example, in some embodiments, the acquisition subunit 210 is connected to the domain controller 100 based on the CAN bus protocol, and the domain controller 100 is connected to the execution subunit 220 based on the CAN bus protocol. In other embodiments, in order to ensure that the domain controller 100 can efficiently process various types of data and ensure that the control instructions in the vehicle can be transmitted at a higher rate, the domain controller 100 is connected to the execution unit 200 based on CANFD (CAN with Flexible Datarate, Controller Area Network with variable rate), and is connected to the execution unit 200 based on CANFD.

[0134] It can also be understood that the specific structure of the acquisition subunit 210 and the specific structure of the execution subunit 220 in the embodiment of the present application can be set according to actual conditions. For example, in some embodiments, specific reference can be made to Figure 7 and Figure 8 , Figure 7 This is a schematic diagram of the acquisition subunit 210 in some embodiments of the present application. Figure 8 This is a schematic diagram of the execution subunit 220 in some embodiments of the present application.

[0135] That is, the acquisition subunit 210 and the execution subunit 220 of the embodiment of the present application both communicate with other devices based on CANFD. At the same time, different acquisition subunits 210 have the same structure, and different execution subunits 220 also have the same structure. In addition, different acquisition subunits 210 can be equipped with the same chip, and then, different data acquisition functions can be configured by burning different program codes in the chip, such as configuring temperature sensors, voltage sensors, current sensors, etc. according to requirements to achieve temperature acquisition, voltage acquisition, and current acquisition. Similarly, different execution subunits 220 are based on the same type of chip, and different program codes are burned to configure different execution logics, such as configuring control logics for valves and motors of different types and powers.

[0136] It is also understandable that based on Figure 7 and Figure 8 In the illustrated case, the communication between each acquisition subunit 210 and each execution subunit 220 in the vehicle is implemented based on CANFD. In other words, the communication interface is unified, and the wiring difficulty in the vehicle is reduced accordingly. At the same time, because the types / structures of each execution subunit 220 are the same, and the types / structures of each acquisition subunit 210 are the same, the hardware design costs of the execution subunit 220 and the acquisition subunit 210 are reduced.

[0137] In some embodiments, the domain controller 100 is configured to:

[0138] According to the required torque of the whole vehicle, a target drive unit in the vehicle and the control signal corresponding to the target drive unit are determined, and the required torque of the whole vehicle is determined according to the vehicle information.

[0139] See also Fig. 9 In the control method of the embodiment of the present application, step 01 includes:

[0140] 011: Determine a target drive unit in the vehicle and the control signal corresponding to the target drive unit according to the required torque of the whole vehicle, wherein the required torque of the whole vehicle is determined according to the vehicle information.

[0141] The processor of the embodiment of the present application is also used to determine the target drive unit in the vehicle and the control signal corresponding to the target drive unit according to the required torque of the whole vehicle, and the required torque of the whole vehicle is determined based on the vehicle information.

[0142] That is, after acquiring the vehicle information collected by the execution unit 200, the domain controller 100 of the embodiment of the present application calculates the corresponding torque to control the operation of the vehicle's drive unit based on the VCU functional module and MCU functional module implemented / mounted by itself, thereby accelerating or decelerating the vehicle.

[0143] Specifically, the domain controller 100 determines the user's intention, i.e., the speed that the user wants to increase or decrease the vehicle, based on the vehicle information collected by the execution unit 200 (including the whole vehicle information required by the VCU), and determines the power / braking force required for the vehicle to accelerate or decelerate, i.e., the required torque of the whole vehicle.

[0144] While determining the required torque of the vehicle, the domain controller will also determine the target drive unit that can meet the user's intention among the various drive units in the vehicle (including units that can accelerate the vehicle and units that can decelerate the vehicle) based on the vehicle information. For example, if the vehicle includes a first drive unit that can decelerate the vehicle and a second drive unit that can accelerate the vehicle, then when the user intends to increase the vehicle speed from 30km / h to 40km / h, the domain controller determines the second drive unit as the target drive unit.

[0145] Furthermore, it can be understood that, since there are multiple drive units capable of performing acceleration and multiple drive units capable of performing deceleration in the vehicle, the domain controller 100 of the embodiment of the present application can also be used to select a currently operable target drive unit from multiple drive units. Exemplarily, if the user intends to reduce the vehicle speed from 20 km / h to 10 km / h, the units capable of generating braking force in the vehicle are the feedback torque brake unit and the hydraulic brake unit, and the feedback torque is at its maximum value at the current moment, the domain controller 100 determines the hydraulic brake unit as the target drive unit.

[0146] When the target drive unit is determined, the domain controller 100 can also determine how much torque each target drive unit generates, and how much power / braking force the vehicle as a whole can generate in terms of output torque (corresponding to the required torque of the whole vehicle), that is, determine the control signal (or torque control information) corresponding to the target drive unit.

[0147] When the control signal of the target drive unit is determined, the domain controller 100 may send the control signal of each target drive unit to the execution unit 200 of each target drive unit, so that the execution unit 200 controls the corresponding valve and / or motor operation according to the received control signal, so that the target drive unit can generate the corresponding torque. Exemplarily, if a certain execution unit 200 is used to control a hydraulic brake, when the hydraulic brake is determined as the target drive unit by the domain controller 100, and the domain controller 100 has determined the braking torque (corresponding torque control information) corresponding to the hydraulic brake, a corresponding control signal is generated according to the braking torque, and the control signal is sent to the execution unit 200, then the execution unit 200 will control the valve and / or motor operation of the hydraulic brake according to the received control signal, so that the hydraulic brake can generate a braking force of the torque corresponding to the torque control information.

[0148] In this way, the embodiments of the present application enable the acceleration and deceleration of the vehicle to be stably operated based on the determination of the required torque of the whole vehicle and the target drive unit, and the determination of the output torque of the target drive unit.

[0149] In some embodiments, the domain controller 100 is configured to:

[0150] Determining the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position according to the vehicle information;

[0151] The vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position.

[0152] See also Fig.10 In the vehicle control method of the embodiment of the present application, step 011 includes:

[0153] 0100: Determine the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position according to the vehicle information;

[0154] 0101: Determine the vehicle required torque according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear.

[0155] The processor of the embodiment of the present application is also used to determine the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear according to the vehicle information; and determine the required torque of the whole vehicle according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear.

[0156] That is, the implementation mode of the present application will determine the amplitude / opening of the accelerator pedal pressed by the user at the current moment, the vehicle speed, the driving mode selected by the user (such as "economy mode", "sports mode", etc.), and the current gear of the vehicle (1st gear, 2nd gear, parking gear, reverse gear, forward gear, etc.) based on the various signals / information collected by the execution unit 200, and then determine the user's intention based on the various determined data, that is, the speed that the user wants to increase the vehicle, thereby calculating the corresponding vehicle demand torque.

[0157] It is understandable that the information collected by the execution unit 200 in the embodiment of the present application may be various voltage values / voltage signals, such as the accelerator pedal voltage value collected by the accelerator pedal sensor (i.e., the execution unit 200 corresponding to the accelerator pedal), the vehicle speed voltage value collected by the wheel speed sensor (i.e., the execution unit 200 corresponding to the vehicle speed), etc. Furthermore, after each execution unit 200 sends the collected voltage value to the domain controller 100, the domain controller may determine the actual meaning corresponding to the voltage value according to the preset mapping relationship.

[0158] Exemplarily, in some embodiments, the domain controller 100 pre-stores a mapping relationship table between the accelerator pedal voltage signal and the accelerator pedal opening. Further, when the domain controller 100 obtains the accelerator pedal voltage signal collected by the execution unit 200, the domain controller 100 can determine the accelerator pedal opening corresponding to the accelerator pedal voltage signal based on the above mapping relationship table.

[0159] It is also understandable that in order to meet user needs, current vehicles also have the function of selecting driving modes. According to the driving mode selected by the user, the working mode of each device in the car will change accordingly. For example, after the user selects the driving mode, when the driving mode of the vehicle is switched from normal mode to energy-saving mode / economic mode, the upper limit of the engine speed in the car can be temporarily reduced, the gearbox shifting operation is easier to trigger, and the vehicle speed is maintained in a lower range, thereby reducing the energy consumption of the vehicle.

[0160] Therefore, the implementation method of the present application takes into account the current vehicle settings, so in the process of calculating the required torque of the whole vehicle, the impact of different driving modes on the torque calculation is also considered, so that the torque calculation is more accurate.

[0161] In this way, the implementation manner of the present application determines the vehicle's required torque based on the accelerator pedal opening, vehicle speed, driving mode and gear position, making the vehicle's required torque more credible, thereby further ensuring reliable control of the vehicle.

[0162] In some embodiments, the domain controller 100 is configured to:

[0163] Determining a target data mapping table corresponding to the current driving mode based on a pre-stored data mapping table corresponding to each driving mode;

[0164] Based on the target data mapping table, the vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed and the current gear position.

[0165] See also Fig.11 In the control method provided in the embodiment of the present application, the method further includes:

[0166] 03: Determine a target data mapping table corresponding to the current driving mode based on the pre-stored data mapping table corresponding to each driving mode;

[0167] 04: Determine the vehicle required torque according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear.

[0168] The processor of the embodiment of the present application is also used to determine the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear according to the vehicle information; and determine the required torque of the whole vehicle according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear.

[0169] That is, the domain controller 100 of the embodiment of the present application pre-stores data mapping tables corresponding to different driving modes. For example, the domain controller 100 stores a first mapping data table corresponding to the economy mode, a second data mapping table corresponding to the sports mode, and a third mapping table corresponding to the normal mode.

[0170] Furthermore, after the domain controller 100 determines the driving mode selected by the user at the current moment based on various types of information in the vehicle collected by the execution unit 200, it determines a data mapping table that matches / corresponds to the current driving mode from multiple data mapping tables, and uses this data mapping table as the target data mapping table.

[0171] It should be noted that the data mapping table in the implementation manner of the present application can be understood as a Map table (chart), and further, the data mapping table can store multiple sets of key-value pairs (Key-Value), the Key can be the accelerator pedal opening, vehicle speed and gear position, and the Value can be the required torque of the vehicle.

[0172] It should also be noted that when the vehicle is in different driving modes, the operation mode of each device in the vehicle will change accordingly. For example, compared with the economic mode, the upper and lower limits of the engine speed in the sports mode are higher, and the torque that can be generated is different. Furthermore, assuming that the engine in the economic mode can generate a maximum force of 50N, and the domain controller 100 only stores a data mapping table, if the domain controller 100 determines that the engine output torque is 100N based on the vehicle speed, gear position and throttle opening, then the engine needs to generate 100N of power regardless of whether the vehicle is in the economic mode or the sports mode, so there is an unreasonable torque setting.

[0173] Therefore, the domain controller 100 in the embodiment of the present application selects the corresponding vehicle demand torque from the target data mapping table based on the determined vehicle speed, accelerator pedal opening and gear position, thereby completing the determination of the vehicle demand torque. Furthermore, the embodiment of the present application is provided with different data mapping tables based on the operation mode of each device in the vehicle under different driving modes, so that the motion mode matches the data mapping table and the vehicle demand torque, thereby avoiding the situation where the domain controller 100 determines an unreasonable vehicle demand torque.

[0174] In this way, the implementation manner of the present application is based on the data mapping table of different driving modes, so that the domain controller 100 can determine the required torque of the whole vehicle according to the different driving modes of the vehicle, and the credibility of the required torque of the whole vehicle can be further improved.

[0175] In some embodiments of the present application, the domain controller 100 is configured as:

[0176] determining a brake pedal opening according to the vehicle information;

[0177] Determining a torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated brake domain controller;

[0178] The target drive unit and the control signal are determined according to the torque arbitration result.

[0179] See also Fig.12 In the control method provided in the embodiment of the present application, step 011 includes:

[0180] 0110: Determine a brake pedal opening according to the vehicle information;

[0181] 0111: determining a torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated braking system;

[0182] 0112: Determine the target drive unit and the control signal of the target drive unit according to the torque arbitration result.

[0183] The processor provided in the embodiment of the present application is also used to determine the brake pedal opening according to the vehicle information; determine the torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated braking system; and determine the target drive unit and the control signal of the target drive unit according to the torque arbitration result.

[0184] That is, in order to reasonably generate control signals for each target drive unit, the domain controller 100 of the embodiment of the present application also performs corresponding arbitration on the required torque of the entire vehicle to avoid errors in torque setting / determination.

[0185] It should be noted that when the user presses the accelerator pedal and does not release it, the domain controller 100 can control the vehicle to accelerate through the execution unit 200. However, if the user also presses the brake pedal, the domain controller 100 can change the control of the vehicle from acceleration to deceleration. In other words, the acceleration-related control operations in the vehicle (such as increasing the engine speed) are stopped, and the deceleration-related operations (such as hydraulic brake boost) are executed instead.

[0186] It should also be noted that when the vehicle is driving uphill, the user may press the accelerator while pressing the brake to allow the vehicle to generate power to drive up the slope before releasing the brake, thereby preventing the vehicle from driving backwards.

[0187] Furthermore, the domain controller 100 of the embodiment of the present application will determine the brake pedal opening according to the brake pedal signal (or brake pedal voltage value) in the vehicle information. At the same time, the required torque of the whole vehicle is arbitrated according to the activation state of IPB, that is, the IPB state. For example, in the above-mentioned vehicle uphill driving scenario, the domain controller 100 can arbitrate the required torque of the whole vehicle according to the information such as the accelerator pedal opening and IPB state, after determining the required torque of the whole vehicle according to the accelerator pedal opening, vehicle speed, driving mode and gear position, so as to obtain the size of the torque that the target drive unit needs to generate.

[0188] Alternatively, in a normal acceleration scenario, it is determined whether the user has performed a braking operation, such as stepping on the brake pedal or activating IPB. If so, the corresponding braking torque is determined as an arbitration result based on the user's braking operation.

[0189] It should be understood that the specific process of arbitrating the vehicle's required torque according to the accelerator pedal opening and the IPB state is a content that can be set according to actual conditions. For example, taking the above-mentioned vehicle uphill driving scenario as an example, in some embodiments, the domain controller 100 will determine the current braking torque according to the accelerator pedal opening and the IPB state. Then, the braking torque is compared with the determined vehicle's required torque, and the smaller value of the two is used as the final torque output, that is, the smaller value is used as the torque arbitration result.

[0190] It should also be understood that the domain controller 100 of the embodiment of the present application can not only perform torque arbitration based on the accelerator pedal opening and IPB status, but also perform torque arbitration based on the accelerator pedal opening and IPB status in combination with vehicle status information such as the brake status signal called by intelligent driving. The specific arbitration process can be set according to actual conditions and will not be described in detail here.

[0191] When the torque arbitration is completed, the domain controller 100 then determines the drive unit and the output torque of the target drive unit, that is, based on the final torque obtained by the arbitration (torque arbitration result), determines the various drive units in the vehicle used to generate the torque corresponding to the torque arbitration result, that is, the target drive unit, and determines the size of the torque that each target drive unit needs to generate, that is, the output torque, based on the size of the torque arbitration result.

[0192] In this way, the implementation mode of the present application is based on torque arbitration, so that the target drive unit can operate based on a torque arbitration result with higher credibility, avoiding the situation where the domain controller 100 controls the vehicle based on an erroneous vehicle demand torque, and ensuring the smooth operation of the vehicle.

[0193] In some embodiments, the target drive unit includes multiple ones, and the domain controller 100 is configured as follows:

[0194] determining a distributed torque of each of the target drive units according to the torque arbitration result;

[0195] The control signal of each of the target drive units is determined according to the distributed torque and the first operation information of each of the target drive units.

[0196] See also Fig.13 In the control method provided in the embodiment of the present application, step 0112 includes:

[0197] 01120: Determine the distributed torque of each target drive unit according to the torque arbitration result;

[0198] 01121: Determine a control signal of each target drive unit according to the distributed torque and the first operation information of each target drive unit.

[0199] The processor provided in the embodiment of the present application is also used to determine the allocated torque of each of the target drive units according to the torque arbitration result; and determine the control signal of each of the target drive units according to the allocated torque and the first operating information of each of the target drive units.

[0200] That is, after the domain controller 100 of the embodiment of the present application determines the torque that each target drive unit needs to generate together (i.e., the torque arbitration result), the domain controller 100 will perform a torque distribution operation to determine how much torque each target drive unit needs to generate, and the entire vehicle can generate power / braking force of the torque arbitration result.

[0201] It can be understood that the specific process of torque distribution is a content that can be set according to actual conditions. For example, in some embodiments, the domain controller pre-stores the weight value corresponding to each drive unit, and then the domain controller completes the torque distribution according to the weight ratio of each target drive unit. Exemplarily, assuming that the target drive unit includes a first unit, a second unit and a third unit, the weight value of the first unit is 1, the weight value of the second unit is 2, the weight value of the third unit is 3, and the torque arbitration result is 60N, then: the weight ratio of the first unit, the second unit and the third unit is 1:2:3, the total torque (torque arbitration result) is 60N, so the distributed torque of the first unit is 1 / 6 of 60, that is, 10N, the distributed torque of the second unit is 2 / 6 of 60, that is, 20N, and the distributed torque of the third unit is 3 / 6 of 60, that is, 30N.

[0202] Furthermore, when the torque distribution is completed, the domain controller 100 will also determine the torque that each target drive unit can actually generate based on the first operating information of each target drive unit of the vehicle, and set the size of the torque that each target drive unit needs to generate based on the actual torque that can be generated, that is, the torque control information (or control signal).

[0203] It is understandable that at different times or under different operating conditions, the torque that can be generated by different drive units may be inconsistent. For example, when the remaining power of the vehicle battery is 100%, the engine can generate a larger torque, but when the remaining power is 10%, the engine can generate a smaller torque due to insufficient power.

[0204] Therefore, the implementation mode of the present application will also determine the magnitude of the torque that each target drive unit can generate at the current moment according to the first operation information of each target drive unit collected by the execution unit 200 at the current moment, and thereby determine the torque control information (or control signal) corresponding to the target drive unit. For example, if it is determined according to the first operation information that a certain target drive unit can currently generate a torque of 60N, and the allocated torque of the target drive unit is 50N, in other words, the target drive unit can meet the allocated torque, then the torque corresponding to the torque control information of the target drive unit can be 50N. Conversely, if the allocated torque of the target drive unit is 100N, then because the target allocated torque currently meets 100N, then the torque corresponding to the torque control information of the target drive unit can be 60N.

[0205] In this way, the implementation mode of the present application is based on the collection of torque distribution and first operating information, so that the output torque allocated to the target drive unit is determined according to the operating information of the target drive unit, thereby ensuring the reasonable setting of the control signal. Furthermore, the target drive unit can normally perform corresponding actions based on the control signal, so that the stable driving of the vehicle can be guaranteed.

[0206] In some embodiments of the present application, the domain controller 100 is configured as:

[0207] The control signal of each of the target drive units is determined according to the distributed torque, vehicle battery information, and motor information of each of the target drive units.

[0208] In the control method provided in the embodiment of the present application, step 01121 includes:

[0209] The control signal of each of the target drive units is determined according to the distributed torque, vehicle battery information, and motor information of each of the target drive units.

[0210] The processor provided in the embodiment of the present application is also used to determine the control signal of each of the target drive units based on the distributed torque, vehicle battery information and motor information of each of the target drive units.

[0211] That is, the implementation mode of the present application will determine the torque that can be generated by each target drive unit based on the battery condition of the vehicle (such as the remaining power, etc.) and the motor information of each target drive unit (motor speed, motor temperature, etc.), and then determine the control signal of each target drive unit in combination with the torque allocated to each target drive unit (i.e., the allocated torque).

[0212] In certain embodiments, the domain controller 100 will set a corresponding control signal according to the torque allocated to the target drive unit based on the motor speed of the target drive unit collected by the execution unit 200, the limited power of the vehicle battery manager, the remaining power (of the vehicle battery), and the fault conditions of various systems in the vehicle (such as whether the IPB is faulty, etc.).

[0213] It is understandable that the motor speed can indicate the load condition of the target drive unit. If the speed has reached the peak value, the target drive unit cannot generate torque by increasing the speed. If the speed has not reached the peak value, it means that the target drive unit can generate corresponding torque by increasing the speed.

[0214] Similarly, the power limit and the remaining power can represent the upper limit of the power that the engine can generate, or the upper limit of the feedback torque. For example, if the remaining power is 100%, it means that the vehicle battery is wirelessly charged, so the vehicle can complete braking through the feedback torque at this time, and then the domain controller 100 does not allocate torque to the drive unit corresponding to the feedback torque.

[0215] In this way, the implementation mode of the present application enables the domain controller 100 to accurately determine the current operating status of each target drive unit based on the vehicle battery information and the motor information of each target drive unit, so as to accurately allocate torque to each target drive unit and ensure the stable operation of the target drive unit.

[0216] In some embodiments, the domain controller 100 is configured to:

[0217] In the case of sending the control signal to the execution unit 200, determining the current generated torque of the target drive unit according to the second operation information of the target drive unit;

[0218] When the currently generated torque does not meet the target torque corresponding to the torque control information, an adjusted control signal is sent to the execution unit 200 so that the execution unit 200 controls the operation of the target drive unit according to the adjusted control signal so that the target drive unit generates the target torque, and the adjusted control signal is determined based on the currently generated torque and the target torque.

[0219] See also Fig.14 , the control method provided in the embodiment of the present application also includes:

[0220] 05: in the case of sending the control signal to the execution unit, determining the current torque generated by the target drive unit according to the second operation information of the target drive unit;

[0221] 06: When the currently generated torque does not meet the target torque corresponding to the torque control information, an adjusted control signal is sent to the execution unit so that the execution unit controls the operation of the target drive unit according to the adjusted control signal, so that the target drive unit generates the target torque, wherein the adjusted control signal is determined based on the currently generated torque and the target torque.

[0222] The processor provided in the embodiment of the present application is also used to determine the current torque generated by the target drive unit according to the second operating information of the target drive unit when sending the control signal to the execution unit; and send an adjusted control signal to the execution unit when the current torque generated does not meet the target torque corresponding to the torque control information, so that the execution unit controls the operation of the target drive unit according to the adjusted control signal, so that the target drive unit generates the target torque, wherein the adjusted control signal is determined based on the current torque generated and the target torque.

[0223] That is, in order to ensure that the vehicle can generate the torque required by the user (i.e., the required torque of the whole vehicle, or the torque arbitration result), the domain controller 100 of the embodiment of the present application will also control the execution unit 200 to perform secondary information collection. That is, when a control signal has been sent to the execution unit 200 so that the execution unit 200 has controlled the target drive unit to perform a corresponding operation, the execution unit 200 can collect the operating information of each target drive unit again (i.e., the second operating information) and send the second operating information to the domain controller 100.

[0224] The domain controller 100 determines the torque generated by the target drive unit at the current moment (i.e., the current generated torque) based on the received second operation information. Then, the domain controller 100 can determine whether the current generated torque of the target drive unit is consistent with the previously determined output torque, or in other words, whether the target drive unit generates a power / braking force with the output torque.

[0225] Furthermore, the domain controller 100 can determine that the target drive unit has correctly completed torque generation when the currently generated torque is consistent with the previously determined output torque, or when the difference between the currently generated torque and the "target torque corresponding to the torque control information" is less than or equal to a preset difference.

[0226] If the currently generated torque is inconsistent with the above-mentioned target torque, or if the difference between the currently generated torque and the above-mentioned target torque is greater than the preset difference, the domain controller 100 can adjust the torque control information of the target drive unit based on the difference between the currently generated torque and the above-mentioned target torque (such as controlling the target drive unit to increase or reduce the torque to be generated), and generate a corresponding control signal according to the adjusted torque control information, generate an adjusted control signal, and send the adjusted control signal to the execution unit 200.

[0227] After receiving the adjusted control signal, the execution unit 200 can re-control the target drive unit according to the adjusted control signal, or make corresponding adjustments (such as increasing the speed) to the target drive unit under the current operating conditions (such as the current speed) so that the target drive unit can generate the expected torque, that is, the above-mentioned target torque.

[0228] For example, the target torque corresponding to the hydraulic brake unit is 50N. However, due to the aging and wear of the hydraulic brake unit, the hydraulic brake unit only generates a braking force of 40N according to the control of the execution unit 200. Then, after the execution unit 200 sends the current operation information (i.e., the second operation information) of the hydraulic brake unit to the domain controller 100, so that the domain controller 100 knows that the hydraulic brake unit only generates a braking force of 40N, the domain controller 100 will correspondingly adjust the torque controller information corresponding to the hydraulic brake unit to adjust the target torque from 50N to 60N, generate an adjusted control signal, and send the adjusted control signal to the execution unit 200. The execution unit 200 controls the hydraulic execution unit to perform corresponding adjustments according to the adjusted control signal, so that the hydraulic brake unit generates a braking force of 50N.

[0229] It is understandable that if the hydraulic brake unit still cannot generate a braking force of 50N after the control signal is adjusted, the execution unit 200 can collect the operation information of the hydraulic brake unit again and send it to the domain controller 100, so that the domain controller 100 can adjust the control signal corresponding to the hydraulic brake unit again, thereby performing multiple control signal adjustments until the hydraulic brake unit can generate a braking force of 50N. Alternatively, if the hydraulic brake unit still cannot generate a braking force of 50N after multiple adjustments, the domain controller 100 can re-execute the corresponding torque distribution operation so that other target drive units can make up for the corresponding torque gap.

[0230] In this way, based on the collection of the second operating information, the implementation mode of the present application enables the domain controller 100 to adjust the output torque of the target drive unit according to the execution status of the target drive unit, so that after the adjustment, the target drive unit can generate the corresponding target torque, thereby ensuring the stable operation of the vehicle.

[0231] In some implementations, the control signal is obtained by performing space vector pulse width modulation processing on the torque control information.

[0232] That is, the domain controller 100 of the embodiment of the present application will complete the control of the target drive unit based on SVPWM (Space Vector Pulse Width Modulation). Specifically, the domain controller 100 performs corresponding SVPWM modulation processing based on the determined torque control information to generate a corresponding control signal. Then, the control signal is sent to the execution unit 200. The control signal (or SVPWM waveform signal) received by the execution unit 200 completes the corresponding motor drive and / or valve control.

[0233] In some embodiments, the specific execution process of the execution unit 200 includes: based on its own amplification circuit, amplifying the received SVPWM waveform signal (i.e., control signal) to a waveform signal capable of driving IGBT (Insulated Gate Bipolar Transistor) to work, that is, a signal capable of driving the insulated gate bipolar transistor in the motor. Then, the three-phase inverter bridge circuit composed of IGBT in the motor is controlled to output the three-phase AC current corresponding to the SVPWM waveform signal to the stator of the motor, so that the motor generates corresponding torque.

[0234] It is understandable that SVPWM modulation requires a large amount of calculation. However, since the implementation of the present application is based on the domain controller 100 with strong computing power to complete the corresponding data processing, the stable use of the SVPWM modulation signal in the vehicle can be guaranteed. Therefore, the implementation of the present application is based on SVPWM modulation, so that the motor can be controlled more accurately and stably, in other words, reliable motor control is achieved.

[0235] In this way, the implementation mode of the present application is based on space vector pulse width modulation, so that the execution unit 200 can stably and accurately complete the motor control, thereby ensuring the stable driving of the vehicle.

[0236] An embodiment of the present application also provides a vehicle control system, including the above-mentioned domain controller.

[0237] The embodiment of the present application further provides a vehicle, including a vehicle body, on which the above-mentioned vehicle control system or the above-mentioned domain controller 100 is installed.

[0238] The present application provides a computer-readable storage medium containing a computer program. When the computer program is executed by one or more processors, the one or more processors execute the vehicle control method of the embodiment of the present application.

[0239] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0240] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0241] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A domain controller for a vehicle, characterized in that: The domain controller is connected to an execution unit of the vehicle; The domain controller is configured to determine a control signal based on the vehicle information collected by the execution unit, and send the control signal to the execution unit so that the execution unit controls the vehicle driving according to the control signal, and the control signal includes torque control information.

2. The domain controller according to claim 1, characterized in that: The domain controller is configured as follows: Determine the control signal according to the vehicle information collected by the collection subunit of the execution unit; and send the control signal to the execution subunit of the execution unit, so that the execution subunit controls the vehicle to travel according to the control signal.

3. The domain controller according to claim 1, characterized in that: The domain controller is configured as follows: According to the required torque of the whole vehicle, a target drive unit in the vehicle and the control signal corresponding to the target drive unit are determined, and the required torque of the whole vehicle is determined according to the vehicle information.

4. The domain controller according to claim 3, characterized in that: The domain controller is configured as follows: Determining the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position according to the vehicle information; The vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position.

5. The domain controller according to claim 4, characterized in that: The domain controller is configured as follows: Determining a target data mapping table corresponding to the current driving mode based on a pre-stored data mapping table corresponding to each driving mode; Based on the target data mapping table, the vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed and the current gear position.

6. The domain controller according to claim 3, characterized in that: The domain controller is configured as follows: determining a brake pedal opening according to the vehicle information; Determining a torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated brake domain controller; The target drive unit and the control signal are determined according to the torque arbitration result.

7. The domain controller according to claim 6, characterized in that: The target drive unit includes a plurality of units, and the domain controller is configured as follows: determining a distributed torque of each of the target drive units according to the torque arbitration result; The control signal of each of the target drive units is determined according to the distributed torque and the first operation information of each of the target drive units.

8. The domain controller according to claim 7, characterized in that: The domain controller is configured as follows: The control signal of each of the target drive units is determined according to the distributed torque, vehicle battery information, and motor information of each of the target drive units.

9. The domain controller according to claim 7, characterized in that: The domain controller is configured as follows: In the case of sending the control signal to the execution unit, determining the current generated torque of the target drive unit according to the second operation information of the target drive unit; When the currently generated torque does not meet the target torque corresponding to the torque control information, an adjusted control signal is sent to the execution unit so that the execution unit controls the operation of the target drive unit according to the adjusted control signal so that the target drive unit generates the target torque, and the adjusted control signal is determined based on the currently generated torque and the target torque.

10. The domain controller according to claim 1, characterized in that: The control signal is obtained by performing space vector pulse width modulation processing on the torque control information.

11. A vehicle control method, characterized in that: The vehicle comprises a domain controller according to any one of claims 1 to 10, and the method comprises: Determine a control signal according to the vehicle information collected by the execution unit, wherein the control signal includes torque control information; The control signal is sent to the execution unit so that the execution unit controls the vehicle to travel according to the control signal.

12. The method according to claim 11, characterized in that Determining the control signal according to the vehicle information collected by the execution unit includes: Determining the control signal according to the vehicle information collected by the collection subunit of the execution unit; The step of sending the control signal to the execution unit so that the execution unit controls the vehicle to travel according to the control signal includes: The control signal is sent to an execution subunit of the execution unit, so that the execution subunit controls the vehicle to travel according to the control signal.

13. The method according to claim 11, characterized in that Determining the control signal according to the vehicle information collected by the execution unit includes: According to the required torque of the whole vehicle, a target drive unit in the vehicle and the control signal corresponding to the target drive unit are determined, and the required torque of the whole vehicle is determined according to the vehicle information.

14. The method according to claim 13, characterized in that The method further comprises: Determining the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position according to the vehicle information; The vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed, the current driving mode and the current gear position.

15. The method according to claim 14, characterized in that The determining the vehicle required torque according to the accelerator pedal opening, the vehicle speed, the driving mode and the gear position includes: Determining a target data mapping table corresponding to the current driving mode based on a pre-stored data mapping table corresponding to each driving mode; Based on the target data mapping table, the vehicle required torque is determined according to the current accelerator pedal opening, the current vehicle speed and the current gear position.

16. The method according to claim 13, characterized in that The step of determining the target drive unit in the vehicle and the control signal corresponding to the target drive unit according to the required torque of the vehicle includes: determining a brake pedal opening according to the vehicle information; Determining a torque arbitration result corresponding to the vehicle required torque according to the brake pedal opening and the state of the intelligent integrated braking system; The target drive unit and the control signal of the target drive unit are determined according to the torque arbitration result.

17. The method according to claim 16, characterized in that There are multiple target drive units, and determining the target drive unit and the control signal of the target drive unit according to the torque arbitration result includes: determining a distributed torque of each of the target drive units according to the torque arbitration result; The control signal of each of the target drive units is determined according to the distributed torque and the first operation information of each of the target drive units.

18. The method according to claim 17, characterized in that The step of determining the control signal of each target drive unit according to the distributed torque and the first operation information of each target drive unit comprises: The control signal of each of the target drive units is determined according to the distributed torque, vehicle battery information, and motor information of each of the target drive units.

19. The method according to claim 17, characterized in that The method further comprises: In the case of sending the control signal to the execution unit, determining the current generated torque of the target drive unit according to the second operation information of the target drive unit; When the currently generated torque does not meet the target torque corresponding to the torque control information, an adjusted control signal is sent to the execution unit so that the execution unit controls the operation of the target drive unit according to the adjusted control signal, so that the target drive unit generates the target torque, wherein the adjusted control signal is determined based on the currently generated torque and the target torque.

20. A vehicle control system, characterized in that: The domain controller comprises the domain controller as described in any one of claims 1-10.

21. A vehicle, characterized in that: Including the body; The vehicle body is installed with a domain controller as described in any one of claims 1 to 10, or is installed with a vehicle control system as described in claim 20.

22. A vehicle, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 11 to 19 is implemented.

23. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 11 to 19 is implemented.

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