Vehicle stable acceleration control method and system, vehicle and storage medium

Abstract

The invention discloses a vehicle stable acceleration control method comprising the following steps: S1, an ADAS system judges a vehicle speed adjusting strategy according to a received signal; s2, according to the determined vehicle speed adjusting strategy, the ADAS system executes the operation of adjusting the vehicle speed; wherein in the step S2, the redundancy control unit is adjusted in real time by changing calibration parameters, so that the ADAS system can separately control the vehicle to accelerate and decelerate. According to the vehicle stable acceleration control method, by increasing the ADAS calibration quantity, the requirement of people for vehicle control is visually changed, traditional complex intermediate debugging links are reduced, the expected effect is achieved, and the vehicle better meets the man-machine requirement. The invention further discloses a control system for implementing the vehicle stable acceleration control method, the vehicle and a computer readable storage medium.

Description

Technical Field

[0001] The present invention belongs to the field of automobile technology, and in particular, relates to a vehicle stability acceleration control method, a control system, a vehicle and a storage medium. Background Art

[0002] The Advanced Driving Assistance System (ADAS) uses a variety of sensors installed on the vehicle (millimeter wave radar, lidar, monocular / binocular cameras, and satellite navigation) to sense the surrounding environment at any time while the car is driving, collect data, identify, detect, and track static and dynamic objects, and combine navigation map data to perform systematic calculations and analysis, so that the driver can be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving.

[0003] With the development of the automobile industry, manual driving obviously cannot meet people's current demand for automobile intelligence. In the existing field, automobile human-computer interaction has become more frequent and intelligent, and intelligent driving is a typical representative of this. Fully autonomous driving has become a major trend in the future development of the industry. As intelligent driving technology becomes more mature, the control logic in driving has also become diverse. Therefore, the development of ADAS has become particularly important.

[0004] The Chinese patent application number 202210936879.5 discloses an adaptive low-speed cruise control method, system, device and storage medium. The method includes the vehicle activating the adaptive cruise function, the high-precision map outputting the current vehicle position signal to the ADAS controller, and the ADAS controller combining the vehicle speed signal to determine whether the current vehicle is traveling on a congested road condition below 20 kilometers; if the high-precision map identifies that the vehicle is traveling on a congested road condition below 20 kilometers per hour, the ADAS controller determines whether the current control loop needs to accelerate or decelerate based on the distance and relative speed of the preceding vehicle output by the ADAS radar and the ADAS camera; according to the control strategy of the ADAS controller during acceleration and deceleration, smooth low-speed cruise following is achieved.

[0005] It is desirable to provide an improved vehicle stability acceleration control method, particularly with regard to how to shorten the response time and improve the response accuracy. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a vehicle stable acceleration control method, the purpose of which is to shorten the response time and improve the response accuracy.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a vehicle stable acceleration control method, comprising:

[0008] S1. The ADAS system determines the vehicle speed adjustment strategy based on the received signal;

[0009] S2. The ADAS system performs an operation of adjusting the vehicle speed according to the determined vehicle speed adjustment strategy;

[0010] Wherein, in the step S2, the redundant control unit is adjusted in real time by changing the calibration quantity parameters, so that the ADAS system can separately control the acceleration and deceleration of the vehicle.

[0011] In step S1, the signals received by the ADAS system include wheel speed signals, radar signals and camera signals, and the ADAS system is electrically connected to the wheel speed sensor, radar and camera.

[0012] In the step S1, the vehicle speed adjustment strategy includes the vehicle needs to accelerate and the vehicle needs to decelerate.

[0013] In step S2, the vehicle speed adjustment strategy determined is that the vehicle needs to decelerate, and the ADAS system sends a deceleration command to the brake controller. After the brake controller determines that the deceleration setting conditions are met, it sends a deceleration command to the brake to control the vehicle to decelerate.

[0014] The deceleration setting condition is that the deceleration signal is valid or there is no other higher priority command.

[0015] In step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current speed is ≤ the maximum allowable speed V max , the ADAS system sends a torque increase request to the power system. After the power system determines that the first acceleration setting condition is met, it sends a shift command to the transmission to control the vehicle to accelerate.

[0016] In step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current speed is greater than the maximum allowable speed V max , the ADAS system sends a torque increase request to the redundant control unit. After the redundant control unit determines that the second acceleration setting condition is met, it sends a fixed required torque to the power system, and the power system sends a shift command to the transmission to control the vehicle to accelerate.

[0017] The present invention also provides a control system for implementing the vehicle stability acceleration control method, including an ADAS system, a redundant control unit, a wheel speed sensor, a radar and a camera, wherein the ADAS system is electrically connected to the redundant control unit, the wheel speed sensor, the radar and the camera.

[0018] The present invention also provides a vehicle, comprising a control system for implementing the vehicle stability acceleration control method.

[0019] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the vehicle stable acceleration control method.

[0020] The vehicle stability acceleration control method of the present invention increases the ADAS calibration amount, intuitively changes people's demand for vehicle control, reduces traditional complex intermediate debugging links, achieves the expected effect, and enables the vehicle to better meet human-machine needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a control strategy flow chart;

[0022] Figure 2 This is an overview diagram of overshoot. DETAILED DESCRIPTION

[0023] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly connected by technicians in the technical field to which the present invention belongs. The terminology used in the specification of the present invention is for the purpose of describing specific embodiments and is not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0025] like Figure 1 As shown, the present invention provides a vehicle stable acceleration control method, comprising the following steps:

[0026] S1. The ADAS system determines the vehicle speed adjustment strategy based on the received signal;

[0027] S2. The ADAS system performs an operation of adjusting the vehicle speed according to the determined vehicle speed adjustment strategy;

[0028] Wherein, in the step S2, the redundant control unit is adjusted in real time by changing the calibration quantity parameters, so that the ADAS system can separately control the acceleration and deceleration of the vehicle.

[0029] In step S1, the signals received by the ADAS system include wheel speed signals, radar signals and camera signals, and the ADAS system is electrically connected to the wheel speed sensor, radar and camera.

[0030] In the step S1, the vehicle speed adjustment strategy includes the vehicle needs to accelerate and the vehicle needs to decelerate.

[0031] In step S2, the vehicle speed adjustment strategy determined is that the vehicle needs to decelerate, and the ADAS system sends a deceleration command to the brake controller. After the brake controller determines that the deceleration setting conditions are met, it sends a deceleration command to the brake to control the vehicle to decelerate.

[0032] The deceleration setting condition is that the deceleration signal is valid or there is no other higher priority command.

[0033] In step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current speed is ≤ the maximum allowable speed V max , the ADAS system sends a torque increase request to the power system. After the power system determines that the first acceleration setting condition is met, it sends a shift command to the transmission to control the vehicle to accelerate.

[0034] In step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current speed is greater than the maximum allowable speed V max , the ADAS system sends a torque increase request to the redundant control unit. After the redundant control unit determines that the second acceleration setting condition is met, it sends a fixed required torque to the power system, and the power system sends a shift command to the transmission to control the vehicle to accelerate.

[0035] The present invention also provides a control system for implementing the vehicle stability acceleration control method, including an ADAS system, a redundant control unit, a wheel speed sensor, a radar and a camera, wherein the ADAS system is electrically connected to the redundant control unit, the wheel speed sensor, the radar and the camera.

[0036] The present invention also provides a vehicle, comprising a control system for implementing the vehicle stability acceleration control method.

[0037] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the vehicle stable acceleration control method.

[0038] Example

[0039] First, as Figure 1 As shown, an embodiment of the present invention provides a vehicle stability acceleration control method, comprising the following steps:

[0040] S1, ADAS system (Advanced Driver Assistance System) determines the vehicle speed adjustment strategy based on the received signal;

[0041] S2. According to the determined vehicle speed adjustment strategy, the ADAS system performs an operation to adjust the vehicle speed.

[0042] Specifically, in the embodiment of the present invention, in the above step S1, the signals received by the ADAS system include wheel speed signals, radar signals and camera signals, and the ADAS system is electrically connected to the wheel speed sensor, radar and camera. Through the integration of multiple sensors, such as cameras, millimeter wave radars, laser radars and other devices, the vehicle's surrounding environment is perceived in real time, including the road conditions ahead, traffic signs, the dynamics of other vehicles and pedestrians, etc. Based on these perception information, the ADAS system can judge the safety of the current driving environment and determine the vehicle speed adjustment strategy accordingly.

[0043] In the embodiment of the present invention, in the above step S1, the vehicle speed adjustment strategy includes the vehicle needs to accelerate and the vehicle needs to decelerate.

[0044] In the embodiment of the present invention, in the above step S2, the redundant control unit is adjusted in real time by changing the calibration quantity parameter, so that the ADAS system can separately control the vehicle to accelerate and decelerate. Figure 1 As shown, the ADAS system is electrically connected to the redundant control unit, and the ADAS system is also electrically connected to the brake controller, which is used to control the brake to work. The ADAS system determines the vehicle speed adjustment strategy, and it will perform the operation of adjusting the vehicle speed through actuators (such as the brake system, power system, etc.). In the process of adjusting the vehicle speed, the ADAS system will continuously monitor the actual driving status of the vehicle and adjust the control strategy as needed to ensure that the vehicle can accelerate and decelerate stably and safely.

[0045] In an embodiment of the present invention, in the above step S2, the vehicle speed adjustment strategy determined is that the vehicle needs to decelerate, then the ADAS system stops sending the torque increase request, and the ADAS system sends a deceleration command to the brake controller. After the brake controller determines that the deceleration setting conditions are met, it sends a deceleration command to the brake to control the vehicle to decelerate.

[0046] In an embodiment of the present invention, in the above step S2, the deceleration setting condition is that the deceleration signal is valid or there is no other higher priority command. Other higher priority commands include commands issued by TCS (traction control system), commands issued by VDC (vehicle dynamic control system), or the current deceleration exceeds the set maximum deceleration. In the case where it is necessary to control wheel slip to maintain driving stability, the priority of TCS will be higher than the general deceleration command. Similar to TCS, VDC has a higher priority in maintaining vehicle driving stability. When the vehicle has unstable conditions such as oversteer, understeer or wheel slip, VDC will intervene immediately to restore the stability of the vehicle by adjusting the vehicle's braking system and power system power. If the deceleration operation exceeds the maximum deceleration limit, the vehicle may take other measures to ensure the safety and smoothness of the deceleration process.

[0047] In the embodiment of the present invention, in the above step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current vehicle speed is ≤ the maximum allowable vehicle speed V max , the ADAS system sends a torque increase request to the power system. After the power system determines that the first acceleration setting condition is met, it sends a shift command to the transmission to control the vehicle to accelerate.

[0048] In the embodiment of the present invention, in the above step S2, the first acceleration setting condition is that the acceleration signal is valid or there is no other higher priority command. Other higher priority commands include a command issued by the braking system or a command issued by the transmission system. If the braking system is requesting deceleration or braking (such as emergency braking or the driver stepping on the brake pedal), the power system will not perform an acceleration operation. If the transmission system is performing a gear shift operation (such as shifting from a low gear to a high gear or performing other gear shift adjustments), the power system may temporarily not execute the acceleration request to avoid conflicts with the gear shift operation.

[0049] In the embodiment of the present invention, in the above step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate, and the current speed of the vehicle is calculated. If the current speed is greater than the maximum allowable speed V max , the ADAS system sends a torque increase request to the redundant control unit. After the redundant control unit determines that the second acceleration setting condition is met, it sends a fixed required torque to the power system. The power system sends a shift command to the transmission to control the vehicle to accelerate.

[0050] In the embodiment of the present invention, in the above step S2, the second acceleration setting condition is that the acceleration signal is valid or there is no other higher priority command. Other higher priority commands include the maximum speed limit of the vehicle, a command issued by the steering control system, or a torque request exceeding the maximum output torque fed back by the power system.

[0051] In an embodiment of the present invention, the redundant control unit can be adjusted to adjust the maximum allowed requested deceleration and acceleration of the ADAS system by modifying the threshold value of the calibration parameter, so that the calibration parameter becomes an adjustable value instead of a fixed value, so that the vehicle body stability and comfort can better meet customer needs. Since each vehicle parameter is different, such as tire specifications, mass, suspension height, etc., the calibration parameter can also be adjusted according to the specific actual vehicle conditions. The calibration parameter can be designed as delay time, rise time, peak time, adjustment time, overshoot, number of oscillations, etc. according to the dynamic performance indicators, which can basically reflect the characteristics of the system transient process.

[0052] In practical applications, commonly used transient performance indicators are rise time, adjustment time and overshoot.

[0053] In the embodiment of the present invention, the activation conditions of the vehicle stability acceleration control method are as follows:

[0054] 1. The vehicle speed is greater than 0;

[0055] 2. Maximum permissible speed V max =V0+at;

[0056] Wherein, V0 is the current speed calculated during vehicle driving, a is a fixed acceleration or deceleration, and t is the response time;

[0057] 3. The redundant control unit calculates the rise time, adjustment time and overshoot, and the feedback result is the calibration parameter and observation curve. The calibration parameter (given value) is manually modified to make the vehicle stable. Overshoot is also called maximum deviation overshoot = [X max -X(∞)] / X(∞)×100%

[0058] Among them, X max is the maximum value of the controlled variable, and X(∞) is the steady-state value. This indicator is usually used to describe the response characteristics of the system under step input, especially to evaluate the performance of the system in the control system.

[0059] In the embodiment of the present invention, the vehicle stability acceleration control method relies on the precise perception and intelligent decision-making capabilities of the ADAS system. By monitoring the vehicle's surroundings in real time and adjusting the vehicle speed accordingly, the ADAS system can significantly improve driving safety and comfort.

[0060] In an embodiment of the present invention, the vehicle acceleration and deceleration requirements are judged in real time by wheel speed, vehicle speed and external scene, and the redundant control unit is adjusted in real time by changing the calibration parameters, so that the ADAS system can better control acceleration and deceleration separately to achieve the expected response accuracy and improve vehicle safety and comfort.

[0061] In the second aspect, an embodiment of the present invention also provides a control system for implementing a vehicle stability acceleration control method, including an ADAS system, a redundant control unit, a wheel speed sensor, a radar and a camera, and the ADAS system is electrically connected to the redundant control unit, the wheel speed sensor, the radar and the camera.

[0062] In a third aspect of the present invention, an embodiment of the present invention further provides a vehicle, comprising a control system for implementing the above-mentioned vehicle stability acceleration control method.

[0063] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute a vehicle stable acceleration control method.

[0064] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0066] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A vehicle stable acceleration control method, characterized in that: include: S1. The ADAS system determines the vehicle speed adjustment strategy based on the received signal; S2. The ADAS system performs an operation of adjusting the vehicle speed according to the determined vehicle speed adjustment strategy; Wherein, in the step S2, the redundant control unit is adjusted in real time by changing the calibration quantity parameters, so that the ADAS system can separately control the acceleration and deceleration of the vehicle.

2. The vehicle stable acceleration control method according to claim 1, characterized in that: In step S1, the signals received by the ADAS system include wheel speed signals, radar signals and camera signals, and the ADAS system is electrically connected to the wheel speed sensor, radar and camera.

3. The vehicle stable acceleration control method according to claim 1, characterized in that: In the step S1, the vehicle speed adjustment strategy includes the vehicle needs to accelerate and the vehicle needs to decelerate.

4. The vehicle stable acceleration control method according to any one of claims 1 to 3, characterized in that: In step S2, the vehicle speed adjustment strategy determined is that the vehicle needs to decelerate, and the ADAS system sends a deceleration command to the brake controller. After the brake controller determines that the deceleration setting conditions are met, it sends a deceleration command to the brake to control the vehicle to decelerate.

5. The vehicle stable acceleration control method according to claim 4, characterized in that: The deceleration setting condition is that the deceleration signal is valid or there is no other higher priority command.

6. The vehicle stable acceleration control method according to any one of claims 1 to 5, characterized in that: In step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current speed is ≤ the maximum allowable speed V max , the ADAS system sends a torque increase request to the power system. After the power system determines that the first acceleration setting condition is met, it sends a shift command to the transmission to control the vehicle to accelerate.

7. The vehicle stable acceleration control method according to any one of claims 1 to 5, characterized in that: In step S2, the speed adjustment strategy determined is that the vehicle needs to accelerate. If the current speed is greater than the maximum allowable speed V max , the ADAS system sends a torque increase request to the redundant control unit. After the redundant control unit determines that the second acceleration setting condition is met, it sends a fixed required torque to the power system, and the power system sends a shift command to the transmission to control the vehicle to accelerate.

8. A control system for implementing the vehicle stability acceleration control method according to any one of claims 1 to 7, characterized in that: It includes an ADAS system, a redundant control unit, a wheel speed sensor, a radar and a camera. The ADAS system is electrically connected to the redundant control unit, the wheel speed sensor, the radar and the camera.

9. A vehicle, characterized in that: A control system comprising the vehicle stability acceleration control method as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the vehicle stable acceleration control method according to any one of claims 1 to 7.

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