Intelligent driving control method and system based on unified control interface model

Abstract

The invention provides an intelligent driving control method and system based on a unified control interface model. The method comprises the steps that the unified control interface model is constructed, and multiple intelligent driving control instructions are received; based on the unified control interface model, performing instruction classification on the multiple intelligent driving control instructions to obtain a transverse control instruction, a longitudinal deceleration control instruction and a longitudinal acceleration control instruction; instruction conversion is conducted on the transverse control instruction, the longitudinal deceleration control instruction and the longitudinal acceleration control instruction, and a steering wheel turning angle control instruction, a brake master cylinder pressure control instruction and a throttle valve opening degree control instruction are obtained; and intelligent driving is controlled. According to the invention, the problem of poor reliability of intelligent driving control caused by various types of intelligent driving control signals and non-uniform interface signals in the prior art is solved. Unification of vehicle signal interfaces is realized, and the reliability of intelligent driving control is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving control, and in particular to an intelligent driving control method and system based on a unified control interface model. Background Art

[0002] The core of the operation of the intelligent driving system lies in its ability to use advanced perception sensors to fully capture information about the surrounding environment and generate driving decisions. These decisions are converted into specific control instructions and sent to the controlled vehicle through efficient communication means. After the controlled vehicle receives these instructions, its internal actuator will respond immediately and accurately perform a series of actions such as steering, acceleration and braking to achieve automated or semi-automated driving of the vehicle.

[0003] Since different intelligent driving systems issue different control commands, for example, some intelligent driving systems achieve acceleration control of the controlled vehicle by sending acceleration signals, while other intelligent driving systems achieve acceleration control of the controlled vehicle by sending motor request torque, the following problems will occur when the intelligent driving system is running: (1) There are differences in the vehicle control commands issued by the intelligent driving systems to be tested, and the vehicle interface signal settings have to be frequently adjusted and modified, resulting in poor reliability of intelligent driving control; (2) Since the model interface signal types currently equipped on the vehicle are not comprehensive enough, it is impossible for it to directly receive all types of vehicle control commands (such as acceleration commands) issued by the intelligent driving system to be tested, and an additional intermediate model is required to convert the model interface signal types supported by the vehicle, resulting in poor reliability of intelligent driving control. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes an intelligent driving control method and system based on a unified control interface model to achieve the unification of vehicle signal interfaces and improve the reliability of intelligent driving control.

[0005] To achieve the above object, an embodiment of the present invention provides an intelligent driving control method based on a unified control interface model, comprising:

[0006] Build a unified control interface model and receive multiple intelligent driving control instructions;

[0007] Based on the unified control interface model, the multiple intelligent driving control instructions are classified to obtain a lateral control instruction, a longitudinal deceleration control instruction, and a longitudinal acceleration control instruction;

[0008] Based on the unified control interface model, the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command are respectively converted to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command;

[0009] Intelligent driving is controlled based on the steering wheel angle control command, the brake master cylinder pressure control command and the throttle opening control command.

[0010] Furthermore, the construction of a unified control interface model and receiving a variety of intelligent driving control instructions include:

[0011] Build a unified control interface model based on the preset simulation algorithm;

[0012] Receiving a plurality of intelligent driving control signals from different sources, performing signal analysis on the plurality of intelligent driving control signals from different sources, and obtaining the interface format and signal content of each signal;

[0013] Based on the signal interface formats and signal contents, each signal is converted into a corresponding intelligent driving control instruction to obtain a plurality of intelligent driving control instructions.

[0014] Furthermore, based on the unified control interface model, the multiple intelligent driving control instructions are classified to obtain lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions, including:

[0015] Labeling the instruction contents and instruction parameters of the multiple intelligent driving control instructions to obtain instruction labels corresponding to the intelligent driving instructions;

[0016] Based on the unified control interface model, label parsing is performed on the instruction labels corresponding to each intelligent driving instruction to obtain a control instruction classification result corresponding to each intelligent driving instruction;

[0017] Based on the control instruction classification results corresponding to each intelligent driving instruction, lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions are divided.

[0018] Further, based on the unified control interface model, the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command are converted respectively to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command, including:

[0019] Based on the unified control interface model, sequentially performing lateral control PID adjustment, steering mode switching and steering wheel angle signal processing on the lateral control instruction to obtain a steering wheel angle control instruction;

[0020] Based on the unified control interface model, the longitudinal deceleration control instruction is sequentially subjected to longitudinal deceleration control PID adjustment, brake mode switching and master cylinder pressure signal processing to obtain a brake master cylinder pressure control instruction;

[0021] Based on the unified control interface model, longitudinal acceleration control PID adjustment, acceleration mode switching and throttle opening signal processing are sequentially performed on the longitudinal acceleration control instruction to obtain a throttle opening control instruction.

[0022] Further, based on the unified control interface model, the lateral control instruction is sequentially subjected to lateral control PID adjustment, steering mode switching and steering wheel angle signal processing to obtain a steering wheel angle control instruction, including:

[0023] Using the lateral control activation state signal as a trigger signal, triggering the unified control interface model to perform PID adjustment on the lateral control command and the lateral control command execution state, and obtaining a first steering wheel angle signal;

[0024] When the lateral control activation state signal is activated, the steering mode is switched to intelligent driving lateral vehicle control through the unified control interface model, with the first steering wheel angle signal as output;

[0025] When the lateral control activation state signal is inactive, the steering mode is switched to driver-driven vehicle control through the unified control interface model, with the second direction steering angle signal applied by the driver as output;

[0026] Filtering the first steering wheel angle signal and the second steering wheel angle signal through the unified control interface model to obtain a third steering wheel angle signal and a fourth steering wheel angle signal;

[0027] The third steering wheel angle signal and the fourth steering wheel angle signal that meet the preset steering wheel angle threshold are output as steering wheel angle control instructions.

[0028] Further, based on the unified control interface model, the longitudinal deceleration control instruction is sequentially subjected to longitudinal deceleration control PID adjustment, brake mode switching and master cylinder pressure signal processing to obtain a brake master cylinder pressure control instruction, including:

[0029] Using the longitudinal deceleration control activation state signal as a trigger signal, triggering the unified control interface model to perform PID adjustment on the longitudinal deceleration control instruction and the longitudinal deceleration control instruction execution state, and obtaining a first brake master cylinder pressure signal;

[0030] When the first brake master cylinder pressure signal is greater than the second brake master cylinder pressure signal applied by the driver, the braking mode is switched to the intelligent driving braking mode through the unified control interface model, with the first brake master cylinder pressure signal as output;

[0031] When the first brake master cylinder pressure signal is less than the second brake master cylinder pressure signal applied by the driver, the braking mode is switched to the driver driving braking mode through the unified control interface model, and the second brake master cylinder pressure signal applied by the driver is used as the output;

[0032] The first master cylinder pressure signal and the second master cylinder pressure signal that meet the first preset master cylinder pressure threshold are output as master cylinder pressure control instructions.

[0033] Further, based on the unified control interface model, longitudinal acceleration control PID adjustment, acceleration mode switching and throttle opening signal processing are sequentially performed on the longitudinal acceleration control instruction to obtain the throttle opening control instruction, including:

[0034] Using the longitudinal acceleration control activation state signal as a trigger signal, triggering the unified control interface model to perform PID adjustment on the longitudinal acceleration control instruction and the longitudinal acceleration control instruction execution state, and obtaining a first throttle opening signal;

[0035] When the throttle opening applied by the driver is less than a preset threshold, the acceleration mode is switched to intelligent driving acceleration through the unified control interface model, with the first throttle opening signal as output;

[0036] When the throttle opening applied by the driver is greater than a preset threshold, the steering mode is switched to driver acceleration through the unified control interface model, with the second throttle opening signal applied by the driver as output;

[0037] When the brake master cylinder pressure control command meets the preset requirement, the first throttle opening signal and the second throttle opening signal are output as the throttle opening control command.

[0038] Further, based on the brake master cylinder pressure control instruction, the first throttle opening signal and the second throttle opening signal that meet the preset requirements are output as the throttle opening control instruction, including:

[0039] When the brake master cylinder pressure control command is less than a second preset master cylinder pressure threshold, the first throttle opening signal and the second throttle opening signal are output as the throttle opening control command;

[0040] When the brake master cylinder pressure control command is greater than a second preset master cylinder pressure threshold, the throttle opening control command output is 0.

[0041] Furthermore, based on the steering wheel angle control command, the brake master cylinder pressure control command and the throttle opening control command, intelligent driving is controlled, including:

[0042] Based on the steering wheel angle control instruction, control the direction angle adjustment amount of intelligent driving;

[0043] Based on the brake master cylinder pressure control command, control the vehicle braking force of intelligent driving;

[0044] Based on the throttle opening control instruction, the air intake volume of the intelligent driving engine is controlled.

[0045] The embodiment of the present invention also provides an intelligent driving control system based on a unified control interface model, comprising: a model building module, an instruction classification module, an instruction conversion module and an intelligent driving control module;

[0046] The model building module is used to build a unified control interface model and receive multiple intelligent driving control instructions;

[0047] The instruction classification module is used to classify the multiple intelligent driving control instructions based on the unified control interface model to obtain lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions;

[0048] The command conversion module is used to convert the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command based on the unified control interface model, so as to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command;

[0049] The intelligent driving control module is used to control the intelligent driving based on the steering wheel angle control instruction, the brake master cylinder pressure control instruction and the throttle opening control instruction.

[0050] Beneficial effects:

[0051] By constructing a unified control interface model, various intelligent driving control instructions are classified and converted into unified steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions, which simplifies the interface and interface requirements of vehicle settings. Ultimately, intelligent driving is controlled by unified steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions. There is no need to frequently adjust the vehicle interface signals, which reduces the vehicle's requirements for interface types. Various types of intelligent driving control instructions are converted into fixed and unified outputs to control the vehicle, thereby improving the reliability of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a process flow of an intelligent driving control method based on a unified control interface model provided by an embodiment of the present invention;

[0053] Figure 2A schematic diagram of an instruction conversion application flow of an intelligent driving control method based on a unified control interface model provided in an embodiment of the present invention;

[0054] Figure 3 A schematic diagram of the module structure of an intelligent driving control system based on a unified control interface model provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Example 1

[0057] See also Figure 1 , Figure 1 A schematic diagram of a process flow of an intelligent driving control method based on a unified control interface model provided by an embodiment of the present invention;

[0058] like Figure 1 As shown, the embodiment of the present invention proposes an intelligent driving control method based on a unified control interface model, including steps 101 to 104, each of which is specifically as follows:

[0059] Step 101, building a unified control interface model and receiving multiple intelligent driving control instructions;

[0060] As an example of this embodiment, a unified control interface model is constructed based on a preset simulation algorithm;

[0061] Receiving a plurality of intelligent driving control signals from different sources, performing signal analysis on the plurality of intelligent driving control signals from different sources, and obtaining the interface format and signal content of each signal;

[0062] Based on the signal interface formats and signal contents, each signal is converted into a corresponding intelligent driving control instruction to obtain a plurality of intelligent driving control instructions.

[0063] For a specific implementation method, see Figure 2 , Figure 2 A schematic diagram of an instruction conversion application flow of an intelligent driving control method based on a unified control interface model provided by an embodiment of the present invention; Figure 2As shown, based on simulink modeling, a vehicle simulation system is obtained, and the vehicle simulation system includes: an intelligent driving system to be tested, a lateral closed-loop control module, a longitudinal deceleration closed-loop control module, a longitudinal acceleration closed-loop control module and a controlled vehicle dynamics model, the lateral closed-loop control module includes: a lateral control PID module, a steering mode switching module and a steering wheel angle signal processing module; the longitudinal deceleration closed-loop control module includes: a longitudinal deceleration control PID module, a braking mode switching module and a master cylinder pressure signal processing module; the longitudinal acceleration closed-loop control module includes: a longitudinal acceleration control PID module, an acceleration mode switching module and a throttle opening signal processing module; in this embodiment, the feasibility of an intelligent driving control method based on a unified control interface model proposed in an embodiment of the present invention will be explained through the vehicle simulation system, and will not be repeated below. Receive multiple intelligent driving control signals from different sources, send them to the intelligent driving system to be tested, and determine the types and contents of various intelligent driving control signals from different sources, for example: (1) Angle control signals include: signals for controlling the vehicle's driving angle and driving direction; (2) Acceleration control signals include: signals for controlling the vehicle's running speed and acceleration; (3) Deceleration control signals include: signals for controlling the vehicle's deceleration and braking, etc.; decode the various control signals that have been analyzed, map the decoded control signals to the vehicle instruction set, and then convert the various control signals into control instructions that can be input into the vehicle and control the vehicle through encoding processing;

[0064] Step 102, based on the unified control interface model, classifying the multiple intelligent driving control instructions to obtain a lateral control instruction, a longitudinal deceleration control instruction, and a longitudinal acceleration control instruction;

[0065] As an example of this embodiment, the instruction contents and instruction parameters of the multiple intelligent driving control instructions are labeled to obtain instruction labels corresponding to each intelligent driving instruction; based on the unified control interface model, the instruction labels corresponding to each intelligent driving instruction are parsed to obtain control instruction classification results corresponding to each intelligent driving instruction; based on the control instruction classification results corresponding to each intelligent driving instruction, lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions are divided.

[0066] A specific implementation method is to pre-set a complete vehicle label system in the intelligent driving system to be tested. The label system can reflect the relationship between various controllable parameters or modules and control instructions during the operation of the vehicle. After obtaining a variety of intelligent driving control instructions, the corresponding instruction content and instruction parameters are labeled. For example, the corner control instruction corresponding to the corner control signal is marked as a lateral control instruction that can be processed by the vehicle, and the acceleration control instruction and deceleration control instruction corresponding to the acceleration control signal and the deceleration control signal are marked as longitudinal control instructions that can be processed by the vehicle; then the instruction labels corresponding to the processed intelligent driving instructions are parsed to convert the control instructions into more detailed For example, the lateral control instruction is parsed into: the lateral control instruction includes: the lateral control instruction, the lateral control instruction execution state and the lateral control activation state signal fed back by the controlled vehicle dynamics model, etc.; the longitudinal control instruction is parsed into: the longitudinal deceleration control instruction and the longitudinal acceleration control instruction, the longitudinal deceleration control instruction includes: the longitudinal deceleration control instruction, the longitudinal deceleration control instruction execution state and the longitudinal deceleration control activation state signal fed back by the controlled vehicle dynamics model; the longitudinal acceleration control instruction includes: the longitudinal acceleration control instruction, the longitudinal acceleration control instruction execution state and the longitudinal acceleration control activation state signal fed back by the controlled vehicle dynamics model, and so on;

[0067] Step 103, based on the unified control interface model, respectively converting the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command;

[0068] As an example of this embodiment, based on the unified control interface model, the lateral control instruction is sequentially subjected to lateral control PID adjustment, steering mode switching and steering wheel angle signal processing to obtain a steering wheel angle control instruction; specifically, the lateral control activation state signal is used as a trigger signal to trigger the unified control interface model to perform PID adjustment on the lateral control instruction and the lateral control instruction execution state to obtain a first steering wheel angle signal; when the lateral control activation state signal is activated, the steering mode is switched to intelligent driving lateral vehicle control through the unified control interface model, and the first steering wheel angle signal is used as the output; when the lateral control activation state signal is not activated, the steering mode is switched to driver driving vehicle control through the unified control interface model, and the second direction angle signal applied by the driver is used as the output; the first steering wheel angle signal and the second steering wheel angle signal are filtered through the unified control interface model to obtain a third steering wheel angle signal and a fourth steering wheel angle signal; the third steering wheel angle signal and the fourth steering wheel angle signal that meet the preset steering wheel angle threshold are output as the steering wheel angle control instruction.

[0069] A specific implementation method is to input the lateral control instruction, the lateral control instruction execution status and the lateral control activation status signal into the lateral closed-loop control module, and implement the lateral closed-loop control through the lateral control PID module by performing PID adjustment. The lateral control activation status signal is used as a trigger signal, and the operation of the lateral control PID module is triggered by the trigger signal. The output of the lateral control PID module is a steering wheel angle signal (equivalent to the first steering wheel angle signal), which is output to the steering mode switching module at its rear end. The steering mode switching module receives the steering wheel angle signal (equivalent to the first steering wheel angle signal) output by the lateral control PID module and the steering wheel angle signal (equivalent to the second steering wheel angle signal) applied by the driver. The switching between the driver's lateral control of the vehicle and the lateral control of the vehicle by the intelligent driving system is implemented through the mode switching switch and the lateral control activation status signal issued by the intelligent driving system to be tested. When the lateral control activation status signal issued by the intelligent driving system is "activated", the mode switching switch is switched to the intelligent driving system lateral control of the vehicle, and the steering mode switching module selects the steering wheel angle signal (equivalent to the first steering wheel angle signal) output by the lateral control PID module. The first steering wheel angle signal is equivalent to the first steering wheel angle signal) as the output, otherwise, the mode switching switch is switched to the driver's lateral control of the vehicle, and the steering mode switching module selects the steering wheel angle signal applied by the driver (equivalent to the second steering wheel angle signal) as the output; the steering wheel angle signal processing module receives the steering wheel angle signal (including the first steering wheel angle signal or the second steering wheel angle signal) output by the steering mode switching module and the road curvature signal issued by the intelligent driving system, and through filtering processing technology, the steering wheel angle signal is limited to a specific amplitude range, and the jump data therein is effectively eliminated, so as to avoid the dynamic model of the controlled vehicle from becoming unstable during the lateral control process, and then the road curvature signal provided by the intelligent driving system is used to further screen the filtered steering wheel angle signal (equivalent to the third steering wheel angle signal and the fourth steering wheel angle signal). The specific method is to set the corresponding steering wheel angle threshold (equivalent to the preset steering wheel angle threshold) according to different road curvatures, and exclude those data below the steering wheel angle threshold to avoid the driving swing of the dynamic model of the controlled vehicle.

[0070] As an example of this embodiment, based on the unified control interface model, the longitudinal deceleration control instruction is sequentially subjected to longitudinal deceleration control PID adjustment, braking mode switching and master cylinder pressure signal processing to obtain a brake master cylinder pressure control instruction; specifically, the longitudinal deceleration control activation state signal is used as a trigger signal to trigger the unified control interface model to perform PID adjustment on the longitudinal deceleration control instruction and the longitudinal deceleration control instruction execution state to obtain a first brake master cylinder pressure signal; when the first brake master cylinder pressure signal is greater than the second brake master cylinder pressure signal applied by the driver, the braking mode is switched to the intelligent driving braking mode through the unified control interface model, and the first brake master cylinder pressure signal is used as the output; when the first brake master cylinder pressure signal is less than the second brake master cylinder pressure signal applied by the driver, the braking mode is switched to the driver driving braking mode through the unified control interface model, and the second brake master cylinder pressure signal applied by the driver is used as the output; the first brake master cylinder pressure signal and the second brake master cylinder pressure signal that meet the first preset master cylinder pressure threshold are output as the brake master cylinder pressure control instruction.

[0071] A specific implementation method is to input the longitudinal deceleration control instruction, the longitudinal deceleration control activation state signal and the longitudinal deceleration control instruction execution state into the longitudinal deceleration control PID module, and use the longitudinal deceleration control activation state signal as a trigger signal. The trigger signal triggers the operation of the longitudinal deceleration control PID module, and realizes the closed-loop control of the longitudinal deceleration through the PID adjustment mechanism, and outputs the brake master cylinder pressure signal (equivalent to the first brake master cylinder pressure signal), which is then transmitted to the rear-end brake mode switching module. The brake mode switching module compares the brake master cylinder pressure signal (equivalent to the first brake master cylinder pressure signal) output by the PID module with the brake master cylinder pressure signal (equivalent to the second brake master cylinder pressure signal) actually applied by the driver. Through the built-in mode switching logic, the module can intelligently switch the mode according to the relationship between the pressures of the two. Switch between driving system braking and driver braking. When the pressure signal output by the PID module (equivalent to the first brake master cylinder pressure signal) is greater than the pressure signal applied by the driver (equivalent to the second brake master cylinder pressure signal), the module will switch to the intelligent driving system braking mode and select the pressure signal output by the PID module (equivalent to the first brake master cylinder pressure signal) as the output; otherwise, it will switch to the driver braking mode and select the pressure signal applied by the driver (equivalent to the second brake master cylinder pressure signal) as the output; the master cylinder pressure signal processing module receives the brake master cylinder pressure signal (including the first brake master cylinder pressure signal or the second brake master cylinder pressure signal) from the braking mode switching module and limits it to a preset amplitude range (equivalent to the first preset master cylinder pressure threshold) to ensure that the output brake master cylinder pressure is not too large.

[0072] As an example of this embodiment, based on the unified control interface model, the longitudinal acceleration control instruction is sequentially subjected to longitudinal acceleration control PID adjustment, acceleration mode switching and throttle opening signal processing to obtain the throttle opening control instruction. Specifically, the longitudinal acceleration control activation state signal is used as a trigger signal to trigger the unified control interface model to perform PID adjustment on the longitudinal acceleration control instruction and the longitudinal acceleration control instruction execution state to obtain the first throttle opening signal; when the throttle opening applied by the driver is less than a preset threshold, the acceleration mode is switched to intelligent driving acceleration through the unified control interface model, and the first throttle opening signal is used as the output; when the throttle opening applied by the driver is greater than the preset threshold, the steering mode is switched to driver acceleration through the unified control interface model, and the second throttle opening signal applied by the driver is used as the output; when the brake master cylinder pressure control instruction meets the preset requirements, the first throttle opening signal and the second throttle opening signal are output as the throttle opening control instruction. When the brake master cylinder pressure control instruction is less than the second preset master cylinder pressure threshold, the first throttle opening signal and the second throttle opening signal are output as the throttle opening control instruction; when the brake master cylinder pressure control instruction is greater than the second preset master cylinder pressure threshold, the throttle opening control instruction output is 0.

[0073] A specific implementation method is to input the longitudinal acceleration control instruction, the longitudinal acceleration control instruction execution state and the longitudinal acceleration control activation state signal into the longitudinal acceleration control PID module, and use the longitudinal acceleration control activation state signal as a trigger signal. The trigger signal triggers the operation PID adjustment mechanism of the longitudinal acceleration control PID module to achieve closed-loop control of longitudinal acceleration, output a throttle opening signal (equivalent to the first throttle opening signal), and output the throttle opening signal to the acceleration mode switching module at its rear end. The acceleration mode switching module compares the throttle opening signal (equivalent to the first throttle opening signal) output by the PID module with the throttle opening signal (equivalent to the second throttle opening signal) actually operated by the driver. Through the built-in mode switching logic, the module can switch between driver acceleration and intelligent driving system acceleration. When the throttle opening (equivalent to the second throttle opening signal) applied by the driver is greater than 0 (equivalent to the preset threshold), the module will switch to the driver acceleration mode and select the throttle opening signal (equivalent to the second throttle opening signal) applied by the driver. As output; otherwise, it switches to the acceleration mode of the intelligent driving system, and selects the throttle opening signal (equivalent to the first throttle opening signal) output by the PID module as the output, and then receives the throttle opening signal (including the first throttle opening signal or the second throttle opening signal) from the acceleration mode switching module and the brake master cylinder pressure signal from the longitudinal deceleration closed-loop control module through the throttle opening signal processing module. First, ensure that the throttle opening is limited to a preset amplitude range (equivalent to the preset requirement) to prevent the opening from being too large, and then determine the final throttle opening output according to the brake master cylinder pressure signal (including the first brake master cylinder pressure signal or the second brake master cylinder pressure signal). When the brake master cylinder pressure output by the longitudinal deceleration closed-loop control module is less than 0 (equivalent to the second preset master cylinder pressure threshold), it means that the vehicle is in a non-braking state, and the throttle opening signal (including the first brake master cylinder pressure signal or the second brake master cylinder pressure signal) will be directly output; otherwise, it means that the vehicle needs to decelerate or maintain a braking state, and the throttle output will be set to 0 to ensure driving safety.

[0074] Step 104: Control the intelligent driving based on the steering wheel angle control command, the brake master cylinder pressure control command and the throttle opening control command.

[0075] As an example of this embodiment, based on the steering wheel angle control instruction, the direction angle adjustment amount of the intelligent driving is controlled; based on the brake master cylinder pressure control instruction, the vehicle braking force of the intelligent driving is controlled; based on the throttle opening control instruction, the engine air intake of the intelligent driving is controlled.

[0076] A specific possible implementation method is to control the EPS (electric power steering) system or other steering actuators in the controlled vehicle dynamics model through the steering wheel angle control command output by the lateral closed-loop control module, and convert the control command into an actual steering wheel angle adjustment amount, thereby realizing the control of the vehicle angle; through the brake master cylinder pressure control command output by the longitudinal deceleration closed-loop control module, by adjusting the solenoid valve and other actuators in the controlled vehicle dynamics model, for example, controlling the opening and closing time and duty cycle of the solenoid valve and other parameters to control the pressure value of the cylinder, so as to realize the precise adjustment of the braking force; through the throttle opening control command output by the longitudinal acceleration closed-loop control module, by controlling the ECU (engine control unit) or motor and other actuators in the controlled vehicle dynamics model, directly controlling the throttle opening, thereby realizing the control of the engine air intake of the intelligent driving.

[0077] By constructing a unified control interface model, various intelligent driving control instructions are classified and converted into unified steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions, which simplifies the interface and interface requirements of vehicle settings. Ultimately, intelligent driving is controlled by unified steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions. There is no need to frequently adjust the vehicle interface signals, which reduces the vehicle's requirements for interface types. Various types of intelligent driving control instructions are converted into fixed and unified outputs to control the vehicle, thereby improving the reliability of intelligent driving.

[0078] Example 2

[0079] See also Figure 3 , Figure 3 A schematic diagram of the module structure of an intelligent driving control system based on a unified control interface model provided by an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention proposes an intelligent driving control system based on a unified control interface model, including:

[0080] Model building module 301, instruction classification module 302, instruction conversion module 303 and intelligent driving control module 304;

[0081] The model building module 301 is used to build a unified control interface model and receive multiple intelligent driving control instructions;

[0082] The instruction classification module 302 is used to classify the multiple intelligent driving control instructions based on the unified control interface model to obtain lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions;

[0083] The command conversion module 303 is used to convert the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command based on the unified control interface model, so as to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command;

[0084] The intelligent driving control module 304 is used to control the intelligent driving based on the steering wheel angle control command, the brake master cylinder pressure control command and the throttle opening control command.

[0085] A unified control interface model is constructed through the model construction module, and then various intelligent driving control instructions are classified and converted into unified steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions through the instruction classification module and the instruction conversion module, which simplifies the interface and interface requirements of the vehicle setting. Finally, the intelligent driving control module controls the intelligent driving through unified steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions. There is no need to frequently adjust the vehicle interface signal, which reduces the vehicle's requirements for the interface type, and converts various types of intelligent driving control instructions into fixed and unified outputs to control the vehicle, thereby improving the reliability of intelligent driving.

[0086] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the described specific features, structures, materials or characteristics 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 different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0088] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

Claims

1. An intelligent driving control method based on a unified control interface model, characterized in that: include: Build a unified control interface model and receive multiple intelligent driving control instructions; Based on the unified control interface model, the multiple intelligent driving control instructions are classified to obtain a lateral control instruction, a longitudinal deceleration control instruction, and a longitudinal acceleration control instruction; Based on the unified control interface model, the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command are respectively converted to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command; Intelligent driving is controlled based on the steering wheel angle control command, the brake master cylinder pressure control command and the throttle opening control command.

2. The intelligent driving control method based on the unified control interface model according to claim 1, characterized in that: The unified control interface model is constructed and multiple intelligent driving control instructions are received, including: Build a unified control interface model based on the preset simulation algorithm; Receiving a plurality of intelligent driving control signals from different sources, performing signal analysis on the plurality of intelligent driving control signals from different sources, and obtaining the interface format and signal content of each signal; Based on the signal interface formats and signal contents, each signal is converted into a corresponding intelligent driving control instruction to obtain a plurality of intelligent driving control instructions.

3. The intelligent driving control method based on a unified control interface model as claimed in claim 1, characterized in that: Based on the unified control interface model, the multiple intelligent driving control instructions are classified to obtain lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions, including: Labeling the instruction contents and instruction parameters of the multiple intelligent driving control instructions to obtain instruction labels corresponding to the intelligent driving instructions; Based on the unified control interface model, label parsing is performed on the instruction labels corresponding to each intelligent driving instruction to obtain a control instruction classification result corresponding to each intelligent driving instruction; Based on the control instruction classification results corresponding to each intelligent driving instruction, lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions are divided.

4. The intelligent driving control method based on a unified control interface model as claimed in claim 1, characterized in that: Based on the unified control interface model, the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command are respectively converted to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command, including: Based on the unified control interface model, sequentially performing lateral control PID adjustment, steering mode switching and steering wheel angle signal processing on the lateral control instruction to obtain a steering wheel angle control instruction; Based on the unified control interface model, the longitudinal deceleration control instruction is sequentially subjected to longitudinal deceleration control PID adjustment, brake mode switching and master cylinder pressure signal processing to obtain a brake master cylinder pressure control instruction; Based on the unified control interface model, longitudinal acceleration control PID adjustment, acceleration mode switching and throttle opening signal processing are sequentially performed on the longitudinal acceleration control instruction to obtain a throttle opening control instruction.

5. The intelligent driving control method based on the unified control interface model as claimed in claim 4, characterized in that: Based on the unified control interface model, the lateral control instruction is sequentially subjected to lateral control PID adjustment, steering mode switching and steering wheel angle signal processing to obtain a steering wheel angle control instruction, including: Using the lateral control activation state signal as a trigger signal, triggering the unified control interface model to perform PID adjustment on the lateral control command and the lateral control command execution state, and obtaining a first steering wheel angle signal; When the lateral control activation state signal is activated, the steering mode is switched to intelligent driving lateral vehicle control through the unified control interface model, with the first steering wheel angle signal as output; When the lateral control activation state signal is inactive, the steering mode is switched to driver-driven vehicle control through the unified control interface model, with the second direction steering angle signal applied by the driver as output; Filtering the first steering wheel angle signal and the second steering wheel angle signal through the unified control interface model to obtain a third steering wheel angle signal and a fourth steering wheel angle signal; The third steering wheel angle signal and the fourth steering wheel angle signal that meet the preset steering wheel angle threshold are output as steering wheel angle control instructions.

6. The intelligent driving control method based on a unified control interface model as claimed in claim 4, characterized in that: Based on the unified control interface model, the longitudinal deceleration control instruction is sequentially subjected to longitudinal deceleration control PID adjustment, brake mode switching and master cylinder pressure signal processing to obtain a brake master cylinder pressure control instruction, including: Using the longitudinal deceleration control activation state signal as a trigger signal, triggering the unified control interface model to perform PID adjustment on the longitudinal deceleration control instruction and the longitudinal deceleration control instruction execution state, and obtaining a first brake master cylinder pressure signal; When the first brake master cylinder pressure signal is greater than the second brake master cylinder pressure signal applied by the driver, the braking mode is switched to the intelligent driving braking mode through the unified control interface model, with the first brake master cylinder pressure signal as output; When the first master brake cylinder pressure signal is less than the second master brake cylinder pressure signal applied by the driver, the braking mode is switched to the driver driving braking mode through the unified control interface model, and the second master brake cylinder pressure signal applied by the driver is used as the output; The first master cylinder pressure signal and the second master cylinder pressure signal that meet the first preset master cylinder pressure threshold are output as master cylinder pressure control instructions.

7. The intelligent driving control method based on the unified control interface model as claimed in claim 6, characterized in that: Based on the unified control interface model, longitudinal acceleration control PID adjustment, acceleration mode switching and throttle opening signal processing are sequentially performed on the longitudinal acceleration control instruction to obtain a throttle opening control instruction, including: Using the longitudinal acceleration control activation state signal as a trigger signal, triggering the unified control interface model to perform PID adjustment on the longitudinal acceleration control instruction and the longitudinal acceleration control instruction execution state, and obtaining a first throttle opening signal; When the throttle opening applied by the driver is less than a preset threshold, the acceleration mode is switched to intelligent driving acceleration through the unified control interface model, with the first throttle opening signal as output; When the throttle opening applied by the driver is greater than a preset threshold, the steering mode is switched to driver acceleration through the unified control interface model, with the second throttle opening signal applied by the driver as output; When the brake master cylinder pressure control command meets the preset requirement, the first throttle opening signal and the second throttle opening signal are output as the throttle opening control command.

8. The intelligent driving control method based on the unified control interface model as claimed in claim 7, characterized in that: Based on the brake master cylinder pressure control command, the first throttle opening signal and the second throttle opening signal that meet the preset requirements are output as the throttle opening control command, including: When the brake master cylinder pressure control command is less than a second preset master cylinder pressure threshold, the first throttle opening signal and the second throttle opening signal are output as the throttle opening control command; When the brake master cylinder pressure control command is greater than a second preset master cylinder pressure threshold, the throttle opening control command output is 0.

9. The intelligent driving control method based on a unified control interface model as claimed in claim 1, characterized in that: Based on the steering wheel angle control command, the brake master cylinder pressure control command and the throttle opening control command, intelligent driving is controlled, including: Based on the steering wheel angle control instruction, control the direction angle adjustment amount of intelligent driving; Based on the brake master cylinder pressure control command, control the vehicle braking force of intelligent driving; Based on the throttle opening control instruction, the air intake volume of the intelligent driving engine is controlled.

10. An intelligent driving control system based on a unified control interface model, characterized in that: Executing an intelligent driving control method based on a unified control interface model as claimed in any one of claims 1 to 9, comprising: Model building module, instruction classification module, instruction conversion module and intelligent driving control module; The model building module is used to build a unified control interface model and receive multiple intelligent driving control instructions; The instruction classification module is used to classify the multiple intelligent driving control instructions based on the unified control interface model to obtain lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions; The command conversion module is used to convert the lateral control command, the longitudinal deceleration control command and the longitudinal acceleration control command respectively based on the unified control interface model to obtain a steering wheel angle control command, a brake master cylinder pressure control command and a throttle opening control command; The intelligent driving control module is used to control the intelligent driving based on the steering wheel angle control instruction, the brake master cylinder pressure control instruction and the throttle opening control instruction.

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