An intelligent driving control method and system based on a unified control interface model

Abstract

The application provides a kind of intelligent driving control method and system based on unified control interface model, constructs unified control interface model and receives multiple intelligent driving control instructions;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;Respectively, the lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions are converted to obtain steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions;Intelligent driving is controlled.The application solves the problem that the intelligent driving control signal type of the prior art is various, the interface signal is not unified, and then the reliability of intelligent driving control is poor.The application realizes the unification of vehicle signal interface and improves the reliability of intelligent driving control.

Description

Technical Field

[0001] This 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 Technology

[0002] The core of intelligent driving system operation lies in its ability to use advanced perception sensors to comprehensively capture information about the surrounding environment and generate driving decisions. These decisions are transformed into specific control commands and sent to the controlled vehicle through efficient communication means. After receiving these commands, the controlled vehicle's internal actuators will respond immediately and precisely execute 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 others achieve acceleration control of the controlled vehicle by sending motor torque requests. Therefore, the following problems will exist when the intelligent driving system is running: (1) The vehicle control commands issued by each intelligent driving system under test are different, and the vehicle's 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 cannot directly receive all types of vehicle control commands (such as acceleration commands) issued by the intelligent driving system under test. An additional intermediate model is needed to convert the model interface signal types supported by the vehicle, resulting in poor reliability of intelligent driving control. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes an intelligent driving control method and system based on a unified control interface model, which unifies vehicle signal interfaces and improves the reliability of intelligent driving control.

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

[0006] Construct a unified control interface model and receive various intelligent driving control commands;

[0007] Based on the unified control interface model, the various intelligent driving control commands are classified to obtain lateral control commands, longitudinal deceleration control commands, and longitudinal acceleration control commands.

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

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

[0010] Furthermore, the construction of a unified control interface model and the receipt of various intelligent driving control commands include:

[0011] A unified control interface model is constructed based on a pre-defined simulation algorithm;

[0012] Receive multiple intelligent driving control signals from different sources, perform signal parsing on the multiple intelligent driving control signals from different sources, and obtain the signal interface format and signal content of each signal;

[0013] Based on the format and content of each signal interface, each signal is converted into a corresponding intelligent driving control command, resulting in a variety of intelligent driving control commands.

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

[0015] The instruction content and instruction parameters of the various intelligent driving control instructions are tagged to obtain the instruction tags corresponding to each intelligent driving instruction;

[0016] Based on the unified control interface model, the instruction tags corresponding to each intelligent driving instruction are parsed to obtain the control instruction classification results corresponding to each intelligent driving instruction.

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

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

[0019] Based on the unified control interface model, the lateral control command is sequentially subjected to lateral control PID adjustment, steering mode switching and steering wheel angle signal processing to obtain the steering wheel angle control command.

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

[0021] Based on the unified control interface model, the longitudinal acceleration control command is sequentially subjected to longitudinal acceleration control PID adjustment, acceleration mode switching, and throttle opening signal processing to obtain the throttle opening control command.

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

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

[0024] When the lateral control activation status signal is active, 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 the output.

[0025] When the lateral control activation status signal is inactive, the steering mode is switched to driver-controlled vehicle through the unified control interface model, with the second directional angle signal applied by the driver as the output.

[0026] The first and second steering wheel angle signals are filtered using the unified control interface model to obtain the third and fourth steering wheel angle signals.

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

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

[0029] Using the longitudinal deceleration control activation state signal as a trigger signal, the unified control interface model is triggered to perform PID adjustment on the longitudinal deceleration control command and the longitudinal deceleration control command execution state to obtain the first brake master cylinder pressure signal.

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

[0031] When the pressure signal of the first master cylinder is less than the pressure signal of the second master cylinder applied by the driver, the braking mode is switched to the driver-driven braking mode through the unified control interface model, with the pressure signal of the second master cylinder applied by the driver as the output.

[0032] 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 brake master cylinder pressure control commands.

[0033] Furthermore, based on the unified control interface model, the longitudinal acceleration control command is sequentially subjected to longitudinal acceleration control PID adjustment, acceleration mode switching, and throttle opening signal processing to obtain the throttle opening control command, including:

[0034] Using the longitudinal acceleration control activation state signal as a trigger signal, the unified control interface model is triggered to perform PID adjustment on the longitudinal acceleration control command and the longitudinal acceleration control command execution state to obtain the first throttle opening signal.

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

[0036] 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, with the second throttle opening signal applied by the driver as the output.

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

[0038] Furthermore, 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 throttle opening control commands, including:

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

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

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

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

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

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

[0045] This 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 various intelligent driving control commands;

[0047] The instruction classification module is used to classify the various 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 instruction conversion module is used to convert the lateral control instruction, longitudinal deceleration control instruction and longitudinal acceleration control instruction respectively based on the unified control interface model to obtain the steering wheel angle control instruction, brake master cylinder pressure control instruction and throttle opening control instruction.

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

[0050] Beneficial effects:

[0051] By constructing a unified control interface model, various intelligent driving control commands are classified and converted into unified steering wheel angle control commands, brake master cylinder pressure control commands, and throttle opening control commands. This simplifies the vehicle's interface settings and requirements. Ultimately, intelligent driving is controlled through unified steering wheel angle control commands, brake master cylinder pressure control commands, and throttle opening control commands, eliminating the need for frequent adjustments to vehicle interface signals. This reduces the vehicle's requirements for interface types and converts various types of intelligent driving control commands into fixed and unified outputs for vehicle control, thereby improving the reliability of intelligent driving. Attached Figure Description

[0052] Figure 1 A flowchart illustrating the steps of an intelligent driving control method based on a unified control interface model, provided in a certain embodiment of the present invention;

[0053] Figure 2This is a schematic diagram of the instruction conversion application process of an intelligent driving control method based on a unified control interface model, provided in a certain embodiment of the present invention.

[0054] Figure 3 This is a schematic diagram of the module structure of an intelligent driving control system based on a unified control interface model, provided for one embodiment of the present invention. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] Example 1

[0057] See Figure 1 , Figure 1 A flowchart illustrating the steps of an intelligent driving control method based on a unified control interface model, provided in a certain embodiment of the present invention;

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

[0059] Step 101: Construct a unified control interface model and receive various intelligent driving control commands;

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

[0061] Receive multiple intelligent driving control signals from different sources, perform signal parsing on the multiple intelligent driving control signals from different sources, and obtain the signal interface format and signal content of each signal;

[0062] Based on the format and content of each signal interface, each signal is converted into a corresponding intelligent driving control command, resulting in a variety of intelligent driving control commands.

[0063] One possible implementation method is described in [link to implementation details]. Figure 2 , Figure 2 This is a schematic diagram illustrating the instruction conversion application process of an intelligent driving control method based on a unified control interface model, according to a certain embodiment of the present invention; [The following text appears to be a separate, unrelated section:] ...as Figure 2As shown, a vehicle simulation system is obtained by modeling based on Simulink. The vehicle simulation system includes: a driving system under test, a lateral closed-loop control module, a longitudinal deceleration closed-loop control module, a longitudinal acceleration closed-loop control module, and a dynamic model of the controlled vehicle. 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 the intelligent driving control method based on a unified control interface model proposed in this invention will be explained through the vehicle simulation system, which will not be elaborated further below. Receive various intelligent driving control signals from different sources and send them to the intelligent driving system under test. Determine the type and content of various intelligent driving control signals from different sources. For example: (1) Turning control signals include signals that control the vehicle's driving angle and driving direction; (2) Acceleration control signals include signals that control the vehicle's running speed and acceleration; (3) Deceleration control signals include signals that control 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 types of control signals into control instructions that can be input to the vehicle and control the vehicle through encoding processing.

[0064] Step 102: Based on the unified control interface model, classify the various intelligent driving control commands to obtain lateral control commands, longitudinal deceleration control commands, and longitudinal acceleration control commands.

[0065] As an example of this embodiment, the instruction content and instruction parameters of the various intelligent driving control instructions are tagged to obtain instruction tags corresponding to each intelligent driving instruction; based on the unified control interface model, the instruction tags corresponding to each intelligent driving instruction are parsed to obtain the 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] One possible implementation involves pre-setting a complete vehicle tagging system in the intelligent driving system under test. This tagging system reflects the relationship between various controllable parameters or modules and control commands during vehicle operation. After acquiring multiple intelligent driving control commands, the corresponding command content and parameters are tagged. For example, the cornering control command corresponding to the cornering control signal is tagged as a lateral control command that the vehicle can process, and the acceleration control command and deceleration control command corresponding to the acceleration control signal and deceleration control signal are tagged as longitudinal control commands that the vehicle can process. Then, the tagging of each intelligent driving command is parsed to convert the control commands into more detailed... The commands are differentiated accordingly. For example, lateral control commands are parsed as follows: lateral control commands include: the lateral control command itself, the lateral control command execution status, and the lateral control activation status signal fed back by the controlled vehicle's dynamics model; longitudinal control commands are parsed as: longitudinal deceleration control commands and longitudinal acceleration control commands. The longitudinal deceleration control command includes: the longitudinal deceleration control command itself, the longitudinal deceleration control command execution status, and the longitudinal deceleration control activation status signal fed back by the controlled vehicle's dynamics model; the longitudinal acceleration control command includes: the longitudinal acceleration control command itself, the longitudinal acceleration control command execution status, and the longitudinal acceleration control activation status signal fed back by the controlled vehicle's dynamics model, and so on.

[0067] Step 103: Based on the unified control interface model, the lateral control command, longitudinal deceleration control command, and longitudinal acceleration control command are converted into steering wheel angle control command, brake master cylinder pressure control command, and throttle opening control command, respectively.

[0068] As an example of this embodiment, based on the unified control interface model, the lateral control command is sequentially subjected to lateral control PID adjustment, steering mode switching, and steering wheel angle signal processing to obtain a steering wheel angle control command. 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 command and the lateral control command execution state to obtain a first steering wheel angle signal. When the lateral control activation state signal is active, 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 the output. When the lateral control activation state signal is inactive, the steering mode is switched to driver driving control through the unified control interface model, with the second steering angle signal applied by the driver as the output. The first and second steering wheel angle signals are filtered through the unified control interface model to obtain a third and a fourth steering wheel angle signal. The third and fourth steering wheel angle signals that meet the preset steering wheel angle threshold are output as steering wheel angle control commands.

[0069] One possible implementation involves inputting lateral control commands, lateral control command execution status, and lateral control activation status signals to a lateral closed-loop control module. Lateral closed-loop control is achieved through PID adjustment using a lateral control PID module. The lateral control activation status signal serves as a trigger signal, activating the lateral control PID module. The output of the lateral control PID module is a steering wheel angle signal (equivalent to a first steering wheel angle signal), which is output to a steering mode switching module at its rear. This module receives the steering wheel angle signal (equivalent to the first steering wheel angle signal) from the lateral control PID module and the steering wheel angle signal applied by the driver (equivalent to a second steering wheel angle signal). Switching between driver-controlled lateral vehicle movement and intelligent driving system-controlled lateral vehicle movement is achieved via a mode switching switch and the lateral control activation status signal from the intelligent driving system under test. When the lateral control activation status signal from the intelligent driving system is "activated," the mode switching switch switches to intelligent driving system-controlled lateral vehicle movement, 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. When the first steering wheel angle signal is used as the output, the mode switching switch switches to the driver's lateral control mode, 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 or second steering wheel angle signal) output by the steering mode switching module and the road curvature signal emitted by the intelligent driving system. Through filtering technology, the steering wheel angle signal is limited to a specific amplitude range, and abrupt data is effectively eliminated to avoid instability of the controlled vehicle's dynamic model during lateral control. Then, the road curvature signal provided by the intelligent driving system is used to further filter the already filtered steering wheel angle signal (equivalent to the third and fourth steering wheel angle signals). Specifically, a corresponding steering wheel angle threshold (equivalent to a preset steering wheel angle threshold) is set according to different road curvatures, and data below the steering wheel angle threshold is excluded to avoid swaying of the controlled vehicle's dynamic model.

[0070] As an example of this embodiment, based on the unified control interface model, the longitudinal deceleration control command is sequentially subjected to longitudinal deceleration control PID adjustment, braking mode switching, and master cylinder pressure signal processing to obtain the brake master cylinder pressure control command. 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 command and the longitudinal deceleration control command execution state to obtain the 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 intelligent driving braking mode through the unified control interface model, with the first brake master cylinder pressure signal 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 driver-driven braking mode through the unified control interface model, with the second brake master cylinder pressure signal applied by the driver 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 command.

[0071] One possible implementation involves inputting a longitudinal deceleration control command, a longitudinal deceleration control activation state signal, and a longitudinal deceleration control command execution state into a longitudinal deceleration control PID module. The longitudinal deceleration control activation state signal serves as a trigger signal, activating the PID module's operation. Through a PID adjustment mechanism, closed-loop control of longitudinal deceleration is achieved, and a brake master cylinder pressure signal (equivalent to a first brake master cylinder pressure signal) is output. This pressure signal is then transmitted to a downstream brake mode switching module. The brake mode switching module compares the brake master cylinder pressure signal output by the PID module (equivalent to the first brake master cylinder pressure signal) with the brake master cylinder pressure signal actually applied by the driver (equivalent to a second brake master cylinder pressure signal). Through its built-in mode switching logic, this module can intelligently adjust the brake mode based on the pressure relationship between the two signals. The system switches 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 switches to intelligent driving system braking mode and selects the pressure signal output by the PID module (equivalent to the first brake master cylinder pressure signal) as the output. Conversely, it switches to driver braking mode and selects 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 high.

[0072] As an example of this embodiment, based on the unified control interface model, the longitudinal acceleration control command is sequentially subjected to longitudinal acceleration control PID adjustment, acceleration mode switching, and throttle opening signal processing to obtain the throttle opening control command. 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 command and the longitudinal acceleration control command execution state to obtain 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 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, with the second throttle opening signal applied by the driver as the output; when the brake master cylinder pressure control command meets the preset requirements, 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 less than the second preset master cylinder pressure threshold, the first throttle opening signal and the second throttle opening signal are output as throttle opening control commands; when the brake master cylinder pressure control command is greater than the second preset master cylinder pressure threshold, the throttle opening control command output is 0.

[0073] One possible implementation involves inputting a longitudinal acceleration control command, a longitudinal acceleration control command execution status, and a longitudinal acceleration control activation status signal into a longitudinal acceleration control PID module. The longitudinal acceleration control activation status signal serves as a trigger signal, activating the PID adjustment mechanism of the longitudinal acceleration control PID module to achieve closed-loop control of longitudinal acceleration. This results in the output of a throttle opening signal (equivalent to a first throttle opening signal), which is then output to a downstream acceleration mode switching module. This module compares the throttle opening signal output by the PID module (equivalent to the first throttle opening signal) with the throttle opening signal actually applied by the driver (equivalent to a second throttle opening signal). Through its built-in mode switching logic, the module can switch between driver acceleration and intelligent driving system acceleration. When the throttle opening applied by the driver (equivalent to the second throttle opening signal) is greater than 0 (equivalent to a preset threshold), the module switches to driver acceleration mode and selects the throttle opening signal applied by the driver (equivalent to the second throttle opening signal). As the output, it switches to the intelligent driving system acceleration mode and selects the throttle opening signal (equivalent to the first throttle opening signal) output by the PID module as the output. Then, the throttle opening signal processing module receives the throttle opening signal (including the first throttle opening signal or the second throttle opening signal) from the acceleration mode switching module, as well as the brake master cylinder pressure signal from the longitudinal deceleration closed-loop control module. First, it ensures that the throttle opening is limited to a preset amplitude range (equivalent to a preset requirement) to prevent excessive opening. Then, it determines the final throttle opening output based on 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. At this time, the throttle opening signal (including the first brake master cylinder pressure signal or the second brake master cylinder pressure signal) will be directly output. Conversely, it means that the vehicle needs to decelerate or maintain a braking state. At this time, 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, brake master cylinder pressure control command, and throttle opening control command.

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

[0076] One possible implementation involves using steering wheel angle control commands output from the lateral closed-loop control module to control the EPS (Electric Power Steering) system or other steering actuators in the controlled vehicle's dynamics model, converting the control commands into actual steering wheel angle adjustments, thereby controlling the vehicle's steering angle. Similarly, using brake master cylinder pressure control commands output from the longitudinal deceleration closed-loop control module, the pressure value of the cylinder is controlled by adjusting actuators such as solenoid valves in the controlled vehicle's dynamics model, for example, controlling parameters such as the opening and closing time and duty cycle of the solenoid valves, to achieve precise adjustment of braking force. Finally, using throttle opening control commands output from the longitudinal acceleration closed-loop control module, the throttle opening is directly controlled by actuators such as the ECU (Engine Control Unit) or motors in the controlled vehicle's dynamics model, thereby controlling the engine intake air volume for intelligent driving.

[0077] By constructing a unified control interface model, various intelligent driving control commands are classified and converted into unified steering wheel angle control commands, brake master cylinder pressure control commands, and throttle opening control commands. This simplifies the vehicle's interface settings and requirements. Ultimately, intelligent driving is controlled through unified steering wheel angle control commands, brake master cylinder pressure control commands, and throttle opening control commands, eliminating the need for frequent adjustments to vehicle interface signals. This reduces the vehicle's requirements for interface types and converts various types of intelligent driving control commands into fixed and unified outputs for vehicle control, thereby improving the reliability of intelligent driving.

[0078] Example 2

[0079] See Figure 3 , Figure 3 This is a schematic diagram of the module structure of an intelligent driving control system based on a unified control interface model, provided for one embodiment of the present invention. Figure 3 As shown in the figure, this embodiment of the invention proposes an intelligent driving control system based on a unified control interface model, comprising:

[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 various intelligent driving control commands;

[0082] The instruction classification module 302 is used to classify the various 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 instruction conversion module 303 is used to convert the lateral control instruction, longitudinal deceleration control instruction and longitudinal acceleration control instruction respectively based on the unified control interface model to obtain the steering wheel angle control instruction, brake master cylinder pressure control instruction and throttle opening control instruction.

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

[0085] A unified control interface model is constructed through a model building module. Then, through an instruction classification module and an instruction conversion module, 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. This simplifies the vehicle's interface settings and requirements. Finally, the intelligent driving control module controls the intelligent driving system through these unified steering wheel angle control instructions, brake master cylinder pressure control instructions, and throttle opening control instructions. This eliminates the need for frequent adjustments to the vehicle's interface signals, reduces the vehicle's requirements for interface types, 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 description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0088] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

Claims

1.A method for intelligent driving control based on a unified control interface model, characterized in that, The method comprises the following steps: constructing a unified control interface model and receiving multiple intelligent driving control instructions; based on the unified control interface model, the multiple intelligent driving control instructions are classified into lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions; based on the unified control interface model, the lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions are respectively converted into steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions, including: the lateral control instructions are sequentially subjected to lateral control PID adjustment, steering mode switching and steering wheel angle signal processing to obtain steering wheel angle control instructions, which include: using a lateral control activation state signal as a trigger signal to trigger the unified control interface model to perform PID adjustment on the lateral control instructions and the execution state of the lateral control instructions 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 control of the vehicle 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 control of the vehicle through the unified control interface model, and a second steering 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 a preset steering wheel angle threshold are output as the steering wheel angle control instructions; based on the steering wheel angle control instructions, brake master cylinder pressure control instructions and throttle opening control instructions, intelligent driving is controlled. 2.The intelligent driving control method based on the unified control interface model of claim 1, wherein, The method of constructing a unified control interface model and receiving multiple intelligent driving control instructions comprises: constructing a unified control interface model based on a preset simulation algorithm; receiving multiple intelligent driving control signals from different sources, analyzing the multiple intelligent driving control signals from different sources to obtain signal interface formats and signal contents; based on the signal interface formats and signal contents, converting the signals into corresponding intelligent driving control instructions to obtain multiple intelligent driving control instructions. 3.The intelligent driving control method based on the unified control interface model of claim 1, wherein, Based on the unified control interface model, the multiple intelligent driving control instructions are classified into lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions, including: labeling the instruction content and instruction parameters of the multiple intelligent driving control instructions 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 analyzed 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, the lateral control instructions, longitudinal deceleration control instructions and longitudinal acceleration control instructions are divided. 4.The intelligent driving control method based on the unified control interface model of claim 1, wherein, Based on the unified control interface model, the lateral control instruction, the longitudinal deceleration control instruction and the longitudinal acceleration control instruction are respectively converted into a steering wheel angle control instruction, a brake master cylinder pressure control instruction and a throttle opening control instruction, including: 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 the brake master cylinder pressure control instruction; 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. 5.The intelligent driving control method based on the unified control interface model of claim 4, wherein, 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 the brake master cylinder pressure control instruction, including: A 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 execution state of the longitudinal deceleration control instruction to obtain a first brake master cylinder pressure signal; When the first brake master cylinder pressure signal is greater than a second brake master cylinder pressure signal applied by the driver, the brake mode is switched to an intelligent driving brake mode by 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 brake mode is switched to a driver driving brake mode by 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 a first preset master cylinder pressure threshold are used as the brake master cylinder pressure control instruction output. 6.The intelligent driving control method based on the unified control interface model of claim 5, wherein, 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, including: A 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 execution state of the longitudinal acceleration control instruction to obtain 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 by 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 by 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 a preset requirement, the first throttle opening signal and the second throttle opening signal are used as the throttle opening control instruction output. 7.The intelligent driving control method based on the unified control interface model of claim 6, wherein, Based on the brake master cylinder pressure control instruction, the first throttle opening signal and the second throttle opening signal that meet a preset requirement are used as the throttle opening control instruction output, including: When the brake master cylinder pressure control instruction is less than the second preset master cylinder pressure threshold, the first throttle opening degree signal and the second throttle opening degree signal are output as the throttle opening degree control instruction; When the brake master cylinder pressure control instruction is greater than the second preset master cylinder pressure threshold, the throttle opening degree control instruction output is 0. 8.The intelligent driving control method based on the unified control interface model of claim 1, wherein, Based on the steering wheel angle control instruction, the brake master cylinder pressure control instruction and the throttle opening degree control instruction, the intelligent driving is controlled, including: Based on the steering wheel angle control instruction, the steering 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 degree control instruction, the engine intake amount of the intelligent driving is controlled. 9.A unified control interface model based intelligent driving control system, characterized in that, An intelligent driving control method based on a unified control interface model is executed, including: A model construction module, an instruction classification module, an instruction conversion module and an intelligent driving control module; The model construction module is used to construct 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 a lateral control instruction, a longitudinal deceleration control instruction and a longitudinal acceleration control instruction; The instruction conversion module is used to convert the lateral control instruction, the longitudinal deceleration control instruction and the longitudinal acceleration control instruction based on the unified control interface model to obtain a steering wheel angle control instruction, a brake master cylinder pressure control instruction and a throttle opening degree control instruction, including: the lateral control instruction is sequentially subjected to lateral control PID adjustment, steering mode switching and steering wheel angle signal processing to obtain the steering wheel angle control instruction, including: a 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 control of the vehicle by 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 control of the vehicle by the unified control interface model, and a second steering 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 subjected to filtering processing by 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 meeting a preset steering wheel angle threshold are output as the steering wheel angle control instruction; 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 degree control instruction.

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