Vehicle control system and vehicle control method

Abstract

The invention discloses a whole vehicle control system and a whole vehicle control method, and relates to the technical field of automobiles. The whole vehicle control system comprises a whole vehicle controller and a power supply, and the whole vehicle controller comprises a first whole vehicle controller, a second whole vehicle controller and a third whole vehicle controller; wherein the first vehicle control unit is in communication connection with the second vehicle control unit and the third vehicle control unit; the power source is electrically connected with the first vehicle control unit, the second vehicle control unit and the third vehicle control unit. The first vehicle control unit is used for receiving the vehicle condition information sent by the second vehicle control unit and the vehicle auxiliary information sent by the third vehicle control unit, and determining a vehicle control instruction according to the vehicle condition information and the vehicle auxiliary information; the second vehicle control unit and the third vehicle control unit share information acquisition and processing pressure, so that the load rate is not too high when the vehicle control units receive and transmit too many signals, and the vehicle control efficiency and reliability of the new energy vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a whole vehicle control system and a whole vehicle control method. Background Art

[0002] The vehicle control unit (VCU) is the core control component of new energy vehicles. It is usually connected to the central controller of core components such as batteries and motors. It has multiple functions such as automatic control, monitoring, and protection. It is the control center of key systems such as electric vehicle charging, driving, braking, and driving.

[0003] Current new energy vehicles are usually equipped with only one vehicle controller, which needs to manage and schedule the operating status of each component of the vehicle through the CAN bus to ensure the safe and stable operation of the new energy vehicle.

[0004] However, the current new energy vehicle controller solution will result in a high load rate when the vehicle controller sends and receives too many signals. Summary of the invention

[0005] The main purpose of this application is to propose a whole vehicle control system and a whole vehicle control method, aiming to improve the whole vehicle control efficiency and reliability of new energy vehicles.

[0006] In a first aspect, the present invention provides a vehicle control system, comprising: a vehicle controller, a power supply, wherein the vehicle controller comprises: a first vehicle controller, a second vehicle controller, and a third vehicle controller;

[0007] Wherein, the first vehicle controller is communicatively connected with the second vehicle controller and the third vehicle controller respectively;

[0008] The power supply is electrically connected to the first vehicle controller, the second vehicle controller and the third vehicle controller respectively;

[0009] The second vehicle controller is used to connect to the vehicle condition collection unit to obtain vehicle condition information;

[0010] The third vehicle controller is used to connect to the vehicle auxiliary unit to obtain vehicle auxiliary information;

[0011] The first vehicle controller is used to receive the vehicle condition information sent by the second vehicle controller and the vehicle auxiliary information sent by the third vehicle controller, and determine the vehicle control instructions according to the vehicle condition information and the vehicle auxiliary information.

[0012] In an optional implementation, the vehicle condition collection unit includes at least one of the following: a new energy controller local area network CAN module, a driving CAN module, a chassis CAN module, and a body CAN module.

[0013] In an optional implementation manner, the vehicle condition information includes: steering wheel rotation angle, vehicle speed, tire friction coefficient;

[0014] The second vehicle controller is also used to calculate and obtain the current vehicle braking distance based on the steering wheel rotation angle, the vehicle speed, and the tire friction coefficient, wherein the vehicle braking distance is also used as the vehicle condition information.

[0015] In an optional embodiment, the vehicle auxiliary unit includes at least one of the following: a laser array CAN module, an air conditioning CAN module, a voice CAN module, and a network CAN module.

[0016] In an optional embodiment, the first vehicle controller is also used to judge the current driving mode, and determine the vehicle control instructions according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, wherein the current driving mode includes: unmanned driving mode, or intelligent driving mode.

[0017] In an optional implementation, when the current driving mode is the intelligent driving mode, the vehicle auxiliary information includes laser array CAN module roadblock information;

[0018] The first vehicle controller is specifically used to determine vehicle control instructions according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, and call multimedia auxiliary information through the third vehicle controller.

[0019] In an optional embodiment, the third vehicle controller is used to calculate and obtain the roadblock information based on the spatial information collected by the laser array CAN module and a preset algorithm, and the roadblock information includes obstacle distance, minimum obstacle height, maximum obstacle height, minimum obstacle width and maximum obstacle width.

[0020] In an optional embodiment, it further includes: a backup power supply, the backup power supply is connected to the second vehicle controller;

[0021] The second vehicle controller is also used to wake up the backup power supply to supply power when abnormal power supply of the power supply is detected.

[0022] In an optional embodiment, the second vehicle controller is further used to control the vehicle alarm module to issue a fault warning message after a vehicle fault is detected, and to control the vehicle to decelerate or release the door lock state according to the current vehicle speed.

[0023] In a second aspect, the present invention provides a vehicle control method, which is applied to the vehicle control system described in any one of the aforementioned embodiments, and the method comprises:

[0024] The second vehicle controller obtains vehicle condition information through a vehicle condition collection unit;

[0025] The third vehicle controller obtains vehicle auxiliary information through the vehicle auxiliary unit;

[0026] The first vehicle controller receives the vehicle condition information sent by the second vehicle controller and the vehicle auxiliary information sent by the third vehicle controller, and determines a vehicle control instruction according to the vehicle condition information and the vehicle auxiliary information.

[0027] The beneficial effects of this application are:

[0028] The vehicle control system provided in the embodiment of the present application includes: a vehicle controller and a power supply, wherein the vehicle controller includes: a first vehicle controller, a second vehicle controller and a third vehicle controller; wherein the first vehicle controller is respectively connected to the second vehicle controller and the third vehicle controller for communication; the power supply is respectively connected to the first vehicle controller, the second vehicle controller and the third vehicle controller; the second vehicle controller is used to connect to the vehicle condition collection unit to obtain vehicle condition information; the third vehicle controller is used to connect to the vehicle auxiliary unit to obtain vehicle auxiliary information; the first vehicle controller is used to receive the vehicle condition information sent by the second vehicle controller and the vehicle auxiliary information sent by the third vehicle controller, and determine the vehicle control instruction according to the vehicle condition information and the vehicle auxiliary information. The acquisition of vehicle condition information, the acquisition of vehicle auxiliary information and the determination of vehicle control instructions are realized by using three vehicle controllers respectively, and the workload of a single vehicle controller is reduced to avoid the above-mentioned all work being realized only by a single vehicle controller when the vehicle controller sends and receives too many signals, and the vehicle controller load rate is too high, and then the signal is blocked or lost, etc., thereby improving the vehicle control efficiency and reliability of new energy vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0030] Figure 1 A schematic diagram of the structure of a vehicle control system provided in one embodiment of the present application;

[0031] Figure 2 A schematic diagram of the structure of a vehicle control system provided in another embodiment of the present application;

[0032] Figure 3 A schematic flow chart of a vehicle control method provided in one embodiment of the present application.

[0033] Figure numerals: 11-second vehicle controller; 12-first vehicle controller; 13-third vehicle controller; 14-power supply; 21-new energy CAN module; 22-driving CAN module; 23-chassis CAN module; 24-body CAN module; 31-laser array CAN module; 32-air conditioning CAN module; 33-voice CAN module; 34-network CAN module; 41-backup power supply. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0036] It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the statement "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

[0037] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0038] The current vehicle controller solution for new energy vehicles is that each new energy vehicle is usually equipped with only one vehicle controller. The vehicle controller is communicated with other devices, components, modules, etc. of the vehicle, and is responsible for receiving and processing information and data from other devices, components, modules, etc. of the vehicle, and needs to generate control signals and control instructions based on the above-mentioned received and processed information and data to manage and schedule the operating status of other devices, components, modules, etc. of the vehicle, thereby ensuring the safe and stable operation of the new energy vehicle. However, when the vehicle controller sends and receives too many signals, the load rate of a single vehicle controller is high, and signal blocking or loss is prone to occur. In addition, when a vehicle collision or other accident occurs, once a single vehicle controller is damaged or loses power, the vehicle may lose control, thereby affecting accident rescue, etc. Based on this, the main purpose of this application is to propose a vehicle control system to improve the vehicle control efficiency and reliability of new energy vehicles.

[0039] Figure 1 A schematic diagram of the structure of a vehicle control system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the braking system includes: a vehicle controller and a power supply 14 , wherein the vehicle controller includes: a first vehicle controller 12 , a second vehicle controller 11 , and a third vehicle controller 13 .

[0040] The first vehicle controller 12 is communicatively connected with the second vehicle controller 11 and the third vehicle controller 13 respectively.

[0041] The power supply 14 is electrically connected to the first vehicle controller 12 , the second vehicle controller 11 and the third vehicle controller 13 , respectively.

[0042] The second vehicle controller 11 is used to connect to the vehicle condition collection unit to obtain vehicle condition information.

[0043] The third vehicle controller 13 is used to connect to the vehicle auxiliary unit to obtain vehicle auxiliary information.

[0044] The first vehicle controller 12 is used to receive the vehicle condition information sent by the second vehicle controller 11 and the vehicle auxiliary information sent by the third vehicle controller 13, and determine the vehicle control instructions according to the vehicle condition information and the vehicle auxiliary information.

[0045] Exemplarily, the first vehicle controller 12, the second vehicle controller 11, and the third vehicle controller 13 may refer to devices with computing and processing capabilities, such as a VCU (Vehicle Control Unit), an MCU (Microcontroller Unit), and the like.

[0046] The first vehicle controller 12 is respectively communicated with the second vehicle controller 11 and the third vehicle controller 13 by, for example, adopting a communication protocol such as CAN (Controller Area Network) communication protocol and LIN (Local Interconnect Network) communication protocol.

[0047] Of course, the above contents are only possible examples. What specific devices the above-mentioned vehicle controllers are, what specific communication protocols are used for the communication connections between the first vehicle controller 12 and the second vehicle controller 11, and between the first vehicle controller 12 and the third vehicle controller 13, etc., can all be selected and determined according to actual needs and are not limited to the above contents.

[0048] The vehicle condition acquisition unit may include, for example, one or more modules or devices related to the vehicle condition. Corresponding to each of the modules, the vehicle condition information may include, for example, new energy related information, situation related information, etc. The second vehicle controller 11 is used to connect to the vehicle condition acquisition unit to obtain the vehicle condition information.

[0049] Similarly, the vehicle auxiliary unit may include one or more modules or devices with auxiliary capabilities according to different vehicle models. The third vehicle controller 13 is used to connect to the vehicle auxiliary unit to obtain vehicle auxiliary information.

[0050] It can be understood that the above contents are only possible examples. The specific modules included in the above vehicle condition acquisition unit and the vehicle auxiliary unit, the specific information included in the above vehicle condition information and the vehicle auxiliary information, etc. can all be selected and determined according to actual conditions and are not limited to the above examples.

[0051] The above-mentioned first vehicle controller 12 is used to receive the above-mentioned vehicle condition information sent by the above-mentioned second vehicle controller 11 and the vehicle auxiliary information sent by the above-mentioned third vehicle controller 13. For example, it can refer to the above-mentioned first vehicle controller 12 receiving the vehicle condition information directly sent by the above-mentioned second vehicle controller 11 after monitoring and collecting the above-mentioned vehicle condition information, and receiving the vehicle auxiliary information directly sent by the above-mentioned third vehicle controller 13 after monitoring and collecting the above-mentioned vehicle auxiliary information. Alternatively, the second vehicle controller 11 and the third vehicle controller 13 also need to pre-process the collected information. For example, after the second vehicle controller 11 and the third vehicle controller 13 monitor and collect the vehicle condition information or the vehicle auxiliary information, they undergo data pre-processing including but not limited to duplicate data elimination, erroneous data elimination, and calculation of further data, and then send the pre-processed vehicle condition information and vehicle auxiliary information to the first vehicle controller 12. Of course, the above content is only a possible example. The first vehicle controller 12 is used to receive the vehicle condition information sent by the second vehicle controller 11 and the vehicle auxiliary information sent by the third vehicle controller 13. Specifically, it refers to what form of vehicle condition information and vehicle auxiliary information to receive, which can be selected and determined according to actual conditions and is not limited here.

[0052] The above-mentioned vehicle control instructions may, for example, include instructions for controlling the vehicle to achieve unmanned driving when the vehicle is in an unmanned driving mode, and may also include instructions for controlling the vehicle to achieve intelligent assisted driving when the vehicle is in an intelligent driving mode. Of course, the above-mentioned vehicle control instructions may include specific types and purposes of instructions, which can be selected and determined according to actual needs and are not limited here.

[0053] The vehicle control system provided in the embodiment of the present application includes: a vehicle controller and a power supply 14, wherein the vehicle controller includes: a first vehicle controller 12, a second vehicle controller 11, and a third vehicle controller 13; wherein the first vehicle controller 12 is communicatively connected with the second vehicle controller 11 and the third vehicle controller 13 respectively; the power supply 14 is electrically connected with the first vehicle controller 12, the second vehicle controller 11 and the third vehicle controller 13 respectively; the second vehicle controller 11 is used to connect to a vehicle condition acquisition unit to obtain vehicle condition information; the third vehicle controller 13 is used to connect to a vehicle auxiliary unit to obtain vehicle auxiliary information; the first vehicle controller 12 is used to receive the vehicle condition information sent by the second vehicle controller 11 and the vehicle auxiliary information sent by the third vehicle controller 13, and determine vehicle control instructions according to the vehicle condition information and the vehicle auxiliary information. It realizes the use of three vehicle controllers to respectively realize the acquisition of vehicle condition information, vehicle auxiliary information and vehicle control instructions, reducing the workload of a single vehicle controller to avoid the situation where all the above tasks are realized by only a single vehicle controller when the vehicle controller sends and receives too many signals, the vehicle controller load rate is too high, and signal blocking or loss occurs, thereby improving the vehicle control efficiency and reliability of new energy vehicles.

[0054] Figure 2 This is a schematic diagram of the structure of a vehicle control system provided in another embodiment of the present application, referring to Figure 2 , optionally, in the above Figure 1 Based on the embodiment, the vehicle condition collection unit may include at least one of the following: a new energy CAN module 21 , a driving CAN module 22 , a chassis CAN module 23 , and a body CAN module 24 .

[0055] Exemplarily, the new energy CAN module 21 can be used to monitor the battery status and the vehicle power system status, and it can be connected to the charging and DC conversion three-in-one module, the battery cooling compressor, the battery management module, etc.; the driving CAN module 22 can be used to monitor the driving status of the vehicle, and it can be connected to the drive motor, the electronic shifter, the steering wheel control module, the electronic steering lock, the remote control module, the alarm, etc.; the chassis CAN module 23 can be used to monitor the stability of the vehicle, and it can be connected to the body stability system, the airbag, the electronic hydraulic power steering, the steering angle sensor, etc.; the body CAN module 24 can be used to monitor the body condition, and it can be connected to the multimedia host, the combination switch, etc.

[0056] The above-mentioned modules can, for example, obtain data or information from the above-mentioned charging and DC conversion three-in-one module, battery cooling compressor, battery management module, etc. through sensors and other devices, or directly receive data or information from, for example, the above-mentioned cameras, radars, etc. These data or information may belong to vehicle condition information such as the above-mentioned new energy CAN module 21 information, driving CAN module 22 information, chassis CAN module 23 information, and body CAN module 24 information.

[0057] Of course, the above contents are all possible examples. The specific functions and connection objects of the new energy CAN module 21, driving CAN module 22, chassis CAN module 23, and body CAN module 24, and how each of the above modules collects the vehicle condition information, etc. can all be selected and determined according to actual conditions and are not limited here.

[0058] Further, based on the above embodiment, the above vehicle condition information may include: steering wheel rotation angle, vehicle speed, and tire friction coefficient.

[0059] The second vehicle controller 11 is also used to calculate and obtain the current vehicle braking distance based on the steering wheel rotation angle, the vehicle speed, and the tire friction coefficient, wherein the vehicle braking distance is also used as the vehicle condition information.

[0060] Exemplarily, the steering wheel rotation angle can be directly obtained by the driving CAN module 22, or obtained by the steering wheel control module through the sensors and other devices; the vehicle speed can be directly obtained by the driving CAN module 22, or obtained by the module related to the vehicle speed control through the sensors and other devices; the tire friction coefficient can be directly obtained by the driving CAN module 22, or obtained by the module related to the tire control through the sensors and other devices, but is not limited to this.

[0061] The second vehicle controller 11 calculates and obtains the current vehicle braking distance according to the steering wheel rotation angle, the vehicle speed, and the tire friction coefficient. For example, the current vehicle braking distance can be calculated by the formula S 0 =v 2 / 2gξ is calculated, where the above S 0It may refer to the above-mentioned vehicle braking distance, which may represent how far the vehicle must continue to move forward before stopping when the driver steps on the brakes during the straight-line driving of the vehicle, that is, when the above-mentioned steering wheel turning angle is 0. Normally, when the distance between the vehicle and the obstacle in front is ≤ the current braking distance of the vehicle, the collision between the vehicle and the obstacle in front cannot be avoided even by braking. Therefore, only by starting to decelerate or change lanes before the distance between the vehicle and the obstacle in front is ≤ the current braking distance of the vehicle, can the collision between the vehicle and the obstacle in front be avoided. The vehicle braking distance is usually measured in meters, for example, 10 meters, 20 meters, etc.; the above-mentioned v may refer to the above-mentioned vehicle speed; the above-mentioned ξ may refer to the above-mentioned tire friction coefficient; the above-mentioned g may refer to the acceleration of gravity, which is a physical constant.

[0062] Of course, the above contents are only possible examples, and the specific method of calculating and obtaining the current vehicle braking distance can be determined according to the actual situation and is not limited to the above contents.

[0063] Continue to refer to Figure 2 ,exist Figure 1 Based on the embodiment, the above-mentioned vehicle auxiliary unit may include at least one of the following: a laser array CAN module 31 , an air conditioning CAN module 32 , a voice CAN module 33 , and a network CAN module 34 .

[0064] The above-mentioned laser array CAN module 31 can be used, for example, to monitor the environment inside and outside the vehicle, and it can be connected to a panoramic radar array, an in-vehicle radar array, a millimeter-wave high-definition radar array, a surround radar array, a short / medium / long-range radar array, etc.; the above-mentioned voice CAN module 33 can be used, for example, to perform voice interaction with the driver and passengers, and it can be connected to a voice interaction module, an instrument prompt sound module, etc.; the above-mentioned network CAN module 34 can be used, for example, for vehicle networking, and it can be connected to a 4G / 5G / 6G network connection module, etc.; the above-mentioned air-conditioning CAN module 32 can be used, for example, to control the air-conditioning in the vehicle, and it can be connected to an air-conditioning panel, a thermal management controller, an air-conditioning compressor, an air-conditioning electric heating module, etc.

[0065] The above-mentioned modules can, for example, obtain data or information from the above-mentioned thermal management controller, air-conditioning compressor, etc. through sensors and other devices, or directly receive data or information from, for example, the above-mentioned panoramic radar array, in-vehicle radar array, millimeter-wave high-definition radar array, surround-view radar array, short / medium / long-range radar array, etc. These data or information may belong to vehicle auxiliary information such as the above-mentioned laser array CAN module 31 information, air-conditioning CAN module 32 information, voice CAN module 33 information, network CAN module 34 information, etc.

[0066] Of course, the above contents are all possible examples. The specific functions and connection objects of the laser array CAN module 31, air conditioning CAN module 32, voice CAN module 33, and network CAN module 34, and how each of the above modules collects the above vehicle auxiliary information, etc. can all be selected and determined according to actual conditions and are not limited here.

[0067] Furthermore, based on the above embodiment, the above-mentioned first vehicle controller 12 is also used to judge the current driving mode, and determine the vehicle control instructions according to the above-mentioned current driving mode, the above-mentioned vehicle condition information and the above-mentioned vehicle auxiliary information, wherein the above-mentioned current driving mode includes: unmanned driving mode, or, intelligent driving mode.

[0068] Exemplarily, the current driving mode can be set or selected by the driver through, for example, the voice interaction module, and the unmanned driving mode can refer to a mode in which the vehicle driving is realized without the need for driver operation and is completely implemented by the vehicle control instructions determined by the first vehicle controller 12. In this driving mode, the vehicle control instructions can include, for example, vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle horn, vehicle turn signal on, vehicle headlight on, etc.

[0069] The above-mentioned intelligent driving mode may, for example, refer to a mode in which the main operations still need to be completed by the driver, and the vehicle control instructions determined by the above-mentioned first vehicle controller 12 only provide assistance to the driver in certain scenarios. In this driving mode, the above-mentioned vehicle control instructions may, for example, include issuing a blind spot obstacle prompt sound, turning on a reversing image or a panoramic image, issuing a lane departure warning prompt sound, and performing active safety braking when there is an obstacle ahead.

[0070] It should be noted that the above-mentioned laser array CAN module 31 may include a laser camera, a panoramic camera, etc., and the above-mentioned reversing image or panoramic image may be, for example, an image directly received by the above-mentioned laser array CAN module 31 from devices such as a laser camera, a panoramic camera, etc.

[0071] It can be understood that the above content is only possible examples, and the specific driving forms of the above-mentioned unmanned driving mode and intelligent driving mode, the corresponding specific vehicle control instructions, etc. can be adjusted and determined according to actual conditions, and are not limited to the above content.

[0072] Optionally, based on the above embodiment, when the current driving mode is the intelligent driving mode, the vehicle auxiliary information includes roadblock information of the laser array CAN module 31 .

[0073] The above-mentioned first vehicle controller 12 is specifically used to determine the vehicle control instructions according to the above-mentioned current driving mode, the above-mentioned vehicle condition information and the above-mentioned vehicle auxiliary information, and call the multimedia auxiliary information through the third vehicle controller 13. The multimedia auxiliary information may include video and audio data collected by audio and video acquisition equipment, etc. Specifically, in this embodiment, it may include panoramic images.

[0074] Exemplarily, the roadblock information of the laser array CAN module 31 can be used to indicate roadblocks existing around the vehicle. When the current driving mode is the intelligent driving mode, the first vehicle controller 12 can determine whether to generate a vehicle control instruction to call multimedia auxiliary information through, for example, the roadblock information of the laser array CAN module 31. For example, when the roadblock information of the laser array CAN module 31 indicates that the roadblock exists within a preset radius (e.g., 1.5 m) around the vehicle, the third vehicle controller 13 can call multimedia auxiliary information such as panoramic images to help the driver better understand the vehicle's surrounding environment.

[0075] Of course, the above content is only a possible example. The specific form of the roadblock information of the laser array CAN module 31, how the first vehicle controller 12 determines the vehicle control instructions according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, and calls the multimedia auxiliary information through the third vehicle controller 13, etc., can all be selected and determined according to actual conditions and are not limited here.

[0076] Furthermore, based on the above embodiment, the above third vehicle controller 13 can be used to calculate and obtain the above roadblock information based on the spatial information collected by the above laser array CAN module 31 and the preset algorithm. The above roadblock information includes obstacle distance, obstacle minimum height, obstacle maximum height, obstacle minimum width and obstacle maximum width.

[0077] Exemplarily, the spatial information collected by the laser array CAN module 31 may refer to the coordinates of the obstacle space points obtained by the third vehicle controller 13 through preprocessing of data or information such as the panoramic radar array, the in-vehicle radar array, the millimeter-wave high-definition radar array, the surround radar array, the short / medium / long-range radar array, etc. For example, the above-mentioned roadblock information is calculated and obtained based on the spatial information collected by the laser array CAN module 31 and the preset algorithm. The specific process may be as follows:

[0078] The above-mentioned panoramic radar array, in-vehicle radar array, millimeter-wave high-definition radar array, surround radar array, short / medium / long-range radar array, etc. are used to perform spatial ranging to generate multiple obstacle space point coordinates. Each obstacle space point coordinate can be recorded in the form of a coordinate point in a three-dimensional rectangular coordinate system. For example, the coordinates of a certain obstacle space point can be recorded as (x, y, z), and then the integral function can be used, for example Generate a spatial three-dimensional image corresponding to the obstacle, the obstacle can be composed of the above-mentioned multiple obstacle space points, and the above-mentioned n, m, k can be the number of obstacle space points corresponding to the obstacle in the x-axis, y-axis and z-axis directions of the above-mentioned three-dimensional rectangular coordinate system.

[0079] On this basis, the spatial three-dimensional image corresponding to the above obstacles is further processed. For example, the function Calculate the distance of the above obstacles; through the function and Calculate the minimum height and maximum height of the above obstacles respectively; use the function and and respectively calculate and obtain the minimum width and maximum width of the above obstacles.

[0080] The roadblock information can be used by the first vehicle controller 12 to determine vehicle control instructions in the unmanned driving mode. For example, when the vehicle chassis height is greater than the maximum height of the above-mentioned obstacle or the vehicle roof height is less than the minimum height of the above-mentioned obstacle, it means that the vehicle can successfully cross or drill through the above-mentioned obstacle. At this time, a vehicle control instruction to continue driving can be generated. Otherwise, it means that the vehicle cannot directly pass through the obstacle, and for example, a vehicle control instruction related to lane change or braking can be generated.

[0081] Of course, the above content is only a possible example. How to calculate and obtain the above roadblock information based on the spatial information collected by the above laser array CAN module 31 and the preset algorithm, how to use the above roadblock information for the first vehicle controller 12 to determine the vehicle control instructions in the unmanned driving mode, etc., can be selected and determined according to actual conditions and are not limited to the above content.

[0082] In addition, in the above Figure 1 Based on the example, Figure 2 As shown, the vehicle control system may further include: a backup power supply 41, the backup power supply 41 is connected to the second vehicle controller 11;

[0083] The second vehicle controller 11 is also used to wake up the backup power supply 41 to supply power when abnormal power supply from the power supply 14 is detected.

[0084] Exemplarily, the connection between the backup power supply 41 and the second vehicle controller 11 may refer to the electrical and communication connection between the backup power supply 41 and the second vehicle controller 11; the electrical connection between the backup power supply 41 and the second vehicle controller 11 may be used to power the second vehicle controller 11 through the backup power supply 41; the communication connection between the backup power supply 41 and the second vehicle controller 11 may be used to wake up the backup power supply 41 through the second vehicle controller 11.

[0085] In addition, the second vehicle controller 11 can also wake up the backup power supply 41 to supply power when it detects that the power supply 14 is abnormal to ensure the normal operation of the second vehicle controller 11, for example, when a serious collision of the vehicle is detected or when it detects that the communication connection with the first vehicle controller 12 is disconnected, etc., to replace the first vehicle controller 12 to control the vehicle, thereby reducing the risk of vehicle loss of control due to failures of the power supply 14, the first vehicle controller 12, etc.

[0086] Of course, the above content is only a possible example. The specific situations detected by the second vehicle controller 11 to wake up the backup power supply 41 for power supply and the specific controls to be performed after waking up the backup power supply 41 for power supply can all be selected and determined according to actual conditions and are not limited here.

[0087] Furthermore, in the above Figure 1 Based on the embodiment, the second vehicle controller 11 is also used to control the vehicle alarm module to issue a fault warning message after a vehicle fault is detected, and control the vehicle to decelerate or release the door lock state according to the current vehicle speed.

[0088] Exemplarily, the detected vehicle fault may include, for example, detection of abnormal power supply from the power supply 14, detection of a severe vehicle collision, or detection of a disconnection in the communication connection with the first vehicle controller 12, but is not limited thereto.

[0089] The above-mentioned control of the vehicle alarm module to issue a fault warning message may include, for example, one or more of the following: controlling the vehicle instrument and the in-vehicle display screen to flash an alarm sign, controlling the vehicle to turn on the double flash, controlling the vehicle to honk, etc., to remind the driver and passengers in the vehicle or people outside the vehicle to notice the abnormality of the vehicle.

[0090] The above-mentioned control of vehicle deceleration or unlocking of door locks according to the current vehicle speed can reduce the serious consequences caused by loss of control of the vehicle at high speed. When the vehicle speed is lower than a certain speed, for example ≤5km / h, the door locks can be unlocked, which can help occupants to save themselves or rescue people outside the vehicle.

[0091] Of course, the above content is only a possible example. The specific way in which the above-mentioned vehicle alarm module sends out the fault warning information, the specific implementation method of controlling the vehicle to slow down or release the door lock state according to the current vehicle speed, etc. can all be selected and determined according to actual needs and are not limited here.

[0092] Figure 3 This is a flow chart of a vehicle control method provided in an embodiment of the present application. The execution subject of the method may be a vehicle controller in the above-mentioned vehicle control system, such as Figure 3 As shown, the method may include:

[0093] S301. The second vehicle controller 11 obtains vehicle condition information through a vehicle condition collection unit.

[0094] Exemplarily, the vehicle condition acquisition unit may include one or more of the new energy CAN module 21, the driving CAN module 22, the chassis CAN module 23, and the body CAN module 24. The second vehicle controller 11 obtains the vehicle condition information through the vehicle condition acquisition unit. For example, each of the modules may obtain the data or information of the three-in-one charging and DC conversion module, the battery cooling compressor, the battery management module, etc. through sensors and other devices, or directly receive data or information from, for example, the camera, radar, etc. These data or information may belong to the vehicle condition information such as the new energy CAN module information, the driving CAN module information, the chassis CAN module information, and the body CAN module information.

[0095] Of course, the above contents are only possible examples. Which modules the vehicle condition collection unit specifically includes, how to obtain the vehicle condition information, and which information is specifically included can all be selected and determined according to actual conditions and are not limited here.

[0096] S302. The third vehicle controller 13 obtains vehicle auxiliary information through a vehicle auxiliary unit.

[0097] Exemplarily, the above-mentioned vehicle auxiliary unit may include, for example, one or more of: a laser array CAN module 31, an air-conditioning CAN module 32, a voice CAN module 33, and a network CAN module 34. The above-mentioned third vehicle controller 13 obtains vehicle auxiliary information through the vehicle auxiliary unit. For example, it may mean that the above-mentioned modules can obtain data or information of the above-mentioned thermal management controller, air-conditioning compressor, etc. through sensors and other devices, or directly receive data or information from, for example, the above-mentioned panoramic radar array, in-vehicle radar array, millimeter-wave high-definition radar array, surround-view radar array, short / medium / long-range radar array, etc. These data or information may belong to the above-mentioned laser array CAN module information, air-conditioning CAN module information, voice CAN module information, network CAN module information and other vehicle auxiliary information.

[0098] Of course, the above contents are only possible examples. Which modules the above vehicle auxiliary unit specifically includes, how to obtain the above vehicle auxiliary information, what information is specifically included, etc. can all be selected and determined according to actual conditions and are not limited here.

[0099] S303, the first vehicle controller 12 receives the vehicle condition information sent by the second vehicle controller 11 and the vehicle auxiliary information sent by the third vehicle controller 13, and determines the vehicle control instruction according to the vehicle condition information and the vehicle auxiliary information.

[0100] Exemplarily, the first vehicle controller 12 receives the vehicle condition information sent by the second vehicle controller 11 and the vehicle auxiliary information sent by the third vehicle controller 13. For example, it can refer to the first vehicle controller 12 receiving the vehicle condition information directly sent by the second vehicle controller 11 after monitoring and collecting the vehicle condition information, and receiving the vehicle auxiliary information directly sent by the third vehicle controller 13 after monitoring and collecting the vehicle auxiliary information; it can also refer to the first vehicle controller 12 receiving the vehicle condition information directly sent by the second vehicle controller 11 and the third vehicle controller 13 after monitoring and collecting the vehicle auxiliary information. After collecting the above-mentioned vehicle condition information or the above-mentioned vehicle auxiliary information, data preprocessing including but not limited to duplicate data elimination, erroneous data elimination, calculation of further data, etc. is performed, and then the preprocessed vehicle condition information and vehicle auxiliary information are sent. Of course, the above-mentioned content is only a possible example. The above-mentioned first vehicle controller 12 is used to receive the above-mentioned vehicle condition information sent by the above-mentioned second vehicle controller 11 and the vehicle auxiliary information sent by the above-mentioned third vehicle controller 13. Specifically, what form of vehicle condition information and vehicle auxiliary information to receive can be selected and determined according to actual conditions, and there is no limitation here.

[0101] The above-mentioned vehicle control instructions may, for example, include instructions for controlling the vehicle to achieve unmanned driving when the vehicle is in an unmanned driving mode, and may also include instructions for controlling the vehicle to achieve intelligent assisted driving when the vehicle is in an intelligent driving mode. Of course, the above-mentioned vehicle control instructions may include specific types and purposes of instructions, which can be selected and determined according to actual needs and are not limited here.

[0102] The vehicle control method provided in the embodiment of the present application includes: the second vehicle controller 11 obtains the vehicle condition information through the vehicle condition collection unit; the third vehicle controller 13 obtains the vehicle auxiliary information through the vehicle auxiliary unit; the first vehicle controller 12 receives the vehicle condition information sent by the second vehicle controller 11 and the vehicle auxiliary information sent by the third vehicle controller 13, and determines the vehicle control instruction according to the vehicle condition information and the vehicle auxiliary information. The three vehicle controllers are used to respectively obtain the vehicle condition information, the vehicle auxiliary information and the vehicle control instruction, reducing the workload of a single vehicle controller, so as to avoid the above-mentioned work being realized only by a single vehicle controller when the vehicle controller sends and receives too many signals, and the vehicle controller load rate is too high, and then the signal is blocked or lost, etc., thereby improving the vehicle control efficiency and reliability of new energy vehicles.

[0103] Alternatively, if Figure 2 As shown, the vehicle condition collection unit may include at least one of the following: a new energy controller local area network CAN module, a driving CAN module 22 , a chassis CAN module 23 , and a body CAN module 24 .

[0104] Further, based on the above embodiment, the above vehicle condition information includes: steering wheel rotation angle, vehicle speed, and tire friction coefficient.

[0105] The above method may further include: the second vehicle controller 11 calculates and obtains the current vehicle braking distance according to the above steering wheel rotation angle, the above vehicle speed, and the above tire friction coefficient, wherein the above vehicle braking distance is also used as the above vehicle condition information.

[0106] In addition, if Figure 2 As shown, the above-mentioned vehicle auxiliary unit includes at least one of the following: a laser array CAN module 31, a multimedia CAN module, an air conditioning CAN module 32, a voice CAN module 33, and a network CAN module 34.

[0107] The above method may also include: the first vehicle controller 12 determines the current driving mode, and determines the vehicle control instructions according to the above current driving mode, the above vehicle condition information and the above vehicle auxiliary information, wherein the above current driving mode includes: unmanned driving mode, or intelligent driving mode.

[0108] Further, based on the above embodiment, when the above current driving mode is the intelligent driving mode, the above vehicle auxiliary information includes the roadblock information of the laser array CAN module 31;

[0109] The first vehicle controller 12 determines the current driving mode and determines the vehicle control instruction according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, which may include:

[0110] The first vehicle controller 12 determines the vehicle control instruction according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, and calls the multimedia auxiliary information through the third vehicle controller 13.

[0111] Optionally, the above method may further include:

[0112] The third vehicle controller 13 calculates and obtains the above-mentioned roadblock information based on the spatial information collected by the above-mentioned laser array CAN module 31 and the preset algorithm. The above-mentioned roadblock information includes obstacle distance, obstacle minimum height, obstacle maximum height, obstacle minimum width and obstacle maximum width.

[0113] The specific calculation process for calculating and obtaining the above-mentioned roadblock information based on the spatial information collected by the above-mentioned laser array CAN module 31 and the preset algorithm can be the same as the calculation process in the above-mentioned embodiment, which will not be repeated here.

[0114] In addition, the method may further include: when the second vehicle controller 11 detects that the power supply of the power supply 14 is abnormal, waking up the backup power supply 41 to supply power.

[0115] Furthermore, the above method may also include:

[0116] After detecting a vehicle fault, the second vehicle controller 11 controls the vehicle alarm module to issue a fault warning message, and controls the vehicle to decelerate or release the door lock state according to the current vehicle speed.

[0117] Exemplarily, in addition to the above-mentioned detection of power supply anomalies of the power supply 14, detection of a serious vehicle collision, or detection of a disconnection of the communication connection with the above-mentioned first vehicle controller 12, the above-mentioned vehicle failure may also include, for example, detection of a fire in the vehicle power battery. When the second vehicle controller 11 detects a fire in the vehicle power battery, in addition to controlling the vehicle instruments and the in-vehicle display screen to flash an alarm sign, controlling the vehicle to turn on the double flash, controlling the vehicle to honk, etc., to remind the driver and passengers in the vehicle or people outside the vehicle to notice the abnormality of the vehicle, and controlling the vehicle to slow down or release the door lock state according to the current vehicle speed, the vehicle inside and outside image information such as the above-mentioned multimedia auxiliary information can also be sent to, for example, the operator's backend server, so as to facilitate, for example, the operator's customer service personnel to assist in reporting or remotely controlling the vehicle.

[0118] Of course, the above contents are only possible examples. The specific situations included in the above vehicle failures and how the second vehicle controller 11 responds when the above vehicle power battery catches fire can all be adjusted and determined according to actual conditions and are not limited here.

[0119] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0121] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0122] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle control system, characterized in that: include: A vehicle controller and a power supply, wherein the vehicle controller includes: a first vehicle controller, a second vehicle controller, and a third vehicle controller; Wherein, the first vehicle controller is communicatively connected with the second vehicle controller and the third vehicle controller respectively; The power supply is electrically connected to the first vehicle controller, the second vehicle controller and the third vehicle controller respectively; The second vehicle controller is used to connect to the vehicle condition collection unit to obtain vehicle condition information; The third vehicle controller is used to connect to the vehicle auxiliary unit to obtain vehicle auxiliary information; The first vehicle controller is used to receive the vehicle condition information sent by the second vehicle controller and the vehicle auxiliary information sent by the third vehicle controller, and determine the vehicle control instructions according to the vehicle condition information and the vehicle auxiliary information.

2. The vehicle control system according to claim 1, characterized in that: The vehicle condition collection unit includes at least one of the following: a new energy controller local area network CAN module, a driving CAN module, a chassis CAN module, and a body CAN module.

3. The vehicle control system according to claim 2, characterized in that: The vehicle condition information includes: steering wheel rotation angle, vehicle speed, and tire friction coefficient; The second vehicle controller is also used to calculate and obtain the current vehicle braking distance based on the steering wheel rotation angle, the vehicle speed, and the tire friction coefficient, wherein the vehicle braking distance is also used as the vehicle condition information.

4. The vehicle control system according to claim 1, characterized in that: The vehicle auxiliary unit includes at least one of the following: a laser array CAN module, an air conditioning CAN module, a voice CAN module, and a network CAN module.

5. The vehicle control system according to claim 4, characterized in that: The first vehicle controller is also used to judge the current driving mode, and determine the vehicle control instructions according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, wherein the current driving mode includes: unmanned driving mode, or intelligent driving mode.

6. The vehicle control system according to claim 5, characterized in that: When the current driving mode is the intelligent driving mode, the vehicle auxiliary information includes roadblock information of the laser array CAN module; The first vehicle controller is specifically used to determine vehicle control instructions according to the current driving mode, the vehicle condition information and the vehicle auxiliary information, and call multimedia auxiliary information through the third vehicle controller.

7. The vehicle control system according to claim 6, characterized in that: The third vehicle controller is used to calculate and obtain the roadblock information based on the spatial information collected by the laser array CAN module and a preset algorithm. The roadblock information includes obstacle distance, obstacle minimum height, obstacle maximum height, obstacle minimum width and obstacle maximum width.

8. The vehicle control system according to claim 1, characterized in that: Also includes: A backup power supply, the backup power supply is connected to the second vehicle controller; The second vehicle controller is also used to wake up the backup power supply to supply power when abnormal power supply of the power supply is detected.

9. The vehicle control system according to claim 1, characterized in that: The second vehicle controller is also used to control the vehicle alarm module to issue a fault warning message after a vehicle fault is detected, and to control the vehicle to slow down or release the door lock state according to the current vehicle speed.

10. A vehicle control method, characterized in that: Applied to the vehicle control system according to any one of claims 1 to 9, the method comprises: The second vehicle controller obtains vehicle condition information through a vehicle condition collection unit; The third vehicle controller obtains vehicle auxiliary information through the vehicle auxiliary unit; The first vehicle controller receives the vehicle condition information sent by the second vehicle controller and the vehicle auxiliary information sent by the third vehicle controller, and determines a vehicle control instruction according to the vehicle condition information and the vehicle auxiliary information.

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