Vehicle control method and system, controller and medium

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle control method and system, a controller and a medium. The method comprises the steps that the current vehicle speed, the needed target vehicle speed and the current driving torque of a vehicle at the current moment are obtained, under the constraint condition, the current vehicle speed, the target vehicle speed and the current driving torque are input into a preset target function, and the next driving torque at the next moment is obtained through calculation with the minimum target function as the target; the target function is constructed by combining a vehicle speed observation equation of vehicle speed interference, and controlling the vehicle to run according to the next driving torque. According to the method and the device, the interference item of the vehicle speed is considered, the driving torque of the next moment is calculated by taking the minimum value of the corresponding target function as the target, and the interference item is limited in a relatively small range as far as possible, so that the vehicle has relatively high robustness during speed tracking control.

Description

Technical Field

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

[0002] In the field of intelligent driving technology, vehicle speed tracking control can help avoid speeding and reduce rear-end collisions, thereby improving the safety of vehicle driving. Vehicle speed tracking control refers to controlling the vehicle speed by tracking the vehicle speed.

[0003] In the prior art, a kinematic model of a vehicle is generally established, and the kinematic model is used to track and control the vehicle speed. However, since the interference term is not limited to a smaller range as much as possible when establishing the kinematic model, the control accuracy is low. Therefore, in the process of tracking and controlling the vehicle speed, how to improve the control accuracy of the vehicle speed becomes an urgent problem to be solved. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a vehicle control method, system, controller and medium to solve the problem of low control accuracy in the process of tracking and controlling the vehicle speed.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle control method, comprising: Obtain the current vehicle speed, the required target vehicle speed and the current driving torque at the current moment; Under the constraint condition, the current vehicle speed, the target vehicle speed and the current driving torque are input into a preset objective function, and the next driving torque at the next moment is calculated with the minimum of the objective function as the goal, wherein the objective function is constructed by a vehicle speed observation equation combined with vehicle speed interference; The vehicle is controlled to travel according to the next driving torque.

[0006] In a second aspect, an embodiment of the present invention provides a vehicle control system, including a controller; The controller is used to obtain the current vehicle speed, the required target vehicle speed and the current driving torque of the vehicle at the current moment; Under the constraint condition, the current vehicle speed, the target vehicle speed and the current driving torque are input into a preset objective function, and the next driving torque at the next moment is calculated with the minimum of the objective function as the goal, wherein the objective function is constructed by a vehicle speed observation equation combined with vehicle speed interference; The vehicle is controlled to travel according to the next driving torque.

[0007] In a third aspect, an embodiment of the present invention provides a controller, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method as described in the first aspect when executing the computer program.

[0008] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the computer program, when executed by a processor, implements the vehicle control method as described in the first aspect.

[0009] Compared with the prior art, the present invention has the following beneficial effects: The current speed, target speed and current driving torque of the vehicle at the current moment are obtained. Under the constraint condition, the current speed, target speed and current driving torque are input into the preset objective function. The next driving torque at the next moment is calculated with the minimum objective function as the goal. The objective function is constructed by the speed observation equation combined with the speed interference. According to the next driving torque, the vehicle is controlled to travel. In this application, the interference term of the vehicle speed is taken into account, and the driving torque at the next moment is calculated with the minimum value of the corresponding objective function as the goal, and the interference term is limited to a smaller range as much as possible, so that the vehicle has stronger robustness during speed tracking control. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0011] Figure 1 is a flow chart of a vehicle control method provided in Embodiment 1 of the present invention; Figure 2 is a structural schematic diagram of a vehicle control system provided by Embodiment 2 of the present invention; Figure 3 It is a structural diagram of a controller provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0013] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, systems, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0014] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0015] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0016] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0017] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0018] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0019] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0020] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0021] See also Figure 1 , is a flow chart of a vehicle control method provided by Embodiment 1 of the present invention, such as Figure 1 As shown, the vehicle control method may include the following steps.

[0022] S101: Obtain the current vehicle speed, the required target vehicle speed and the current driving torque of the vehicle at the current moment.

[0023] In step S101, the current vehicle speed, the required target speed and the current driving torque of the vehicle are obtained, wherein the current vehicle speed is the actual vehicle speed at the current moment, which can be acquired using the corresponding speed sensor, the target speed is the speed required to control the vehicle's driving, and the current driving torque is the torque at the drive shaft end.

[0024] In this example, a speed sensor is used to collect the current speed of the vehicle, the corresponding target speed is input through the control panel, and the torque sensor is used to collect the current torque at the current moment. The current speed collected by the speed sensor, the input target speed, and the current torque collected by the torque sensor are sent to the corresponding controller to control the vehicle according to the current speed, the required target speed, and the current driving torque.

[0025] It should be noted that the vehicle speed refers to the longitudinal speed of the corresponding vehicle.

[0026] S102: Under constraints, the current vehicle speed, target vehicle speed and current driving torque are input into a preset objective function, and the next driving torque at the next moment is calculated with the minimum objective function as the goal. The objective function is constructed by the vehicle speed observation equation combined with the vehicle speed interference.

[0027] In step S102, the constraint conditions are constraints on the state variables in a preset objective function. The objective function is constructed by the vehicle speed observation equation combined with the vehicle speed interference. The current vehicle speed, target vehicle speed and current driving torque are input into the preset objective function. The next driving torque at the next moment is calculated with the minimum objective function as the goal, wherein the next driving torque is the torque at the drive shaft end at the next moment.

[0028] It should be noted that the requested torque at the next moment is calculated according to the objective function, and the driving torque at the next moment is calculated according to the relationship between the requested torque and the driving torque. The requested torque is the driving torque command value at the next moment.

[0029] In this embodiment, a preset objective function is obtained, wherein the objective function is a function constructed by combining the vehicle speed observation equation with the vehicle speed disturbance, and in the process of constructing the objective function, a robust model predictive control method is used for construction. The preset objective function construction process includes: The actual vehicle speed is taken as the observation quantity, the actual vehicle speed and the actual driving torque are taken as the state quantities, the requested torque is taken as the control quantity, and the state equation and the observation equation are constructed; According to the preset control method, the state equation and the observation equation are transformed to obtain the preset objective function.

[0030] It should be noted that when constructing the state equation and observation equation, it also includes: Obtain the vehicle's mass, wheel's moment of inertia, drag coefficient, air density, rolling resistance coefficient, ground slope, and the transmission ratio from the motor to the drive shaft; Calculate the parameters of the state equation and observation equation based on mass, moment of inertia, drag coefficient, air density, rolling resistance coefficient, ground slope and transmission ratio.

[0031] In this embodiment, mathematical modeling analysis is performed on the longitudinal dynamics of the entire vehicle, and the following formula is obtained based on the actual force conditions of the vehicle: Where M is the vehicle mass, is the current vehicle speed at the current moment, is the first-order derivative of the current vehicle speed, that is, the acceleration at the current moment, is the tire longitudinal force at the current moment, is the headwind resistance at the current moment, is the rolling resistance at the current moment, is the slope resistance at the current moment.

[0032] Tires are important components in the longitudinal movement of vehicles. After dynamic analysis of tires, the tire dynamics model is obtained as follows: in, The moment of inertia of the wheels equivalent to the rotating parts connected to the vehicle and the tires. is the tire speed, is the acceleration of the tire speed, that is, the wheel acceleration, is the driving torque, is the tire radius.

[0033] Among them, the corresponding relationship between the tire speed and the longitudinal vehicle speed is as follows: in, is the tire speed, is the current vehicle speed at the current moment, that is, the longitudinal speed of the vehicle, is a constant coefficient.

[0034] According to the above correspondence and the headwind resistance , rolling resistance and ramp resistance The definition of longitudinal acceleration is as follows: in, is the current vehicle speed at the current moment, is the first-order derivative of the current vehicle speed, that is, the acceleration at the current moment, M is the vehicle mass, is the tire longitudinal force at the current moment, is the headwind resistance at the current moment, is the rolling resistance at the current moment, is the slope resistance at the current moment, The moment of inertia of the wheels equivalent to the rotating parts connected to the vehicle and the tires. is the driving torque, is the tire radius, is a constant coefficient, is the vehicle’s drag coefficient, is the frontal area of ​​the vehicle, is the air density, is the rolling resistance coefficient, is the acceleration due to gravity, is the slope angle of the ramp.

[0035] If the vehicle's drive motor is regarded as a first-order inertial system, the actual output torque of the motor and the requested torque have the following relationship: in, is the requested torque, is the actual output torque, is the time constant of the motor system, and s is a complex variable.

[0036] The actual output torque of the motor is decelerated and torque-increased through mechanical components such as the reducer, and then the power is transmitted to the drive half shaft and tire. The relationship between the actual output torque of the motor and the drive torque is as follows: in, is the driving torque, i is the transmission ratio from the motor to the driving shaft, The actual output torque of the motor.

[0037] According to the above relationship, the corresponding relationship between the motor's requested torque and the driving torque is shown as follows: in, is the driving torque, is the first-order derivative of the driving torque, is the time constant of the motor system, i is the transmission ratio from the motor to the drive shaft, is the requested torque.

[0038] According to the above relationship, the corresponding vehicle speed and driving torque are used as state quantities, the requested torque is used as the control quantity, and the vehicle speed is used as the observation quantity to construct the state space equation, that is, the state equation and the observation equation.

[0039] in, ， ， ， is the state quantity corresponding to time k, is the state quantity corresponding to the k+1 moment, for The control amount corresponding to the moment, is the disturbance term corresponding to time k, for k+1 The observed quantity corresponding to the moment, ,in, is the initial vehicle speed corresponding to the current moment, ， ， . is the current speed at the current moment, M is the vehicle mass, The moment of inertia of the wheels equivalent to the rotating parts connected to the vehicle and the tires. is the driving torque, is the tire radius, is a constant coefficient, is the vehicle’s drag coefficient, is the frontal area of ​​the vehicle, is the air density, is the rolling resistance coefficient, is the acceleration due to gravity, is the slope angle of the ramp, is the time constant of the motor system, and i is the transmission ratio from the motor to the drive shaft.

[0040] In this embodiment, the mass of the vehicle at the current moment, the moment of inertia of the wheels at the current moment, the drag coefficient at the current moment, the air density at the current moment, the rolling resistance coefficient at the current moment, the ground slope at the current moment, and the transmission ratio from the motor to the drive shaft are obtained; based on the mass of the vehicle at the current moment, the moment of inertia of the wheels at the current moment, the drag coefficient at the current moment, the air density at the current moment, the rolling resistance coefficient at the current moment, the ground slope at the current moment, and the transmission ratio from the motor to the drive shaft, the parameter items of the state equation and the observation equation are calculated to obtain the corresponding parameter values ​​in the corresponding state equation and the observation equation, i.e., the corresponding values ​​of A, B, and C.

[0041] In this embodiment, the state space equation is transformed using a robust model predictive control method to obtain a preset objective function. The current vehicle speed, target vehicle speed and current driving torque are input into the preset objective function. The next driving torque at the next moment is calculated with the minimum objective function as the goal.

[0042] Optionally, according to a preset control method, the state equation and the observation equation are transformed to obtain a preset objective function, including: Divide the state quantity into the state quantity of the determined part and the state quantity of the uncertain part; According to the state quantity and the state quantity of the determined part, the control law equation of the control quantity is obtained; According to the control law equation, state equation, observation equation and the state quantity of the uncertain part, the objective function is constructed with the goal of the actual vehicle speed approaching the target vehicle speed.

[0043] In this embodiment, the state equation and the observation equation are transformed using a robust model predictive control method to obtain a preset objective function, in which the state quantity is divided into a state quantity of a certain part and a state quantity of an uncertain part, as shown in the following formula: in, is the state quantity, To determine the partial state quantity, that is, the nominal system state, It is the state quantity of the uncertain part, that is, the part of the system that cannot be accurately modeled.

[0044] According to the state quantity and the state quantity of the determined part, the control law equation of the control quantity is obtained. Among them, the formula of the control law is as follows: in, is the control rate, is a value that can be solved offline and can be obtained in advance. is the state quantity, To determine the partial state quantity, that is, the nominal system state, is the control quantity of the nominal system. According to the above relationship, the nominal system model and the uncertain part model can be expressed as follows: in, is the state quantity of the determined part at time k+1, is the state quantity of the determined part at time k, is the control quantity of the nominal system at time k, is the state quantity of the uncertain part at time k+1, for The state quantity of the uncertain part of the moment, is the disturbance term at time k, ,in, , , is the current vehicle speed at the current moment, is the initial vehicle speed corresponding to the current moment, M is the vehicle mass, The moment of inertia of the wheels equivalent to the rotating parts connected to the vehicle and the tires. is the driving torque, is the tire radius, is a constant coefficient, is the vehicle’s drag coefficient, is the frontal area of ​​the vehicle, is the air density, is the rolling resistance coefficient, is the acceleration due to gravity, is the slope angle of the ramp, is the time constant of the motor system, and i is the transmission ratio from the motor to the drive shaft.

[0045] It should be noted that the core of the robust model predictive control method is to control the state quantity of the determined part to track the target value, and the state quantity of the uncertain part The set of is limited to a small range as much as possible, so that the control system can be robust against disturbances.

[0046] According to the above relationship, the requested torque is used as the control quantity of the nominal system, and the corresponding objective function is obtained as follows: in, is the number of time points to be controlled in the future, i.e., the control step length, , is the target speed. is the nominal system state of the observation system, and its relationship with the nominal state of the state system is: The essence of solving the optimization problem is to find an optimal To minimize the objective function, is the requested torque at time k, is the control quantity of the nominal system at time k, is the state vector weight matrix, is a fixed value, is the control weight matrix, is a fixed value, is the terminal penalty term.

[0047] in, , , , , is the current vehicle speed at the current moment, is the initial vehicle speed corresponding to the current moment, M is the vehicle mass, The moment of inertia of the wheels equivalent to the rotating parts connected to the vehicle and the tires. is the driving torque, is the tire radius, is a constant coefficient, is the vehicle’s drag coefficient, is the frontal area of ​​the vehicle, is the time constant of the motor system, and i is the transmission ratio from the motor to the drive shaft.

[0048] After constructing the objective function, determine the corresponding constraints.

[0049] Optionally, a minimum robust invariant set is calculated based on parameter terms of the state equation and the observation equation, and constraint conditions are determined based on the minimum robust invariant set.

[0050] In this embodiment, the minimum robust invariant set is calculated based on the parameter terms of the state equation and the observation equation, wherein the formula of the minimum robust invariant set is as follows: in, is the minimum robust invariant set, ,in, is the initial vehicle speed corresponding to the current moment, , , . is the current vehicle speed at the current moment, is the initial vehicle speed corresponding to the current moment, M is the vehicle mass, The moment of inertia of the wheels equivalent to the rotating parts connected to the vehicle and the tires. is the driving torque, is the tire radius, is a constant coefficient, is the vehicle’s drag coefficient, is the frontal area of ​​the vehicle, is the air density, is the rolling resistance coefficient, is the acceleration due to gravity, is the slope angle of the ramp, is the time constant of the motor system, i is the transmission ratio from the motor to the drive shaft, is the corresponding disturbance term, is a value that can be solved offline, and is a pre-obtained value.

[0051] According to the minimum robust invariant set, the constraints are determined as follows: , that is, constraining the nominal state quantity and the nominal control quantity.

[0052] In this embodiment, under the constraints, the current vehicle speed, target vehicle speed and current driving torque are input into a preset objective function, and the next driving torque at the next moment is calculated with the minimum objective function as the goal, that is, when the preset conditions are met and the F value is minimum, the corresponding nominal control value is calculated.

[0053] It should be noted that the value of the calculated nominal control amount is the requested torque at the next moment, and the requested torque is the driving torque command value at the next moment.

[0054] S103: Control the vehicle to travel according to the next driving torque.

[0055] In step S103, the vehicle is controlled to travel according to the next driving torque, and the wheels are driven to travel according to the corresponding determined torque, wherein the next driving torque is the determined torque corresponding to when the target vehicle speed is close.

[0056] In this example, the vehicle is controlled to travel according to the next driving torque. It should be noted that the value of the calculated nominal control amount is the requested torque at the next moment, and this torque value will directly act on the vehicle's drive system at the next moment to control the vehicle to travel. That is, the requested torque at the next moment is calculated according to the objective function, and the driving torque at the next moment is calculated according to the relationship between the requested torque and the driving torque, and the requested torque is the driving torque command value at the next moment.

[0057] The current speed, target speed and current driving torque of the vehicle at the current moment are obtained. Under the constraint condition, the current speed, target speed and current driving torque are input into the preset objective function. The next driving torque at the next moment is calculated with the minimum objective function as the goal. The objective function is constructed by the speed observation equation combined with the speed interference. According to the next driving torque, the vehicle is controlled to travel. In this application, the interference term of the vehicle speed is taken into account, and the driving torque at the next moment is calculated with the minimum value of the corresponding objective function as the goal, and the interference term is limited to a smaller range as much as possible, so that the vehicle has stronger robustness during speed tracking control.

[0058] See also Figure 2 , is a structural diagram of a vehicle control system 20 provided in Embodiment 2 of the present invention, including a controller 21.

[0059] The controller 21 is used to obtain the current vehicle speed, the required target vehicle speed and the current driving torque of the vehicle at the current moment; Under the constraint conditions, the current vehicle speed, target vehicle speed and current driving torque are input into the preset objective function, and the next driving torque at the next moment is calculated with the minimum objective function as the goal. The objective function is constructed by the vehicle speed observation equation combined with the vehicle speed interference; The vehicle is controlled to travel according to the next driving torque.

[0060] See also Figure 2 The vehicle control system 20 further includes a motor controller 22 and a motor 23 . The motor controller 22 is connected to the controller 21 . The motor controller 22 is used to control the motor 23 to drive according to the received request torque instruction.

[0061] See also Figure 2 The vehicle control system 20 also includes a speed sensor 24 and a torque sensor 25 . The speed sensor 24 and the torque sensor 25 are connected to the sensor 21 . The speed sensor 24 is used to collect the speed of the vehicle, and the torque sensor 25 is used to collect the driving torque of the motor 23 .

[0062] Figure 3 Schematic diagram of the structure of a controller provided by Embodiment 3 of the present invention. Figure 3 As shown, the controller of this embodiment includes: at least one processor ( Figure 3 Only one is shown in the figure), a memory, and a computer program stored in the memory and executable on at least one processor, wherein when the processor executes the computer program, the steps in any of the above-mentioned vehicle control method embodiments are implemented.

[0063] The controller may include, but is not limited to, a processor and a memory. A person skilled in the art will understand that Figure 3This is merely an example of a controller and does not constitute a limitation of the controller. The controller may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include a network interface, a display screen, and an input device.

[0064] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0065] The memory includes a readable storage medium, an internal memory, etc., wherein the internal memory may be the memory of the controller, and the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The readable storage medium may be the hard disk of the controller, and in other embodiments, it may also be an external storage device of the controller, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the controller. Further, the memory may also include both the internal storage unit of the controller and the external storage device. The memory is used to store the operating system, application programs, boot loaders (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0066] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned device can refer to the corresponding process in the above-mentioned method embodiment, which will not be repeated here. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0067] The present application implements all or part of the processes in the above-mentioned embodiment method, and may also be completed through a computer program product. When the computer program product runs on a controller, the controller can implement the steps in the above-mentioned method embodiment when executing.

[0068] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0069] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0070] In the embodiments provided in the present application, it should be understood that the disclosed devices / controllers and methods can be implemented in other ways. For example, the device / controller embodiments described above are merely schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0071] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0072] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtain the current vehicle speed, the required target vehicle speed and the current driving torque at the current moment; Under the constraint condition, the current vehicle speed, the target vehicle speed and the current driving torque are input into a preset objective function, and the next driving torque at the next moment is calculated with the minimum of the objective function as the goal, wherein the objective function is constructed by a vehicle speed observation equation combined with vehicle speed interference; The vehicle is controlled to travel according to the next driving torque.

2. The vehicle control method according to claim 1, characterized in that: The preset objective function construction process includes: Taking the actual vehicle speed as an observation quantity, the actual vehicle speed and the actual driving torque as state quantities, and the requested torque as a control quantity, a state equation and an observation equation are constructed; According to a preset control method, the state equation and the observation equation are transformed to obtain a preset objective function.

3. The vehicle control method according to claim 2, characterized in that: The state equation and the observation equation are transformed according to the preset control method to obtain a preset objective function, including: Dividing the state quantity into a state quantity of a determined part and a state quantity of an uncertain part; Obtaining a control law equation of the control quantity according to the state quantity and the state quantity of the determined part; According to the control law equation, the state equation, the observation equation and the state quantity of the uncertain part, an objective function is constructed with the actual vehicle speed approaching the target vehicle speed as the goal.

4. The vehicle control method according to claim 2, characterized in that: Also includes: Obtaining the mass of the vehicle, the moment of inertia of the wheels, the drag coefficient, the air density, the rolling resistance coefficient, the ground slope, and the transmission ratio from the motor to the drive shaft; Parameters of the state equation and the observation equation are calculated according to the mass, the moment of inertia, the drag coefficient, the air density, the rolling resistance coefficient, the ground slope and the transmission ratio.

5. The vehicle control method according to claim 2, characterized in that: Also includes: According to the parameter items of the state equation and the observation equation, a minimum robust invariant set is calculated; According to the minimum robust invariant set, constraint conditions are determined.

6. A vehicle control system, characterized in that: Including controller; The controller is used to obtain the current vehicle speed, the required target vehicle speed and the current driving torque of the vehicle at the current moment; Under the constraint condition, the current vehicle speed, the target vehicle speed and the current driving torque are input into a preset objective function, and the next driving torque at the next moment is calculated with the minimum of the objective function as the goal, wherein the objective function is constructed by a vehicle speed observation equation combined with vehicle speed interference; The vehicle is controlled to travel according to the next driving torque.

7. The vehicle control system according to claim 6, characterized in that: It also includes a motor controller and a motor, wherein the motor controller is connected to the controller, and the motor controller is used to control the motor to drive according to the received request torque instruction.

8. The vehicle control system according to claim 7, characterized in that: It also includes a speed sensor and a torque sensor, the speed sensor and the torque sensor are connected to the controller, the speed sensor is used to collect the vehicle speed, and the torque sensor is used to collect the driving torque of the motor.

9. A controller, characterized in that: The controller includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle control method according to any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 5 is implemented.

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