Hill starting method and device of automatic driving vehicle, electronic equipment and computer program product

Abstract

The invention discloses a hill starting method and device of an automatic driving vehicle, electronic equipment and a computer program product. The hill starting method of the automatic driving vehicle comprises the following steps: when the automatic driving vehicle is in a state of hill starting, starting the automatic driving vehicle; the original ramp compensation acceleration of the automatic driving vehicle is obtained, and the ramp state of the automatic driving vehicle is determined; according to the ramp state of the automatic driving vehicle, the original ramp compensation acceleration is adjusted through the ramp compensation acceleration adjusting strategy, and the adjusted ramp compensation acceleration is obtained; and controlling the automatic driving vehicle to perform hill starting according to the adjusted hill compensation acceleration. According to the ramp starting method of the automatic driving vehicle, the ramp compensation acceleration is dynamically adjusted according to the ramp state, so that the automatic driving vehicle can be normally started on the ramp even if slope estimation is not accurate due to conditions such as sensor faults and the like, the phenomenon that the automatic driving vehicle cannot be braked or is excessively accelerated is avoided, and the body feeling of passengers is ensured.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a hill start method, device, electronic equipment, and computer program product for an autonomous driving vehicle. Background Art

[0002] Hill start is an application scenario in the autonomous driving system. By integrating more advanced sensors (such as LiDAR, millimeter wave radar, cameras, etc.) and more complex algorithms, the autonomous driving system can more accurately perceive the vehicle's surrounding environment and ramp conditions, and make more precise decisions and controls. With the development of autonomous driving technology, the hill start assist system will gradually develop in the direction of intelligence and integration. For example, the system can automatically identify the slope, intelligently adjust the braking force, etc., to improve the intelligence level of the equipment. At the same time, it will also work in conjunction with other vehicle safety systems (such as ABS, TCS, etc.) to enhance the overall safety performance.

[0003] At present, the hill start assistance method of the autonomous driving system mainly relies on the vehicle electronic stability system (ESP) and its derivative technologies, as well as the comprehensive perception, decision-making and control capabilities of the autonomous driving system. The ESP system monitors the vehicle's driving status in real time, including vehicle speed, steering angle, wheel speed and body inclination, by integrating multiple sensors (such as acceleration sensors, tilt angle sensors, etc.) and control units. When starting on a slope, the ESP system can sense that the vehicle is in an uphill state and is ready to start the corresponding auxiliary functions.

[0004] However, the hill start assist scheme in the prior art relies on accurate estimation of the slope. When a sensor failure or other conditions cause the slope estimation to be inaccurate, the start assist may not be able to produce the best hill start effect, resulting in phenomena such as failure to stop after braking or excessive acceleration, affecting the physical sensation. Summary of the invention

[0005] The embodiments of the present application provide a method, device, electronic device, and computer program product for starting on a hill of an autonomous driving vehicle to ensure the normal starting of the autonomous driving vehicle on a slope in abnormal scenarios and to ensure the physical sensation of passengers.

[0006] The present application embodiment adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a hill start method for an autonomous driving vehicle, wherein the hill start method for an autonomous driving vehicle comprises:

[0008] When the autonomous driving vehicle is in a state of waiting to start on a slope, obtaining an original slope compensation acceleration of the autonomous driving vehicle and determining the slope state of the autonomous driving vehicle;

[0009] According to the ramp state of the automatic driving vehicle, the original ramp compensation acceleration is adjusted using the ramp compensation acceleration adjustment strategy to obtain an adjusted ramp compensation acceleration;

[0010] The automated driving vehicle is controlled to start on a hill according to the adjusted slope compensation acceleration.

[0011] Optionally, the adjusting the original slope compensation acceleration by using a slope compensation acceleration adjustment strategy according to the slope state of the autonomous driving vehicle to obtain the adjusted slope compensation acceleration includes:

[0012] Determining whether the automated driving vehicle triggers a start condition for adjusting hill-compensation acceleration;

[0013] When the autonomous driving vehicle triggers the adjustment start condition of the hill compensation acceleration, determining the adjustment strategy of the hill compensation acceleration currently corresponding to the autonomous driving vehicle according to the slope state of the autonomous driving vehicle;

[0014] The original slope compensation acceleration is adjusted using the adjustment strategy of the slope compensation acceleration currently corresponding to the automatic driving vehicle to obtain an adjusted slope compensation acceleration.

[0015] Optionally, the adjustment strategy for determining the slope compensation acceleration currently corresponding to the autonomous driving vehicle according to the slope state of the autonomous driving vehicle includes:

[0016] If the ramp state of the autonomous driving vehicle is a downhill state, determining that the slope compensation acceleration adjustment strategy currently corresponding to the autonomous driving vehicle is a decreasing slope compensation acceleration adjustment strategy;

[0017] If the slope state of the autonomous driving vehicle is an uphill state, it is determined that the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is an increasing adjustment strategy of the slope compensation acceleration.

[0018] Optionally, the slope compensation acceleration adjustment strategy currently corresponding to the autonomous driving vehicle is a slope compensation acceleration decreasing adjustment strategy, and the original slope compensation acceleration is adjusted using the slope compensation acceleration adjustment strategy to obtain the adjusted slope compensation acceleration, including:

[0019] Based on the decremental adjustment strategy of the slope compensation acceleration, the original slope compensation acceleration is decrementally adjusted according to the parking time of the autonomous driving vehicle on the slope to obtain a decrementally adjusted slope compensation acceleration;

[0020] The currently adjusted slope compensation acceleration is determined according to the slope compensation acceleration after the decremental adjustment and the adjustment termination threshold corresponding to the downhill state.

[0021] Optionally, the slope compensation acceleration adjustment strategy currently corresponding to the autonomous driving vehicle is an increasing slope compensation acceleration adjustment strategy, and the original slope compensation acceleration is adjusted using the slope compensation acceleration adjustment strategy to obtain the adjusted slope compensation acceleration, including:

[0022] Based on the incremental adjustment strategy of the slope compensation acceleration, the original slope compensation acceleration is incrementally adjusted according to the parking time of the autonomous driving vehicle on the slope to obtain the slope compensation acceleration after incremental adjustment;

[0023] The currently adjusted slope compensation acceleration is determined according to the incrementally adjusted slope compensation acceleration and an adjustment termination threshold corresponding to the uphill state.

[0024] Optionally, after controlling the autonomous driving vehicle to start on a hill according to the adjusted slope compensation acceleration, the hill start method for the autonomous driving vehicle further includes:

[0025] determining whether the automatic driving vehicle triggers an adjustment termination condition according to the adjusted slope compensation acceleration and the hill start state;

[0026] If the adjustment termination condition is triggered, the adjustment of the original slope compensation acceleration is terminated;

[0027] Otherwise, the original slope compensation acceleration continues to be adjusted until the adjustment termination condition is triggered.

[0028] Optionally, determining whether the automatic driving vehicle triggers an adjustment termination condition according to the adjusted slope compensation acceleration and the hill start state includes:

[0029] If the adjusted slope compensation acceleration reaches the adjustment termination threshold corresponding to the slope state of the autonomous driving vehicle, or the slope start state is a successful start state, it is determined that the autonomous driving vehicle triggers the adjustment termination condition;

[0030] Otherwise, it is determined that the autonomous driving vehicle has not triggered the adjustment termination condition.

[0031] In a second aspect, an embodiment of the present application further provides a hill start device for an autonomous driving vehicle, wherein the hill start device for an autonomous driving vehicle comprises:

[0032] an acquisition unit, configured to acquire an original slope compensation acceleration of the autonomous driving vehicle and determine a slope state of the autonomous driving vehicle when the autonomous driving vehicle is in a state of waiting to start on a slope;

[0033] an adjusting unit, configured to adjust the original slope compensation acceleration by using a slope compensation acceleration adjustment strategy according to the slope state of the automatic driving vehicle, so as to obtain an adjusted slope compensation acceleration;

[0034] A control unit is used to control the automatic driving vehicle to start on a hill according to the adjusted slope compensation acceleration.

[0035] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0036] A processor; and a memory arranged to store computer executable instructions, which, when executed, cause the processor to perform any of the aforementioned hill start methods for the autonomous driving vehicle.

[0037] In a fourth aspect, an embodiment of the present application further provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements any of the aforementioned hill start methods for the autonomous driving vehicle.

[0038] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: the method for starting a hill of an autonomous driving vehicle in the embodiments of the present application first obtains the original slope compensation acceleration of the autonomous driving vehicle and determines the slope state of the autonomous driving vehicle when the autonomous driving vehicle is in a state of waiting to start on a slope; then, according to the slope state of the autonomous driving vehicle, the original slope compensation acceleration is adjusted using the adjustment strategy of the slope compensation acceleration to obtain the adjusted slope compensation acceleration; finally, the autonomous driving vehicle is controlled to start on a hill according to the adjusted slope compensation acceleration. The method for starting a hill of an autonomous driving vehicle in the embodiments of the present application dynamically adjusts the slope compensation acceleration according to the slope state, so that even if the slope estimation is inaccurate due to sensor failure or other conditions, the autonomous driving vehicle can be ensured to start normally on the slope without braking or over-acceleration, thereby ensuring the physical sensation of the passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 A schematic diagram of a process flow of a method for starting on a hill of an autonomous driving vehicle in an embodiment of the present application;

[0041] Figure 2 This is a schematic diagram of a hill start process for an autonomous driving vehicle in an embodiment of the present application;

[0042] Figure 3This is a schematic diagram of the structure of a hill start device for an autonomous driving vehicle in an embodiment of the present application;

[0043] Figure 4 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0045] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0046] The present application embodiment provides a method for starting a vehicle on a hill, such as Figure 1 As shown, a flowchart of a method for starting a hill of an autonomous driving vehicle in an embodiment of the present application is provided. The method for starting a hill of an autonomous driving vehicle includes at least the following steps S110 to S130:

[0047] Step S110, when the autonomous driving vehicle is in a state of being ready to start on a slope, the original slope compensation acceleration of the autonomous driving vehicle is obtained and the slope state of the autonomous driving vehicle is determined.

[0048] When the embodiment of the present application performs auxiliary control for the ramp start of the autonomous driving vehicle, it is necessary to first determine whether the current driving state of the autonomous driving vehicle is in a ramp start state. For example, it can be determined whether the autonomous driving vehicle is currently in a ramp position based on the current position of the autonomous driving vehicle and map information. It can also be determined whether the parking brake has been released in combination with the gear information of the vehicle and the state of the parking brake system. If the gear information meets the start condition, it is considered that the vehicle may be in a ready to start state. The specific judgment method can be flexibly determined by those skilled in the art according to actual needs, and is not specifically limited here.

[0049] When the autonomous driving vehicle is in the state of starting on a slope, the original slope compensation acceleration a0 of the autonomous driving vehicle is first obtained. The slope compensation acceleration refers to the additional acceleration generated by the component of gravity along the slope direction when the vehicle moves on the slope. This acceleration is the compensation required for the vehicle to maintain stable movement or accurately control the speed on the slope. The original slope compensation acceleration a0 can be calculated based on the pitch angle provided by the inertial navigation system, for example, it can be expressed as follows:

[0050] a0=agravity sinθ pitch , (1)

[0051] Among them, a gravity is the acceleration due to gravity, θ pitch is the pitch angle.

[0052] In addition, when the autonomous driving vehicle is in a state of waiting to start on a slope, it is necessary to further determine the current slope state of the autonomous driving vehicle. The slope state here can be divided into an uphill state and a downhill state. If the autonomous driving vehicle is currently in an uphill state, the original slope compensation acceleration a0 takes a positive sign. If the autonomous driving vehicle is currently in a downhill state, the original slope compensation acceleration a0 takes a negative sign.

[0053] Step S120, according to the slope state of the automatic driving vehicle, the original slope compensation acceleration is adjusted using the slope compensation acceleration adjustment strategy to obtain an adjusted slope compensation acceleration.

[0054] Taking into account that when a sensor failure occurs, the original slope compensation acceleration calculation will be inaccurate, which may cause the starting assist to fail to produce the best hill start effect, resulting in phenomena such as being unable to stop after braking or over-acceleration, affecting the passengers' physical sensations.

[0055] Based on this, the embodiment of the present application further designs a dynamic adjustment strategy for the slope compensation acceleration based on the original slope compensation acceleration. The slope state in which the autonomous driving vehicle is currently located is different, and the corresponding slope compensation acceleration adjustment strategy is also different. Therefore, different slope compensation acceleration adjustment strategies can be adopted according to different slope states to dynamically adjust the original slope compensation acceleration to obtain the dynamically adjusted slope compensation acceleration.

[0056] Step S130, controlling the automatic driving vehicle to start on a hill according to the adjusted slope compensation acceleration.

[0057] The above dynamic adjustment process can be regarded as a gradual adjustment process, which gradually adjusts the slope compensation acceleration, and then maps the corresponding driving torque or brake oil pressure according to the gradually adjusted slope compensation acceleration, and sends the corresponding control instructions to the autonomous driving vehicle actuator, thereby controlling the autonomous driving vehicle to start normally on the slope.

[0058] The hill starting method for the autonomous driving vehicle in the embodiment of the present application dynamically adjusts the slope compensation acceleration according to the slope status. Even if a sensor failure or other conditions cause the slope estimation to be inaccurate, it can ensure that the autonomous driving vehicle starts normally on the slope without braking or over-accelerating, thereby ensuring the physical sensation of the passengers.

[0059] In some embodiments of the present application, the original slope compensation acceleration is adjusted using an adjustment strategy of the slope compensation acceleration according to the slope state of the autonomous driving vehicle to obtain the adjusted slope compensation acceleration, including: determining whether the autonomous driving vehicle triggers an adjustment start condition for the slope compensation acceleration; when the autonomous driving vehicle triggers the adjustment start condition for the slope compensation acceleration, determining an adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle according to the slope state of the autonomous driving vehicle; and the original slope compensation acceleration is adjusted using the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle to obtain the adjusted slope compensation acceleration.

[0060] In order to further ensure the accuracy of the adjustment strategy of the embodiment of the present application for the slope compensation acceleration adjustment, before making the adjustment, it is also possible to first determine whether the current state of the autonomous driving vehicle triggers the start conditions for adjusting the slope compensation acceleration, thereby eliminating the impact caused by hardware or mechanical delays.

[0061] For example, it is possible to monitor whether the autonomous driving vehicle is currently in a state where it cannot stop on a slope due to braking for a long time, and to monitor and judge based on feedback from vehicle chassis signals, etc. If it is monitored that the autonomous driving vehicle is in a state where it cannot stop on a slope due to braking for a long time, it indicates that the autonomous driving vehicle has an abnormal hill start, that is, a normal hill start is not possible based on the original slope compensation acceleration alone. At this time, it can be considered that the adjustment start condition for the above-mentioned slope compensation acceleration has been triggered.

[0062] When the adjustment start conditions of the slope compensation acceleration are met, the corresponding slope compensation acceleration adjustment strategy is further adopted according to the slope state of the autonomous driving vehicle. For example, if it is a downhill state, the adjustment strategy of the slope compensation acceleration in the downhill state is adopted; if it is an uphill state, the adjustment strategy of the slope compensation acceleration in the uphill state is adopted. The embodiment of the present application improves the flexibility of the applicable scenarios by dynamically adopting different adjustment strategies according to different slope states.

[0063] In some embodiments of the present application, the step of determining the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle based on the slope state of the autonomous driving vehicle includes: if the slope state of the autonomous driving vehicle is a downhill state, determining that the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is a decreasing adjustment strategy of the slope compensation acceleration; if the slope state of the autonomous driving vehicle is an uphill state, determining that the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is an increasing adjustment strategy of the slope compensation acceleration.

[0064] The embodiment of the present application designs different slope compensation acceleration adjustment strategies for downhill and uphill states. For the downhill state, a decreasing slope compensation acceleration adjustment strategy is designed, and the decreasing adjustment strategy can be understood as gradually performing acceleration attenuation compensation on the basis of the original slope compensation acceleration, so that the vehicle can start normally in the downhill state. For the uphill state, an increasing slope compensation acceleration adjustment strategy is designed, and the increasing adjustment strategy can be understood as gradually performing acceleration increasing compensation on the basis of the original slope compensation acceleration, so that the vehicle can start normally in the uphill state.

[0065] In some embodiments of the present application, the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is a decreasing adjustment strategy of the slope compensation acceleration, and the original slope compensation acceleration is adjusted by using the adjustment strategy of the slope compensation acceleration to obtain the adjusted slope compensation acceleration, including: based on the decreasing adjustment strategy of the slope compensation acceleration, the original slope compensation acceleration is decreased and adjusted according to the parking time of the autonomous driving vehicle on the slope to obtain the decreased adjusted slope compensation acceleration; according to the decreased adjusted slope compensation acceleration and the adjustment termination threshold corresponding to the downhill state, the currently adjusted slope compensation acceleration is determined.

[0066] When it is determined that the current slope compensation acceleration adjustment strategy is a slope compensation acceleration decreasing adjustment strategy, based on the slope compensation acceleration decreasing adjustment strategy, the original slope compensation acceleration can be gradually attenuated according to the parking time of the autonomous driving vehicle on the slope, and the longer the parking time, the greater the attenuation. The slope compensation acceleration after the current adjustment is determined based on the slope compensation acceleration obtained by gradual attenuation and the adjustment termination threshold corresponding to the downhill state. The adjustment termination threshold corresponding to the downhill state is the maximum value of the slope compensation acceleration in the downhill state, which can be set to 0, for example.

[0067] The above process can be expressed as follows:

[0068] a1=min(a max1 ,a0+b1*t), (2)

[0069] Among them, a1 is the current adjusted slope compensation acceleration obtained in the downhill state, a max1 is the maximum value of the slope compensation acceleration in the downhill state, a0 is the original slope compensation acceleration, b1 is the custom coefficient, which mainly adjusts the attenuation amplitude and can be flexibly adjusted according to the test and operation results, and t is the parking time.

[0070] It should be noted that in the downhill state, since the original slope compensation acceleration a0 is negative, a max1is 1, so the whole adjustment process is an adjustment ramp compensation acceleration gradually approaching a max1 process.

[0071] In some embodiments of the present application, the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is an incremental adjustment strategy of the slope compensation acceleration, and the original slope compensation acceleration is adjusted using the adjustment strategy of the slope compensation acceleration to obtain the adjusted slope compensation acceleration, including: based on the incremental adjustment strategy of the slope compensation acceleration, the original slope compensation acceleration is incrementally adjusted according to the parking time of the autonomous driving vehicle on the slope to obtain the incrementally adjusted slope compensation acceleration; according to the incrementally adjusted slope compensation acceleration and the adjustment termination threshold corresponding to the uphill state, the currently adjusted slope compensation acceleration is determined.

[0072] When it is determined that the current slope compensation acceleration adjustment strategy is the slope compensation acceleration incremental adjustment strategy, based on the slope compensation acceleration incremental adjustment strategy, the original slope compensation acceleration can be gradually increased according to the parking time of the autonomous driving vehicle on the slope, and the longer the parking time, the greater the degree of increase. The slope compensation acceleration after the current adjustment is determined based on the slope compensation acceleration obtained by the gradual increase and the adjustment termination threshold corresponding to the uphill state. The adjustment termination threshold corresponding to the uphill state refers to the slope compensation acceleration corresponding to the maximum climbing gradient of the autonomous driving vehicle, which can be set in advance according to the climbing ability of different autonomous driving vehicles and is not specifically limited here.

[0073] The above process can be expressed as follows:

[0074] a2=min(a max2 ,a0+b2*t), (3)

[0075] Among them, a2 is the current adjusted slope compensation acceleration obtained in the uphill state, a max2 is the slope compensation acceleration corresponding to the maximum climbing gradient of the autonomous driving vehicle, a0 is the original slope compensation acceleration, b2 is the custom coefficient, which mainly adjusts the incremental amplitude and can be flexibly adjusted according to the test and operation results, and t is the parking time.

[0076] It should be noted that in the uphill state, the original slope compensation acceleration a0 is positive, a max2 is the slope compensation acceleration corresponding to the maximum climbing slope of the autonomous driving vehicle. Therefore, the entire adjustment process is an adjustment of the slope compensation acceleration to gradually approach the slope compensation acceleration corresponding to the maximum climbing slope. max2 process.

[0077] In some embodiments of the present application, after controlling the autonomous driving vehicle to start on a hill according to the adjusted slope compensation acceleration, the hill start method of the autonomous driving vehicle further includes: determining whether the autonomous driving vehicle triggers an adjustment termination condition according to the adjusted slope compensation acceleration and the hill start status; if the adjustment termination condition is triggered, terminating the adjustment of the original slope compensation acceleration; otherwise, continuing to adjust the original slope compensation acceleration until the adjustment termination condition is triggered.

[0078] The dynamic adjustment of the slope compensation acceleration in the above-mentioned embodiment is mainly an auxiliary strategy adopted for the situation that the autonomous driving vehicle is currently unable to stop on the slope, that is, the adjustment start condition is met. Therefore, the embodiment of the present application can also determine in real time whether the current state of the autonomous driving vehicle after each adjustment triggers the adjustment termination condition. If the adjustment termination condition is triggered, the adjustment process of the above-mentioned embodiment is exited. If the adjustment termination condition is not triggered, the above-mentioned adjustment strategy is repeatedly executed. The embodiment of the present application constrains the adjustment start condition and the adjustment termination condition so that the dynamic adjustment of the slope compensation acceleration can be performed at the appropriate time, ensuring the accuracy and effectiveness of the adjustment.

[0079] In some embodiments of the present application, determining whether the autonomous driving vehicle triggers the adjustment termination condition based on the adjusted slope compensation acceleration and the hill start state includes: if the adjusted slope compensation acceleration reaches the adjustment termination threshold corresponding to the slope state of the autonomous driving vehicle, or the hill start state is a successful start state, then it is determined that the autonomous driving vehicle triggers the adjustment termination condition; otherwise, it is determined that the autonomous driving vehicle has not triggered the adjustment termination condition.

[0080] The adjustment termination conditions set in the embodiment of the present application mainly include two aspects. On the one hand, the adjustment termination threshold corresponding to the ramp state of the autonomous driving vehicle. Different ramp states have corresponding maximum adjustment capabilities, such as a in the above embodiment. max1 and a max2 If the adjusted slope compensation acceleration reaches the maximum adjustment capacity corresponding to the current slope state, the adjustment ends. On the other hand, the current slope starting state of the autonomous driving vehicle, if the autonomous driving vehicle has successfully started after adjustment by the adjustment strategy, there is no need to continue the adjustment and exit the adjustment process.

[0081] Whether the autonomous driving vehicle has successfully started can be determined by whether the actual vehicle speed of the vehicle chassis reaches the expected speed corresponding to the ramp state. If the expected speed has been reached, the start can be considered complete. Different ramp states may correspond to different expected speeds, so different expected speeds can be set for uphill and downhill states and compared and judged.

[0082] In order to facilitate the understanding of the above embodiments, Figure 2 As shown, a schematic diagram of a ramp start process of an autonomous driving vehicle in an embodiment of the present application is provided. First, it is monitored whether the autonomous driving vehicle is currently in a ramp start-up state. If it is in a ramp start-up state, the original ramp compensation acceleration is calculated according to the pitch angle provided by the inertial navigation system and the current ramp state is determined, specifically, whether it is a downhill state or an uphill state.

[0083] If it is a downhill state, the slope compensation acceleration decreasing adjustment strategy is adopted to dynamically decrease the original slope compensation acceleration. If it is an uphill state, the slope compensation acceleration increasing adjustment strategy is adopted to dynamically increase the original slope compensation acceleration.

[0084] According to the drive torque or brake oil pressure corresponding to the adjusted slope compensation acceleration mapping, the corresponding command is sent to the autonomous vehicle actuator. The starting state of the autonomous vehicle is judged in real time. When the vehicle starts successfully, the dynamic compensation adjustment of the slope acceleration is completed. If it has not started successfully, continue to return to the above steps to continue the adjustment until the autonomous vehicle starts successfully.

[0085] In summary, the hill start method for an autonomous driving vehicle of the present application has achieved at least the following technical effects:

[0086] 1) This application takes into account the fact that the existing slope acceleration compensation scheme relies on accurate estimation of the slope, which may not produce the best slope start effect, and dynamically adjusts the slope compensation acceleration to ensure that the autonomous driving vehicle can start normally on the slope and ensure the physical feeling of the passengers;

[0087] 2) This application takes into account the uncertainty factors caused by hardware in the original slope compensation acceleration, and weakens the problem of ramp starting of the autonomous driving vehicle caused by uncertainty;

[0088] 3) Based on the original slope compensation acceleration, the present application dynamically adjusts the slope compensation acceleration according to the slope status, has low requirements on the computing performance of the vehicle controller, and is easy to implement in real vehicle deployment.

[0089] The present application also provides a hill start device 300 for an autonomous driving vehicle, such as Figure 3 As shown, a schematic diagram of the structure of a hill start device of an autonomous driving vehicle in an embodiment of the present application is provided. The hill start device 300 of the autonomous driving vehicle includes: an acquisition unit 310, an adjustment unit 320 and a control unit 330, wherein:

[0090] An acquisition unit 310 is used to acquire an original slope compensation acceleration of the autonomous driving vehicle and determine the slope state of the autonomous driving vehicle when the autonomous driving vehicle is in a state of waiting to start on a slope;

[0091] An adjustment unit 320, configured to adjust the original slope compensation acceleration using a slope compensation acceleration adjustment strategy according to the slope state of the automatic driving vehicle, to obtain an adjusted slope compensation acceleration;

[0092] The control unit 330 is used to control the automatic driving vehicle to start on a hill according to the adjusted slope compensation acceleration.

[0093] In some embodiments of the present application, the adjustment unit 320 is specifically used to: determine whether the autonomous driving vehicle triggers the adjustment start conditions for the slope compensation acceleration; when the autonomous driving vehicle triggers the adjustment start conditions for the slope compensation acceleration, determine the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle according to the slope state of the autonomous driving vehicle; and use the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle to adjust the original slope compensation acceleration to obtain the adjusted slope compensation acceleration.

[0094] In some embodiments of the present application, the adjustment unit 320 is specifically used to: if the slope state of the autonomous driving vehicle is a downhill state, determine that the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is a decreasing adjustment strategy of the slope compensation acceleration; if the slope state of the autonomous driving vehicle is an uphill state, determine that the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is an increasing adjustment strategy of the slope compensation acceleration.

[0095] In some embodiments of the present application, the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is a decreasing adjustment strategy of the slope compensation acceleration, and the adjustment unit 320 is specifically used to: based on the decreasing adjustment strategy of the slope compensation acceleration, decrease the original slope compensation acceleration according to the parking time of the autonomous driving vehicle on the slope to obtain the decreasingly adjusted slope compensation acceleration; determine the currently adjusted slope compensation acceleration according to the decreasingly adjusted slope compensation acceleration and the adjustment termination threshold corresponding to the downhill state.

[0096] In some embodiments of the present application, the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is an incremental adjustment strategy of the slope compensation acceleration, and the adjustment unit 320 is specifically used to: based on the incremental adjustment strategy of the slope compensation acceleration, incrementally adjust the original slope compensation acceleration according to the parking time of the autonomous driving vehicle on the slope to obtain the incrementally adjusted slope compensation acceleration; determine the currently adjusted slope compensation acceleration according to the incrementally adjusted slope compensation acceleration and the adjustment termination threshold corresponding to the uphill state.

[0097] In some embodiments of the present application, the hill start device 300 of the autonomous driving vehicle further includes: a termination judgment unit, for determining whether the autonomous driving vehicle triggers an adjustment termination condition according to the adjusted slope compensation acceleration and the hill start state after controlling the autonomous driving vehicle to start on a hill according to the adjusted slope compensation acceleration; if the adjustment termination condition is triggered, the adjustment of the original slope compensation acceleration is terminated; otherwise, the original slope compensation acceleration continues to be adjusted until the adjustment termination condition is triggered.

[0098] In some embodiments of the present application, the termination judgment unit is specifically used to: if the adjusted slope compensation acceleration reaches the adjustment termination threshold corresponding to the slope state of the autonomous driving vehicle, or the slope start state is a successful start state, then it is determined that the autonomous driving vehicle has triggered the adjustment termination condition; otherwise, it is determined that the autonomous driving vehicle has not triggered the adjustment termination condition.

[0099] It can be understood that the hill-start device for the above-mentioned autonomous driving vehicle can implement the various steps of the hill-start method for the autonomous driving vehicle provided in the aforementioned embodiments, and the relevant explanations about the hill-start method for the autonomous driving vehicle are all applicable to the hill-start device for the autonomous driving vehicle, which will not be repeated here.

[0100] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 4 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0101] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0102] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0103] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a hill start device for the autonomous driving vehicle at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0104] When the autonomous driving vehicle is in a state of waiting to start on a slope, obtaining an original slope compensation acceleration of the autonomous driving vehicle and determining the slope state of the autonomous driving vehicle;

[0105] According to the ramp state of the automatic driving vehicle, the original ramp compensation acceleration is adjusted using the ramp compensation acceleration adjustment strategy to obtain an adjusted ramp compensation acceleration;

[0106] The automated driving vehicle is controlled to start on a hill according to the adjusted slope compensation acceleration.

[0107] The above application Figure 1The method performed by the hill start device of the autonomous driving vehicle disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in a decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0108] The present application also provides a computer program product, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 1 The method performed by the hill start device of the autonomous driving vehicle in the illustrated embodiment is specifically used to perform:

[0109] When the autonomous driving vehicle is in a state of waiting to start on a slope, obtaining an original slope compensation acceleration of the autonomous driving vehicle and determining the slope state of the autonomous driving vehicle;

[0110] According to the ramp state of the automatic driving vehicle, the original ramp compensation acceleration is adjusted using the ramp compensation acceleration adjustment strategy to obtain an adjusted ramp compensation acceleration;

[0111] The automated driving vehicle is controlled to start on a hill according to the adjusted slope compensation acceleration.

[0112] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0116] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0117] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0118] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0119] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0120] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0121] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for starting on a hill of an autonomous driving vehicle, wherein: The hill start method of the autonomous driving vehicle comprises: When the autonomous driving vehicle is in a state of waiting to start on a slope, obtaining an original slope compensation acceleration of the autonomous driving vehicle and determining the slope state of the autonomous driving vehicle; According to the ramp state of the automatic driving vehicle, the original ramp compensation acceleration is adjusted using the ramp compensation acceleration adjustment strategy to obtain an adjusted ramp compensation acceleration; The automated driving vehicle is controlled to start on a hill according to the adjusted slope compensation acceleration.

2. The method for starting on a hill of an autonomous driving vehicle according to claim 1, wherein: The adjusting strategy of the slope compensation acceleration is used to adjust the original slope compensation acceleration according to the slope state of the automatic driving vehicle to obtain the adjusted slope compensation acceleration, which includes: Determining whether the automated driving vehicle triggers a start condition for adjusting hill-compensation acceleration; When the autonomous driving vehicle triggers the adjustment start condition of the hill compensation acceleration, determining the adjustment strategy of the hill compensation acceleration currently corresponding to the autonomous driving vehicle according to the slope state of the autonomous driving vehicle; The original slope compensation acceleration is adjusted using the adjustment strategy of the slope compensation acceleration currently corresponding to the automatic driving vehicle to obtain an adjusted slope compensation acceleration.

3. The method for starting on a hill of an autonomous driving vehicle according to claim 2, wherein: The adjustment strategy for determining the slope compensation acceleration currently corresponding to the autonomous driving vehicle according to the slope state of the autonomous driving vehicle includes: If the ramp state of the autonomous driving vehicle is a downhill state, determining that the slope compensation acceleration adjustment strategy currently corresponding to the autonomous driving vehicle is a decreasing slope compensation acceleration adjustment strategy; If the slope state of the autonomous driving vehicle is an uphill state, it is determined that the adjustment strategy of the slope compensation acceleration currently corresponding to the autonomous driving vehicle is an increasing adjustment strategy of the slope compensation acceleration.

4. The method for starting a hill on an autonomous vehicle according to claim 3, wherein: The slope compensation acceleration adjustment strategy currently corresponding to the autonomous driving vehicle is a slope compensation acceleration decreasing adjustment strategy. The original slope compensation acceleration is adjusted using the slope compensation acceleration adjustment strategy to obtain the adjusted slope compensation acceleration, which includes: Based on the decremental adjustment strategy of the slope compensation acceleration, the original slope compensation acceleration is decrementally adjusted according to the parking time of the autonomous driving vehicle on the slope to obtain a decrementally adjusted slope compensation acceleration; The currently adjusted slope compensation acceleration is determined according to the slope compensation acceleration after the decremental adjustment and the adjustment termination threshold corresponding to the downhill state.

5. The method for starting on a hill of an autonomous driving vehicle as claimed in claim 3, wherein: The slope compensation acceleration adjustment strategy currently corresponding to the autonomous driving vehicle is an incremental adjustment strategy of the slope compensation acceleration. The original slope compensation acceleration is adjusted using the slope compensation acceleration adjustment strategy to obtain the adjusted slope compensation acceleration, which includes: Based on the incremental adjustment strategy of the slope compensation acceleration, the original slope compensation acceleration is incrementally adjusted according to the parking time of the autonomous driving vehicle on the slope to obtain the slope compensation acceleration after incremental adjustment; The currently adjusted slope compensation acceleration is determined according to the incrementally adjusted slope compensation acceleration and an adjustment termination threshold corresponding to the uphill state.

6. The method for starting on a hill of an autonomous driving vehicle according to claim 1, wherein: After controlling the autonomous driving vehicle to start on a hill according to the adjusted slope compensation acceleration, the hill start method of the autonomous driving vehicle further includes: determining whether the automatic driving vehicle triggers an adjustment termination condition according to the adjusted slope compensation acceleration and the hill start state; If the adjustment termination condition is triggered, the adjustment of the original slope compensation acceleration is terminated; Otherwise, the original slope compensation acceleration continues to be adjusted until the adjustment termination condition is triggered.

7. The method for starting on a hill of an autonomous driving vehicle according to claim 1, wherein: The determining whether the automatic driving vehicle triggers the adjustment termination condition according to the adjusted slope compensation acceleration and the hill start state includes: If the adjusted slope compensation acceleration reaches the adjustment termination threshold corresponding to the slope state of the autonomous driving vehicle, or the slope start state is a successful start state, it is determined that the autonomous driving vehicle triggers the adjustment termination condition; Otherwise, it is determined that the autonomous driving vehicle has not triggered the adjustment termination condition.

8. A hill start device for an autonomous driving vehicle, wherein: The hill start device of the automatic driving vehicle comprises: an acquisition unit, configured to acquire an original slope compensation acceleration of the autonomous driving vehicle and determine a slope state of the autonomous driving vehicle when the autonomous driving vehicle is in a state of waiting to start on a slope; an adjusting unit, configured to adjust the original slope compensation acceleration by using a slope compensation acceleration adjustment strategy according to the slope state of the automatic driving vehicle, so as to obtain an adjusted slope compensation acceleration; A control unit is used to control the automatic driving vehicle to start on a hill according to the adjusted slope compensation acceleration.

9. An electronic device, comprising: processor; And a memory arranged to store computer executable instructions, which, when executed, cause the processor to execute the hill start method for the autonomous driving vehicle of any one of claims 1 to 7.

10. A computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the hill start method of the autonomous driving vehicle according to any one of claims 1 to 7.

Images