Vehicle control method and device

Abstract

The invention discloses a vehicle control method and device, relates to the technical field of intelligent driving, and can reduce the safety risk when a stable control system controls a vehicle and improve the driving safety of the vehicle. The method is applied to a vehicle comprising an intelligent driving system and a stability control system and comprises the steps that the intelligent driving system obtains target parameters used for controlling the transverse movement posture of the vehicle; the intelligent driving system sends the target parameters to the stable control system; and a braking device included in the stability control system controls the transverse movement posture of the vehicle based on the target parameters.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle control method and device. Background Art

[0002] At present, with the development of intelligent driving technology, vehicles are usually equipped with stability control systems. Among them, the stability control system can identify the instability of the vehicle based on sensors, and intervene in the vehicle, such as controlling the yaw of the vehicle, to ensure the stability of the vehicle. However, when the current stability control system controls the vehicle, it will cause the intelligent driving system to be forced to exit, and the vehicle will be taken over manually, which has a high safety risk and is not conducive to the driving safety of the vehicle. Summary of the invention

[0003] The present application provides a vehicle control method and device, which can reduce the safety risk of a stability control system when controlling a vehicle and improve the driving safety of the vehicle.

[0004] In order to achieve the above purpose, this application adopts the following technical solutions:

[0005] In a first aspect, a vehicle control method is provided, which is applied to a vehicle including an intelligent driving system and a stability control system, the method comprising: the intelligent driving system acquiring a target parameter, the target parameter being used to control the lateral motion posture of the vehicle; the intelligent driving system sending the target parameter to the stability control system; and a braking device included in the stability control system controlling the lateral motion posture of the vehicle based on the target parameter.

[0006] Based on the above technical solution, the intelligent driving system obtains the target parameters for controlling the lateral motion posture of the vehicle, and then sends the target parameters to the stability control system, and then the stability control system controls the lateral motion posture of the vehicle based on the target parameters from the intelligent driving system. The coordination between the intelligent driving system and the stability control system is achieved. Compared with the stability control system, since the intelligent driving system can perceive various reasons such as the surrounding environment of the vehicle, even in emergency conditions, the intelligent driving system can still obtain accurate target parameters. In this way, when the intelligent driving system controls the lateral motion posture of the vehicle based on the accurate target parameters, it can plan a more reasonable yaw target, which can improve the driving safety of the vehicle and reduce safety risks.

[0007] In one possible design, the target parameter includes a first parameter, and the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration.

[0008] In a possible design, the target parameter also includes at least one of a second parameter and a third parameter, the second parameter is used to adjust the activation threshold of the stability control system to control the lateral motion posture, and the third parameter is used to adjust the yaw moment that controls the lateral motion posture. Optionally, the influence of the second parameter on the activation threshold represents the urgency of the demand for the stability control system. Based on this design, the target parameter also includes a second parameter for adjusting the activation threshold of the stability control system to control the lateral motion posture of the vehicle, so that the stability control system can adjust the activation threshold based on the second parameter to activate the stability control system, realize the coordinated control of the intelligent driving system and the stability control system, and improve the driving safety of the vehicle. The target parameter also includes a third parameter for adjusting the yaw moment that controls the lateral motion posture of the vehicle, so that the stability control system can determine the specific yaw moment of the vehicle test drive based on the third parameter, realize the coordinated control of the intelligent driving system and the stability control system, and improve the driving safety of the vehicle.

[0009] In one possible design, the braking device includes a device for generating a braking force on the wheels of the vehicle.

[0010] In one possible design, the braking device includes one or more of an electric motor, an electronic hydraulic brake EHB, and an electronic mechanical brake EMB.

[0011] In one possible design, the target parameter includes yaw moment or wheel braking force. Based on this design, the target parameter directly includes yaw moment or wheel braking force, that is, the specific yaw moment or wheel braking force to be applied to the vehicle is directly determined by the intelligent driving system, and the specific yaw moment or wheel braking force to be applied to the vehicle does not need to be determined by the stability control system, so that the stability control system is less modified and the power consumption of the stability control system can be reduced.

[0012] In a possible design, the braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter, including: the braking device executes the yaw moment or the wheel braking force on the vehicle. Based on this design, the stability control system directly executes the yaw moment or wheel braking force from the intelligent driving system, that is, the stability control system executes the yaw target of the intelligent driving system and no longer executes the yaw target planned by itself, which can reduce the probability of the stability control system executing an unreasonable yaw target and improve the driving safety of the vehicle. In addition, the yaw moment or wheel braking force is directly calculated by the intelligent driving system, so that the stability control system is less modified and the coupling is minimized.

[0013] In a possible design, the braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter, including: the braking device obtains a fourth parameter, the fourth parameter includes at least one of the actual yaw rate, the actual yaw acceleration, and the actual lateral acceleration corresponding to the vehicle; the braking device determines the activation threshold based on the second parameter; the braking device controls the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold. Based on this design, the braking device of the stability control system can obtain the actual parameters of the vehicle, such as: actual yaw rate, actual yaw acceleration, actual lateral acceleration, etc., and then determine the activation threshold based on the second parameter, and finally control the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, that is, the difference between the actual and target parameters, the activation threshold and the third parameter. The lateral motion posture of the vehicle is controlled based on the target parameter obtained by the intelligent driving system, so that the intelligent driving system and the stability control system are coordinated with each other, which can improve the driving safety of the vehicle.

[0014] In a possible design, the braking device controls the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold, including: when the braking device determines that the difference between the first parameter and the fourth parameter meets the activation threshold, the braking device is activated to control the lateral motion posture of the vehicle based on the third parameter; or, when the braking device determines that the difference between the first parameter and the fourth parameter does not meet the activation threshold, the braking device is not activated to control the lateral motion posture of the vehicle based on the third parameter. Based on this design, when the difference between the target and the actual meets the activation threshold, the braking device is activated to control the lateral motion posture of the vehicle based on the third parameter, so that the stability control system can control the lateral motion posture of the vehicle based on the yaw target planned by the automatic driving system, which can improve the driving safety of the vehicle. On the contrary, when the difference between the target and the actual meets the deactivation threshold, it means that it may not be in an emergency scenario at this time. At this time, the braking device is not activated to control the lateral motion posture of the vehicle based on the third parameter, which can save the power consumption of the stability control system.

[0015] In a possible design, the target parameter includes the first parameter; the intelligent driving system acquires the target parameter, including: the intelligent driving system plans multiple types of the target trajectory, target longitudinal speed, target longitudinal acceleration, and target steering wheel angle at the next moment based on the driving goal corresponding to the vehicle; the intelligent driving system determines the first parameter based on multiple types of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle. Based on this design, the intelligent driving system can plan various parameters (such as the target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, etc. at the next moment) based on the driving goal of the vehicle, and then determine the first parameter based on the planned parameters, that is, determine the yaw target. The intelligent driving system plans the yaw target, which can improve the rationality of the yaw target and improve the driving safety of the vehicle.

[0016] In a possible design, the target parameter includes the second parameter; the intelligent driving system obtains the target parameter, including: the intelligent driving system obtains the distance between the vehicle and the obstacle; the intelligent driving system determines the second parameter based on at least one of the distance, the target longitudinal speed, and the adhesion corresponding to the vehicle. Based on this design, the intelligent driving system determines the second parameter based on the distance between the vehicle and the obstacle, the surrounding environment information such as the adhesion corresponding to the vehicle, and the planned longitudinal speed and other vehicle information. The second parameter determined for different vehicles is different for the surrounding environment information, planned vehicle information, etc. The second parameter reflects the scene in which the vehicle is located, such as: emergency obstacle avoidance scene, general lane change scene, etc. In this way, when the activation threshold is adjusted based on the second parameter reflecting different scenes, the direction of the adjustment can meet the activation requirements of the stability control system, such as: in the emergency obstacle avoidance scene, after the activation threshold is adjusted based on the second parameter, the stability control system is more likely to be activated, and in the general lane change scene, after the activation threshold is adjusted based on the second parameter, the stability control system is less likely to be activated.

[0017] In one possible design, the second parameter satisfies the following formula:

[0018] ReqSensitive=[(Vx / S)*P_Sen*table1(Vx)*table1(Mue)]max(1).Min(0)

[0019] Among them, the ReqSensitive is the second parameter, the value range of the ReqSensitive is greater than or equal to 0 and less than or equal to 1, the Vx is the target longitudinal speed, the S is the distance between the vehicle and the obstacle, the table1(Vx) is the coefficient corresponding to the target longitudinal speed in the first preset table, the table1(Mue) is the coefficient corresponding to the adhesion of the vehicle in the first preset table, and the P_Sen is a normalized parameter.

[0020] In a possible design, the target parameter includes the third parameter; the intelligent driving system acquires the target parameter, including: the intelligent driving system determines the third parameter based on at least one of the first parameter and the target longitudinal speed. Based on this design, the third parameter is determined based on the first parameter, the target longitudinal speed, etc., so that the third parameter is determined, and then the yaw moment is determined. That is, the yaw moment for controlling the lateral motion posture of the vehicle can be determined based on the first parameter planned by the intelligent driving system, the target longitudinal speed, etc., which can improve the accuracy of vehicle control and improve the driving safety of the vehicle.

[0021] In one possible design, the third parameter satisfies the following formula:

[0022] TrqFactor=table2(Yawtar)*table2(Vx)*table2(Ay)

[0023] Among them, the TrqFactor is the third parameter, table2(Yawtar) is the coefficient corresponding to the target yaw angular velocity in the second preset table, the table2(Vx) is the coefficient corresponding to the target longitudinal velocity in the second preset table, and the table2(Ay) is the coefficient corresponding to the target lateral acceleration in the second preset table.

[0024] In a possible design, after the braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter, the method further includes: the stability control system sends a fifth parameter to the intelligent driving system, the fifth parameter includes target response information, and / or at least one of the available value of the yaw moment corresponding to the vehicle, the slip rate, and the adhesion, and the target response information includes one or more of the deviation between the target yaw rate and the actual yaw rate, the deviation between the target yaw acceleration and the actual yaw acceleration, and the deviation between the target lateral acceleration and the actual lateral acceleration. Based on this design, the stability control system can also send the deviation between the target yaw rate and the actual yaw rate, the deviation between the target yaw acceleration and the actual yaw acceleration, the deviation between the target lateral acceleration and the actual lateral acceleration, the available value of the yaw moment corresponding to the vehicle, the slip rate, the adhesion and other vehicle-related information to the intelligent driving system, so that the intelligent driving system can obtain various information about the vehicle, so that a more accurate yaw target can be planned based on this information later.

[0025] In a possible design, multiple of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle are determined according to the fifth parameter at the current moment. Based on this design, the target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, etc. planned by the intelligent driving system can be determined according to various information of the vehicle fed back by the stability control system, that is, the intelligent driving system can correct various planned parameters in combination with various information of the vehicle fed back by the stability control system, and then correct the planned yaw target, so as to obtain a more accurate yaw target and further improve the driving safety of the vehicle.

[0026] In a possible design, before the intelligent driving system acquires the target parameters, the method further includes: the vehicle displays a first interface, the first interface includes a first mode and a second mode, the first mode is a working mode in which the intelligent driving system does not exit while the stability control system is activated, and the second mode is a working mode in which the intelligent driving system exits while the stability control system is activated; and receiving a user operation, the user operation being used to select the first mode. Based on this design, the intelligent driving system can remain in operation while the stability control system is activated. In this way, it can be avoided that the intelligent driving system immediately exits due to the activation of the stability control system, and the driver is unable to take over the vehicle in time or takes over the vehicle in error due to panic. The intelligent driving system and the stability control system can be coordinated and cooperated to improve the driving safety of the vehicle.

[0027] In a second aspect, a vehicle control method is provided, which is applied to an intelligent driving system. The method includes: obtaining a target parameter, where the target parameter is used to control the lateral motion posture of the vehicle; and sending the target parameter to a stability control system including a braking device.

[0028] In one possible design, the target parameter includes at least one of a second parameter and a third parameter, and the first parameter, the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration, the second parameter is used to adjust the activation threshold of the stability control system to control the lateral motion posture, and the third parameter is used to adjust the yaw torque that controls the lateral motion posture.

[0029] In a possible design, the target parameter includes yaw moment, or wheel braking force.

[0030] In one possible design, the target parameters include the first parameters; obtaining the target parameters includes: planning a target trajectory, a target longitudinal speed, a target longitudinal acceleration, and a target steering wheel angle at the next moment based on the driving goal corresponding to the vehicle; and determining the first parameter based on the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle.

[0031] In one possible design, the target parameter includes a second parameter; and obtaining the target parameter includes: obtaining the distance between the vehicle and the obstacle; and determining the second parameter based on at least one of the distance, the target longitudinal speed, and the adhesion corresponding to the vehicle.

[0032] In one possible design, the target parameter includes a third parameter; and obtaining the target parameter includes: determining the third parameter based on at least one of the first parameter, the target longitudinal velocity, and the target lateral acceleration.

[0033] In one possible design, after sending the target parameter to a stability control system including a braking device, the method further includes: receiving a fifth parameter from the stability control system, the fifth parameter including target response information, and / or at least one of an available value of the yaw moment, a slip rate, and adhesion corresponding to the vehicle, the target response information including one or more of a deviation between the target yaw velocity and an actual yaw velocity, a deviation between the target yaw acceleration and an actual yaw acceleration, and a deviation between the target lateral acceleration and an actual lateral acceleration.

[0034] In one possible design, multiple ones of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle are determined based on a fifth parameter at a current moment.

[0035] In a third aspect, a vehicle control method is provided, which is applied to a stability control system including a braking device, the method comprising: receiving a target parameter from an intelligent driving system, the target parameter being used to control the lateral motion posture of the vehicle; and controlling the lateral motion posture of the vehicle based on the target parameter.

[0036] In one possible design, the target parameter includes at least one of a second parameter and a third parameter, and the first parameter, the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration, the second parameter is used to adjust the activation threshold of the stability control system to control the lateral motion posture, and the third parameter is used to adjust the yaw torque that controls the lateral motion posture.

[0037] In a possible design, the target parameter includes yaw moment, or wheel braking force.

[0038] In one possible design, controlling the lateral motion posture of the vehicle based on the target parameter includes: executing the yaw moment on the vehicle, or executing the wheel braking force.

[0039] In one possible design, controlling the lateral motion posture of the vehicle based on the target parameter includes: obtaining a fourth parameter, the fourth parameter including at least one of an actual yaw angular velocity, an actual yaw angular acceleration, and an actual lateral acceleration corresponding to the vehicle; determining the activation threshold based on the second parameter; and controlling the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold.

[0040] In one possible design, the controlling of the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold includes: if it is determined that the difference between the first parameter and the fourth parameter meets the activation threshold, then activating the braking device to control the lateral motion posture of the vehicle based on the third parameter; or, if it is determined that the difference between the first parameter and the fourth parameter does not meet the activation threshold, then not activating the braking device to control the lateral motion posture of the vehicle based on the third parameter.

[0041] In one possible design, after controlling the lateral motion posture of the vehicle based on the target parameter, the method further includes: sending a fifth parameter to the intelligent driving system, the fifth parameter including target response information, and / or at least one of an available value of the yaw moment, a slip rate, and adhesion corresponding to the vehicle, the target response information including one or more of a deviation between the target yaw angular velocity and an actual yaw angular velocity, a deviation between the target yaw angular acceleration and an actual yaw angular acceleration, and a deviation between the target lateral acceleration and an actual lateral acceleration.

[0042] In a fourth aspect, a vehicle control device is provided, the vehicle control device includes a module or unit corresponding to the above method, and the module or unit can be implemented by hardware, software, or by hardware executing the corresponding software. In a possible design, the vehicle control device includes an intelligent driving system and a stability control system; wherein the intelligent driving system is used to: obtain a target parameter, the target parameter is used to control the lateral motion posture of the vehicle; send the target parameter to the stability control system. The stability control system is used to use a braking device to control the lateral motion posture of the vehicle based on the target parameter.

[0043] In one possible design, the target parameter includes a first parameter, and the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration.

[0044] In one possible design, the target parameter also includes at least one of a second parameter and a third parameter, wherein the second parameter is used to adjust an activation threshold of the stability control system for controlling the lateral motion posture, and the third parameter is used to adjust the yaw moment for controlling the lateral motion posture.

[0045] In one possible design, the braking device includes a device for generating a braking force on the wheels of the vehicle.

[0046] In one possible design, the braking device includes one or more of an electric motor, an electronic hydraulic brake EHB, and an electronic mechanical brake EMB.

[0047] In a possible design, the target parameter includes yaw moment, or wheel braking force.

[0048] In a possible design, the stability control system is specifically used to use the braking device to execute the yaw moment or the wheel braking force on the vehicle.

[0049] In one possible design, the stability control system is specifically used to: use the braking device to obtain a fourth parameter, the fourth parameter including at least one of an actual yaw angular velocity, an actual yaw angular acceleration, and an actual lateral acceleration corresponding to the vehicle; use the braking device to determine the activation threshold based on the second parameter; use the braking device to control the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold.

[0050] In one possible design, the stability control system is specifically used to: determine that the difference between the first parameter and the fourth parameter meets the activation threshold, then activate the braking device to control the lateral motion posture of the vehicle based on the third parameter; or determine that the difference between the first parameter and the fourth parameter does not meet the activation threshold, then do not activate the braking device to control the lateral motion posture of the vehicle based on the third parameter.

[0051] In one possible design, the target parameters include the first parameters; the intelligent driving system is also used to: plan multiple target trajectory, target longitudinal speed, target longitudinal acceleration, and target steering wheel angle at the next moment based on the driving goal corresponding to the vehicle; and determine the first parameter based on multiple target trajectory, target longitudinal speed, target longitudinal acceleration, and target steering wheel angle.

[0052] In one possible design, the target parameter includes the second parameter; the intelligent driving system is further used to: obtain the distance between the vehicle and the obstacle; and determine the second parameter based on at least one of the distance, the target longitudinal speed, and the adhesion corresponding to the vehicle.

[0053] In one possible design, the target parameter includes the third parameter; and the intelligent driving system is further used to determine the third parameter based on at least one of the first parameter and the target longitudinal speed.

[0054] In one possible design, the stability control system is further used to send a fifth parameter to the intelligent driving system, wherein the fifth parameter includes target response information and / or at least one of an available value of the yaw moment, a slip rate, and adhesion corresponding to the vehicle, and the target response information includes one or more of a deviation between the target yaw angular velocity and an actual yaw angular velocity, a deviation between the target yaw angular acceleration and an actual yaw angular acceleration, and a deviation between the target lateral acceleration and an actual lateral acceleration.

[0055] In one possible design, multiple ones of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle are determined based on a fifth parameter at a current moment.

[0056] In one possible design, the vehicle also includes a display unit and a processing unit, the display unit is used to display a first interface, the first interface includes a first mode and a second mode, the first mode is a working mode in which the intelligent driving system does not exit while the stability control system is activated, and the second mode is a working mode in which the intelligent driving system exits while the stability control system is activated; the processing unit is used to receive user operations, and the user operations are used to select the first mode.

[0057] In a fifth aspect, a vehicle control device is provided, the vehicle control device includes a module or unit corresponding to the above method, the module or unit can be implemented by hardware, software, or by hardware executing the corresponding software. In a possible design, the vehicle control device includes a processing unit (or processing module) and a communication unit (or communication module), the processing unit is used to obtain target parameters, the target parameters are used to control the lateral motion posture of the vehicle; the communication unit is used to send the target parameters to a stability control system including a braking device.

[0058] In one possible design, the target parameter includes at least one of a second parameter and a third parameter, and the first parameter, the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration, the second parameter is used to adjust the activation threshold of the stability control system to control the lateral motion posture, and the third parameter is used to adjust the yaw torque that controls the lateral motion posture.

[0059] In a possible design, the target parameter includes yaw moment, or wheel braking force.

[0060] In one possible design, the target parameters include the first parameters; the processing unit is further used to: plan a target trajectory, a target longitudinal speed, a target longitudinal acceleration, and a target steering wheel angle at the next moment based on the driving goal corresponding to the vehicle; and determine the first parameter based on the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle.

[0061] In one possible design, the target parameter includes a second parameter; the processing unit is further used to: obtain the distance between the vehicle and the obstacle; and determine the second parameter based on at least one of the distance, the target longitudinal speed, and the adhesion corresponding to the vehicle.

[0062] In one possible design, the target parameter includes a third parameter; the processing unit is further used to determine the third parameter based on at least one of the first parameter, the target longitudinal velocity, and the target lateral acceleration.

[0063] In one possible design, the communication unit is further used to receive a fifth parameter from the stability control system, the fifth parameter including target response information and / or at least one of an available value of the yaw moment, a slip rate, and adhesion corresponding to the vehicle, the target response information including one or more of a deviation between the target yaw velocity and an actual yaw velocity, a deviation between the target yaw acceleration and an actual yaw acceleration, and a deviation between the target lateral acceleration and an actual lateral acceleration.

[0064] In one possible design, multiple ones of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle are determined based on a fifth parameter at a current moment.

[0065] In a sixth aspect, a vehicle control device is provided, the vehicle control device includes a module or unit corresponding to the above method, the module or unit can be implemented by hardware, software, or by hardware executing the corresponding software. In a possible design, the vehicle control device includes a processing unit (or processing module) and a communication unit (or communication module); the communication unit is used to receive a target parameter from an intelligent driving system, the target parameter is used to control the lateral motion posture of the vehicle; the processing unit is used to control the lateral motion posture of the vehicle based on the target parameter.

[0066] In one possible design, the target parameter includes at least one of a second parameter and a third parameter, and the first parameter, the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration, the second parameter is used to adjust the activation threshold of the stability control system to control the lateral motion posture, and the third parameter is used to adjust the yaw torque that controls the lateral motion posture.

[0067] In a possible design, the target parameter includes yaw moment, or wheel braking force.

[0068] In one possible design, the processing unit is specifically used to execute the yaw moment or the wheel braking force on the vehicle.

[0069] In one possible design, the processing unit is specifically used to: obtain a fourth parameter, the fourth parameter including at least one of an actual yaw angular velocity, an actual yaw angular acceleration, and an actual lateral acceleration corresponding to the vehicle; determine the activation threshold based on the second parameter; and control the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold.

[0070] In one possible design, the processing unit is further used to: determine that the difference between the first parameter and the fourth parameter meets the activation threshold, then activate the braking device to control the lateral motion posture of the vehicle based on the third parameter; or determine that the difference between the first parameter and the fourth parameter does not meet the activation threshold, then do not activate the braking device to control the lateral motion posture of the vehicle based on the third parameter.

[0071] In one possible design, the communication unit is also used to send a fifth parameter to the intelligent driving system, wherein the fifth parameter includes target response information and / or at least one of an available value of the yaw moment, a slip rate, and adhesion corresponding to the vehicle, and the target response information includes one or more of a deviation between the target yaw angular velocity and an actual yaw angular velocity, a deviation between the target yaw angular acceleration and an actual yaw angular acceleration, and a deviation between the target lateral acceleration and an actual lateral acceleration.

[0072] In a seventh aspect, a vehicle control device is provided, comprising a processor and a memory, wherein the memory is coupled to the processor, the memory is used to store computer program code, the computer program code comprises computer instructions, and the processor reads the computer instructions from the memory so that the vehicle control device executes the method as described in any one of the designs of any one of the first to third aspects above. Optionally, the memory may be coupled to the processor or may be independent of the processor.

[0073] In one possible design, the vehicle control device further includes a communication interface, which can be used for the vehicle control device to communicate with other devices. Exemplarily, the communication interface can be a transceiver, an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit, etc.

[0074] The vehicle control device of the third aspect mentioned above may be a computing platform in an intelligent driving system, and the computing platform may be an on-board computing platform or a cloud computing platform.

[0075] In an eighth aspect, a computer-readable storage medium is provided, the computer-readable storage medium comprising a computer program or instructions, which, when executed on a vehicle control device, enables the vehicle control device to execute a method as described in any one of the designs in any one of the first to third aspects above.

[0076] In a ninth aspect, a computer program product is provided, the computer program product comprising: a computer program or instructions, when the computer program or instructions are run on a computer, the computer executes a method as described in any one of the designs of the first to third aspects above.

[0077] In the tenth aspect, a chip system is provided, comprising at least one processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to the at least one processor, and when the at least one processor executes the instructions, the at least one processor executes the method described in any design of any one of the first to third aspects above.

[0078] In the eleventh aspect, a vehicle control system is provided, comprising an intelligent driving system as described in the fifth aspect and any one of the above and a stability control system as described in the sixth aspect and any one of the above.

[0079] It should be noted that the technical effects brought about by any design in the above-mentioned second to eleventh aspects can refer to the technical effects brought about by the corresponding design in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1a A schematic diagram of a vehicle coordinate system provided in an embodiment of the present application;

[0081] Figure 1b A schematic diagram of a yaw target of a vehicle planned by a stability control system provided in an embodiment of the present application;

[0082] Figure 2 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application;

[0083] Figure 3 A schematic diagram of the structure of a mobile smart device provided in an embodiment of the present application;

[0084] Figure 4 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0085] Figure 5 A schematic diagram of a vehicle driving scenario provided in an embodiment of the present application;

[0086] Figure 6A flow chart of another vehicle control method provided in an embodiment of the present application;

[0087] Figure 7 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0088] Figure 8 A schematic diagram of a vehicle trajectory provided in an embodiment of the present application;

[0089] Fig. 9 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0090] Fig.10 A schematic diagram of the structure of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0091] In the description of this application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship between associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0092] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, a and b and c, where a, b, and c can be single or multiple.

[0093] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0094] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0095] The features, structures or characteristics in this application may be combined in one or more embodiments in any suitable manner. In various embodiments of this application, the size of the sequence number of each process does not mean the order 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 this application.

[0096] Some optional features in the embodiments of the present application may be implemented independently in some scenarios without relying on other features to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in some scenarios as needed.

[0097] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In each embodiment of this application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships. The implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0098] In addition, the network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0099] To facilitate understanding, the technical terms and related concepts involved in the embodiments of the present application are first introduced below.

[0100] 1. Vehicle coordinate system

[0101] The vehicle coordinate system (or vehicle body coordinate system) is a dynamic coordinate system used to describe the motion of a vehicle. In some embodiments, the vehicle coordinate system may refer to a three-dimensional coordinate system whose origin is located on the vehicle body. For example, Figure 1a FIG. 1 is a schematic diagram of a vehicle coordinate system provided by an embodiment of the present application. Figure 1a As shown, the origin O of the vehicle coordinate system may coincide with the center of mass of the vehicle, the X-axis is along the length direction of the vehicle and points to the front of the vehicle, the Y-axis is along the width direction of the vehicle and points to the left of the driver, and the Z-axis is along the height direction of the vehicle and points to the top of the vehicle. Of course, in other embodiments, the directions of the X-axis, Y-axis, and Z-axis of the vehicle coordinate system may also be other directions, or the vehicle coordinate system may also be other types of coordinate systems.

[0102] The length direction of the vehicle (such as the direction where the X-axis is located) can be called the longitudinal direction, and the width direction of the vehicle (such as the direction where the Y-axis is located) can be called the lateral direction (or transverse direction). The parameters used to describe the length direction of the vehicle movement can be called longitudinal parameters, such as the longitudinal velocity Vx, the longitudinal acceleration Ax, the longitudinal force Fx, etc. The parameters used to describe the vehicle movement in the width direction can be called lateral parameters, such as the lateral acceleration Ay, etc.

[0103] 2. Yaw angular velocity and yaw moment

[0104] The yaw angle can refer to the direction perpendicular to the vehicle axis (such as Figure 1a The yaw rate (or yaw rate) refers to the rate of change of the yaw angle.

[0105] The yaw moment is the vehicle's rotational axis (e.g. Figure 1a The torque applied when the vehicle coordinate system (Z-axis) rotates.

[0106] 3. Slip rate and adhesion

[0107] Slip rate can be referred to as the slip between the tire footprint and the road surface when the tire is braking (also called braking) or accelerating when moving straight ahead.

[0108] Adhesion refers to the adhesion between the vehicle's tires and the road surface. The magnitude of the vehicle's adhesion is related to the dryness of the road surface, the vehicle's driving speed, etc.

[0109] 4. Antilock braking system (ABS)

[0110] ABS can automatically control the braking force of the vehicle's brakes when the vehicle is braking, so that the wheels are not locked. Wheel lock refers to the phenomenon that the vehicle's brakes clamp the wheels, causing the wheels to slip between the wheels and the ground. For example, ABS can monitor the wheel speed (also known as wheel speed) in real time through sensors. When the wheels are about to be locked, ABS will automatically adjust the braking force to avoid wheel lock and maintain the stability and controllability of the vehicle.

[0111] 5. Traction control system (TCS)

[0112] TCS can make the vehicle obtain better traction in various driving conditions, prevent the wheels from slipping when starting and accelerating, and maintain the stability of the vehicle's driving direction. For example, TCS can determine whether the driving wheel is slipping based on the number of revolutions of the driving wheel and the number of revolutions of the transmission wheel. When the number of revolutions of the driving wheel is greater than that of the transmission wheel, the speed of the driving wheel is suppressed to ensure the stable driving of the vehicle.

[0113] 6. Electronic stability control (ESC)

[0114] ESC is a further extension of the vehicle's ABS and TCS functions. When the vehicle is extremely unstable, ESC compensates for the vehicle's stability through wheel brakes or adjusts the engine torque, corrects the instability of the vehicle body, and avoids safety accidents. Among them, ESC can adjust the longitudinal stability and lateral stability of the vehicle. Longitudinal stability can refer to the ability of the vehicle to roll forward or backward due to the action of gravity and inertia. Lateral stability can refer to the ability of the vehicle to resist lateral rollover, lateral skidding, etc.

[0115] For different manufacturers, ESC may be named differently. For example, ESC can also be called electronic stability program (ESP), vehicle stability assist (VSA) system, stability system, chassis stability system or stability control system.

[0116] At present, vehicles are generally equipped with various functional modules such as intelligent driving module, wire control brake module, wire control steering module and vehicle control module. Among them, the wire control steering module can be used to control the steering of the vehicle. The vehicle control module can be responsible for the normal driving of the vehicle, brake energy feedback, network management, fault diagnosis and processing, vehicle status monitoring, etc., to ensure the normal and stable operation of the vehicle.

[0117] The intelligent driving module includes an intelligent driving system. In the embodiment of the present application, the intelligent driving system may include but is not limited to one or more of an advanced driver system (ADS), an advanced driver assistance system (ADAS), etc. Alternatively, with the evolution of future driving technology, the intelligent driving system may also be a driving system of other levels.

[0118] The intelligent driving system can perceive the vehicle's surrounding environment, plan various driving parameters such as speed, acceleration, trajectory, etc. based on the vehicle's driving goals, and realize intelligent driving of the vehicle according to these driving parameters.

[0119] The brake-by-wire module can collect the driver's braking intention through the pedal sensor, or receive the braking request (such as deceleration command, etc.) of the intelligent driving system through the vehicle communication network, and then the brake control unit controls the brake actuator to output the braking force. In some embodiments, the brake-by-wire module may include a stability control system, and the brake-by-wire module may also control the stability control system. In the embodiment of the present application, the stability control system may perform stability functions, such as including but not limited to one or more of ABS, TCS, ESC, etc. In some embodiments, the stability control system may be part of the braking system. Among them, in addition to performing stability functions, the braking system can also perform normal braking functions, such as: braking, etc.

[0120] The stability control system can determine the driving intention of the vehicle based on the actual steering information of the vehicle (such as the actual steering wheel angle of the vehicle, etc.). It can also identify the instability of the vehicle based on its own sensors, and ensure the stability of the vehicle by intervening in the vehicle, such as controlling the yaw of the vehicle. Optionally, the actual steering information of the vehicle can be generated by the driver driving the vehicle, or by the intelligent driving system driving the vehicle. For example, in a scenario where the driver drives the vehicle, the actual steering information of the vehicle can be such as the steering wheel angle generated by the driver operating the steering wheel of the vehicle. In a scenario where the vehicle is automatically driven by an intelligent driving system, the actual steering information of the vehicle can be such as the steering wheel angle planned by the intelligent driving system.

[0121] However, in some scenarios, the steering information of the vehicle obtained by the stability control system is inaccurate. For example, in some emergency situations, the stability control system will activate the stability function to ensure the stability of the vehicle. In the current solution, after the stability control system activates the stability function, the intelligent driving system will exit immediately. At this time, the driver may not be able to take over the vehicle in time or take over the vehicle incorrectly due to panic. This will cause the actual steering information of the vehicle to be information with a higher safety risk, not the steering information expected for safe driving of the vehicle. In other words, it is inaccurate steering information. As a result, when the stability control system controls the stability of the vehicle based on this inaccurate steering information, it may bring safety risks and be detrimental to the driving safety of the vehicle.

[0122] In addition, in the following emergency scenarios, the yaw target planned by the stability control system for controlling the lateral motion posture of the vehicle is unreasonable, which is also not conducive to the driving safety of the vehicle. Figure 1bAs shown, the ADS target refers to the yaw target of the vehicle planned by the target parameters obtained by the intelligent driving system, the ESC target refers to the yaw target of the vehicle planned by the stability control system itself, and the actual sensor refers to the actual yaw limit of the vehicle measured by the vehicle's sensors.

[0123] The current stability control system will set its own planned yaw target to the inside of the actual yaw limit of the vehicle to control the yaw of the vehicle and prevent the yaw of the vehicle from exceeding its own planned yaw target. In some emergency obstacle avoidance scenarios, the intelligent driving system recognizes the emergency scenario and plans a yaw target that is greater than the yaw target planned by the stability control system in order to achieve rapid steering and ensure the driving safety of the vehicle. Although the yaw target planned by the intelligent driving system exceeds the yaw target planned by the stability control system, the vehicle is not in an unstable state because it does not exceed the actual yaw limit. However, since the stability control system limits the increase in yaw, the vehicle cannot reach the yaw target planned by the intelligent driving system, which will limit the vehicle's steering and obstacle avoidance capabilities and is not conducive to the vehicle's driving safety.

[0124] Based on this, the embodiment of the present application provides a vehicle control method, through the coordination of the intelligent driving system and the stability control system, so that the stability control system can control the vehicle's motion posture (such as but not limited to lateral motion posture, longitudinal motion posture, etc.) based on the parameters planned by the intelligent driving system (such as target parameters, longitudinal parameters, etc.). Compared with the stability control system, the intelligent driving system can perceive the surrounding environment information of the vehicle, so it can plan more accurate parameters based on the driving goal of the vehicle, and then when the stability control system controls the vehicle's motion posture based on the more accurate parameters, the driving safety of the vehicle can be improved.

[0125] The technical solution provided in the embodiment of the present application can be applied to various mobile intelligent devices. Exemplarily, the mobile intelligent device may include but is not limited to vehicles, artificial intelligence (AI) devices (such as robots), etc. Or it can be applied to other devices (such as servers, mobile phone terminals, etc.) that have the function of controlling the aforementioned mobile intelligent devices. The mobile intelligent device or other device can implement the vehicle control method provided in the embodiment of the present application through the components (including hardware and software) it contains.

[0126] Taking a vehicle as an example, Figure 2 A schematic diagram of the structure of a vehicle 100 provided in an embodiment of the present application.

[0127] The vehicle 100 may include various subsystems, for example, including but not limited to an intelligent driving system 110, a stability control system 120, etc. Optionally, the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle 100 may be connected via a wired communication technology or a wireless communication technology.

[0128] The intelligent driving system 110 can obtain navigation information (such as including but not limited to various information such as driving destination, driving route, etc.), the surrounding environment information of the vehicle 100 (such as including but not limited to various environmental information such as other vehicles, pedestrians, obstacles, road signs, lane lines, etc.), and the vehicle 100’s own information (such as including but not limited to various vehicle information such as driving speed and acceleration), and based on this information, perform planning of various driving parameters (such as including but not limited to various parameters such as trajectory, speed, acceleration, etc.), and realize intelligent driving of the vehicle 100 according to these driving parameters.

[0129] Optionally, the intelligent driving system 110 can obtain the above-mentioned information based on various sensors.

[0130] In some embodiments of the present application, the intelligent driving system 110 may plan target parameters and send the target parameters to the stability control system 120. The target parameters may be used to control the lateral motion posture of the vehicle 100 to ensure the lateral stability of the vehicle. In some other embodiments of the present application, the intelligent driving system 110 may also plan longitudinal parameters for controlling the longitudinal motion posture of the vehicle 100, and send the longitudinal parameters to the stability control system 120 to ensure the longitudinal stability of the vehicle.

[0131] The stability control system 120 can determine the driving intention of the vehicle 100, and identify the instability of the vehicle based on sensors, and ensure the stability of the vehicle by intervening in the vehicle, such as controlling the yaw of the vehicle. In some embodiments of the present application, the stability control system 120 can receive target parameters from the intelligent driving system 110, and control the lateral motion posture of the vehicle 100 according to the target parameters to ensure the lateral stability of the vehicle. In some other embodiments of the present application, the stability control system 120 can also receive longitudinal parameters from the intelligent driving system 110, and control the longitudinal motion posture of the vehicle according to the longitudinal parameters to ensure the longitudinal stability of the vehicle.

[0132] Optionally, in some embodiments, the vehicle 100 may further include an onboard computer. The onboard computer may be used to present various user interfaces so that the user can input various user commands through the onboard computer. In some embodiments of the present application, the onboard computer may display a first interface, which may be used by the user to select the working mode of the intelligent driving system and the stability control system.

[0133] The vehicle 100 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an amusement vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, etc., and the embodiments of the present application are not particularly limited thereto.

[0134] For example, the above only uses a vehicle as an example to illustrate the structure of the mobile smart device in the embodiment of the present application, but does not constitute a limitation on the structure and form of the mobile smart device. The embodiment of the present application does not limit the structure and form of the mobile smart device.

[0135] Figure 3 A structural diagram of another mobile smart device provided in an embodiment of the present application is shown in FIG.

[0136] Processor 301 may be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the present application.

[0137] The communication link 302 may include a pathway to transmit information between the above-mentioned components.

[0138] The communication interface 304 is used to communicate with other devices. In the embodiment of the present application, the communication interface 304 can be a module, a circuit, a bus, an interface, a transceiver or other device that can realize the communication function. Optionally, when the communication interface is a transceiver, the transceiver can be an independently arranged transmitter, which can be used to send information to other devices, and the transceiver can also be an independently arranged receiver for receiving information from other devices. The transceiver can also be a component that integrates the functions of sending and receiving information, and the embodiment of the present application does not limit the specific implementation of the transceiver.

[0139] The memory 303 may be a read-only memory (ROM), a random access memory (RAM), or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. The memory 303 may exist independently and be connected to the processor 301 via the communication line 302. The memory 303 may also be integrated with the processor 301.

[0140] The memory 303 is used to store computer-executable instructions for implementing the solution of the present application. The processor 301 is used to execute the computer-executable instructions stored in the memory 303, thereby implementing the method provided in the following embodiments of the present application.

[0141] In some other embodiments of the present application, the mobile smart device may include Figure 2 , Figure 3 More or fewer components shown, or some components are combined, or some components are split, or some components are replaced, or different component arrangements are arranged. The components shown in the figure can be implemented in hardware, software, or a combination of software and hardware.

[0142] For example, Figure 4 The flowchart of a vehicle control method provided by an embodiment of the present application is shown. The execution subject of the method may be, for example, the mobile smart device described above, or may also be a processor in a mobile smart device. The present application embodiment takes the execution subject as a mobile smart device, and the mobile smart device is a vehicle as an example. Figure 4 As shown, the method comprises the following steps:

[0143] S401. The intelligent driving system obtains target parameters.

[0144] Among them, the target parameters can be used to control the lateral motion posture of the vehicle.

[0145] In some embodiments, the target parameter may include a first parameter, wherein the first parameter may include at least one of a target yaw rate, a target yaw acceleration, and a target lateral acceleration.

[0146] In a possible implementation, the intelligent driving system can plan one or more of the target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, etc. at the next moment according to the driving goal corresponding to the vehicle. The intelligent driving system can determine the first parameter based on one or more of the target trajectory, target longitudinal speed, target longitudinal acceleration, and target steering wheel angle. Exemplarily, the driving goal corresponding to the vehicle may refer to the driving destination, driving route, and other driving goals. Since the intelligent driving system can perceive the surrounding environment of the vehicle, when planning the target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, and other parameters at the next moment, the intelligent driving system can plan these parameters based on the perceived surrounding environment (or environmental information) of the vehicle, so that a more accurate and ideal target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, etc. can be obtained, and then a more accurate target parameter can be obtained.

[0147] As a specific example, taking the first parameter as a target yaw rate as an example, the target yaw rate can be determined according to the target longitudinal speed and the target trajectory. Exemplarily, the target yaw rate can be determined according to Formula 1.

[0148]

[0149] In Formula 1, Yawtar is the target yaw angular velocity, Vx is the target longitudinal velocity, and r is the turning radius determined according to the target trajectory.

[0150] Optionally, the parameters included in the formulas involved in the embodiments of the present application may have errors. Therefore, the formulas involved in the embodiments of the present application can eliminate the errors by adding constants. However, the embodiments of the present application do not limit the number and position of the added constants. For example: Formula 1 can also be expressed in the form of Formula 1.1.

[0151]

[0152] In formula 1.1, Q is the added constant. For the introduction of other parameters in formula 1.1, please refer to the introduction of the corresponding parameters in formula 1.

[0153] Of course, in other examples, the target yaw rate may also be determined based on the target steering wheel angle. Similarly, the realization of the target yaw acceleration, target lateral acceleration, etc. may refer to the realization of the target yaw rate.

[0154] Optionally, in this embodiment, the target parameter may also include at least one of a second parameter and a third parameter. The second parameter may be used to adjust the activation threshold of the yaw motion posture of the vehicle controlled by the stability control system. In other words, the second parameter may be used to determine whether to activate the stability control system to control the yaw motion posture of the vehicle. The third parameter is used to adjust the yaw moment of the lateral motion posture of the vehicle controlled by the stability control system. In this way, the stability control system may adjust the activation threshold based on the second parameter to activate the stability control system, realize the coordinated control of the intelligent driving system and the stability control system, and improve the driving safety of the vehicle. The stability control system may determine the specific yaw moment applied to the vehicle based on the third parameter, realize the coordinated control of the intelligent driving system and the stability control system, and improve the driving safety of the vehicle.

[0155] In some possible implementations, the intelligent driving system may determine the second parameter based on the vehicle's surrounding environment information. Exemplarily, the vehicle's surrounding environment information may include, but is not limited to, various environmental information such as lane lines, pedestrians, road signs, obstacles, other vehicles, etc. Among them, the second parameter can be used to characterize the urgency of the demand for the stability control system, and the urgency can be used to determine whether to activate the stability control system to control the lateral motion posture of the vehicle. For example: when the vehicle's surrounding environment information characterizes that the vehicle is in a more unstable driving state, such as scenes such as sharp turns, the higher the urgency represented by the second parameter, that is, the more urgent it is, the easier it is to activate the stability control system. When the vehicle's surrounding environment information characterizes that the vehicle is in a more stable driving state, such as a normal forward driving scene, the lower the urgency represented by the second parameter, that is, the less urgent it is, the less likely it is to activate the stability control system.

[0156] Optionally, in this implementation, the vehicle's surrounding environment information may include the distance between the vehicle and the obstacle. The intelligent driving system can obtain the distance between the vehicle and the obstacle, and then determine the second parameter based on one or more of the distance, the target longitudinal speed, the vehicle's corresponding adhesion, etc.

[0157] As a specific implementation, the intelligent driving system may determine the second parameter based on the distance, the target longitudinal speed, the coefficient corresponding to the target longitudinal speed in the first preset table, and the coefficient corresponding to the adhesion of the vehicle in the first preset table. The first preset table may include coefficients corresponding to different target longitudinal speeds, different adhesions corresponding to the vehicle, etc., for determining the second parameter.

[0158] For the first preset table, the higher the target longitudinal speed, the easier it is for the vehicle to lose stability. Similarly, the smaller the corresponding adhesion of the vehicle, the easier it is for the vehicle to lose stability. In some examples, taking the example that the smaller the second parameter is, the higher the urgency represented, the larger the target longitudinal speed is, the smaller the corresponding coefficient in the first preset table can be, and the smaller the corresponding adhesion of the vehicle is, the smaller the corresponding coefficient in the first preset table can be.

[0159] In this example, Table 1 shows an example of a first preset table provided in an embodiment of the present application.

[0160] Table 1

[0161]

[0162] In Table 1, Vx represents the target longitudinal speed, and Mue represents the adhesion corresponding to the vehicle. It can be understood that Table 1 is only an exemplary description made to facilitate understanding of the embodiment of the present application. In actual applications, for different target longitudinal speeds and different adhesions, the corresponding coefficients in the first preset table may be different from those in Table 1.

[0163] In the above example, as a specific implementation, the second parameter can be determined according to Formula 2.

[0164] ReqSensitive=[(Vx / S)*P_Sen*table1(Vx)*table1(Mue)]max(1).Min(0) Formula 2

[0165] Among them, in formula 2, ReqSensitive is the second parameter, and the value range of ReqSensitive is greater than or equal to 0 and less than or equal to 1. Vx is the target longitudinal speed, table1(Vx) is the coefficient corresponding to the target longitudinal speed in the first preset table. S is the current distance between the vehicle and the obstacle, table1(Mue) is the coefficient corresponding to the adhesion of the vehicle in the first preset table, and P_Sen is the normalization parameter.

[0166] In other examples, taking the example that the larger the second parameter is, the higher the urgency represented, the larger the target longitudinal speed is, the larger the corresponding coefficient in the first preset table can be, and the smaller the adhesion corresponding to the vehicle is, the larger the corresponding coefficient in the first preset table can be. Similarly, in this example, various algorithms can also be used to determine the second parameter according to the distance between the vehicle and the obstacle, the target longitudinal speed, the coefficient corresponding to the target longitudinal speed in the first preset table, and the coefficient corresponding to the adhesion corresponding to the vehicle in the first preset table, etc., and the embodiments of the present application do not impose specific restrictions on this.

[0167] In a possible implementation, the intelligent driving system may determine the third parameter based on one or more of the first parameter and the target longitudinal speed.

[0168] In this implementation, as a specific embodiment, the intelligent driving system can determine the third parameter based on the coefficients corresponding to the first parameter, the target longitudinal speed, etc. in the second preset table. The second preset table may include coefficients corresponding to different first parameters, different target longitudinal speeds, etc. when determining the third parameter.

[0169] For the second preset table, the higher the target longitudinal speed, the greater the yaw moment required by the vehicle. The larger the first parameter (taking the target yaw angular velocity and the target lateral acceleration as examples), the greater the yaw moment required by the vehicle. In some examples, the larger the third parameter, the greater the yaw moment obtained. The larger the target longitudinal speed, the greater the corresponding coefficient in the second preset table, and the larger the first parameter, the greater the corresponding coefficient in the second preset table.

[0170] In this example, taking the first parameter as the target lateral acceleration and the target yaw angular velocity as an example, Table 2 shows an example of a second preset table provided in an embodiment of the present application.

[0171] Table 2

[0172]

[0173] Among them, in Table 2, Vx represents the target longitudinal speed, Ay represents the target lateral acceleration, and Yawtar represents the target yaw rate. It can be understood that Table 2 is only an exemplary description made to facilitate understanding of the embodiments of the present application. In actual applications, for different target longitudinal speeds, different target lateral accelerations, different target yaw rates, etc., the corresponding coefficients in the second preset table may be different from those in Table 2. It can also be understood that Table 2 takes the first parameter as the target yaw angle and the target lateral acceleration as an example, and the first parameter can also be implemented as other parameters or parameter combinations.

[0174] Optionally, for the same parameter, such as the target longitudinal acceleration, the corresponding coefficient in the first mapping table and the corresponding coefficient in the second mapping table may be the same or different, and this embodiment of the present application does not limit this.

[0175] In the above example, as a specific implementation, the third parameter can be determined according to Formula 3.

[0176] TrqFactor=table2(Yawtar)*table2(Vx)*table2(Ay) Formula 3

[0177] Among them, in Formula 3, TrqFactor is the third parameter, table 2(Yawtar) is the coefficient corresponding to the target yaw angular velocity in the second preset table, table 2(Vx) is the coefficient corresponding to the target longitudinal velocity in the second preset table, and table 2(Ay) is the coefficient corresponding to the target lateral acceleration in the second preset table.

[0178] In other examples, the smaller the third parameter is, the larger the yaw moment is. The larger the target longitudinal speed is, the smaller the corresponding coefficient in the second preset table can be, and the smaller the first parameter is, the smaller the corresponding coefficient in the second preset table can be. Similarly, in this example, various algorithms can also be used to determine the third parameter according to the coefficient corresponding to the target longitudinal speed in the second preset table and the coefficient corresponding to the first parameter in the second preset table, and the embodiment of the present application does not impose specific restrictions on this.

[0179] It can be understood that the above embodiment uses the first preset table and the second preset table to respectively determine the second parameter and the third parameter. In other embodiments, the first preset table and the second preset table may not be used to determine the second parameter and the third parameter. It can also be understood that the method of determining the first parameter, the second parameter, the third parameter, etc. described in the above embodiment is only an exemplary description. In practical applications, other methods may also be used to determine the first parameter, the second parameter, the third parameter, etc., and the embodiments of the present application are not limited to this.

[0180] It can be understood that the above embodiments are all based on the example of the intelligent driving system determining the target parameters. Of course, in other embodiments, the intelligent driving system can also directly obtain the target parameters from other devices, and the embodiments of the present application do not impose any restrictions on this.

[0181] S402: The intelligent driving system sends a target parameter to the stability control system. Correspondingly, the stability control system receives the target parameter from the intelligent driving system.

[0182] Optionally, when the target parameter includes multiple parameters at the same time, such as multiple parameters of the first parameter, the second parameter, and the third parameter, the multiple parameters may be sent simultaneously or one after another.

[0183] S403: The stability control system controls the lateral motion posture of the vehicle based on the target parameter.

[0184] In some embodiments, the stability control system includes a braking device, which can control the lateral motion posture of the vehicle based on the target parameter. Optionally, the braking device can include a device that generates braking force on the wheels of the vehicle. Exemplarily, the braking device can include but is not limited to one or more of a motor, an electro hydraulic brake (EHB), an electro mechanical brake (EMB), etc.

[0185] In a possible implementation, the braking device may acquire a fourth parameter, wherein the fourth parameter may include at least one of an actual yaw rate, an actual yaw acceleration, an actual lateral acceleration, etc. corresponding to the vehicle. Optionally, the fourth parameter and the first parameter may be parameters of the same type, for example, if the first parameter is a target yaw rate, the fourth parameter may be the actual yaw rate. If the first parameter is a target yaw acceleration, the fourth parameter may be the actual yaw acceleration, and so on.

[0186] The braking device may also determine an activation threshold based on the second parameter. As a specific implementation, the braking device may adjust a preset threshold based on the second parameter to obtain the activation threshold. Exemplarily, the activation threshold may satisfy Formula 4.

[0187] Activation threshold = ReqSensitive × preset threshold Formula 4

[0188] In Formula 4, ReqSensitive is the second parameter. For a detailed introduction of ReqSensitive, please refer to the above description.

[0189] Furthermore, the braking device can control the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold. As a specific implementation, if the braking device determines that the difference between the first parameter and the fourth parameter meets the activation threshold, the braking device is activated to control the lateral motion posture of the vehicle based on the third parameter. Alternatively, if the braking device determines that the difference between the first parameter and the fourth parameter does not meet the activation threshold, the braking device is not activated to control the lateral motion posture of the vehicle based on the third parameter.

[0190] For example, if the first parameter and the fourth parameter are both yaw angular velocity, and the first parameter (i.e., target yaw angular velocity) is 0.6 radians per second (rad / s) at a certain moment, the fourth parameter (i.e., actual yaw angular velocity) is 0.4 rad / s, and the preset threshold is 0.25 rad / s, if the second parameter currently calculated is 0.5, the activation threshold calculated according to the above formula 4 is 0.125 rad / s, and the difference between the first parameter and the fourth parameter 0.2 rad / s is greater than 0.125 rad / s, and the activation threshold is met, then the braking device is activated to control the lateral motion posture of the vehicle based on the third parameter. If the second parameter currently calculated is 0.9, and the activation threshold calculated according to the above formula 4 is 0.225 rad / s, and the difference between the first parameter and the fourth parameter 0.2 rad / s is less than 0.225 rad / s, and the activation threshold is not met, then the braking device is not activated to control the lateral motion posture of the vehicle based on the third parameter.

[0191] It can be understood that in this example, if the difference between the first parameter and the fourth parameter is greater than or equal to the activation threshold, it is determined that the activation threshold is met, and if it is less than the activation threshold, it is determined that the activation threshold is not met. In other examples, it can also be implemented as if the difference between the first parameter and the fourth parameter is less than or equal to the activation threshold, it is determined that the activation threshold is met, and if it is greater than the activation threshold, it is determined that the activation threshold is not met, and the embodiments of the present application are not limited to this.

[0192] Optionally, the ease with which the difference between the first parameter and the fourth parameter satisfies the activation threshold can be determined based on the urgency of the demand for the stability control system represented by the second parameter. In a specific example, the ease can be positively correlated with the urgency. That is, the more urgent the urgency of the demand for the stability control system represented by the second parameter, the easier it is for the difference between the first parameter and the fourth parameter to meet the activation threshold. For example: when the vehicle is in an emergency condition, the more urgent the urgency of the demand for the stability control system represented by the calculated second parameter, the easier it is for the activation threshold determined based on the second parameter to be met. For another example: when the vehicle is in a normal forward driving condition, the less urgent the urgency of the demand for the stability control system represented by the calculated second parameter, the less likely it is for the activation threshold determined based on the second parameter to be met.

[0193] It can be understood that in the above implementation, the example is that the stability control system obtains the activation threshold based on the second parameter, and then determines whether to activate the braking device to control the lateral motion posture of the vehicle based on the activation threshold. In other implementations, the intelligent driving system may not send the second parameter to the stability control system, that is, the stability control system may not determine whether to activate the braking device to control the lateral motion posture of the vehicle based on the second parameter from the intelligent driving system. For example: when the stability control system determines that the first parameter obtained is different from the fourth parameter, the stability control system can determine to activate the braking device to control the lateral motion posture of the vehicle. On the contrary, when the first parameter is the same as the fourth parameter, the stability control system can determine not to activate the braking device to control the lateral motion posture of the vehicle. Alternatively, when the stability control system determines that the difference between the first parameter and the fourth parameter meets the preset threshold (such as greater than or equal to the preset threshold), the braking device is activated to control the lateral motion posture of the vehicle, etc. On the contrary, when it is determined that the difference between the first parameter and the fourth parameter does not meet the preset threshold, the braking device is not activated to control the lateral motion posture of the vehicle. Alternatively, the stability control system can also determine a second parameter in a similar manner to the intelligent driving system, and determine whether to activate the braking device to control the lateral motion posture of the vehicle based on the second parameter.

[0194] As a possible implementation, the braking device controlling the lateral motion posture of the vehicle based on the third parameter can be specifically implemented as follows: the braking device determines a target yaw moment based on the third parameter, and the braking device applies the target yaw moment to the vehicle. Specifically, the braking device can convert the target yaw moment into a braking force for each wheel of the vehicle, and apply the corresponding braking force to each wheel of the vehicle.

[0195] In some specific implementations, the braking device may determine the target yaw moment based on the actual yaw moment and the third parameter. Exemplarily, the target yaw moment may satisfy Formula 5.

[0196] Target yaw moment = TrqFactor × actual yaw moment Formula 5

[0197] In Formula 5, TrqFactor is the third parameter. For a detailed description of TrqFactor as the third parameter, please refer to the above description. For example, if the third parameter is 1.2 and the current actual yaw moment is 200 Newton meters (N·m), the target yaw moment calculated according to Formula 5 is 240N·m.

[0198] For example, Figure 5 As shown, when the vehicle is in Figure 5 As shown in (1), in the normal lane-changing scenario, the second parameter calculated based on the above scheme can be 0, and the second parameter of this value represents that the urgency of the demand for the stability control system is not urgent. The third parameter calculated can be 1, and the target yaw moment obtained according to the third parameter is the current actual yaw moment. In this scenario, the stability control system can be deactivated to additionally control the lateral motion posture of the vehicle.

[0199] When the vehicle is in Figure 5 As shown in (2), in dangerous working conditions such as emergency obstacle avoidance, the second parameter obtained based on the above scheme can be 1. The second parameter of this value represents the urgency of the demand for the stability control system as very urgent. The calculated third parameter can be greater than 1. The target yaw moment obtained according to the third parameter is greater than the current actual yaw moment. In this scenario, the stability control system can be activated to additionally control the lateral motion posture of the vehicle.

[0200] It can be understood that in the above implementation, the stability control system determines the target yaw moment based on the third parameter sent by the intelligent driving system. In other implementations, the intelligent driving system may not send the second parameter to the stability control system, that is, the stability control system may not determine the target yaw moment based on the third parameter from the intelligent driving system. For example, the stability control system can directly adjust the actual yaw moment within a certain range to determine the target yaw moment. For example, the stability control system can also determine a third parameter in a similar manner to the intelligent driving system, and adjust the actual yaw moment based on the third parameter.

[0201] The above embodiment takes the determination of the target yaw moment and / or the braking force of the wheel by the stability control system as an example. In other embodiments, the target yaw moment and / or the braking force of the wheel may also be directly determined by the intelligent driving system. Optionally, the braking force of the wheel may refer to the braking force corresponding to each wheel of the vehicle.

[0202] like Figure 6As shown, the above target parameters may also include a target yaw moment (which may be referred to as yaw moment for short) or a wheel braking force. Optionally, the method for determining the target yaw moment and / or wheel braking force by the intelligent driving system may refer to the method for determining the target yaw moment and / or wheel braking force described above. Optionally, the intelligent driving system may determine the target yaw moment and / or wheel braking force by a proportional-integral-differential (PID) controller, or may determine the target yaw moment and / or wheel braking force by other methods.

[0203] In this way, the target parameters directly include the yaw moment or wheel braking force. That is to say, the specific yaw moment or wheel braking force to be applied to the vehicle is directly determined by the intelligent driving system, and there is no need for the stability control system to determine the specific yaw moment or wheel braking force to be applied to the vehicle. This requires fewer changes to the stability control system and can also reduce the power consumption of the stability control system.

[0204] Optionally, in this embodiment, before the intelligent driving system sends the target parameters to the stability control system, the intelligent driving system may also first determine whether to activate the stability control system to control the lateral motion posture of the vehicle. If it is determined that the stability control system is to be activated to control the lateral motion posture of the vehicle, the target parameters are sent to the stability control system, otherwise, the target parameters may not be sent to the stability control system. Optionally, the manner in which the intelligent driving system determines whether to activate the stability control system may refer to the relevant implementation described above.

[0205] Optionally, in this embodiment, after the stability control system receives the target yaw moment, controlling the lateral motion posture of the vehicle based on the target parameter can be specifically implemented as executing the target yaw moment. Specifically, the stability control system can also first convert the target yaw moment into the braking force of each wheel of the vehicle, and then execute the corresponding braking force on each wheel. Optionally, if the stability control system also has its own planned target yaw moment, the stability control system can ignore its own target yaw moment and execute the target yaw moment sent by the intelligent driving system.

[0206] Alternatively, the stability control system receives the braking force of the wheel, and controlling the lateral motion posture of the vehicle based on the target parameter can be specifically implemented by executing the wheel braking force. Optionally, if the stability control system also has its own planned wheel braking force, the stability control system can ignore its own wheel braking force and execute the wheel braking force sent by the intelligent driving system.

[0207] Based on the above technical solution, the stability control system can receive the target parameter from the intelligent driving system, and then control the lateral motion posture of the vehicle based on the target parameter. Since the intelligent driving system can perceive the surrounding environment of the vehicle, even in emergency conditions, the intelligent driving system can obtain a target parameter with relatively high accuracy, that is, the intelligent driving system can obtain a yaw target with relatively high safety. In this way, when the stability control system controls the lateral motion posture of the vehicle based on this highly accurate parameter, the driving safety of the vehicle can be improved and the safety risk can be reduced.

[0208] The above embodiment introduces the process of the stability control system controlling the lateral motion posture of the vehicle. In some embodiments, the stability control system can also control the longitudinal motion posture of the vehicle. In this embodiment, Figure 7 As shown, Figure 4 The method shown may further include the following steps S404 to S406.

[0209] S404: The intelligent driving system obtains longitudinal parameters.

[0210] Exemplarily, the longitudinal parameter may include, but is not limited to, one or more of the target trajectory at the next moment, the target longitudinal speed, the target longitudinal acceleration, the target steering wheel angle, etc. mentioned above.

[0211] In some embodiments, the longitudinal parameters may be planned by the intelligent driving system according to the driving target corresponding to the vehicle. In other embodiments, the intelligent driving system may also directly obtain the longitudinal parameters from other devices.

[0212] S405: The intelligent driving system sends the longitudinal parameters to the stability control system. Correspondingly, the stability control system receives the longitudinal parameters from the intelligent driving system.

[0213] Optionally, the longitudinal parameter and the target parameter described above may be sent simultaneously or successively.

[0214] S406 . The stability control system controls the longitudinal motion posture of the vehicle based on the longitudinal parameters.

[0215] Specifically, the stability control system can determine the braking force of each wheel of the vehicle according to the longitudinal parameters, and apply the corresponding braking force to each wheel. Optionally, in this step, before applying the braking force to each wheel, the stability control system can also limit the braking force of each wheel based on the slip ratio corresponding to the functions such as ABS and TCS to ensure the driving safety of the vehicle.

[0216] Optionally, the stability control system can simultaneously control the longitudinal motion posture and lateral motion posture of the vehicle. Figure 4 , Figure 6 The braking force of each wheel obtained by the above scheme and Figure 7 The braking forces obtained by the schemes are coordinated to determine the braking force that needs to be ultimately applied to each wheel.

[0217] Optionally, the embodiment of the present application does not limit the execution order between steps S401 to S403 and steps S404 to S406, which may be executed in parallel or sequentially. In the case of sequential execution, the embodiment of the present application does not limit the order.

[0218] about Figure 7 For an introduction to other steps, see Figure 4 The corresponding steps are introduced in .

[0219] In some embodiments, Figure 7 As shown, Figure 4 The method shown may further include step S407.

[0220] S407: The stability control system sends the fifth parameter to the intelligent driving system. Correspondingly, the stability control system receives the fifth parameter from the intelligent driving system.

[0221] The fifth parameter includes target response information, and / or at least one of the available value of the yaw moment corresponding to the vehicle, slip rate, and adhesion. The target response information includes one or more of the deviation between the target yaw rate and the actual yaw rate, the deviation between the target yaw acceleration and the actual yaw acceleration, and the deviation between the target lateral acceleration and the actual lateral acceleration. The actual yaw rate, the actual yaw acceleration, the actual lateral acceleration, etc. may all refer to the current actual yaw rate, yaw acceleration, and lateral acceleration. It can be understood that at different times, the actual yaw rate, the actual yaw acceleration, the actual lateral acceleration, etc. may be different. Therefore, the actual yaw rate, the actual yaw acceleration, the actual lateral acceleration, etc. included in the fifth parameter may all refer to the time corresponding to the acquisition of the fifth parameter. The actual yaw rate, the actual yaw acceleration, the actual lateral acceleration, etc. included in the fourth parameter may all refer to the time corresponding to the acquisition of the fourth parameter. Optionally, the fifth parameter may also include a flag indicating whether functions such as ABS and TCS are activated, a flag indicating whether the stability control system is activated, etc.

[0222] It can be understood that the available value of the yaw moment corresponding to the vehicle may refer to the size of the yaw moment that can be added to the vehicle, and the available value of the yaw moment may be determined according to a tire model, a slip rate, a road environment, and the like.

[0223] In some embodiments, one or more of the target parameters, longitudinal parameters, etc. can be determined based on the fifth parameter. As a specific implementation, one or more of the target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, etc. at the next moment can be determined based on the fifth parameter corresponding to the current moment. In other words, the intelligent driving system can correct one or more of the target trajectory, target longitudinal speed, target longitudinal acceleration, target steering wheel angle, etc. at the next moment planned based on the fifth parameter corresponding to the current moment, and then determine the target parameters, longitudinal parameters, etc. according to the aforementioned corrected parameters, and can also correct the target parameters, longitudinal parameters, etc. In this way, the target parameters, longitudinal parameters, etc. obtained by the intelligent driving system can be more accurate.

[0224] As a specific example, Figure 8 As shown, trajectory 1 is the actual driving trajectory of the vehicle, and trajectory 2 is the expected driving trajectory of the vehicle. The intelligent driving system can correct the target longitudinal acceleration and target longitudinal speed planned at the next moment based on the fifth parameter. For example, the intelligent driving system can reduce the target longitudinal speed planned at the next moment through the fifth parameter to achieve the purpose of driving according to trajectory 2. In this example, the fifth parameter includes the target response information at the current moment, and the target response information includes the deviation between the target yaw angular velocity and the actual yaw angular velocity. For example, the target longitudinal acceleration at the next moment is determined based on the fifth parameter. The target longitudinal acceleration at the next moment can satisfy Formula 6.

[0225] Ax=|(Yawtar-Yaw) / Yawtar|*K Formula 6

[0226] In Formula 6, Ax is the target longitudinal acceleration at the next moment, Yawtar is the target yaw velocity corresponding to the current moment, Yaw is the actual yaw velocity at the current moment, the vehicle's forward direction is the longitudinal positive direction, and K is the preset gain coefficient, which is less than 0. In Formula 6, the larger the |(Yawtar-Yaw) / Yawtar|, the larger the absolute value of Ax, and the more the target longitudinal velocity at the next moment is reduced.

[0227] In some embodiments, the vehicle may also output a fifth parameter (such as displaying the fifth parameter on a display screen, announcing the fifth parameter by voice, etc.). Optionally, the vehicle may also output a ratio of one or more of the target parameters, longitudinal parameters, etc. planned by the intelligent driving system.

[0228] In some embodiments, before executing step S401, Figure 4 The method shown may also include the following steps S408 to S409 (not shown in the figure):

[0229] S408: The vehicle displays a first interface.

[0230] The first interface includes a first mode and a second mode. The first mode is a working mode in which the intelligent driving system does not exit when the stability control system is activated. Optionally, in the first mode, the intelligent driving system may not exit at all, or may exit after the stability control system is activated for a period of time. The second mode is a working mode in which the intelligent driving system exits when the stability control system is activated, that is, the intelligent driving system exits immediately when the stability control system is activated.

[0231] Optionally, the vehicle can present the first interface through the central control screen or any vehicle display screen.

[0232] S409: Receive user operation.

[0233] The user operation is used to select the first mode.

[0234] Optionally, after the user selects a certain working mode (such as the first mode, or the second mode, etc.), the working mode can be effective within the time of one ignition cycle, that is, one ignition cycle can correspond to one working mode. It can be understood that an ignition cycle can refer to the process from ignition start to flameout of the vehicle. Of course, during each ignition cycle, multiple working modes can also be effective according to the user's selection of the working mode, that is, one ignition cycle can correspond to multiple working modes.

[0235] In this way, the intelligent driving system can remain in operation while the stability control system is activated. This can avoid the situation where the intelligent driving system immediately exits due to the activation of the stability control system, resulting in the driver being unable to take over the vehicle in time or mistakenly taking over the vehicle due to panic. This can achieve coordinated cooperation between the intelligent driving system and the stability control system to improve vehicle driving safety.

[0236] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. It is understandable that the vehicle control device (such as a vehicle, a processor in a vehicle, an intelligent driving system, a processor in an intelligent driving system, a stability control system, a processor in a stability control system, etc.) includes a hardware structure and / or software module corresponding to each function in order to realize the above functions. In combination with the units and algorithm steps of each example described in the embodiment disclosed in this application, the embodiment of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer-driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present application.

[0237] The present application is an embodiment that can divide the functional modules of the vehicle control device according to the above method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0238] like Fig. 9 FIG. 9 is a schematic diagram of a vehicle control device provided in an embodiment of the present application. The vehicle control device 900 can be used to implement the methods described in the above method embodiments. Exemplarily, the vehicle control device may include: a processing unit 901.

[0239] As a possible example, taking the vehicle control device 900 as a vehicle, the processing unit 901 is used to support the vehicle control device 900 to execute Figures 1a to 8 A processing function performed by a vehicle as described in any one of the above.

[0240] As another possible example, taking the vehicle control device 900 as an intelligent driving system as an example, the processing unit 901 is used to support the vehicle control device 900 to execute Figures 1a to 8 The processing function performed by any one of the intelligent driving systems described above.

[0241] As another possible example, taking the vehicle control device as a stability control system as an example, the processing unit 901 may be used to support the vehicle control device 900 to execute the following Figures 1a to 8 The processing functions performed by any of the stability control systems described above.

[0242] Optional, Fig. 9 The vehicle control device 900 shown may also include a communication unit 902, which is used to support the vehicle control device 900 in executing the steps of communication between the vehicle control device and other devices in the embodiments of the present application.

[0243] Optional, Fig. 9 The vehicle control device 900 shown may also include a storage unit 903, which stores a program or instruction. When the processing unit 901 executes the program or instruction, Fig. 9 The vehicle control device 900 shown can execute the method described in the above method embodiment.

[0244] Fig. 9 The technical effects of the vehicle control device 900 shown can refer to the technical effects described in the above method embodiment, and will not be repeated here. Fig. 9The processing unit 901 involved in the vehicle control device 900 shown can be implemented by a processor or a processor-related circuit component, which can be a processor or a processing module. The communication unit 902 can be implemented by a transceiver or a transceiver-related circuit component, which can be a transceiver or a transceiver module.

[0245] The present application also provides a chip system, such as Fig.10 As shown, the chip system includes at least one processor 1001 and at least one interface circuit 1002. The processor 1001 and the interface circuit 1002 can be interconnected via lines. For example, the interface circuit 1002 can be used to receive signals from other devices. For another example, the interface circuit 1002 can be used to send signals to other devices (such as processor 1001). Exemplarily, the interface circuit 1002 can read instructions stored in a memory and send the instructions to the processor 1001. When the instructions are executed by the processor 1001, the vehicle control device can execute the various steps performed by the vehicle control device in the above-mentioned embodiment. Of course, the chip system can also include other discrete devices, which are not specifically limited in the embodiments of the present application.

[0246] Optionally, the processor in the chip system may be one or more. The processor may be implemented by hardware or by software. When implemented by hardware, the processor may be a logic circuit, an integrated circuit, etc. When implemented by software, the processor may be a general-purpose processor implemented by reading software code stored in a memory.

[0247] Optionally, the memory in the chip system may be one or more. The memory may be integrated with the processor or may be separately provided with the processor, which is not limited in this application. Exemplarily, the memory may be a non-transient processor, such as a ROM, which may be integrated with the processor on the same chip or may be provided on different chips. This application does not specifically limit the type of memory and the arrangement of the memory and the processor.

[0248] Exemplarily, the chip system can be FPGA, ASIC, system on chip (SoC), CPU, network processor (NP, DSP, MCU, programmable logic device (PLD)) or other integrated chips.

[0249] It should be understood that each step in the above method embodiment can be completed by an integrated logic circuit of hardware in a processor or by instructions in the form of software. The method steps disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware processor, or by a combination of hardware and software modules in a processor.

[0250] An embodiment of the present application also provides a computer storage medium, in which computer instructions are stored. When the computer instructions are executed on a vehicle control device, the vehicle control device executes the method described in the above method embodiment.

[0251] An embodiment of the present application provides a computer program product, which includes: a computer program or instructions, when the computer program or instructions are executed on a computer, the computer executes the method described in the above method embodiment.

[0252] In addition, an embodiment of the present application also provides a device, which can specifically be a chip, component or module, and the device may include a connected processor and memory; wherein the memory is used to store computer-executable instructions, and when the device is running, the processor can execute the computer-executable instructions stored in the memory so that the device executes the methods in the above-mentioned method embodiments.

[0253] Among them, the vehicle control device, computer storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

[0254] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0255] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The various embodiments can be combined with each other or referenced to each other without conflict. The device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, 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.

[0256] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0257] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0258] 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 readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0259] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle including an intelligent driving system and a stability control system, the method comprises: The intelligent driving system acquires a target parameter, where the target parameter is used to control the lateral motion posture of the vehicle; The intelligent driving system sends the target parameter to the stability control system; A braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter.

2. The method according to claim 1, characterized in that The target parameter includes a first parameter, and the first parameter includes at least one of a target yaw rate, a target yaw acceleration, and a target lateral acceleration.

3. The method according to claim 2, characterized in that The target parameter also includes at least one of a second parameter and a third parameter, wherein the second parameter is used to adjust an activation threshold of the stability control system for controlling the lateral motion posture, and the third parameter is used to adjust a yaw moment for controlling the lateral motion posture.

4. The method according to any one of claims 1 to 3, characterized in that The braking device includes means for generating a braking force at the wheels of the vehicle.

5. The method according to claim 4, characterized in that The braking device includes one or more of an electric motor, an electronic hydraulic brake EHB, and an electronic mechanical brake EMB.

6. The method according to claim 1, characterized in that The target parameters include yaw moment, or wheel braking force.

7. The method according to claim 6, characterized in that The braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter, including: The braking device applies the yaw moment to the vehicle, or applies the wheel braking force.

8. The method according to any one of claims 3 to 5, characterized in that: The braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter, including: The braking device acquires a fourth parameter, wherein the fourth parameter includes at least one of an actual yaw rate, an actual yaw acceleration, and an actual lateral acceleration corresponding to the vehicle; The braking device determines the activation threshold based on the second parameter; The brake device controls the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold.

9. The method according to claim 8, characterized in that The braking device controls the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold, including: The braking device determines that the difference between the first parameter and the fourth parameter satisfies the activation threshold, then activating the braking device to control the lateral motion posture of the vehicle based on the third parameter; Alternatively, if the braking device determines that the difference between the first parameter and the fourth parameter does not satisfy the activation threshold, the braking device is not activated to control the lateral motion posture of the vehicle based on the third parameter.

10. The method according to claim 3, characterized in that The target parameters include the first parameter; The intelligent driving system obtains target parameters, including: The intelligent driving system plans multiple types of a target trajectory, a target longitudinal speed, a target longitudinal acceleration, and a target steering wheel angle at the next moment based on the driving target corresponding to the vehicle; The intelligent driving system determines the first parameter based on multiple of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle.

11. The method according to claim 10, characterized in that The target parameters include the second parameter; The intelligent driving system obtains target parameters, including: The intelligent driving system acquires the distance between the vehicle and the obstacle; The intelligent driving system determines the second parameter based on at least one of the distance, the target longitudinal speed, and adhesion corresponding to the vehicle.

12. The method according to claim 10 or 11, characterized in that: The target parameters include the third parameter; The intelligent driving system obtains target parameters, including: The intelligent driving system determines the third parameter based on at least one of the first parameter and the target longitudinal speed.

13. The method according to any one of claims 10 to 12, characterized in that: After the braking device included in the stability control system controls the lateral motion posture of the vehicle based on the target parameter, the method further includes: The stability control system sends a fifth parameter to the intelligent driving system, the fifth parameter including target response information and / or at least one of an available value of the yaw moment corresponding to the vehicle, a slip rate, and adhesion, the target response information including one or more of a deviation between the target yaw velocity and an actual yaw velocity, a deviation between the target yaw acceleration and an actual yaw acceleration, and a deviation between the target lateral acceleration and an actual lateral acceleration.

14. The method according to claim 13, characterized in that Multiple of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle are determined according to a fifth parameter at a current moment.

15. The method according to any one of claims 1 to 14, characterized in that Before the intelligent driving system acquires the target parameter, the method further includes: The vehicle displays a first interface, the first interface including a first mode and a second mode, the first mode being a working mode in which the intelligent driving system does not exit while the stability control system is activated, and the second mode being a working mode in which the intelligent driving system exits while the stability control system is activated; A user operation is received, where the user operation is used to select the first mode.

16. A vehicle control method, characterized in that: Applied to an intelligent driving system, the method comprises: Acquiring target parameters, where the target parameters are used to control the lateral motion posture of the vehicle; The target parameter is sent to a stability control system including a braking device.

17. The method according to claim 16, characterized in that The target parameter includes at least one of a second parameter and a third parameter, and a first parameter, wherein the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration, the second parameter is used to adjust an activation threshold of the stability control system for controlling the lateral motion posture, and the third parameter is used to adjust a yaw moment for controlling the lateral motion posture.

18. The method according to claim 16, characterized in that The target parameters include yaw moment, or wheel braking force.

19. The method according to claim 17, characterized in that The target parameters include the first parameter; The obtaining of target parameters includes: Planning multiple of a target trajectory, a target longitudinal speed, a target longitudinal acceleration, and a target steering wheel angle at the next moment based on the driving target corresponding to the vehicle; The first parameter is determined based on multiple of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle.

20. The method according to claim 19, characterized in that The target parameters include a second parameter; The obtaining of target parameters includes: Obtaining the distance between the vehicle and the obstacle; The second parameter is determined based on at least one of the distance, the target longitudinal speed, and adhesion corresponding to the vehicle.

21. The method according to claim 19 or 20, characterized in that The target parameters include a third parameter; The obtaining of target parameters includes: The third parameter is determined based on at least one of the first parameter, the target longitudinal speed, and the target lateral acceleration.

22. The method according to any one of claims 19 to 21, characterized in that After sending the target parameter to a stability control system including a braking device, the method further includes: A fifth parameter is received from the stability control system, the fifth parameter comprising target response information and / or at least one of an available value of a yaw moment corresponding to the vehicle, a slip rate, and adhesion, the target response information comprising one or more of a deviation between the target yaw velocity and the actual yaw velocity, a deviation between the target yaw acceleration and the target actual yaw acceleration, and a deviation between the target lateral acceleration and the actual lateral acceleration.

23. The method according to claim 22, characterized in that Multiple of the target trajectory, the target longitudinal speed, the target longitudinal acceleration, and the target steering wheel angle are determined according to a fifth parameter at a current moment.

24. A vehicle control method, characterized in that: Applied to a stability control system including a braking device, the method comprises: receiving a target parameter from an intelligent driving system, wherein the target parameter is used to control a lateral motion posture of a vehicle; The lateral motion posture of the vehicle is controlled based on the target parameter.

25. The method according to claim 24, characterized in that The target parameter includes at least one of a second parameter and a third parameter, and a first parameter, wherein the first parameter includes at least one of a target yaw angular velocity, a target yaw angular acceleration, and a target lateral acceleration, the second parameter is used to adjust an activation threshold of the stability control system for controlling the lateral motion posture, and the third parameter is used to adjust a yaw moment for controlling the lateral motion posture.

26. The method according to claim 24, characterized in that The target parameters include yaw moment, or wheel braking force.

27. The method according to claim 26, characterized in that The controlling the lateral motion posture of the vehicle based on the target parameter comprises: The yaw moment is applied to the vehicle, or the wheel braking force is applied.

28. The method according to claim 25, characterized in that The controlling the lateral motion posture of the vehicle based on the target parameter comprises: Acquiring a fourth parameter, the fourth parameter comprising at least one of an actual yaw angular velocity, an actual yaw angular acceleration, and an actual lateral acceleration corresponding to the vehicle; determining the activation threshold based on the second parameter; The lateral motion posture of the vehicle is controlled based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold.

29. The method according to claim 28, characterized in that The controlling the lateral motion posture of the vehicle based on the difference between the first parameter and the fourth parameter, the third parameter, and the activation threshold comprises: determining that the difference between the first parameter and the fourth parameter satisfies the activation threshold, activating the braking device to control the lateral motion posture of the vehicle based on the third parameter; Alternatively, if it is determined that the difference between the first parameter and the fourth parameter does not satisfy the activation threshold, the braking device is not activated to control the lateral motion posture of the vehicle based on the third parameter.

30. The method according to claim 28 or 29, characterized in that After controlling the lateral motion posture of the vehicle based on the target parameter, the method further includes: A fifth parameter is sent to the intelligent driving system, where the fifth parameter includes target response information and / or at least one of an available value of a yaw moment, a slip rate, and adhesion corresponding to the vehicle, and the target response information includes one or more of a deviation between the target yaw velocity and the actual yaw velocity, a deviation between the target yaw acceleration and the actual yaw acceleration, and a deviation between the target lateral acceleration and the actual lateral acceleration.

31. A vehicle control device, characterized in that: Comprising a module for executing each step in the method as claimed in any one of claims 1 to 15, or a module for executing each step in the method as claimed in any one of claims 16 to 23, or a module for executing each step in the method as claimed in any one of claims 24 to 30.

32. A vehicle control device, characterized in that: It includes a processor and a memory, the memory is coupled to the processor, the memory is used to store computer program code, the computer program code includes computer instructions, the processor reads the computer instructions from the memory to make the vehicle control device execute the method as described in any one of claims 1-15, or make the vehicle control device execute the method as described in any one of claims 16-23, or make the vehicle control device execute the method as described in any one of claims 24-30.

33. A vehicle control system, characterized in that: It comprises an intelligent driving system and a stability control system, wherein the intelligent driving system is used to execute the method as described in any one of claims 16-23, and the stability control system is used to execute the method as described in any one of claims 24-30.

34. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a computer program, which, when running on a vehicle control device, causes the vehicle control device to execute a method as described in any one of claims 1-15, or causes the vehicle control device to execute a method as described in any one of claims 16-23, or causes the vehicle control device to execute a method as described in any one of claims 24-30.

35. A computer program product, characterized in that The computer program product comprises: a computer program or instructions, which, when executed on a computer, causes the computer to execute the method as claimed in any one of claims 1 to 15, or causes the computer to execute the method as claimed in any one of claims 16 to 23, or causes the computer to execute the method as claimed in any one of claims 24 to 30.

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