Vehicle control method and system, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and system, a vehicle and a storage medium, and the vehicle control method comprises the steps: firstly obtaining the driving data of the vehicle during driving; according to the driving data, the adhesion coefficient of the vehicle and the road surface is determined, so that the tire condition and the road surface condition of the vehicle can be known based on the adhesion coefficient; when it is determined that the obstacle exists on the driving route of the vehicle, the distance between the vehicle and the obstacle can be determined firstly, then the braking starting time is calculated and determined by combining the distance between the vehicle and the obstacle, the driving data and the adhesion coefficient, and therefore the braking starting time can be accurately calculated according to the tire condition and the ground condition; and finally, at the braking starting time, the vehicle is controlled to start braking. Therefore, the full-force braking performance of the current vehicle can be estimated according to the condition difference between the road and the tire, and the starting time of braking is further adjusted, so that negative effects caused by changes of the road surface and the tire in the vehicle using process can be adapted, and the safety of the vehicle and passengers is ensured.

Description

Technical Field

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

[0002] Most current mass-produced vehicles are equipped with AEBS (Advanced Emergency Braking System). AEBS detects obstacles ahead through sensors and automatically activates the braking system when necessary to avoid collisions or reduce the severity of collisions, thereby ensuring the safety of the vehicle and passengers.

[0003] However, the current AEBS mainly relies on a two-wheeled vehicle model and its calibration parameters for braking control. Therefore, it cannot identify and evaluate the impacts of factors such as tire replacement and road surface condition changes, and is prone to rear-end collisions and other accidents under working conditions such as tire wear and waterlogged roads. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the object of the present invention is to provide a control method, system, vehicle, and storage medium for a vehicle.

[0005] A control method for a vehicle according to the present invention includes: obtaining driving data when the vehicle is driving; determining an adhesion coefficient between the vehicle and the road surface according to the driving data; when it is determined that there is an obstacle on the driving route of the vehicle, combining the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to determine a braking start time; and controlling the vehicle to start braking at the braking start time.

[0006] According to the control method for a vehicle of an embodiment of the present invention, first, the driving data when the vehicle is driving is obtained to facilitate understanding the driving state of the vehicle; then, according to the driving data, the adhesion coefficient between the vehicle and the road surface is determined to facilitate understanding the tire condition and road surface condition based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, the distance between the vehicle and the obstacle can be determined first, and then, combining the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient, the braking start time is calculated and determined, so that the braking start time can be accurately calculated according to the tire condition and ground condition; finally, at the braking start time, the vehicle is controlled to start braking; thereby, according to the condition differences between the road and the tire, the full braking performance of the current vehicle can be estimated, and then the braking start time can be adjusted, so as to adapt to the negative impacts brought by the changes in the road surface and tires during the use of the vehicle, and ensure the safety of the vehicle and passengers.

[0007] In addition, the control method for a vehicle according to an embodiment of the present invention may further have the following additional technical features:

[0008] Further, the driving data includes a steering angle, a longitudinal acceleration, a lateral acceleration, and a camber acceleration; determining the adhesion coefficient between the vehicle and the road surface according to the driving data includes: determining the adhesion coefficient between the vehicle and the road surface according to the steering angle, the longitudinal acceleration, the lateral acceleration, and the camber acceleration; this facilitates understanding the tire condition and road surface condition of the vehicle based on the adhesion coefficient, and further facilitates determining the braking timing according to the adhesion coefficient subsequently.

[0009] Further, determining the adhesion coefficient between the vehicle and the road surface according to the steering angle, the longitudinal acceleration, the lateral acceleration, and the camber acceleration includes: constructing a motion model of the vehicle based on the vehicle's own parameters, where the relationship between the vehicle motion coefficient and the adhesion coefficient is included in the motion model; inputting the steering angle, the longitudinal acceleration, the lateral acceleration, and the camber acceleration into the motion model, and outputting the adhesion coefficient; this utilizes the motion model to ensure that only the driving parameters need to be input to output the adhesion coefficient, improves the calculation efficiency, does not affect the braking time, and facilitates quick braking.

[0010] Further, the motion model includes an observation model and a tire force - adhesion coefficient model, where the relationship between the tire force and the vehicle motion coefficient is included in the observation model, and the relationship between the tire force and the adhesion coefficient is included in the tire force - adhesion coefficient model; inputting the steering angle, the longitudinal acceleration, the lateral acceleration, and the camber acceleration into the motion model and outputting the adhesion coefficient includes: inputting the steering angle, the longitudinal acceleration, the lateral acceleration, and the camber acceleration into the observation model, and outputting the tire force data of the vehicle; inputting the tire force data into the tire force - adhesion coefficient model, and outputting the adhesion coefficient; this utilizes the observation model and the tire force - adhesion coefficient model to ensure that only the driving parameters need to be input to output the adhesion coefficient, improves the calculation efficiency, does not affect the braking time, and facilitates quick braking.

[0011] Further, the own parameters include a normalized tire force; inputting the tire force data into the tire force - adhesion coefficient model and outputting the adhesion coefficient includes: determining the adhesion coefficient as the ratio of the tire force data to the normalized tire force; outputting the adhesion coefficient; this ensures that the adhesion coefficient can be calculated quickly, does not affect the braking time, and facilitates quick braking.

[0012] Further, the driving data includes the driving speed of the vehicle relative to the obstacle; determining the braking start time by combining the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient includes: determining the maximum braking force corresponding to the adhesion coefficient, determining the maximum deceleration according to the maximum braking force; combining the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle, and the maximum deceleration to determine the braking start time; thereby, the braking start time can be accurately calculated according to the tire condition and the ground condition.

[0013] Further, determining the maximum braking force corresponding to the adhesion coefficient includes: based on a preset correspondence between the adhesion coefficient and the maximum braking force, determining the maximum braking force corresponding to the current adhesion coefficient, wherein the correspondence includes multiple groups of correspondences between different adhesion coefficients and maximum braking forces; thereby, the maximum braking force of the vehicle under the current tire condition and road condition can be accurately determined, which is convenient for subsequent determination of the braking start time according to the maximum braking force.

[0014] In view of the above problems, the present invention further provides a vehicle control system, including: an acquisition module for acquiring the driving data of the vehicle during driving; a first determination module for determining the adhesion coefficient between the vehicle and the road surface according to the driving data; a second determination module for, when it is determined that there is an obstacle on the driving route of the vehicle, combining the distance to the obstacle, the driving data, and the adhesion coefficient to determine the braking start time; and a control module for controlling the vehicle to start braking at the braking start time.

[0015] According to the vehicle control system of the embodiments of the present invention, when executing the vehicle control method of the above embodiments, first, the driving data of the vehicle during driving is acquired to facilitate understanding of the driving state of the vehicle; then, according to the driving data, the adhesion coefficient between the vehicle and the road surface is determined to facilitate understanding of the tire condition and road condition of the vehicle based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, the distance between the vehicle and the obstacle can be determined first, and then, by combining the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient, the braking start time is calculated and determined, so that the braking start time can be accurately calculated according to the tire condition and the ground condition; finally, at the braking start time, the vehicle is controlled to start braking; thereby, the full braking performance of the current vehicle can be estimated according to the differences in the road and tire conditions, and then the braking start time is adjusted, so as to adapt to the negative impacts brought by the changes in the road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0016] In view of the above problems, the present invention further provides a vehicle, including: the vehicle control system as described in the second aspect embodiment of the present invention above, or the vehicle includes: a processor, a memory, and a vehicle control program stored on the memory and executable on the processor, and when the vehicle control program is executed by the processor, it implements the vehicle control method as described in the first aspect embodiment of the present invention above.

[0017] The vehicle according to the embodiment of the present invention is provided with the vehicle control system in the above embodiment and executes the vehicle control method in the above embodiment. First, it obtains the driving data when the vehicle is driving to facilitate understanding the driving state of the vehicle; then, according to the driving data, it determines the adhesion coefficient between the vehicle and the road surface where it is located to facilitate understanding the tire condition and road surface condition based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, it can first determine the distance between the vehicle and the obstacle, and then combine the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to calculate and determine the braking start time, so that the braking start time can be accurately calculated according to the tire condition and ground condition; finally, at the braking start time, it controls the vehicle to start braking; in this way, according to the difference in the conditions of the road and the tires, the full braking performance of the current vehicle can be estimated, and then the braking start time can be adjusted, so as to adapt to the negative impact brought by the changes in the road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0018] In view of the above problems, the present invention further provides a computer-readable storage medium, on which a vehicle control program is stored, and when the vehicle control program is executed by a processor, it implements the vehicle control method as described in the first aspect embodiment of the present invention above.

[0019] For the computer-readable storage medium according to the embodiment of the present invention, when the vehicle control program stored thereon is executed by a processor, it executes the vehicle control method in the above embodiment. First, it obtains the driving data when the vehicle is driving to facilitate understanding the driving state of the vehicle; then, according to the driving data, it determines the adhesion coefficient between the vehicle and the road surface where it is located to facilitate understanding the tire condition and road surface condition based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, it can first determine the distance between the vehicle and the obstacle, and then combine the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to calculate and determine the braking start time, so that the braking start time can be accurately calculated according to the tire condition and ground condition; finally, at the braking start time, it controls the vehicle to start braking; in this way, according to the difference in the conditions of the road and the tires, the full braking performance of the current vehicle can be estimated, and then the braking start time can be adjusted, so as to adapt to the negative impact brought by the changes in the road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned by practice of the present invention. Description of the Drawings

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 is a schematic diagram of a drive system of a hybrid vehicle according to an embodiment of the present invention;

[0023] Figure 2 is an overall control schematic diagram of a control system of a vehicle according to a specific embodiment of the present invention;

[0024] Figure 3 is a signal transmission schematic diagram of a control system of a vehicle according to a specific embodiment of the present invention;

[0025] Figure 4 is a specific control schematic diagram of a control system of a vehicle according to a specific embodiment of the present invention;

[0026] Figure 5 is a structural block diagram of a control system of a vehicle according to an embodiment of the present invention.

[0027] Reference Signs:

[0028] 100 - Control system of the vehicle; 110 - Acquisition module; 120 - First determination module; 130 - Second determination module; 140 - Control module. Detailed Description of Embodiments

[0029] Embodiments of the present invention will be described in detail below. The embodiments described with reference to the drawings are exemplary. Embodiments of the present invention will be described in detail below.

[0030] The existing AEBS (Advanced Emergency Braking System) in the prior art is only calibrated and verified on good asphalt roads. When the prototype vehicle is on a rainy, icy, snowy, or sandy road surface, even if the AEBS system triggers the emergency braking function, it will not be able to avoid a collision due to the inability to achieve the expected braking performance.

[0031] In view of the above problems, the present invention provides a control method, system, vehicle, and storage medium for a vehicle. Below, reference is made to Figures 1-5 Describe a control method, system, vehicle, and storage medium for a vehicle according to an embodiment of the present invention. In the following embodiments of the present invention, the vehicle can be any one of a fuel vehicle, an electric vehicle, or a hybrid vehicle.

[0032] Figure 1 is a flowchart of a control method for a vehicle according to an embodiment of the present invention. As Figure 1 shown, the control method for a vehicle according to an embodiment of the present invention includes the following steps:

[0033] Step S1: Obtain driving data when the vehicle is running.

[0034] In a specific embodiment, the driving data when the vehicle is running can be collected through relevant sensors of the vehicle. Specifically, the driving data when the vehicle is running includes, for example, but is not limited to, steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration, etc.

[0035] Specifically, by obtaining the driving data when the vehicle is running, it is convenient to understand the driving state of the vehicle, and then it is convenient to determine the braking timing according to the driving data subsequently.

[0036] Step S2: Determine the adhesion coefficient between the vehicle and the road surface according to the driving data.

[0037] In a specific embodiment, the adhesion coefficient between the vehicle and the road surface can be obtained by establishing a motion model and inputting the driving data into the motion model. Specifically, the motion model includes, for example, an observation model and a tire force and adhesion coefficient model.

[0038] Specifically, by determining the adhesion coefficient between the vehicle and the road surface according to the driving data, it is convenient to understand the tire condition and road surface condition of the vehicle based on the adhesion coefficient, and then it is convenient to determine the braking timing according to the adhesion coefficient subsequently.

[0039] Step S3: When it is determined that there is an obstacle on the driving route of the vehicle, combine the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to determine the braking start time.

[0040] In a specific embodiment, when it is determined that there is an obstacle on the driving route of the vehicle, the distance between the vehicle and the obstacle can be determined first, and then the braking start time can be calculated by combining the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient. Specifically, the obstacle includes, for example, but is not limited to, other vehicles, pedestrians, and other objects, etc. Whether there is an obstacle on the driving route of the vehicle and the distance between the vehicle and the obstacle can be determined through relevant sensors of the vehicle such as infrared sensors.

[0041] Specifically, when it is determined that there is an obstacle on the driving route of the vehicle, the distance between the vehicle and the obstacle can be determined first, and then the braking start time can be calculated by combining the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient, so that the braking start time can be accurately calculated according to the tire condition and ground condition.

[0042] Step S4: Control the vehicle to start braking at the braking start time.

[0043] In a specific embodiment, the braking time can be sent to the AEBS (Advanced Emergency Braking System), and the AEBS controls the vehicle to start braking at the start time of braking.

[0044] Specifically, at the start time of braking, the vehicle is controlled to start braking; thereby, according to the differences in road and tire conditions, the full braking performance of the current vehicle can be estimated, and then the start time of braking can be adjusted, so as to adapt to the negative impacts brought by the changes in road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0045] Thus, according to the vehicle control method of the embodiment of the present invention, first, the driving data during vehicle driving is obtained to facilitate understanding the driving state of the vehicle; then, according to the driving data, the adhesion coefficient between the vehicle and the road surface where it is located is determined to facilitate understanding the tire condition and road surface condition of the vehicle based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, the distance between the vehicle and the obstacle can be first determined, and then, in combination with the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient, the start time of braking is calculated and determined, so that the start time of braking can be accurately calculated according to the tire condition and ground condition; finally, at the start time of braking, the vehicle is controlled to start braking; thereby, according to the differences in road and tire conditions, the full braking performance of the current vehicle can be estimated, and then the start time of braking can be adjusted, so as to adapt to the negative impacts brought by the changes in road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0046] In an embodiment of the present invention, the driving data includes steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration; step S2 determines the adhesion coefficient between the vehicle and the road surface where it is located according to the driving data, including: determining the adhesion coefficient between the vehicle and the road surface where it is located according to the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration.

[0047] In a specific embodiment, by establishing a motion model, the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration are input into the motion model, and the adhesion coefficient between the vehicle and the road surface where it is located is inversely deduced. Specifically, the motion model includes, for example, an observation model and a tire force and adhesion coefficient model.

[0048] Specifically, that is, according to the vehicle control method of the embodiment of the present invention, the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration are used to determine the adhesion coefficient between the vehicle and the road surface where it is located, which is convenient for understanding the tire condition and road surface condition of the vehicle based on the adhesion coefficient, and further convenient for determining the braking timing according to the adhesion coefficient subsequently.

[0049] In an embodiment of the present invention, determining the adhesion coefficient between the vehicle and the road surface according to the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration includes: constructing a motion model of the vehicle based on the vehicle's own parameters, where the motion model includes the relationship between the vehicle motion coefficient and the adhesion coefficient; inputting the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the motion model, and outputting the adhesion coefficient.

[0050] In a specific embodiment, first construct a motion model of the vehicle based on the vehicle's own parameters, and then input the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the motion model to output the adhesion coefficient between the vehicle and the road surface. Specifically, the vehicle's own parameters include, for example, but are not limited to, normalized tire force, etc., and the motion model includes the relationship between the vehicle motion coefficient and the adhesion coefficient. The motion model includes, for example, an observation model and a tire force - adhesion coefficient model.

[0051] Specifically, according to the vehicle control method of the embodiment of the present invention, first construct a motion model of the vehicle based on the vehicle's own parameters, and then input the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the motion model to output the adhesion coefficient between the vehicle and the road surface. By using the motion model in this way, it is ensured that only the driving parameters need to be input to output the adhesion coefficient, which improves the calculation efficiency, does not affect the braking time, and facilitates quick braking.

[0052] In an embodiment of the present invention, the motion model includes an observation model and a tire force - adhesion coefficient model, where the observation model includes the relationship between the tire force and the vehicle motion coefficient, and the tire force - adhesion coefficient model includes the relationship between the tire force and the adhesion coefficient; inputting the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the motion model and outputting the adhesion coefficient includes: inputting the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the observation model to output the tire force data of the vehicle; inputting the tire force data into the tire force - adhesion coefficient model to output the adhesion coefficient.

[0053] In a specific embodiment, first input the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the observation model to output the tire force data of the vehicle; then input the tire force data into the tire force - adhesion coefficient model to output the adhesion coefficient. Specifically, the observation model includes the relationship between the tire force and the vehicle motion coefficient, and the tire force - adhesion coefficient model includes the relationship between the tire force and the adhesion coefficient.

[0054] Specifically, for the vehicle control method according to the embodiments of the present invention, the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration are first input into an observation model to output the tire force data of the vehicle; then the tire force data is input into the tire force and adhesion coefficient model, and the adhesion coefficient can be output. In this way, by using the observation model and the tire force and adhesion coefficient model, it is ensured that only the driving parameters need to be input to output the adhesion coefficient, improving the calculation efficiency, not affecting the braking time, and facilitating quick braking.

[0055] In an embodiment of the present invention, the self-parameters include the normalized tire force; inputting the tire force data into the tire force and adhesion coefficient model to output the adhesion coefficient includes: determining that the adhesion coefficient is the ratio of the tire force data to the normalized tire force; and outputting the adhesion coefficient.

[0056] Specifically, for the vehicle control method according to the embodiments of the present invention, when the tire force data is input into the tire force and adhesion coefficient model to output the adhesion coefficient, the adhesion coefficient is the ratio of the tire force data to the normalized tire force. In this way, it is ensured that the adhesion coefficient can be calculated quickly, not affecting the braking time, and facilitating quick braking.

[0057] In an embodiment of the present invention, the driving data includes the driving speed of the vehicle relative to an obstacle; step S3 combines the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to determine the braking start time, including: determining the maximum braking force corresponding to the adhesion coefficient, determining the maximum deceleration according to the maximum braking force; combining the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle, and the maximum deceleration to determine the braking start time.

[0058] In a specific embodiment, the maximum braking force corresponding to the adhesion coefficient can be first determined based on the adhesion coefficient, then the maximum deceleration can be determined according to the maximum braking force, and finally, the braking start time can be determined by combining the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle, and the maximum deceleration. Specifically, the corresponding relationship table between the adhesion coefficient and the maximum braking force can be determined by means such as experiments. By looking up the table, the maximum braking force corresponding to the current adhesion coefficient can be determined. According to Newton's second law, the maximum deceleration corresponding to the maximum braking force can be determined in combination with the vehicle mass. According to the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle, and the maximum deceleration, the braking time required can be determined, and thus the braking start time can be determined.

[0059] Specifically, for the vehicle control method according to the embodiments of the present invention, the maximum braking force corresponding to the adhesion coefficient can be first determined based on the adhesion coefficient, then the maximum deceleration can be determined according to the maximum braking force, and finally, the braking start time can be determined by combining the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle, and the maximum deceleration, so that the braking start time can be accurately calculated according to the tire conditions and ground conditions.

[0060] In an embodiment of the present invention, determining the maximum braking force corresponding to the adhesion coefficient includes: determining the maximum braking force corresponding to the current adhesion coefficient based on a preset correspondence between the adhesion coefficient and the maximum braking force, where the correspondence includes multiple groups of correspondences between different adhesion coefficients and maximum braking forces.

[0061] In a specific embodiment, the correspondence table between the adhesion coefficient and the maximum braking force can be determined by means such as experiments, and the maximum braking force corresponding to the current adhesion coefficient is determined by looking up the table. Specifically, the correspondence table between the adhesion coefficient and the maximum braking force includes multiple groups of correspondences between different adhesion coefficients and maximum braking forces, and the correspondence table between the adhesion coefficient and the maximum braking force is stored in a relevant controller of the vehicle, such as the vehicle controller.

[0062] Specifically, that is, according to the vehicle control method of the embodiment of the present invention, based on the preset correspondence between the adhesion coefficient and the maximum braking force, the maximum braking force corresponding to the current adhesion coefficient can be determined, so that the maximum braking force of the vehicle under the current tire conditions and road conditions can be accurately determined, which is convenient for determining the braking start time according to the maximum braking force subsequently.

[0063] The following describes the vehicle control method in the above embodiments of the present invention in combination with specific embodiments. In this specific embodiment, the vehicle control method in the above embodiments of the present invention is implemented through the vehicle control system.

[0064] Figure 2 is the overall control schematic diagram of the vehicle control system according to a specific embodiment of the present invention, Figure 3 is the signal transmission schematic diagram of the vehicle control system according to a specific embodiment of the present invention, Figure 4 is the specific control schematic diagram of the vehicle control system according to a specific embodiment of the present invention. As Figures 2-4 shown, in this specific embodiment, the vehicle control system is composed of an AEBS (Advanced Emergency Braking System) camera assembly, an EBS (Electronic Brake Systems) controller, and an ESC (Electronic Stability Control) controller. Specifically, the AEBS camera assembly is responsible for providing pre-braking trigger instructions and braking trigger instructions; the ESC controller provides signals such as vehicle body yaw rate, front wheel steering angle, and longitudinal and lateral accelerations, and the EBS controller provides vehicle speed signals, braking force distribution coefficients, real-time maximum braking forces, and controls vehicle braking.

[0065] The following combines Figures 2-4, the control process and logic of the vehicle control system for this specific embodiment will be described:

[0066] First, establish an adhesion coefficient - tire force model in the ESC system:

[0067] F xij = μ ij F 0 xij (λ ij , α ij , Fz ij )

[0068] F yij = μ ij F 0 yij (λ ij , α ij , Fz ij )

[0069] Then, establish the vehicle dynamics equation (Newton - Euler equation):

[0070] Longitudinal dynamics:

[0071]

[0072] Lateral dynamics:

[0073]

[0074] Yaw dynamics:

[0075]

[0076] Where μ is the adhesion coefficient, λ is the slip ratio, FZ is the axle load, F is the tire force: where Fxij is the longitudinal ground reaction force on the ij - th wheel, Fyij is the lateral ground reaction force on the ij - th wheel, and i and j represent the 4 wheels of the left front, right front, left rear, and right rear (Fxfl, Fxfr, Fxrl, Fxrr); a is the distance from the center of mass to the front axle, b is the distance from the center of mass to the rear axle, m is the mass, Iz is the moment of inertia, etc. are the tire normalized forces, α x is the longitudinal acceleration of the vehicle center of mass, α y is the lateral acceleration of the vehicle center of mass, is the camber acceleration.

[0077] Next, establish the UKF (Unscented Kalman Filter) state - space equation:

[0078]

[0079] where x and y are the adhesion coefficient matrix and the ego-vehicle kinematics matrix, is the state at the next time stamp and is the state to be predicted. F is the state of the adhesion coefficients of the four wheels of the ego-vehicle. h is the state observation equation of the ego-vehicle's longitudinal acceleration, lateral acceleration, and camber acceleration; x = [μ fl , μ fr , μ rl , μ rr , u is the δ control input, f is the state extrapolation equation, and h is the observation equation.

[0080] Thus, the real-time adhesion coefficients μ fl , μ fr , μ rl , μ rr of the four tires are obtained.

[0081] Then, according to the calibration matrix [μ fl , μ fr , μ rl , μ rr , f], the current maximum braking force f, i.e., the maximum braking force under different adhesion conditions, is obtained. The calibration matrix is based on different vehicle dynamics parameters, and test sites with different adhesion conditions are set up in the test field. The f is obtained through real vehicle tests, and then according to the maximum deceleration is obtained.

[0082] Finally, through calculation, the trigger time t of AEB emergency braking is obtained, where v is the relative speed between the ego-vehicle and the vehicle ahead, and x is the braking distance; to adjust the TTC (Time-to-Collision) parameter, i.e., to adjust the trigger time t data set of AEB (Autonomous Emergency Braking) emergency braking under different conditions.

[0083] Combining the above, it can be seen that the control system of the vehicle in this specific embodiment adopts the method of estimating the real-time road surface adhesion coefficient, and calculates the current most reasonable pre-braking time and braking time according to the adhesion coefficient - vehicle speed - steering radius - maximum braking force matrix, so as to uniformly adapt to rainy, snowy weather, etc., and can also adapt to the decrease in braking performance caused by gravel roads, icy roads, tire wear, etc.

[0084] In summary, according to the vehicle control method of the embodiments of the present invention, first obtain the driving data when the vehicle is running to facilitate understanding the driving state of the vehicle; then determine the adhesion coefficient between the vehicle and the road surface according to the driving data to facilitate understanding the tire condition and road surface condition based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, first determine the distance between the vehicle and the obstacle, and then calculate and determine the braking start time in combination with the distance between the vehicle and the obstacle, the driving data and the adhesion coefficient, so that the braking start time can be accurately calculated according to the tire condition and the ground condition; finally, at the braking start time, control the vehicle to start braking; in this way, the full braking performance of the current vehicle can be estimated according to the differences in road and tire conditions, and then the braking start time can be adjusted, so as to adapt to the negative impacts brought by the changes in road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0085] A further embodiment of the present invention also discloses a vehicle control system. Figure 5 It is a structural block diagram of a vehicle control system according to an embodiment of the present invention, as Figure 5 shown. The vehicle control system 100 includes: an acquisition module 110, a first determination module 120, a second determination module 130, and a control module 140.

[0086] Specifically, the acquisition module 110 is used to acquire the driving data when the vehicle is running.

[0087] The first determination module 120 is used to determine the adhesion coefficient between the vehicle and the road surface according to the driving data.

[0088] The second determination module 130 is used to determine the braking start time in combination with the distance to the obstacle, the driving data, and the adhesion coefficient when it is determined that there is an obstacle on the driving route of the vehicle.

[0089] The control module 140 is used to control the vehicle to start braking at the braking start time.

[0090] In an embodiment of the present invention, the driving data includes steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration; the first determination module 120 determines the adhesion coefficient between the vehicle and the road surface according to the driving data, including: determining the adhesion coefficient between the vehicle and the road surface according to the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration.

[0091] In one embodiment of the present invention, the first determination module 120 determines the adhesion coefficient between the vehicle and the road surface based on the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration, including: constructing a motion model of the vehicle based on the vehicle's own parameters, where the motion model includes the relationship between the vehicle motion coefficient and the adhesion coefficient; inputting the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the motion model, and outputting the adhesion coefficient.

[0092] In one embodiment of the present invention, the motion model includes an observation model and a tire force - adhesion coefficient model, where the observation model includes the relationship between the tire force and the vehicle motion coefficient, and the tire force - adhesion coefficient model includes the relationship between the tire force and the adhesion coefficient; the first determination module 120 inputs the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the motion model and outputs the adhesion coefficient, including: inputting the steering angle, longitudinal acceleration, lateral acceleration, and camber acceleration into the observation model and outputting the tire force data of the vehicle; inputting the tire force data into the tire force - adhesion coefficient model and outputting the adhesion coefficient.

[0093] In one embodiment of the present invention, the own parameters include the normalized tire force; the first determination module 120 inputs the tire force data into the tire force - adhesion coefficient model and outputs the adhesion coefficient, including: determining that the adhesion coefficient is the ratio of the tire force data to the normalized tire force; outputting the adhesion coefficient.

[0094] In one embodiment of the present invention, the driving data includes the driving speed of the vehicle relative to the obstacle; the second determination module 130 combines the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to determine the braking start time, including: determining the maximum braking force corresponding to the adhesion coefficient, and determining the maximum deceleration according to the maximum braking force; combining the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle, and the maximum deceleration to determine the braking start time.

[0095] In one embodiment of the present invention, the second determination module 130 determines the maximum braking force corresponding to the adhesion coefficient, including: based on the preset correspondence between the adhesion coefficient and the maximum braking force, determining the maximum braking force corresponding to the current adhesion coefficient, where the correspondence includes multiple groups of different correspondences between the adhesion coefficient and the maximum braking force.

[0096] The vehicle control system 100 according to an embodiment of the present invention executes the vehicle control method of the above embodiment. First, it obtains the driving data when the vehicle is running to facilitate understanding the driving state of the vehicle; then, based on the driving data, it determines the adhesion coefficient between the vehicle and the road surface where it is located to facilitate understanding the tire condition and road surface condition of the vehicle based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, it can first determine the distance between the vehicle and the obstacle, and then combine the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to calculate and determine the braking start time, so that the braking start time can be accurately calculated according to the tire condition and the ground condition; finally, at the braking start time, it controls the vehicle to start braking; in this way, according to the difference in the conditions of the road and the tires, the full braking performance of the current vehicle can be estimated, and then the braking start time can be adjusted, so as to adapt to the negative impacts brought by the changes in the road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0097] A further embodiment of the present invention also discloses a vehicle.

[0098] In some embodiments, the vehicle includes: the vehicle control system 100 described in any of the above embodiments of the present invention.

[0099] In other embodiments, the vehicle includes: a processor, a memory, and a vehicle control program stored on the memory and executable on the processor. When the vehicle control program is executed by the processor, it implements the vehicle control method described in any of the above embodiments of the present invention.

[0100] In a specific embodiment, the vehicle can be any one of a fuel vehicle, an electric vehicle, or a hybrid vehicle.

[0101] The vehicle according to an embodiment of the present invention is provided with the vehicle control system 100 in the above embodiment to execute the vehicle control method of the above embodiment. First, it obtains the driving data when the vehicle is running to facilitate understanding the driving state of the vehicle; then, based on the driving data, it determines the adhesion coefficient between the vehicle and the road surface where it is located to facilitate understanding the tire condition and road surface condition of the vehicle based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, it can first determine the distance between the vehicle and the obstacle, and then combine the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to calculate and determine the braking start time, so that the braking start time can be accurately calculated according to the tire condition and the ground condition; finally, at the braking start time, it controls the vehicle to start braking; in this way, according to the difference in the conditions of the road and the tires, the full braking performance of the current vehicle can be estimated, and then the braking start time can be adjusted, so as to adapt to the negative impacts brought by the changes in the road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0102] A further embodiment of the present invention also discloses a computer-readable storage medium, on which a control program for a vehicle is stored. When the control program for the vehicle is executed by a processor, it implements the vehicle control method described in any of the above embodiments of the present invention.

[0103] For the computer-readable storage medium according to an embodiment of the present invention, when the control program for the vehicle stored thereon is executed by a processor, it executes the vehicle control method of the above embodiment. First, it obtains the driving data when the vehicle is driving to facilitate understanding the driving state of the vehicle; then, based on the driving data, it determines the adhesion coefficient between the vehicle and the road surface where it is located to facilitate understanding the tire condition and road surface condition based on the adhesion coefficient; when it is determined that there is an obstacle on the driving route of the vehicle, it can first determine the distance between the vehicle and the obstacle, and then combine the distance between the vehicle and the obstacle, the driving data, and the adhesion coefficient to calculate and determine the braking start time, so that the braking start time can be accurately calculated according to the tire condition and the ground condition; finally, at the braking start time, it controls the vehicle to start braking; in this way, according to the difference in road and tire conditions, the full braking performance of the current vehicle can be estimated, and then the braking start time can be adjusted, so as to adapt to the negative impact brought by the changes in the road surface and tires during the use of the vehicle and ensure the safety of the vehicle and passengers.

[0104] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0105] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A control method for a vehicle, characterized in that, Including: Obtain the driving data when the vehicle is driving; Determine the adhesion coefficient between the vehicle and the road surface according to the driving data; When it is determined that there is an obstacle on the driving route of the vehicle, combine the distance between the vehicle and the obstacle, the driving data and the adhesion coefficient to determine the braking start time; Control the vehicle to start braking at the braking start time.

2. The control method of the vehicle according to claim 1, characterized in that, The driving data includes steering angle, longitudinal acceleration, lateral acceleration and camber acceleration; The determining the adhesion coefficient between the vehicle and the road surface according to the driving data includes: Determine the adhesion coefficient between the vehicle and the road surface according to the steering angle, the longitudinal acceleration, the lateral acceleration and the camber acceleration.

3. The control method of a vehicle according to claim 2, wherein The determining the adhesion coefficient between the vehicle and the road surface according to the steering angle, the longitudinal acceleration, the lateral acceleration and the camber acceleration includes: Based on the vehicle's own parameters, construct a motion model of the vehicle, where the motion model includes the relationship between the vehicle motion coefficient and the adhesion coefficient; Input the steering angle, the longitudinal acceleration, the lateral acceleration and the camber acceleration into the motion model, and output the adhesion coefficient.

4. The control method of a vehicle according to claim 3, characterized in that The motion model includes an observation model and a tire force - adhesion coefficient model, where the observation model includes the relationship between the tire force and the vehicle motion coefficient, and the tire force - adhesion coefficient model includes the relationship between the tire force and the adhesion coefficient; The inputting the steering angle, the longitudinal acceleration, the lateral acceleration and the camber acceleration into the motion model and outputting the adhesion coefficient includes: Input the steering angle, the longitudinal acceleration, the lateral acceleration and the camber acceleration into the observation model, and output the tire force data of the vehicle; Input the tire force data into the tire force - adhesion coefficient model, and output the adhesion coefficient.

5. The control method of the vehicle according to claim 4, wherein, The own parameters include the normalized tire force; The inputting the tire force data into the tire force - adhesion coefficient model and outputting the adhesion coefficient includes: Determine the adhesion coefficient as the ratio of the tire force data to the normalized tire force; Output the adhesion coefficient.

6. The control method of a vehicle according to claim 1, wherein, The driving data includes the driving speed of the vehicle relative to the obstacle; The combining the distance between the vehicle and the obstacle, the driving data and the adhesion coefficient to determine the braking start time includes: Determine the maximum braking force corresponding to the adhesion coefficient, and determine the maximum deceleration according to the maximum braking force; Combine the distance between the vehicle and the obstacle, the driving speed of the vehicle relative to the obstacle and the maximum deceleration to determine the braking start time.

7. The control method of the vehicle according to claim 6, wherein, The determining the maximum braking force corresponding to the adhesion coefficient includes: Based on the preset correspondence between the adhesion coefficient and the maximum braking force, determine the maximum braking force corresponding to the current adhesion coefficient, where the correspondence includes multiple groups of different correspondences between the adhesion coefficient and the maximum braking force.

8. A control system for a vehicle, characterized in that, Including: An acquisition module for acquiring the driving data when the vehicle is driving; A first determination module, configured to determine an adhesion coefficient between the vehicle and the road surface according to the driving data; A second determination module, configured to determine a braking start time by combining the distance to the obstacle, the driving data, and the adhesion coefficient when it is determined that there is an obstacle on the driving route of the vehicle; A control module, configured to control the vehicle to start braking at the braking start time.

9. A vehicle, characterized in that, Comprising: The vehicle control system according to claim 8; Or, A processor, a memory, and a vehicle control program stored on the memory and executable on the processor, wherein when the vehicle control program is executed by the processor, it implements the vehicle control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A vehicle control program is stored on the computer-readable storage medium, and when the vehicle control program is executed by the processor, it implements the vehicle control method according to any one of claims 1-7.

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