Vehicle assembly movement control method and device and vehicle

Abstract

The invention discloses a vehicle assembly movement control method and device and a vehicle, the method is applied to a to-be-assembled vehicle, a battery management system and a driving system are deployed in the to-be-assembled vehicle, and the method comprises the steps that under the condition that an assembly movement condition is met, a power-on instruction is sent to the battery management system; the battery management system electrifies the to-be-assembled vehicle according to the electrifying instruction so as to start the to-be-assembled vehicle; according to the driving path between the first assembling station and the second assembling station, sending an advancing instruction to a driving system; the driving system controls the to-be-assembled vehicle to run from the first assembling station to the second assembling station according to the advancing instruction; sending a power-off instruction to the battery management system; and the battery management system cuts off electric connection of the to-be-assembled vehicle according to the power-off instruction, so that the to-be-assembled vehicle can be assembled with at least one vehicle accessory on the second assembly station after being powered off.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to an assembly movement control method, device and vehicle for a vehicle. Background Art

[0002] Currently, in the industry, when a vehicle is assembled on a production line, a spreader, a moving production line or an automatic robot is usually used to move the vehicle between different assembly stations to complete the vehicle assembly work.

[0003] However, this method requires the introduction of external devices such as spreaders, moving production lines and automatic robots, which results in higher complexity and cost of production line construction. Summary of the Invention

[0004] In view of the above problems, this application provides an assembly movement control method, device and vehicle for a vehicle to achieve the purpose of reducing the complexity and cost of production line construction. The specific solutions are as follows:

[0005] In a first aspect of this application, an assembly movement control method for a vehicle is provided, which is applied to a vehicle to be assembled. A battery management system and a drive system are deployed in the vehicle to be assembled. The method includes:

[0006] When the assembly movement condition is met, send a power-on command to the battery management system; the battery management system powers on the vehicle to be assembled according to the power-on command to start the vehicle to be assembled;

[0007] According to the driving path between the first assembly station and the second assembly station, send a travel command to the drive system; the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel command;

[0008] Send a power-off command to the battery management system; the battery management system cuts off the electrical connection of the vehicle to be assembled according to the power-off command, so that the vehicle to be assembled can be assembled with at least one vehicle accessory at the second assembly station after power-off.

[0009] In a possible implementation, when there is a curved path in the driving path, the method further includes:

[0010] Send a steering command to the steering controller deployed in the vehicle to be assembled; the steering controller controls the wheels of the vehicle to be assembled to turn according to the steering command, so that the vehicle to be assembled travels on the curved path.

[0011] In a possible implementation, the steering instruction includes an inner wheel steering angle; the inner wheel steering angle is determined according to curve parameters of the curve path and vehicle parameters of the vehicle to be assembled.

[0012] In a possible implementation, before the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method further includes:

[0013] sending a parking release instruction to a brake system deployed in the vehicle to be assembled; the brake system performs a parking release operation according to the parking release instruction;

[0014] Wherein, after the driving system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method further includes:

[0015] A parking brake command is sent to the brake system; and the brake system performs a parking brake operation according to the parking brake command.

[0016] In a possible implementation, before sending the power-on instruction to the battery management system, the method further includes:

[0017] Sending a first prompt instruction to a body controller deployed in the vehicle to be assembled; the body controller outputs first prompt information according to the first prompt instruction, and the first prompt information is used to prompt that the vehicle to be assembled is about to move;

[0018] Wherein, after the driving system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method further includes:

[0019] A second prompt instruction is sent to the vehicle body controller; the vehicle body controller outputs second prompt information according to the second prompt instruction, and the second prompt information is used to prompt the vehicle to be assembled to stop moving.

[0020] In a possible implementation, the assembly movement condition includes:

[0021] At least receiving the steering state of the lever collected by the body controller deployed in the vehicle to be assembled, and the steering state of the lever indicates that the lever on the vehicle to be assembled is moved toward the target direction for multiple times in succession;

[0022] The assembly movement condition further includes: shielding non-safety faults so that the vehicle to be assembled meets vehicle driving conditions.

[0023] In a possible implementation, the travel instruction includes: a mode control instruction, a driving direction control instruction, a driving speed control instruction, and a driving distance control instruction;

[0024] Among them, the mode control instruction includes a mode parameter, and the mode control instruction is used to instruct the controller in the drive system to control the working mode of the vehicle drive motor according to the mode parameter;

[0025] The driving direction control instruction includes a rotation direction parameter, and the driving direction control instruction is used to instruct the controller in the drive system to control the rotation direction of the vehicle drive motor according to the rotation direction parameter, so that the vehicle to be assembled travels in the driving direction corresponding to the rotation direction parameter;

[0026] The driving speed control instruction includes a rotation speed parameter, and the driving speed control instruction is used to instruct the controller in the drive system to control the rotation speed of the vehicle drive motor according to the rotation speed parameter, so that the vehicle to be assembled travels at the driving speed corresponding to the rotation speed parameter;

[0027] The driving distance control instruction includes a rotation angle parameter, and the driving distance control instruction is used to instruct the controller in the drive system to control the rotation angle of the vehicle drive motor according to the rotation angle parameter, so that the vehicle to be assembled travels the driving distance corresponding to the rotation angle parameter.

[0028] In a possible implementation, the rotation angle parameter is determined based on the length of the travel path and the vehicle parameters of the vehicle to be assembled.

[0029] In a possible implementation, during the process of the vehicle to be assembled traveling from the first assembly station to the second assembly station, the method further includes:

[0030] Obtaining the travel position parameter of the vehicle to be assembled on the travel path collected by the intelligent driving sensor deployed in the vehicle to be assembled;

[0031] Correcting the travel state of the vehicle to be assembled on the travel path according to the travel position parameter.

[0032] In a possible implementation, correcting the travel state of the vehicle to be assembled on the travel path according to the travel position parameter includes at least one of the following:

[0033] Send a first correction instruction to the steering controller deployed in the vehicle to be assembled according to the left-right distance deviation corresponding to the driving position parameter; the steering controller controls the target steering angle of the wheels of the vehicle to be assembled according to the first correction instruction; the left-right distance deviation is: the distance difference between the vehicle to be assembled and both sides of the channel of the driving path.

[0034] Send a second correction instruction to the drive system according to the front-back distance deviation corresponding to the driving position parameter; the drive system controls the vehicle to be assembled to travel a target distance forward or backward according to the second correction instruction; the front-back distance deviation is: the distance difference between the current position of the vehicle to be assembled and the position of the second assembly station.

[0035] A second aspect of the present application provides an assembly movement control device for a vehicle, which is applied to a vehicle to be assembled. A battery management system and a drive system are deployed in the vehicle to be assembled. The device includes:

[0036] A first control unit, configured to send a power-on instruction to the battery management system when the assembly movement condition is satisfied; the battery management system powers on the vehicle to be assembled according to the power-on instruction to start the vehicle to be assembled.

[0037] A second control unit, configured to send a travel instruction to the drive system according to the driving path between the first assembly station and the second assembly station; the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction.

[0038] A third control unit, configured to send a power-off instruction to the battery management system; the battery management system cuts off the electrical connection of the vehicle to be assembled according to the power-off instruction, so that the vehicle to be assembled can be assembled with at least one vehicle accessory at the second assembly station after power-off.

[0039] A third aspect of the present application provides a computer program product, including computer-readable instructions, which, when running on an electronic device, enable the electronic device to implement the vehicle assembly movement control method according to the first aspect or any implementation manner of the first aspect.

[0040] A fourth aspect of the present application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0041] The memory is used to store a computer program;

[0042] The processor is configured to execute the computer program so that the electronic device can implement the vehicle assembly movement control method according to the first aspect or any implementation manner of the first aspect.

[0043] The fifth aspect of the present application provides a computer storage medium carrying one or more computer programs, which can enable an electronic device to execute the vehicle assembly movement control method of the first aspect or any implementation manner of the first aspect when the one or more computer programs are executed by the electronic device.

[0044] The sixth aspect of the present application provides a vehicle, in which a battery management system, a drive system and a vehicle controller are deployed; the vehicle has multiple working modes;

[0045] Wherein, when the vehicle is in the factory mode, the vehicle controller executes the vehicle assembly movement control method described in any one of the above.

[0046] By means of the above technical solutions, in a vehicle assembly movement control method, device and vehicle provided by the present application, when the assembly movement condition is met, a power-on instruction is sent to the battery management system in the vehicle to be assembled, so that the battery management system can power on the vehicle to be assembled according to the power-on instruction. After starting the vehicle to be assembled, according to the driving path between the first assembly station and the second assembly station, a travel instruction is sent to the drive system, so that the drive system can control the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction. Then, a power-off instruction is sent to the battery management system, so that the battery management system can cut off the electrical connection of the vehicle to be assembled according to the power-off instruction, so that at least one vehicle accessory can be assembled on the vehicle to be assembled at the second assembly station after power-off. It can be seen that in the present application, the battery management system and drive system already deployed on the vehicle to be assembled can be used to control the movement of the vehicle between the first assembly station and the second assembly station, without deploying other structures such as lifting appliances on the assembly line, thereby reducing the assembly tools on the assembly line and thus reducing the construction complexity of the assembly line. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0048] Figure 1 It is a flowchart of a vehicle assembly movement control method provided by an embodiment of the present application;

[0049] Figure 2 It is a different example diagram of the vehicle to be assembled in the embodiment of the present application;

[0050] Figure 3 It is an example diagram of the driving path of the vehicle to be assembled in the embodiment of the present application;

[0051] Figure 4 It is another example diagram of the vehicle to be assembled in the embodiment of the present application;

[0052] Figure 5 It is another flowchart of a vehicle assembly movement control method provided in the embodiment of the present application;

[0053] Figure 6 It is another example diagram of the vehicle to be assembled in the embodiment of the present application;

[0054] Figure 7 It is another flowchart of a vehicle assembly movement control method provided in the embodiment of the present application;

[0055] Figure 8 It is another example diagram of the vehicle to be assembled in the embodiment of the present application;

[0056] Figure 9 It is a partial flowchart of a vehicle assembly movement control method provided in the embodiment of the present application;

[0057] Figure 10 It is an example diagram of correction based on the left - right distance deviation in the embodiment of the present application;

[0058] Figure 11 It is an example diagram of correction based on the front - rear distance deviation in the embodiment of the present application;

[0059] Figure 12 It is a schematic structural diagram of a vehicle assembly movement control device provided in the embodiment of the present application;

[0060] Figure 13 It is a schematic diagram of the switching logic between different vehicle modes in the scenario where the present application is applicable to electric vehicles;

[0061] Figure 14 It is an example diagram of the planned path in the scenario where the present application is applicable to electric vehicles;

[0062] Figure 15 It is a block diagram of the automatic driving control system of a vehicle without intelligent driving function in the factory mode in the scenario where the present application is applicable to electric vehicles;

[0063] Figure 16 It is an example diagram of the automatic driving control logic for traveling from assembly station B to assembly station C in the scenario where the present application is applicable to electric vehicles;

[0064] Figure 17 It is an example diagram for calculating the wheel steering angle according to the turning radius when the vehicle to be assembled travels through a curve in the scenario where the present application is applicable to electric vehicles;

[0065] Figure 18 This application is applicable to the block diagram of the automatic driving control system of a vehicle with intelligent driving function in the factory mode in the scenario of an electric vehicle.

[0066] Figure 19 This is an example diagram for a vehicle to achieve lateral correction and longitudinal correction during driving in the scenario of this application applicable to an electric vehicle. Detailed implementation manners

[0067] The embodiments of this application will be described below in conjunction with the accompanying drawings in the embodiments of this application. The terms used in the embodiment part of this application are only used to explain the specific embodiments of this application, rather than intended to limit this application.

[0068] The embodiments of this application will be described below in conjunction with the accompanying drawings. Those of ordinary skill in the art will know that with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are equally applicable to similar technical problems.

[0069] The terms "first", "second", etc. in the specification, claims and the above-mentioned accompanying drawings of this application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinction adopted when describing objects with the same attributes in the embodiments of this application. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion, so that a process, method, system, product or device including a series of units does not have to be limited to those units, but may include other units not clearly listed or inherent to these processes, methods, products or devices.

[0070] Refer to Figure 1 , which is the implementation flowchart of an assembly movement control method for a vehicle provided by an embodiment of this application. This method can be applicable to a vehicle to be assembled, and the vehicle to be assembled can be an electric vehicle to be assembled or a hybrid vehicle with pure electric driving ability. A battery management system and a drive system can be deployed in the vehicle to be assembled. The vehicle to be assembled is in the factory mode. For example, taking an electric vehicle as an example, the method in this embodiment can be applicable to the vehicle controller deployed in the vehicle to be assembled, and the vehicle controller is a controller capable of communicating with other systems or controllers deployed on the vehicle to be assembled. The battery management system is a system capable of starting the vehicle or controlling the vehicle to power off; the drive system is a system capable of driving the vehicle forward, such as a drive system based on an electric motor (i.e., a motor) in an electric vehicle. The technical solution of this embodiment is mainly used to reduce the construction complexity and cost of the vehicle assembly line.

[0071] Specifically, the method in this embodiment may include the following steps:

[0072] Step 101: monitor whether the assembly movement condition is met. If the assembly movement condition is met, execute step 102. If the assembly movement condition is not met, continue to execute step 101.

[0073] Among them, the assembly movement conditions may include: the vehicle to be assembled is in factory mode, and the drive system works normally, and the battery management system is normal, and the brake system is normal, and the steering system is normal, and the lever steering state collected by the body controller is received, and the lever steering state is characterized by: the lever on the vehicle to be assembled is pushed to the target direction N times in a row. N is a positive integer greater than or equal to 3, and the target direction can be set according to the assembly requirements, such as to the left or to the right. Furthermore, the assembly movement conditions also include: the vehicle controller shields non-safety faults so that the vehicle to be assembled meets the vehicle driving conditions, and when the vehicle to be assembled meets the vehicle driving conditions, the vehicle to be driven can drive normally.

[0074] It should be noted that the body control module (BCM) is a controller in the vehicle to be assembled that can collect the steering state of the lever. The body controller transmits the collected steering state of the lever to the vehicle control unit (VCU), and the vehicle control unit determines whether the steering state of the lever indicates that the lever has been moved in the target direction N times in a row.

[0075] The factory mode refers to the mode in which the vehicle is in the production and assembly process. The vehicle enters the factory mode through a combination of operations by a diagnostic instrument or factory personnel. For example, the combination of operations here can be: toggle the left turn lever three times in a row - operate the overtaking light lever three times in a row - step on the brake pedal three times in a row to control the vehicle to enter the factory mode, and the method in this embodiment can be used to control the movement of the vehicle to be assembled.

[0076] Step 102: Send a power-on instruction to the battery management system, and the battery management system powers on the vehicle to be assembled according to the power-on instruction to start the vehicle to be assembled.

[0077] Taking electric vehicles as an example, Figure 2 As shown in the figure, the vehicle controller in the vehicle to be assembled monitors whether the assembly movement conditions are met. If the assembly movement conditions are met, the vehicle controller sends a power-on command to the battery management system BMS (Battery Management System), and the battery management system performs high-voltage power-on on the vehicle to be assembled to start the vehicle to be assembled. After starting the vehicle to be assembled, the battery management system can also feedback the high-voltage status to the vehicle controller.

[0078] Step 103: Send a travel command to the drive system according to the travel path between the first assembly station and the second assembly station, and the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel command.

[0079] Among them, the travel path between the first assembly station and the second assembly station can be a straight path or can include a curved path.

[0080] It should be noted that the travel command can include a mode control command, a travel direction control command, a travel speed control command, and a travel distance control command.

[0081] Among them, the mode control command includes mode parameters, and the mode control command is used to instruct the controller in the drive system to control the working mode of the vehicle power source according to the mode parameters. Taking an electric vehicle as an example, the vehicle power source is the vehicle drive motor in the vehicle to be assembled, the controller in the drive system is the drive motor controller, and the mode control command includes drive motor mode parameters, which are used to instruct the drive motor controller in the drive system to control the working mode of the vehicle drive motor according to the mode parameters.

[0082] The travel direction control command includes a rotation direction parameter, and the travel direction control command is used to instruct the controller in the drive system to control the rotation direction of the vehicle drive system according to the rotation direction parameter, so that the vehicle to be assembled travels in the travel direction corresponding to the rotation direction parameter. Taking an electric vehicle as an example, the travel direction control command is used to instruct the drive motor controller in the drive system to control the rotation direction of the vehicle drive motor, so that the vehicle to be assembled travels in the travel direction corresponding to the rotation direction parameter, such as forward or backward.

[0083] The travel speed control command includes a rotation speed parameter, and the travel speed control command is used to instruct the controller in the drive system to control the rotation speed of the vehicle drive system according to the rotation speed parameter, so that the vehicle to be assembled travels at the travel speed corresponding to the rotation speed parameter. Taking an electric vehicle as an example, the travel speed control command is used to instruct the drive motor controller of the drive system to control the rotation speed of the vehicle drive motor according to the rotation speed parameter, so that the vehicle to be assembled travels at the travel speed corresponding to the rotation speed parameter.

[0084] It should be noted that the rotation speed parameter can be set according to the assembly requirements of the assembly line and is a calibrated value.

[0085] The driving distance control command includes a rotation angle parameter. The driving distance control command is used to instruct the controller in the drive system to control the rotation angle of the vehicle drive system according to the rotation angle parameter, so that the vehicle to be assembled travels according to the driving distance corresponding to the rotation angle parameter. Taking an electric vehicle as an example, the driving distance control command is used to instruct the drive motor controller of the drive system to control the rotation angle of the vehicle drive motor according to the rotation angle parameter, so that the vehicle to be assembled travels according to the driving distance corresponding to the rotation angle parameter. The driving distance is the length of the driving path between the first assembly station and the second assembly station.

[0086] It should be noted that the rotation angle parameter can be determined based on the length of the driving path and the vehicle parameters of the vehicle to be assembled. The vehicle parameters here can include: tire width, flat rate, inner diameter of the tire, correction factor, transmission ratio, etc. The correction factor is a calibration value obtained through experiments according to the weight of the vehicle to be assembled and the tire specifications. The tire width, flat rate, and inner diameter of the tire can be obtained according to the tire specifications. The transmission ratio is the transmission ratio from the output shaft of the drive motor to the wheel, which is an inherent parameter of the vehicle to be assembled.

[0087] Step 104: Send a power-off command to the battery management system. The battery management system cuts off the electrical connection of the vehicle to be assembled according to the power-off command, so that the vehicle to be assembled can be assembled with at least one vehicle accessory at the second assembly station after power-off.

[0088] Taking an electric vehicle as an example, the vehicle controller in the vehicle to be assembled sends a power-off command to the battery management system. The battery management system powers off the vehicle to be assembled to disconnect the high-voltage connection of the vehicle to be assembled, so that the vehicle to be assembled is powered off. In this way, the vehicle to be assembled can be assembled with corresponding vehicle accessories, such as the roof cover, fender, etc. at the second assembly station after power-off.

[0089] By means of the above technical solution, in a method for controlling the assembly movement of a vehicle provided in an embodiment of the present application, when the assembly movement condition is satisfied, a power-on instruction is sent to the battery management system in the vehicle to be assembled. In this way, the battery management system can power on the vehicle to be assembled according to the power-on instruction. After starting the vehicle to be assembled, according to the driving path between the first assembly station and the second assembly station, a traveling instruction is sent to the drive system. Thus, the drive system can control the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the traveling instruction. After that, a power-off instruction is sent to the battery management system, so that the battery management system can cut off the electrical connection of the vehicle to be assembled according to the power-off instruction, so that at least one vehicle fitting can be assembled on the vehicle to be assembled at the second assembly station after power-off. It can be seen that in this embodiment, the battery management system and the drive system already deployed on the vehicle to be assembled can be used to control the movement of the vehicle between the first assembly station and the second assembly station, without deploying other structures such as lifting tools on the assembly line. Therefore, the assembly tools on the assembly line can be reduced, thereby reducing the construction complexity of the assembly line and also reducing the construction cost of the assembly line.

[0090] In one implementation, when there is a curved path in the driving path, the method in this embodiment may further include the following processing:

[0091] Send a steering instruction to the steering controller deployed in the vehicle to be assembled, and the steering controller controls the wheels of the vehicle to be assembled to turn according to the steering instruction, so that the vehicle to be assembled travels on the curved path.

[0092] Among them, the steering controller can control the wheels of the vehicle to be assembled to turn left, turn right or return to the straight position, as Figure 6 shown, so that the vehicle to be assembled can travel on a left or right curved path.

[0093] It should be noted that the steering instruction includes the steering angle of the inner wheel, and the steering angle of the inner wheel is determined according to the curve parameters of the curved path and the vehicle parameters of the vehicle to be assembled.

[0094] Among them, the curve parameters may include the curve radius; the vehicle parameters of the vehicle to be assembled may include the steering center distance and the wheelbase, and the vehicle parameters are inherent vehicle parameters.

[0095] For example, as Figure 3As shown, the driving path includes three straight paths and two curved paths. Before the vehicle to be assembled reaches the first curved path, the vehicle control unit will send corresponding steering instructions to the steering controller. The steering controller controls the wheels of the vehicle to be assembled to turn right according to the steering instructions, so that the vehicle to be assembled travels on this curved path. When the vehicle to be assembled exits the curved path, the steering controller controls the wheels of the vehicle to be assembled to return to the straight position according to the steering instructions, so that the vehicle to be assembled travels on the next straight path. Before the vehicle to be assembled reaches the second curved path, the vehicle control unit sends corresponding steering instructions to the steering controller. The steering controller controls the wheels of the vehicle to be assembled to turn right according to the steering instructions, so that the vehicle to be assembled travels on this curved path. When the vehicle to be assembled exits the curved path, the steering controller controls the wheels of the vehicle to be assembled to return to the straight position according to the steering instructions.

[0096] In one implementation, a braking system is deployed in the vehicle to be assembled, such as a brake controller, as Figure 4 shown, the braking system is used to control the vehicle to be assembled to park. Based on this, before the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instructions, the method in this embodiment may further include the following processes, such as Figure 5 shown:

[0097] Step 105: Send a parking release instruction to the braking system, and the braking system performs a parking release operation according to the parking release instruction.

[0098] Wherein, after the braking system performs a parking release operation according to the parking release instruction, the vehicle to be assembled can travel.

[0099] Based on this, after the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instructions, the method in this embodiment may further include the following processes:

[0100] Step 106: Send a parking brake instruction to the braking system, and the braking system performs a parking brake operation according to the parking brake instruction.

[0101] Wherein, after the braking system performs a parking brake operation according to the parking brake instruction, the vehicle to be assembled can stay stably at the second assembly station.

[0102] In one implementation, a body controller is deployed in the vehicle to be assembled, such as Figure 6 shown, the body controller can be connected to various sensors and output components on the upper body of the vehicle to be assembled, such as horns, hazard warning lights, etc. Based on this, before step 102, the method in this embodiment may further include the following processes, such as Figure 7 shown:

[0103] Step 107: Send a first prompt instruction to the vehicle body controller, and the vehicle body controller outputs a first prompt message according to the first prompt information.

[0104] Among them, the first prompt message is used to prompt that the vehicle to be assembled is about to move forward.

[0105] Specifically, the vehicle body controller can control the horn to sound and control the hazard warning lights to flash to prompt the surrounding people that the vehicle to be assembled is about to move forward, so as to improve safety.

[0106] Based on this, after the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method in this embodiment may further include the following processing:

[0107] Step 108: Send a second prompt instruction to the vehicle body controller, and the vehicle body controller outputs a second prompt message according to the second prompt instruction.

[0108] Among them, the second prompt message is used to prompt the vehicle to be assembled to stop moving forward.

[0109] Specifically, the vehicle body controller can control the horn to sound and turn off the hazard warning lights to prompt the surrounding people that the vehicle to be assembled has stopped moving forward and vehicle accessories can be assembled, so as to improve safety.

[0110] In one implementation, intelligent driving sensors (including a locator, a camera, etc.) are deployed in the vehicle to be assembled. As Figure 8 shown in, the driving sensor can collect the driving position parameters of the vehicle to be assembled on the driving path, and the driving position parameters characterize the specific position of the vehicle to be assembled on the driving path. Based on this, the distance between the vehicle to be assembled and the two sides of the channel of the driving path, the distance between the vehicle to be assembled and the second assembly station, etc. can be obtained. During the process of the vehicle to be assembled traveling from the first assembly station to the second assembly station, the method in this embodiment may further include the following processing, as Figure 9 shown in:

[0111] Step 109: Obtain the driving position parameters of the vehicle to be assembled on the driving path collected by the intelligent driving sensor.

[0112] Step 110: Correct the driving state of the vehicle to be assembled on the driving path according to the driving position parameters.

[0113] Among them, in this embodiment, according to the driving position parameters, it can be determined whether the vehicle to be assembled deviates from the driving path during driving. For example, the vehicle to be assembled has not reached the second assembly station, the vehicle to be assembled has passed the second assembly station, the vehicle to be assembled is to the left of the driving path, the vehicle to be assembled is to the right of the driving path, etc. If the vehicle to be assembled deviates from the driving path during driving, a correction strategy is obtained according to the driving position parameters, and then, according to the correction strategy, the driving state of the vehicle to be assembled on the driving path is corrected.

[0114] Specifically, step 110 may include at least one of the following:

[0115] In one implementation, in step 110, according to the left-right distance deviation corresponding to the driving position parameters, a first correction instruction may be sent to the steering controller deployed in the vehicle to be assembled, and the steering controller controls the steering target angle of the wheels of the vehicle to be assembled according to the first correction instruction.

[0116] Among them, the left-right distance deviation is the distance difference between the vehicle to be assembled and both sides of the channel of the driving path; the target angle may be a fixed angle, or the target angle is determined based on the left-right distance deviation.

[0117] Specifically, in this embodiment, according to the driving position parameters, the first distance between the vehicle to be assembled and the left side of the channel of the driving path and the second distance between the vehicle to be assembled and the right side of the channel of the driving path can be obtained respectively. As Figure 10 shown, then calculate the difference between this first distance and the second distance, that is, the left-right distance deviation;

[0118] Based on this, if the absolute value of the left-right distance deviation is greater than or equal to the first threshold, then a first correction instruction is generated. The first correction instruction includes the corrected steering and target angle, and the corrected steering is determined based on the larger distance between the first distance and the second distance. For example, if the first distance is greater than the second distance, then the corrected steering is a left turn; if the second distance is less than the second distance, then the corrected steering is a right turn.

[0119] If the absolute value of the left-right distance deviation is less than the first threshold, then no first correction instruction is generated, that is, it is not necessary to correct the driving state of the vehicle to be assembled.

[0120] In another implementation, in step 110, according to the front-back distance deviation corresponding to the driving position parameters, a second correction instruction may be sent to the drive system, and the drive system controls the vehicle to be assembled to move forward or backward by a target distance according to the second correction instruction.

[0121] Among them, the front-back distance deviation is the distance difference between the current position of the vehicle to be assembled and the position of the second assembly station. The target distance can be determined based on the front-back distance deviation.

[0122] Specifically, in this embodiment, the distance difference between the current position of the vehicle to be assembled and the position of the second assembly station can be obtained according to the driving position parameter, that is, the front-back distance deviation, as Figure 11 shown. The front-back distance deviation has positive and negative values. When the vehicle to be assembled has not reached the second assembly station, the front-back distance deviation is positive; when the vehicle to be assembled exceeds the second assembly station, the front-back distance deviation is negative.

[0123] Based on this, if the absolute value of the front-back distance deviation is greater than or equal to the second threshold, then a second correction instruction is generated. The second correction instruction includes the traveling direction and the target distance, and the traveling direction is the forward or backward direction; if the absolute value of the front-back distance deviation is less than the second threshold, then no second correction instruction is generated, that is, there is no need to correct the driving state of the vehicle to be assembled.

[0124] Specifically, if the front-back distance deviation is greater than the second threshold, then a second correction instruction is generated. The second correction instruction includes the forward traveling direction and the target distance. Based on this, the drive system controls the vehicle to be assembled to travel forward the target distance according to the second correction instruction; if the front-back distance deviation is less than the negative second threshold, then a second correction instruction is generated. The second correction instruction includes the backward traveling direction and the target distance. Based on this, the drive system controls the vehicle to be assembled to travel backward the target distance according to the second correction instruction.

[0125] It should be noted that steps 109 and 110 can be continuously executed during the process of the vehicle to be assembled traveling from the first assembly station to the second assembly station. Thus, as the vehicle to be assembled travels, the driving state of the vehicle to be assembled is corrected in real time; or, steps 109 and 110 can also be executed only when the vehicle to be assembled travels to the second assembly station (that is, when the feedback angle of the motor controller is equal to the requested angle of the vehicle controller). Thus, the position of the vehicle to be assembled is corrected when the vehicle to be assembled travels to the second assembly station.

[0126] Refer to Figure 12 , which is a schematic structural diagram of an assembly movement control device for a vehicle provided by an embodiment of the present application. This device can be deployed in the vehicle to be assembled, such as Figure 2 the vehicle controller in. The vehicle to be assembled is deployed with a battery management system and a drive system, such as Figure 2 shown. This device can include the following units:

[0127] The first control unit 1201 is configured to send a power-on instruction to the battery management system when the assembly movement condition is met; the battery management system powers on the vehicle to be assembled according to the power-on instruction to start the vehicle to be assembled;

[0128] A second control unit 1202, configured to send a travel command to the drive system according to the travel path between the first assembly station and the second assembly station; the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel command;

[0129] A third control unit 1203, configured to send a power-off command to the battery management system; the battery management system cuts off the electrical connection of the vehicle to be assembled according to the power-off command, so that at least one vehicle accessory can be assembled on the vehicle to be assembled at the second assembly station after power-off.

[0130] By means of the above technical solution, in an assembly movement control device of a vehicle provided in the present application, when the assembly movement condition is satisfied, a power-on command is sent to the battery management system in the vehicle to be assembled, so that the battery management system can power on the vehicle to be assembled according to the power-on command. After starting the vehicle to be assembled, according to the travel path between the first assembly station and the second assembly station, a travel command is sent to the drive system, so that the drive system can control the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel command. Then, a power-off command is sent to the battery management system, so that the battery management system can cut off the electrical connection of the vehicle to be assembled according to the power-off command, so that at least one vehicle accessory can be assembled on the vehicle to be assembled at the second assembly station after power-off. It can be seen that in this embodiment, the battery management system and the drive system already deployed on the vehicle to be assembled can be used to control the movement of the vehicle between the first assembly station and the second assembly station, without deploying other structures such as lifting appliances on the assembly line, thereby reducing the assembly tools on the assembly line, and thus reducing the construction complexity and cost of the assembly line.

[0131] In one implementation, when there is a curved path in the travel path, the second control unit 1202 is further configured to: send a steering command to the steering controller deployed in the vehicle to be assembled; the steering controller controls the wheels of the vehicle to be assembled to turn according to the steering command, so that the vehicle to be assembled travels on the curved path.

[0132] Wherein, the steering command includes an inner wheel steering angle; the inner wheel steering angle is determined according to the curve parameters of the curved path and the vehicle parameters of the vehicle to be assembled.

[0133] In one implementation, before the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel command, the second control unit 1202 is further configured to: send a parking release command to the braking system deployed in the vehicle to be assembled; the braking system performs a parking release operation according to the parking release command;

[0134] After the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the second control unit 1202 is further configured to: send a parking brake instruction to the braking system; and the braking system performs a parking brake operation according to the parking brake instruction.

[0135] In one implementation, before the first control unit 1201 sends a power-on instruction to the battery management system, it is further configured to: send a first prompt instruction to the body controller deployed in the vehicle to be assembled; and the body controller outputs a first prompt message according to the first prompt instruction, and the first prompt message is used to prompt that the vehicle to be assembled is about to travel.

[0136] After the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the third control unit 1203 is further configured to: send a second prompt instruction to the body controller; and the body controller outputs a second prompt message according to the second prompt instruction, and the second prompt message is used to prompt that the vehicle to be assembled stops traveling.

[0137] In one implementation, the travel instruction includes: a mode control instruction, a travel direction control instruction, a travel speed control instruction, and a travel distance control instruction.

[0138] The mode control instruction includes a mode parameter, and the mode control instruction is used to instruct the controller in the drive system to control the working mode of the vehicle drive motor according to the mode parameter.

[0139] The travel direction control instruction includes a rotation direction parameter, and the travel direction control instruction is used to instruct the controller in the drive system to control the rotation direction of the vehicle drive motor according to the rotation direction parameter, so that the vehicle to be assembled travels in the travel direction corresponding to the rotation direction parameter.

[0140] The travel speed control instruction includes a rotation speed parameter, and the travel speed control instruction is used to instruct the controller in the drive system to control the rotation speed of the vehicle drive motor according to the rotation speed parameter, so that the vehicle to be assembled travels at the travel speed corresponding to the rotation speed parameter.

[0141] The travel distance control instruction includes a rotation angle parameter, and the travel distance control instruction is used to instruct the controller in the drive system to control the rotation angle of the vehicle drive motor according to the rotation angle parameter, so that the vehicle to be assembled travels the travel distance corresponding to the rotation angle parameter.

[0142] Wherein, the rotation angle parameter is determined based on the length of the driving path and the vehicle parameters of the vehicle to be assembled.

[0143] In one implementation, during the process of the vehicle to be assembled driving from the first assembly station to the second assembly station, the second control unit 1202 is further configured to: obtain the driving position parameters of the vehicle to be assembled on the driving path collected by the intelligent driving sensors deployed in the vehicle to be assembled; correct the driving state of the vehicle to be assembled on the driving path according to the driving position parameters.

[0144] Wherein, when the second control unit 1202 corrects the driving state of the vehicle to be assembled on the driving path according to the driving position parameters, it includes at least one of the following:

[0145] Send a first correction instruction to the steering controller deployed in the vehicle to be assembled according to the left-right distance deviation corresponding to the driving position parameters; the steering controller controls the steering target angle of the wheels of the vehicle to be assembled according to the first correction instruction; the left-right distance deviation is: the distance difference between the vehicle to be assembled and the two sides of the channel of the driving path;

[0146] Send a second correction instruction to the drive system according to the front-back distance deviation corresponding to the driving position parameters; the drive system controls the vehicle to be assembled to move forward or backward a target distance according to the second correction instruction; the front-back distance deviation is: the distance difference between the current position of the vehicle to be assembled and the position of the second assembly station.

[0147] It should be noted that the specific implementation of each unit in this embodiment can refer to the corresponding content in the foregoing, and will not be elaborated here.

[0148] An embodiment of the present application further provides a computer program product, including computer-readable instructions, which when running on an electronic device, cause the electronic device to implement any vehicle assembly movement control method provided by the embodiment of the present application.

[0149] An embodiment of the present application further provides a computer-readable storage medium, which carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, can cause the electronic device to implement any vehicle assembly movement control method provided by the embodiment of the present application.

[0150] An embodiment of the present application further provides a vehicle controller, which is deployed in the vehicle to be assembled, as Figure 2 shown, a battery management system and a drive system are deployed in the vehicle to be assembled, and the vehicle controller is configured to execute any vehicle assembly movement control method described in the foregoing embodiments.

[0151] The embodiments of the present application also provide a vehicle, such as Figure 2 the to-be-assembled vehicle shown in the figure. A battery management system, a drive system, and a vehicle controller are deployed in the vehicle; the vehicle has multiple working modes, such as factory mode, transportation mode, exhibition hall mode, user mode, collision mode, etc.

[0152] Among them, when the vehicle is in the factory mode, the vehicle controller executes the assembly movement control method of a vehicle described in any of the above embodiments.

[0153] Taking an electric vehicle as an example, the technical solution of the present application will be described in detail below:

[0154] The present application proposes a vehicle mode control strategy applied to the assembly of electric vehicle production lines, which can realize the transfer between different assembly stations of the production line by relying on the vehicle's own system without relying on external devices.

[0155] The electric vehicle drive system consists of a drive motor and a drive motor controller, and is powered by a high-voltage battery system (the power-on and power-off management is performed by the battery management system). At the same time, the steering system (such as a steering controller) and the braking system (such as a braking controller) can both achieve electronic control. Therefore, the vehicle has the ability to drive after the assembly of the drive system, high-voltage battery system, steering system, and braking system is completed. At the same time, the power system of the electric vehicle has been electrified, and no noise or exhaust gas will be generated when driving in a closed factory building, which will not have a harmful impact on assembly workers and the assembly environment.

[0156] The assembly of electric vehicles belongs to a special application scenario, and there are obvious differences between the functional requirements and daily applications. Therefore, a separate vehicle mode is set for the vehicle at the vehicle level. To ensure that the vehicle will not accidentally enter this factory mode in other scenarios and affect the normal use of the vehicle, the present application also develops a vehicle mode management strategy for the vehicle throughout its life cycle.

[0157] 1. Vehicle mode management throughout the life cycle:

[0158] Electric vehicles need to face various scenarios such as production, transportation, display, use, and collision throughout their life cycle. Each scenario has different special requirements for the vehicle. Therefore, different vehicle modes are set for the vehicle at the vehicle level to meet the requirements of different scenarios. The vehicle modes are defined as follows, and a total of 5 modes are set for the vehicle.

[0159] 1) Factory mode: The mode in which the vehicle is in the production and assembly process;

[0160] 2) Transportation mode: The mode in which the vehicle is in the process of being transported to a repair shop or delivered to a customer after coming off the production line;

[0161] 3) Exhibition Hall Mode: The mode in which the vehicle is in static display during the sales process;

[0162] 4) User Mode: The mode in which the vehicle is normally used after being delivered to the customer;

[0163] 5) Collision Mode: The safety mode that the vehicle enters after a collision.

[0164] Different vehicle modes have different requirements for the vehicle's functions. Typical functional requirements are as follows.

[0165] 1) Factory Mode: Travel at low speed and move forward by itself, with the driving route precisely controllable, shielding the influence of uninstalled components;

[0166] 2) Transportation Mode: The vehicle drives for a short distance and automatically enters the low-power state after parking;

[0167] 3) Exhibition Hall Mode: Static functions such as the vehicle's air conditioner, seats, and lights are available, and vehicle movement is prohibited;

[0168] 4) User Mode: All functions of the vehicle are available;

[0169] 5) Collision Mode: The vehicle cuts off the high-voltage circuit and gives a warning.

[0170] Different vehicle modes correspond to different application scenarios and different user groups. Considering the convenience and safety of switching comprehensively, the switching logic between different vehicle modes is set, as detailed Figure 13 as shown below.

[0171] 1) Switching from Factory Mode to Transportation Mode: After the vehicle completes the off-line inspection, the inspection personnel can switch the vehicle to the transportation mode through the diagnostic instrument and deliver it to the transportation personnel. At the same time, considering the operation convenience, the inspection personnel can also complete the switching from factory mode to transportation mode through combined operation 1, such as toggling the left turn signal lever 3 times continuously - operating the passing lamp lever 3 times continuously - stepping on the brake pedal 3 times continuously. The combined operation 1 process is only open to factory personnel.

[0172] 2) Switching from Transportation Mode to Factory Mode: When the vehicle needs to return to the factory for repair, the factory personnel switch it to the factory mode through the diagnostic instrument or combined operation 1. The combined operation 1 process is only open to factory personnel.

[0173] 3) Switching from Factory Mode to User Mode: After the vehicle passes the off-line inspection, if it needs to be directly delivered to the customer, the factory personnel can complete the vehicle mode switching through the detector or combined operation 5. The combined operation 5 process is only open to factory personnel.

[0174] 4) User mode switching to factory mode: When the vehicle needs to be returned to the factory for repair, factory personnel can switch it to factory mode through a diagnostic instrument or combined operation 5. The combined operation 5 process is only open to factory personnel.

[0175] 5) Transportation mode switching to showroom mode: When the vehicle is delivered to the repair shop after transportation, the salesperson can switch the vehicle mode to showroom mode through a diagnostic instrument or combined operation 2. The combined operation 2 process is only open to salespersons.

[0176] 6) Showroom mode switching to transportation mode: When the vehicle needs to be consigned for delivery or returned to the factory for repair, the salesperson can switch the vehicle mode to transportation mode through a diagnostic instrument or combined operation 2. The combined operation 2 process is only open to salespersons.

[0177] 7) Transportation mode switching to user mode: When the vehicle is delivered to the user by consignment, the transporter can switch the vehicle mode to user mode through a diagnostic instrument, or the transporter / user can do so through combined operation 4. The combined operation 4 process is only open to transporters and users.

[0178] 8) User mode switching to transportation mode: When the vehicle needs to be consigned, the transporter can switch the vehicle mode to transportation mode through a diagnostic instrument, or the transporter / user can do so through combined operation 4. The combined operation 4 process is only open to transporters and users.

[0179] 9) Showroom mode switching to user mode: When the vehicle is delivered to the customer at the repair shop or needs to be test-driven, the salesperson can switch the vehicle mode to user mode through a diagnostic instrument or combined operation 3. The combined operation 3 process is only open to salespersons.

[0180] 10) User mode switching to showroom mode: When the vehicle has completed a test drive or needs static maintenance, the salesperson can switch the vehicle mode to showroom mode through a diagnostic instrument or combined operation 3. The combined operation 3 process is only open to salespersons.

[0181] 11) Any mode switching to collision mode: When a collision accident is detected in any mode of the vehicle, it will automatically switch to collision mode, including but not limited to performing high-voltage power-off, disabling the motor, and turning on the hazard warning lights and other safety measures.

[0182] 12) Collision mode switching to factory mode: After the vehicle has a collision, it must be switched to factory mode through a diagnostic instrument after the maintenance personnel have eliminated the safety faults.

[0183] The switching of vehicle modes and the function control under different modes are the responsibility of the vehicle control unit (VCU). When the VCU is powered on for the first time, it defaults to the factory mode, and other vehicle control units do not need to switch modes. For the development work of vehicle control strategies, no changes are required for other control units except the VCU, which will not significantly increase the development difficulty and workload.

[0184] 2. Automatic driving control in factory mode:

[0185] After the vehicle enters the factory mode, automatic driving control needs to be carried out according to the assembly requirements. As Figure 14 shown, after the vehicle completes the assembly work of this process at assembly station A (positioning point A) and is confirmed by the assembly personnel, the vehicle needs to drive to assembly station B (positioning point B) along the planned path (i.e., the production line transfer path) and stop and power off. After the vehicle completes the assembly work of this process at assembly station B and is confirmed by the assembly personnel, the vehicle needs to drive to assembly station C (positioning point C) and assembly station D (positioning point D) along the planned path. During this process, it also involves the positioning points R1, R2, R3, and R4 corresponding to the curved path. According to whether the vehicle has intelligent driving functions, this application proposes two embodiments, corresponding to vehicles without intelligent driving functions and vehicles with intelligent driving functions respectively.

[0186] 2.1 Embodiment 1: Automatic driving control in factory mode for vehicles without intelligent driving functions:

[0187] Vehicles without intelligent driving functions can perform operations such as driving, parking, and turning on a fixed path during automatic driving on the production line. The block diagram of the automatic driving control system for vehicles without intelligent driving functions in factory mode is as Figure 15As shown, the control architecture between the vehicle networking system T-BOX (Telematics BOX) and the vehicle control unit VCU and other controllers such as BMS, motor control unit MCU (Motor Control Unit), electric power steering EPS, integrated power brake IPB, and BCM. The T-BOX updates control parameters to the VCU, and the VCU feeds back the vehicle position and status to the T-BOX; the VCU requests power-on and power-off of high voltage from the BMS, and the BMS feeds back the high-voltage power-on / off status and SOX information to the VCU; the VCU sends the motor working mode, motor rotation direction, motor speed, motor rotation angle, etc. to the MCU, and the MCU controls the motor to work and feeds back the motor working mode, motor rotation direction, motor speed, motor rotation angle to the VCU; the VCU sends a wheel angle control request to the EPS, and the EPS controls the wheel steering and feeds back the wheel angle to the VCU; the VCU sends a parking brake request to the IPB, and the IPB controls vehicle braking or brake release, and the IPB feeds back the braking status to the VCU; the VCU sends a control request for the horn or warning light to the BCM, and the BCM sends the steering lever status to the VCU.

[0188] Taking the vehicle driving from assembly station B to assembly station C as an example to illustrate the automatic driving control logic, the driving path is as Figure 16 shown, which includes L2, L3, L4, L5, L6.

[0189] 1) After the vehicle is assembled at assembly station B, the assembly worker notifies the vehicle to drive to the next assembly station C by toggling the left steering lever three times continuously;

[0190] 2) The body control module (BCM) analyzes the steering lever status and sends it to the vehicle control unit (VCU);

[0191] 3) After receiving the steering lever information three times continuously, the vehicle control unit (VCU) determines that the vehicle has completed the assembly at this station and needs to drive to the next station C. At this time, the VCU needs to perform inspections before the vehicle drives. It should be noted that since the vehicle is still in the assembly process at this time and some components and hardware are missing, the VCU needs to mask non-safety-related faults, such as communication loss faults, etc.;

[0192] 4) When the vehicle control unit (VCU) determines that the vehicle meets the driving requirements (i.e., the assembly movement condition is met in the previous text), it requests the body control module (BCM) to sound the horn and activate the hazard warning light (i.e., send the first prompt instruction to the body control module in the previous text), and requests the battery management system (BMS) to perform high-voltage power-on (i.e., send the power-on instruction to the battery management system);

[0193] 5) After receiving the first prompt instruction from the vehicle control unit (VCU), the body control module (BCM) sounds the horn as a warning and simultaneously turns on the hazard warning lights to inform the surrounding people that the vehicle is about to move; the battery management system (BMS) completes the high-voltage power-on according to the power-on instruction sent by the vehicle control unit (VCU) and feeds back the high-voltage status to the vehicle control unit (VCU).

[0194] 6) After the vehicle control unit (VCU) detects that the high-voltage power-on of the whole vehicle is completed, it requests the intelligent power brake (IPB) to release the parking brake (that is: send a parking brake release instruction to the braking system as mentioned above).

[0195] 7) The intelligent power brake (IPB) completes the parking brake release according to the parking brake release instruction sent by the vehicle control unit (VCU).

[0196] 8) After the vehicle control unit (VCU) detects the release of the parking brake, it performs segmented control according to the pre-planned driving path (that is: send a driving instruction to the drive system as mentioned above), specifically including: sending control instructions for the corner control mode (controlling the working mode of the motor), rotation direction (controlling the driving direction of the vehicle, such as the front-back direction), rotation speed (controlling the driving speed of the vehicle), and rotation angle (controlling the driving distance of the vehicle) to the motor control unit (MCU), and sending a steering instruction (used to control the driving direction of the vehicle, such as the left-right direction) to the electric power steering (EPS) (that is: send a steering instruction to the steering controller as mentioned above).

[0197] The following briefly describes the segmented control logics:

[0198] L2 segment control logic: Control the motor to rotate at a constant speed; keep the wheels in the straight-ahead position.

[0199] L3 segment control logic: Control the motor to rotate at a constant speed; when the front wheels reach the bend entrance of the positioning point R1, request the wheels to turn right by a preset fixed angle δF1, and when the front wheels reach the bend exit of the positioning point 2, control the steering wheel to return to the straight-ahead position.

[0200] L4 segment control logic: Control the motor to rotate at a constant speed; keep the wheels in the straight-ahead position.

[0201] L5 segment control logic: Control the motor to rotate at a constant speed; when the front wheels reach the bend entrance of the positioning point R3, request the wheels to turn right by a preset fixed angle δF2, and when the front wheels reach the bend exit of the positioning point 4, control the steering wheel to return to the straight-ahead position.

[0202] L6 segment control logic: Control the motor to rotate at a constant speed, and stop the motor drive request when the front wheels reach the positioning point C; keep the wheels in the straight-ahead position.

[0203] 9) The motor controller (MCU) drives the motor to act according to the driving instruction sent by the vehicle controller (VCU) and feeds back the motor status. The steering controller (EPS) completes the steering operation according to the steering instruction sent by the vehicle controller (VCU) and feeds back the steering status;

[0204] 10) The vehicle controller (VCU) monitors the operating status of the motor and judges the vehicle driving path according to the motor running angle. For example, when it is judged that the vehicle is driving through a curve, it requests the steering controller (EPS) to drive the wheels to return to the straight position; when it is judged that the vehicle has traveled to the next fixed point, it requests the drive motor (MCU) to stop running, requests the brake controller (IPB) to pull up the parking brake (i.e., sending the parking brake instruction to the braking system in the previous text), and requests the body controller (BCM) to sound the horn for warning and turn off the hazard warning lights (i.e., sending the second prompt instruction to the body controller);

[0205] 11) The steering controller (EPS) drives the wheels to return to the straight position according to the return-to-straight instruction (a part of the steering instruction) sent by the vehicle controller (VCU). The drive motor (MCU) stops motor drive according to the stop instruction (a part of the driving instruction) sent by the vehicle controller (VCU). The brake controller (IPB) pulls up the parking brake according to the parking brake instruction sent by the vehicle controller (VCU). The body controller (BCM) sounds the horn for warning and turns off the hazard warning lights according to the second prompt instruction sent by the vehicle controller (VCU);

[0206] 12) After the vehicle controller (VCU) detects that the vehicle has stopped, it requests the battery management system (BMS) to cut off the high-voltage connection of the whole vehicle (i.e., sending the power-off instruction to the battery management system in the previous text);

[0207] 13) The battery management system (BMS) controls the disconnection of the high-voltage circuit according to the power-off instruction of the vehicle controller (VCU);

[0208] 14) The vehicle completes the automatic driving from assembly station B to assembly station C.

[0209] Since the vehicle does not have intelligent driving sensors such as cameras and radars, it does not have the ability of adaptive adjustment. Therefore, path information, vehicle parameters and control parameters need to be preset in the vehicle controller (VCU), including the distance between adjacent fixed points, tire specifications, motor rotation speed, steering angle of each wheel at each curve, etc. The vehicle driving path planning is as Figure 16 shown. A fixed point is preset in advance at each station and at the entrance and exit of each curve, and the distance between two adjacent fixed points is measured. Calculate the motor rotation angle according to the tire parameters. The calculation process is as follows:

[0210] (1) Calculate the static radius r of the tire, as shown in formula (1):

[0211] r = (tire width × aspect ratio × 2 + inner diameter of tire × 25.4) / 2 (1)

[0212] Among them, the parameters of tire width, aspect ratio and inner diameter of tire can be obtained according to the tire specifications.

[0213] (2) Calculate the rolling radius R of the tire, as shown in formula (2):

[0214] After the tire is installed on the actual vehicle, due to the vertical load, the rolling radius of the tire is less than the static radius, so correction is required:

[0215] R = r * α (2)

[0216] Among them, α is the correction coefficient, specifically the calibration value obtained according to the weight of the vehicle to be assembled, tire specifications and experiments under standard inflation pressure.

[0217] (3) Calculate the rotation angle n of the motor, as shown in formula (3) and formula (4):

[0218] n = L / (2πR) × 360° × η (3)

[0219] n = L / R × η

[0220] Among them, L is the driving distance, obtained by actual measurement, representing the distance between the positioning points of two adjacent assembly stations. η is the transmission ratio from the output shaft of the motor to the wheel, and η is an inherent parameter of the vehicle.

[0221] Among them, the rotation direction of the motor takes the steering of the output shaft when the vehicle is moving forward as the positive rotation direction, and this parameter is determined by the overall vehicle layout.

[0222] The rotation speed parameter of the motor is a calibrated value and can be adjusted according to the production rhythm of the production line. If adjustment is required, the vehicle moving speed information can be updated through the production background via the remote communication terminal (T - BOX).

[0223] When the vehicle to be assembled is driving on a curve, the steering angle of the wheel needs to be calculated according to the turning radius. As Figure 17 shown, when selecting the steering, the inner wheel is taken as the control object, and the steering angle δFi of the inner wheel is calculated as shown in formula (5):

[0224] cotδFi = (ρH - SL / 2) / D (5)

[0225] Among them: ρH is the turning radius, an inherent parameter determined by the driving path in the workshop; SL is the steering center distance, and D is the wheelbase, both of which are inherent parameters of the vehicle.

[0226] In this embodiment, the vehicle to be assembled can achieve automatic driving control according to assembly requirements without relying on external devices. If changes are needed in the production rhythm or production line planning, the following parameters can be updated through the production background via the Telematics Box (T-BOX): motor rotation speed, distance L between adjacent assembly stations, turning radius ρH, tire parameters, etc., to quickly adjust the assembly requirements.

[0227] 2.2 Embodiment 2: Automatic driving control in factory mode for vehicles with intelligent driving functions:

[0228] As intelligent driving functions become increasingly mature, more and more vehicles are equipped with intelligent driving functions. Sensors such as cameras and radars in the intelligent driving system can detect the distances between the vehicle and the edges of the production line driving channels and positioning points to achieve precise parking. Based on Embodiment 1, the vehicle automatic driving control strategy can be further optimized.

[0229] The main control strategy of Embodiment 2 is basically the same as that of Embodiment 1. In Embodiment 2, the automatic correction part is mainly described, and the same parts will not be elaborated again. The block diagram of the automatic driving control system for vehicles with intelligent driving functions in factory mode is as Figure 18 shown. Among them, the T-BOX updates control parameters to the VCU, and the VCU feeds back the vehicle position and status to the T-BOX; the VCU requests the power-on and power-off of high voltage from the BMS, and the BMS feeds back the battery SOC, SOP, and T information to the VCU; the VCU sends the motor rotation direction and angle, etc., to the MCU, and the MCU feeds back the motor torque, speed, and rotation angle to the VCU; the VCU sends a wheel steering angle control request to the EPS, and the EPS controls the wheel steering and feeds back the wheel steering angle to the VCU; the VCU sends a parking brake request or a driving brake request to the IPB, and the IPB controls the vehicle braking or brake release, and the IPB feeds back the braking state to the VCU; the VCU sends a control request for the horn or warning light to the BCM, and the BCM sends the steering lever state to the VCU; the intelligent driving system ADS (Advanced Driving System) sends the distances from both sides of the channel and the distance from the positioning point to the VCU.

[0230] Taking straight-line driving as an example, during the driving process, the vehicle can detect the distances between the vehicle and both sides of the driving channel through the camera or radar and identify the positioning points, as Figure 19 shown, such as from positioning point A to positioning point B, and then to positioning point C.

[0231] Lateral correction:

[0232] 1) The vehicle intelligent driving system (ADS) continuously detects the distances d1 and d2 between the centers of the left and right wheels and both sides of the driving channel in real time and feeds them back to the vehicle controller unit (VCU);

[0233] 2) The vehicle control unit (VCU) performs lateral correction based on the relationship between d1 and d2, and the correction strategy is as follows:

[0234] If |d1 - d2| < a (i.e., the first threshold), it means the vehicle driving path is normal and no correction is required;

[0235] If d1 - d2 < -a, it means the vehicle driving path is to the left, and the vehicle needs to be corrected to the right;

[0236] If d1 - d2 > a, it means the vehicle driving path is to the right, and the vehicle needs to be corrected to the left.

[0237] d1 - d2 is the left - right distance deviation in the previous text.

[0238] 3) The vehicle control unit (VCU) requests the electric power steering (EPS) to rotate left / right by a fixed angle according to the above correction strategy, and requests the wheels to return to the straight position after the correction is completed.

[0239] Longitudinal correction:

[0240] 1) The vehicle intelligent driving system continuously detects the distance c of the front axle center distance positioning point (i.e., the front - rear distance deviation in the previous text) and feeds it back to the vehicle control unit (VCU);

[0241] 2) The vehicle control unit (VCU) performs longitudinal correction according to the magnitude of c, and the correction strategy is as follows:

[0242] If c < the longitudinal allowable deviation c1 and the motor controller feedback angle is equal to the vehicle control unit request angle, no correction is required;

[0243] If c > the longitudinal allowable deviation c1 and the motor controller feedback angle is equal to the vehicle control unit request angle, the vehicle needs to move forward until c is less than c1, and then the vehicle stops;

[0244] If c < 0 and the motor controller feedback angle is equal to the vehicle control unit request angle, the vehicle needs to stop immediately;

[0245] 3) The vehicle control unit (VCU) requests the motor control unit (MCU) and the integrated power brake (IPB) to perform drive and stop control according to the above correction strategy.

[0246] In addition, it should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided in this application, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines.

[0247] Through the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general hardware. Of course, it can also be implemented by dedicated hardware, including application-specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. Generally, functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures for implementing the same function can also be various, such as analog circuits, digital circuits, or dedicated circuits. However, for this application, software program implementation is a better implementation method in more cases. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disc of a computer, and includes several instructions to enable a computer device (which can be a personal computer, training device, or network device, etc.) to execute the methods described in various embodiments of this application.

[0248] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product.

[0249] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

Claims

1. An assembly movement control method for a vehicle, characterized in that, Applied to a vehicle to be assembled, wherein a battery management system and a drive system are deployed in the vehicle to be assembled, the method comprises: When the assembly movement condition is met, a power-on instruction is sent to the battery management system; the battery management system powers on the vehicle to be assembled according to the power-on instruction to start the vehicle to be assembled; According to the driving path between the first assembly station and the second assembly station, a travel instruction is sent to the drive system; the drive system controls the to-be-assembled vehicle to travel from the first assembly station to the second assembly station according to the travel instruction; A power-off instruction is sent to the battery management system; the battery management system cuts off the electrical connection of the vehicle to be assembled according to the power-off instruction, so that the vehicle to be assembled can be assembled with at least one vehicle accessory at the second assembly station after being powered off.

2. The method according to claim 1, characterized in that, In the case where there is a curved path in the driving path, the method further includes: Sending a steering instruction to a steering controller deployed in the vehicle to be assembled; the steering controller controls the steering of the wheels of the vehicle to be assembled according to the steering instruction, so that the vehicle to be assembled moves on the curved path; The steering instruction includes an inner wheel steering angle; the inner wheel steering angle is determined according to the curve parameters of the curve path and the vehicle parameters of the vehicle to be assembled.

3. The method according to claim 1, wherein Before the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method further includes: sending a parking release instruction to a brake system deployed in the vehicle to be assembled; the brake system performs a parking release operation according to the parking release instruction; Wherein, after the driving system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method further includes: A parking brake command is sent to the brake system; and the brake system performs a parking brake operation according to the parking brake command.

4. The method according to claim 1, characterized in that, Before sending the power-on instruction to the battery management system, the method further includes: Sending a first prompt instruction to a body controller deployed in the vehicle to be assembled; the body controller outputs first prompt information according to the first prompt instruction, and the first prompt information is used to prompt that the vehicle to be assembled is about to move; Wherein, after the driving system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction, the method further includes: A second prompt instruction is sent to the vehicle body controller; the vehicle body controller outputs second prompt information according to the second prompt instruction, and the second prompt information is used to prompt the vehicle to be assembled to stop moving.

5. The method according to claim 1, wherein The assembly movement conditions include: At least receiving the steering state of the lever collected by the body controller deployed in the vehicle to be assembled, and the steering state of the lever indicates that the lever on the vehicle to be assembled is repeatedly moved toward the target direction; The assembly movement condition further includes: shielding non-safety faults so that the vehicle to be assembled meets vehicle driving conditions.

6. The method according to claim 1 or 2, characterized in that, The travel instruction includes: a mode control instruction, a travel direction control instruction, a travel speed control instruction, and a travel distance control instruction; Among them, the mode control instruction includes a mode parameter, and the mode control instruction is used to instruct the controller in the drive system to control the working mode of the vehicle drive motor according to the mode parameter; The travel direction control instruction includes a rotation direction parameter, and the travel direction control instruction is used to instruct the controller in the drive system to control the rotation direction of the vehicle drive motor according to the rotation direction parameter, so that the vehicle to be assembled travels in the travel direction corresponding to the rotation direction parameter; The travel speed control instruction includes a rotation speed parameter, and the travel speed control instruction is used to instruct the controller in the drive system to control the rotation speed of the vehicle drive motor according to the rotation speed parameter, so that the vehicle to be assembled travels at the travel speed corresponding to the rotation speed parameter; The travel distance control instruction includes a rotation angle parameter, and the travel distance control instruction is used to instruct the controller in the drive system to control the rotation angle of the vehicle drive motor according to the rotation angle parameter, so that the vehicle to be assembled travels the travel distance corresponding to the rotation angle parameter; Among them, the rotation angle parameter is determined based on the length of the travel path and the vehicle parameters of the vehicle to be assembled.

7. The method according to claim 1 or 2, characterized in that, During the process of the vehicle to be assembled traveling from the first assembly station to the second assembly station, the method further includes: Obtaining the travel position parameter of the vehicle to be assembled on the travel path collected by the intelligent driving sensor deployed in the vehicle to be assembled; Correcting the travel state of the vehicle to be assembled on the travel path according to the travel position parameter.

8. The method according to claim 7, wherein Correcting the travel state of the vehicle to be assembled on the travel path according to the travel position parameter includes at least one of the following: Sending a first correction instruction to the steering controller deployed in the vehicle to be assembled according to the left-right distance deviation corresponding to the travel position parameter; the steering controller controls the steering target angle of the wheels of the vehicle to be assembled according to the first correction instruction; the left-right distance deviation is: the distance difference between the vehicle to be assembled and the two sides of the channel of the travel path; Sending a second correction instruction to the drive system according to the front-back distance deviation corresponding to the travel position parameter; the drive system controls the vehicle to be assembled to travel forward or backward the target distance according to the second correction instruction; the front-back distance deviation is: the distance difference between the current position of the vehicle to be assembled and the position of the second assembly station.

9. An assembly movement control device for a vehicle, characterized in that, Applied to a vehicle to be assembled, a battery management system and a drive system are deployed in the vehicle to be assembled, and the device includes: A first control unit, configured to send a power-on instruction to the battery management system when the assembly movement condition is satisfied; the battery management system powers on the vehicle to be assembled according to the power-on instruction to start the vehicle to be assembled; The second control unit is configured to send a travel instruction to the drive system according to the travel path between the first assembly station and the second assembly station; the drive system controls the vehicle to be assembled to travel from the first assembly station to the second assembly station according to the travel instruction; The third control unit is configured to send a power-off instruction to the battery management system; the battery management system cuts off the electrical connection of the vehicle to be assembled according to the power-off instruction, so that at least one vehicle accessory can be assembled on the vehicle to be assembled at the second assembly station after power-off.

10. A vehicle, characterized in that, A battery management system, a drive system and a vehicle controller are deployed in the vehicle; the vehicle has multiple working modes; Wherein, when the vehicle is in the factory mode, the vehicle controller executes the vehicle assembly movement control method according to any one of claims 1 to 8 above.

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