Vehicle driving control method and device, vehicle, electronic equipment and storage medium

Abstract

The invention discloses a vehicle driving control method and device, a vehicle, electronic equipment and a storage medium, and relates to the technical field of vehicles. The vehicle driving control method comprises the steps that the system target torque of the vehicle is obtained; carrying out delay compensation processing on the system target torque to obtain a target torque control quantity; and performing drive control on the vehicle based on the target torque control amount. According to the vehicle driving control method, delay compensation processing is conducted on the system target torque, the problem of torque response delay caused by signal transmission is solved, and vehicle driving control is more accurate.

Description

Technical Field

[0001] The present application relates to technical fields such as vehicles and signal delays, and in particular to a vehicle drive control method, device, vehicle, electronic device, and storage medium. Background Art

[0002] In related technologies, vehicle drive control solutions primarily focus on the design of control strategies for driving and braking forces (particularly regenerative braking in electric vehicles). These solutions employ optimization control algorithms to maximize tire utilization, thereby ensuring vehicle stability and safety during driving.

[0003] However, during the design and implementation of these solutions, a crucial issue is often overlooked: whether it is the process of applying driving force or feedback braking force, the system will inevitably be affected by communication and other signal transmission delays. This signal transmission delay causes a phase delay in the time domain between the target value and the actual control value of the control system. The existence of this delay results in the execution of control instructions not being timely enough, which in turn affects the real-time and accuracy of the control system. Specifically, when the system receives a command to apply driving or braking force, due to delays in communication and other signal transmissions, the actual torque acting on the tire cannot immediately reach the expected target value, resulting in a deviation in the control effect. This deviation weakens the performance of the control system to a certain extent, making it impossible for the vehicle to achieve optimal control effect in complex road conditions or emergency situations. Summary of the Invention

[0004] To this end, the purpose of the implementation method of the present application is to propose a vehicle drive control method, device, vehicle, electronic device and storage medium to perform delay compensation processing on the system target torque so that the torque acting on the tire reaches the expected target value as much as possible, thereby improving the control accuracy of the vehicle control system and ensuring the real-time performance of the control system.

[0005] An embodiment of the present application provides a vehicle drive control method, the method comprising: obtaining a system target torque of a vehicle; performing delay compensation processing on the system target torque to obtain a target torque control amount; and controlling the vehicle drive based on the target torque control amount.

[0006] Exemplarily, performing delay compensation processing on the system target torque to obtain a target torque control amount includes: performing delay compensation processing on the system target torque based on a preset control system to obtain a target compensation amount; and obtaining the target torque control amount based on the target compensation amount.

[0007] Exemplarily, the target compensation amount includes a first compensation amount, the preset control system includes an augmented control system, the delay compensation processing includes a state feedback compensation processing, and the delay compensation processing of the system target torque based on the preset control system to obtain the target compensation amount includes: performing state feedback compensation processing on the system target torque based on the augmented control system to obtain the first compensation amount.

[0008] Exemplarily, performing state feedback compensation control on the system target torque based on the augmented control system to obtain a first compensation amount includes: determining a first relationship between a system input and a system output of the augmented control system, and discretizing the first relationship to obtain the augmented control system model; determining a second relationship between the system output and state feedback based on tire characteristics, and determining a cost function based on the second relationship; processing the cost function based on the augmented control system model to minimize the cost function, and determining the system output corresponding to the minimized cost function as the first compensation amount.

[0009] Exemplarily, the cost function includes at least one of a state weight and a control amount weight, the tire characteristics include at least one of a linear characteristic and a nonlinear characteristic, the second relationship corresponds one-to-one with the tire characteristics, and processing the cost function based on the augmented control system model to minimize the cost function includes: adjusting at least one of the state weight and the control amount weight based on the augmented control system model and the tire characteristics to minimize the cost function.

[0010] Exemplarily, the target compensation amount includes a second compensation amount, the delay compensation processing includes interference compensation processing, and the delay compensation control of the system target torque based on the preset control system to obtain the target compensation amount includes: performing interference compensation control on the system target torque based on the preset control system to obtain the second compensation amount.

[0011] Exemplarily, the performing interference compensation processing on the system target torque based on the preset control system to obtain the second compensation amount includes: determining a third relationship between system input and system interference based on the preset control system, and processing the system target torque based on the third relationship to obtain the second compensation amount.

[0012] Exemplarily, the target compensation amount includes a third compensation amount, and the delay compensation processing of the system target torque based on the preset control system to obtain the target compensation amount includes: performing delay compensation processing on the system target torque based on the preset control system, and determining that the system output at the previous moment is the third compensation amount.

[0013] Exemplarily, the target compensation amount includes at least one of a first compensation amount, a second compensation amount, and a third compensation amount, and obtaining the target torque control amount based on the target compensation amount includes: determining the sum of any one or more of the first compensation amount, the second compensation amount, and the third compensation amount as the target torque control amount.

[0014] Exemplarily, the method further includes: acquiring vehicle state information, calculating a slip rate of a driving wheel based on the vehicle state information; predicting a slip trend of the wheel based on the slip rate, and determining the system target torque based on the slip trend.

[0015] Exemplarily, the method further includes: acquiring vehicle operating condition information, and determining the system target torque based on the vehicle operating condition information and the slip trend, wherein the system target torque includes at least one of the driving torque of the corresponding driving wheel and the braking torque of the corresponding braking wheel.

[0016] Another embodiment of the present application provides a vehicle drive control device, which includes: an acquisition module for acquiring the system target torque of the vehicle; a compensation module for performing delay compensation processing on the system target torque to obtain a target torque control amount; and a control module for controlling the vehicle drive based on the target torque control amount.

[0017] Another embodiment of the present application provides a vehicle, which is used to implement the steps of the method of any of the above embodiments.

[0018] Another embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method of any of the above embodiments when executing the computer program.

[0019] Another embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method of any of the above embodiments are implemented.

[0020] Another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed by a processor of a computer device, the computer device is enabled to perform the steps of the method of any of the above embodiments.

[0021] In the above-described embodiment, the vehicle drive control method includes: obtaining a vehicle system target torque; performing delay compensation processing on the system target torque to obtain a target torque control variable; and controlling vehicle drive based on the target torque control variable. The vehicle drive control method of the present invention performs delay compensation processing on the system target torque, thereby resolving the torque response delay issue caused by signal transmission, making vehicle drive control more precise and ensuring the real-time performance of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a vehicle anti-skid drive control provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of vehicle anti-skid driving control provided by another embodiment of the present application;

[0024] Figure 3 A schematic diagram of vehicle anti-skid driving control provided by another embodiment of the present application;

[0025] Figure 4 A schematic diagram of vehicle anti-skid driving control provided by another embodiment of the present application;

[0026] Figure 5 A flow chart of a vehicle driving control method provided in an embodiment of the present application;

[0027] Figure 6 A flowchart of delay compensation processing for system target torque provided in an embodiment of the present application;

[0028] Figure 7 A flow chart of state feedback compensation control of system target torque provided in an embodiment of the present application;

[0029] Figure 8 A flow chart of vehicle anti-skid control provided in an embodiment of the present application;

[0030] Figure 9 A schematic diagram of the control system architecture provided in accordance with an embodiment of the present application;

[0031] Figure 10 A schematic diagram of a vehicle drive control device provided in an embodiment of the present application;

[0032] Figure 11 A block diagram of an electronic device provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] In some examples, such as Figure 1As shown, the vehicle drive anti-skid control method includes: obtaining vehicle driving data through an on-board sensor and performing adhesion coefficient analysis through a preset filter algorithm to obtain a first adhesion coefficient estimate; obtaining a driving road surface image through an on-board camera and performing recognition analysis through a preset image recognition neural network model to obtain a second adhesion coefficient estimate; performing credibility analysis based on the first adhesion coefficient estimate and the second adhesion coefficient estimate to obtain a road surface adhesion coefficient; performing fuzzy reasoning based on the road surface adhesion coefficient, the road surface utilization adhesion coefficient and the actual vehicle slip rate through preset fuzzy rules to obtain a desired slip rate; and performing drive control through a preset drive anti-skid controller based on the desired slip rate and the actual vehicle slip rate.

[0035] In some examples, such as Figure 2 As shown, the method for improving driving anti-skid and braking anti-lock performance also includes: calculating the vehicle center theoretical speed, wheel projected speed and relative speed difference, setting the speed difference threshold and tire pressure adjustment coefficient, calculating the target tire pressure and dynamic instantaneous target tire pressure, and calculating the inflation speed, and finally inflating or deflating the tire based on the inflation speed of each wheel to achieve improved driving anti-skid and braking anti-lock performance.

[0036] In some examples, such as Figure 3 As shown, the vehicle may include a left drive wheel and a right drive wheel, each equipped with an EPB motor. The EPB motors for the left and right drive wheels are electrically connected to their respective brake calipers via wires. The control method further includes: activating the TCS upon determining that the vehicle's drive wheels are slipping; and when wheel-end braking is required, controlling the EPB motor on the slipping drive wheel via the TCS to drive its brake caliper to clamp the brake disc on the slipping drive wheel accordingly, thereby achieving wheel-end braking.

[0037] In some examples, such as Figure 4 As shown, the vehicle drive anti-skid control method further includes: determining whether the drive wheel meets the wheel vibration condition; determining a target slip ratio based on the wheel vibration determination result, wherein the target slip ratio corresponding to the absence of wheel vibration of the drive wheel is less than the target slip ratio corresponding to the presence of wheel vibration of the drive wheel; and, if the slip ratio of the drive wheel is greater than the target slip ratio, performing drive anti-skid control on the drive wheel via the vehicle's drive anti-skid control system. If the drive wheel meets the wheel vibration condition, the target slip ratio of the TCS is increased, so that the vehicle will not be falsely triggered by wheel speed vibration, and the vehicle can accelerate as the driver intended.

[0038] During the design and implementation of these solutions, a crucial issue is often overlooked: whether it is the process of applying driving force or feedback braking force, the system will inevitably be affected by communication and other signal transmission delays. This signal transmission delay causes a phase delay in the time domain between the target value of the control system and the actual control value. The existence of this delay results in untimely execution of control instructions, which in turn affects the real-time and accuracy of the control system. Specifically, when the system receives a command to apply driving or braking force, due to delays in communication and other signal transmissions, the actual torque applied to the tire cannot immediately reach the expected target value, resulting in a deviation in the control effect. This deviation weakens the performance of the control system to a certain extent, making it impossible for the vehicle to achieve optimal control effect in complex road conditions or emergency situations.

[0039] Based on this, in order to further improve the performance of the control system, the present invention optimizes the problem of torque response delay caused by signal transmission delay, so as to design a more efficient and accurate drive anti-skid control strategy to ensure that the vehicle can maintain good stability and safety under various driving conditions.

[0040] Figure 5 This is a flow chart of a vehicle driving control method according to an embodiment of the present application.

[0041] As an example, Figure 5 As shown, the vehicle driving control method includes:

[0042] S501: Obtain the system target torque of the vehicle.

[0043] S502 : Perform delay compensation processing on the system target torque to obtain a target torque control amount.

[0044] S503: Control the vehicle's driving based on the target torque control amount.

[0045] For example, the system target torque can be calculated by the vehicle control system based on information such as the current driving state and driving intent. Under normal circumstances, the vehicle control system transmits the system target torque to the actuator (e.g., the motor or engine), which converts it into actual drive torque output. During this process, a time phase lag or offset occurs. This lag is primarily caused by three factors: first, communication system latency, which refers to the time lag that may occur when the command signal is transmitted between the control unit and the actuator; second, the complexity and processing speed of the drive-by-wire control algorithm. Complex algorithm processing consumes additional time, resulting in a slower command response; and third, the mechanical backlash and dynamic response characteristics of the drive mechanism itself, which ultimately manifest as a delay exceeding 0.2 seconds. These physical factors also slow the immediacy of actual torque output. The direct impact of torque response delay is that it creates a mismatch between the theoretical drive torque target value and the actual execution time. This mismatch is particularly significant under extreme or demanding driving conditions, potentially causing the drive shaft or wheel to slip due to insufficient torque support. Slipping not only reduces the effective traction between the tires and the ground, but also increases the vehicle's energy consumption and wear, which in turn has a negative impact on the vehicle's overall dynamic performance, including weakened acceleration performance, decreased handling stability, etc., thereby worsening the driving experience and vehicle safety.

[0046] For example, to address this issue, the present application obtains the system target torque and then performs delay compensation on the system target torque to obtain a target torque control variable. It is understood that the target torque control variable is the torque after delay compensation. The vehicle control system outputs the target torque control variable and controls the vehicle's driving based on the target torque control variable.

[0047] The delay compensation processing of the present application solves the problem of torque response delay caused by signal transmission delay, making vehicle drive control more precise.

[0048] As an example, Figure 6 As shown, the system target torque is subjected to delay compensation processing to obtain the target torque control amount, including:

[0049] S601 , performing delay compensation processing on the system target torque based on a preset control system to obtain a target compensation amount.

[0050] S602: Obtain a target torque control amount based on the target compensation amount.

[0051] Exemplarily, the present application designs a control system to control the system target torque, and performs delay compensation processing on the system target torque based on a preset control system to obtain a target compensation amount. It can be understood that the target compensation amount is the system output of the preset control system, and the target torque control amount is obtained based on the target compensation amount, so that the vehicle can be driven and controlled according to the target torque control amount to ensure the real-time performance of the control system.

[0052] This application considers various factors when performing delay compensation processing on the system target torque and designs various types of delay compensation processing, such as state feedback compensation processing, feedforward compensation processing, etc. The delay compensation processing is described in detail below.

[0053] As an example, the target compensation amount includes a first compensation amount, the preset control system includes an augmented control system, the delay compensation processing includes a state feedback compensation processing, and the delay compensation processing is performed on the system target torque based on the preset control system to obtain the target compensation amount, including: performing state feedback compensation processing on the system target torque based on the augmented control system to obtain the first compensation amount.

[0054] For example, the present application addresses the problem of driving torque delay by establishing an augmented system for optimal design. Based on the augmented control system, a state feedback compensation process is performed on the system target torque to obtain a first compensation amount.

[0055] The following is a detailed description of the optimal design for establishing an augmented system.

[0056] As an example, Figure 7 As shown, based on the augmented control system, the system target torque is subjected to state feedback compensation control to obtain a first compensation amount, including:

[0057] S701 : Determine a first relationship between a system input and a system output of an augmented control system, and discretize the first relationship to obtain an augmented control system model.

[0058] S702 : Determine a second relationship between the system output and the state feedback based on the tire characteristics, and determine a cost function based on the second relationship.

[0059] S703 : Process the cost function based on the augmented control system model to minimize the cost function, and determine a system output corresponding to the minimization of the cost function as a first compensation amount.

[0060] For example, the error e of the augmented control system can be defined as the difference between the target torque and the actual torque. It can be understood that the augmented control system is an automatic control system whose purpose is to make the error e as small as possible. Based on the error e, a new state quantity is introduced Among them, T rdis the target driving torque control amount. It can be understood that T rd is the control quantity u of the augmented control system. The target driving torque control increment is ΔT rd .

[0061] For example, a first relationship between the system input and the system output of the augmented control system is determined. The first relationship may be approximated by a first-order inertial system to represent the torque response delay, as shown in the following equation:

[0062] τT sys =-T r +T rd

[0063] Among them, τ is the time constant, which can be set to 0.2, T r The actual system torque after torque delay, T sys is the target torque value calculated by the system controller. It can be understood that T sys Calculate the target torque of the vehicle system, T r It is the torque that actually reaches the actuator after signal delay, etc.

[0064] For example, the first relationship is discretized to obtain an augmented control system model. The first-order inertial continuous system can be discretized using the first-order Euler forward method to obtain a discrete expression of the first relationship, as shown in the following formula:

[0065]

[0066] Among them, T t is the communication cycle, which can be set to 0.005s, and k and k+1 represent the kth and k+1th sampling moments respectively. And because the target driving torque control amount increment and the target driving torque control amount have the following relationship:

[0067] T rd (k) = T rd (k-1)+ΔT rd

[0068] Substituting the relationship between the target driving torque control amount increment and the target driving torque control amount into the discrete expression of the above first relationship, the following expression is obtained:

[0069]

[0070] Ignore distractions The augmented control system model is obtained as:

[0071]

[0072] It can be understood that in the augmented control system model, x is the system state and u is the control input, where

[0073] For example, a second relationship between the system output and the state feedback is determined based on the tire characteristics, and a cost function is determined based on the second relationship. The tire characteristics may be linear characteristics, and the second relationship between the system output and the state feedback may be a linear relationship, as shown below:

[0074]

[0075] Where K is the feedback matrix, u1 is the first compensation amount, is the augmented form of the system control matrix, is the augmented form of the system control matrix, Q and R are the enhanced diagonal matrices of the augmented system respectively.

[0076] Based on the second relationship, the cost function is determined, and the performance index of the system can be designed based on the linear quadratic optimal control algorithm. The cost function is shown in the following formula:

[0077]

[0078] Among them, Q and R are weighted diagonal matrices, representing the weights of the state and control quantity respectively.

[0079] Based on the augmented control system model, the cost function is processed to minimize the cost function, and the system output corresponding to the minimized cost function is determined as the first compensation. It can be understood that the core of the linear quadratic optimal control algorithm is to find a feedback matrix K that minimizes the cost function J. When the cost function J is minimized, the feedback matrix K is obtained, and then the optimal control law u1 (i.e., the first compensation) is obtained.

[0080] As an example, the cost function includes at least one of a state weight and a control amount weight, the tire characteristics include at least one of a linear characteristic and a nonlinear characteristic, the second relationship corresponds one-to-one with the tire characteristics, and the cost function is processed based on the augmented control system model to minimize the cost function, including: adjusting at least one of the state weight and the control amount weight based on the augmented control system model and the tire characteristics to minimize the cost function.

[0081] For example, the state weight of the cost function is Q, and the control weight of the cost function is R, where both Q and R are diagonal matrices. Tire characteristics include at least one of linear and nonlinear characteristics. To address tire nonlinear characteristics, the tire longitudinal force calculated from the linear tire cornering stiffness can be used. This application addresses the issue of tire characteristic variations at high and low speeds by dividing tire characteristics into linear and nonlinear regions. The Q and R weight matrices are designed for each tire characteristic to minimize the cost function and achieve optimal control.

[0082] As an example, the target compensation amount includes a second compensation amount, the delay compensation processing includes interference compensation processing, and the system target torque is subjected to delay compensation control based on a preset control system to obtain the target compensation amount, including: performing interference compensation control on the system target torque based on a preset control system to obtain the second compensation amount.

[0083] For example, the present application may further design a feedforward compensation in the preset control system to perform interference compensation control on the system target torque. Based on the preset control system, interference compensation control is performed on the system target torque to obtain a second compensation amount.

[0084] As an example, interference compensation processing is performed on the system target torque based on a preset control system to obtain a second compensation amount, including: determining a third relationship between the system input and the system interference based on the preset control system, and processing the system target torque based on the third relationship to obtain the second compensation amount.

[0085] For example, the present application can also process the system disturbance variable and introduce a series compensation term to perform interference compensation. It should be noted that the interference compensation can be processed based on the above-mentioned state feedback. For example, according to the above-mentioned standard optimal control law, the full state feedback amount is calculated, and then the interference term is modeled based on the series compensation to calculate the feedforward compensation amount. The third relationship between the system input and the system interference is shown as follows:

[0086] u2=-B~ -1 ((C+AA d )T sys -A d )

[0087] Among them, A d is the ideal rear wheel reference model transition matrix, [β d r d ] T =A d δ f , β d 、r d are the reference yaw rate and sideslip angle of the ideal two-degree-of-freedom model, δ f is the front wheel steering angle, C is the system output matrix, and A is the system control matrix.

[0088] According to the third relationship, the system target torque T sys The second compensation amount is obtained by processing, and the second compensation amount is u2.

[0089] As an example, the target compensation amount includes a third compensation amount, and the system target torque is delayed compensated based on the preset control system to obtain the target compensation amount, including: performing delay compensation on the system target torque based on the preset control system, and determining that the system output at the previous moment is the third compensation amount.

[0090] Exemplarily, the standard compensation amount further includes a third compensation amount, and the system output at the previous moment can be used as the third compensation amount, as shown in the following formula:

[0091] u3=T rd (k-1)

[0092] Wherein, u3 is the third compensation amount.

[0093] This application designs a variable-weight linear quadratic optimal control strategy based on an augmented system model, introduces a driving torque target value and predicts the actual driving torque value at the next moment into the system error model, and solves the torque response delay problem caused by communication hardware, etc. without adding additional hardware, thereby ensuring the real-time performance of the control system.

[0094] As an example, the target compensation amount includes at least one of the first compensation amount, the second compensation amount, and the third compensation amount, and the target torque control amount is obtained based on the target compensation amount, including: determining the sum of any one or more of the first compensation amount, the second compensation amount, and the third compensation amount as the target torque control amount.

[0095] For example, the target compensation amount may include at least one of a first compensation amount, a second compensation amount, and a third compensation amount. The target torque control amount is obtained based on the target compensation amount. Any one of the first compensation amount, the second compensation amount, and the third compensation amount may be used as the target torque control amount. Alternatively, the above-mentioned multiple types of compensation processing may be combined, and the sum of the first compensation amount, the second compensation amount, and the third compensation amount may be used as the final target torque control amount, for example, as shown in the following formula:

[0096] T=u1+u2+u3

[0097] Wherein, T is the target torque control amount, u1 is the first compensation amount, u2 is the second compensation amount, and u3 is the third compensation amount.

[0098] It can be understood that the target torque value T calculated by the controller sys After the delay compensation control system outputs the target driving torque control amount T to the execution end (such as a motor or an engine), the target driving torque control amount T is the torque after torque compensation, which makes the control accuracy higher.

[0099] As an example, Figure 8 As shown, the vehicle driving control method further includes:

[0100] S801: Acquire vehicle status information, and calculate the slip rate of the driving wheels based on the vehicle status information.

[0101] S802: Predicting a wheel slip trend based on the slip rate, and determining a system target torque based on the slip trend.

[0102] For example, the aforementioned system target torque delay process can be applied to a vehicle anti-skid control system. In this process, vehicle state information is first acquired, including vehicle speed information, wheel speed information, acceleration information, steering angle information, and the like. Vehicle speed information, wheel speed information, acceleration information, and steering angle information can be acquired via various types of sensors. The slip rate of the drive wheels is calculated based on the vehicle state information. For example, the slip rate of the drive wheels is calculated based on data collected by wheel speed sensors and vehicle speed sensors, where slip rate = (wheel speed - vehicle speed) / vehicle speed. A filtering algorithm can also be used to smooth the slip rate to eliminate noise interference.

[0103] For example, the slip rate is used to predict wheel slip trends and adjust driving / braking forces in advance to minimize system delay. The vehicle anti-skid control system outputs a system target torque, which is then subjected to delay compensation using the aforementioned torque delay processing to generate a target drive torque control variable. Anti-skid control of the vehicle is then performed based on this target drive torque control variable.

[0104] As an example, the vehicle drive control method also includes: obtaining vehicle operating condition information, and determining the system target torque based on the vehicle operating condition information and the slip trend, wherein the system target torque includes at least one of the driving torque of the corresponding driving wheel and the braking torque of the corresponding braking wheel.

[0105] For example, the driving force of the driving wheels can be reasonably distributed according to the driving / braking force requirements output by the control strategy and the actual working conditions of the vehicle (such as the remaining battery power, the performance of the driving motor, etc.).

[0106] It should be noted that the above-mentioned drive scheme control based on torque delay compensation is an example. The above-mentioned torque delay compensation control can be used in anti-slip torque control, and the above-mentioned torque delay compensation control can also be used in other types of torque control.

[0107] Figure 9 It is a structural diagram of the control system architecture of an embodiment of the present application.

[0108] like Figure 9As shown, the vehicle control system obtains the system target torque based on the vehicle state and the driver's target input. This application takes into account many factors when performing delay compensation processing on the target torque, designs full-state feedback for the nonlinear characteristics of the tire, and obtains the first compensation amount u1. For the disturbance variable, a series feedforward compensation is designed to obtain the second compensation amount u2. The third compensation amount u3 is designed based on the control amount at the previous moment. Finally, the system target torque is compensated by combining the first compensation amount u1, the second compensation amount u2, and the third compensation amount u3 to obtain the final target torque control amount T = u1 + u2 + u3. The torque finally received by the execution end of the vehicle control system (such as the motor, engine) is the target torque control amount. The problem of torque response delay caused by signal transmission delay is solved, making the vehicle drive control more accurate and ensuring the real-time performance of the control system.

[0109] The present application also proposes a vehicle driving control device.

[0110] As an example, Figure 10 As shown, it is characterized in that the vehicle drive control device includes: an acquisition module 1001, which obtains the system target torque of the vehicle; a compensation module 1002, which is used to perform delay compensation processing on the system target torque to obtain a target torque control amount; and a control module 1003, which is used to control the vehicle drive based on the target torque control amount.

[0111] The present application also proposes a vehicle for implementing the above-mentioned vehicle driving control method.

[0112] The present application also proposes a computer-readable storage medium.

[0113] In this embodiment, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned vehicle driving control method are implemented.

[0114] Figure 11 A block diagram of an electronic device provided in accordance with an embodiment of the present application.

[0115] An embodiment of the present application provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned vehicle drive control method when executing the computer program.

[0116] like Figure 11 As shown, for ease of understanding, the embodiment of the present application shows a specific electronic device.

[0117] Electronic device is intended to refer to various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device may also refer to various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are intended to be examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0118] like Figure 11 As shown, the device includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. Various programs and data required for the operation of the electronic device can also be stored in the RAM 1103. The computing unit 1101, ROM 1102, and RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0119] Multiple components in the electronic device are connected to the I / O interface 1105, including an input unit 1106, such as a keyboard and mouse; an output unit 1107, such as various types of displays and speakers; a storage unit 1108, such as a magnetic disk and optical disk; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1109 allows the electronic device to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0120] The computing unit 1101 can be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1101 performs the various methods described above, such as the vehicle drive control method. For example, in some embodiments, the vehicle drive control method can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as a storage unit 1108. In some embodiments, part or all of the computer program can be loaded and / or installed on an electronic device via ROM 1102 and / or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, the vehicle drive control method described above can be executed. Alternatively, in other embodiments, the computing unit 1101 can be configured to execute the vehicle drive control method in any other appropriate manner (e.g., by means of firmware).

[0121] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device, or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device, or apparatus and execute the instructions), or in conjunction with such instruction execution systems, devices, or apparatuses. For purposes of this application, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or apparatus, or in conjunction with such instruction execution systems, devices, or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0122] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0123] In the description of this application, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0124] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0125] In addition, the terms "first" and "second" used in the embodiments of the present application are for descriptive purposes only and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined in the embodiments of the present application by terms such as "first" and "second" can explicitly or implicitly indicate that at least one of the features is included in the embodiment. In the description of the present application, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0126] In this application, unless otherwise specified or limited in the embodiments, the terms "installed", "connected", "connected", and "fixed" appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection. It can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication between two elements, or the interaction between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood based on the specific implementation.

[0127] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0128] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle driving control method, characterized in that: The method comprises: Obtaining the vehicle's system target torque; performing delay compensation processing on the system target torque to obtain a target torque control amount; The vehicle is driven and controlled based on the target torque control amount.

2. The vehicle driving control method according to claim 1, characterized in that: The delay compensation processing is performed on the system target torque to obtain the target torque control amount, including: Performing delay compensation processing on the system target torque based on a preset control system to obtain a target compensation amount; The target torque control amount is obtained based on the target compensation amount.

3. The vehicle driving control method according to claim 2, characterized in that: The target compensation amount includes a first compensation amount, the preset control system includes an augmented control system, the delay compensation process includes a state feedback compensation process, and the delay compensation process is performed on the system target torque based on the preset control system to obtain the target compensation amount, including: A state feedback compensation process is performed on the system target torque based on the augmented control system to obtain a first compensation amount.

4. The vehicle driving control method according to claim 3, characterized in that: The performing state feedback compensation control on the system target torque based on the augmented control system to obtain a first compensation amount includes: determining a first relationship between a system input and a system output of the augmented control system, and performing discretization processing on the first relationship to obtain the augmented control system model; determining a second relationship between the system output and the state feedback based on the tire characteristics, and determining a cost function based on the second relationship; The cost function is processed based on the augmented control system model to minimize the cost function, and a system output corresponding to the minimization of the cost function is determined as the first compensation amount.

5. The vehicle driving control method according to claim 4, characterized in that: The cost function includes at least one of a state weight and a control amount weight, the tire characteristics include at least one of a linear characteristic and a nonlinear characteristic, the second relationship has a one-to-one correspondence with the tire characteristics, and processing the cost function based on the augmented control system model to minimize the cost function includes: At least one of the state weight and the control amount weight is adjusted based on the augmented control system model and the tire characteristics to minimize the cost function.

6. The vehicle driving control method according to claim 2, characterized in that: The target compensation amount includes a second compensation amount, the delay compensation process includes an interference compensation process, and the delay compensation control of the system target torque based on the preset control system to obtain the target compensation amount includes: Based on a preset control system, interference compensation control is performed on the system target torque to obtain a second compensation amount.

7. The vehicle driving control method according to claim 6, characterized in that: The performing interference compensation processing on the system target torque based on the preset control system to obtain a second compensation amount includes: A third relationship between the system input and the system disturbance is determined based on a preset control system, and the system target torque is processed based on the third relationship to obtain a second compensation amount.

8. The vehicle driving control method according to claim 2, characterized in that: The target compensation amount includes a third compensation amount, and the delay compensation processing is performed on the system target torque based on the preset control system to obtain the target compensation amount, including: A delay compensation process is performed on the system target torque based on a preset control system, and the system output at the previous moment is determined as the third compensation amount.

9. The vehicle driving control method according to any one of claims 2 to 8, characterized in that: The target compensation amount includes at least one of a first compensation amount, a second compensation amount, and a third compensation amount. The step of obtaining the target torque control amount based on the target compensation amount includes: The target torque control amount is determined as the sum of any one or more of the first compensation amount, the second compensation amount, and the third compensation amount.

10. The vehicle driving control method according to claim 1, wherein: The method further comprises: acquiring vehicle state information, and calculating a slip rate of a driving wheel based on the vehicle state information; A slip tendency of the wheel is predicted based on the slip ratio, and the system target torque is determined based on the slip tendency.

11. The vehicle driving control method according to claim 10, characterized in that: The method further comprises: Vehicle operating condition information is acquired, and the system target torque is determined based on the vehicle operating condition information and the slip trend, wherein the system target torque includes at least one of a driving torque corresponding to a driving wheel and a braking torque corresponding to a braking wheel.

12. A vehicle driving control device, characterized in that: The device comprises: An acquisition module is used to obtain the system target torque of the vehicle; a compensation module, configured to perform delay compensation processing on the system target torque to obtain a target torque control amount; A control module is used to control the driving of the vehicle based on the target torque control amount.

13. A vehicle, characterized in that: The vehicle is used to implement the steps of the method according to any one of claims 1 to 11.

14. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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