Longitudinal control method and apparatus, and vehicle

Abstract

Provided in the present application are a longitudinal control method and apparatus, and a vehicle. The method can be applied to the field of intelligent driving. The method comprises: an autonomous-driving controller sending to an electric-motor controller an instruction configured for determining an electric-motor rotational speed; the electric-motor controller determining a torque on the basis of the instruction; and the electric-motor controller controlling a drive electric motor on the basis of the torque. The embodiments of the present application can be applied to intelligent vehicles or new energy vehicles, thus helping to improve the vehicle control accuracy, and also helping to enhance the user experience.

Description

Longitudinal control method, device and vehicle

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on August 30, 2023, with application number 202311110205.0 and application name “Longitudinal Control Method, Device and Vehicle”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of intelligent driving, and more specifically, to a longitudinal control method, device and vehicle. Background Art

[0003] With the development of intelligent vehicles, autonomous driving technology has gradually become a reality. Take automatic parking (AP) as an example. AP refers to the automatic parking of the vehicle, that is, the vehicle's autonomous driving system can semi-automatically or fully automatically help the user park the vehicle into the parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), and automatic valet parking (AVP). After the vehicle's autonomous driving system plans the parking trajectory, it can control and track the parking trajectory. The vehicle's control accuracy directly affects the user's parking experience (for example, parking time, number of parking attempts, stuck parking time, etc.).

[0004] Therefore, improving the control accuracy of the vehicle has become an urgent problem to be solved.

[0005] Summary of the Invention

[0006] The present application provides a longitudinal control method, device, and vehicle, which help improve the control accuracy of the vehicle, thereby helping to improve the user experience.

[0007] In a first aspect, a longitudinal control system is provided, which includes an automatic driving controller and a motor controller, wherein the automatic driving controller is used to send a first instruction to the motor controller, and the first instruction is used to determine a first motor speed; the motor controller is used to determine a first torque according to the first instruction; and the motor controller is further used to control the drive motor according to the first torque.

[0008] Based on the above technical solution, the motor controller can determine torque information based on a command sent by the autonomous driving controller to determine the first motor's speed. This creates a shorter closed-loop execution link between the motor controller and the drive motor, helping to increase the frequency of vehicle speed control and longitudinal control accuracy, thereby improving the user experience.

[0009] Furthermore, during vehicle braking, the drive motor can achieve electric braking, eliminating the need for hydraulic braking or other braking methods. This reduces coupling with Tier 1 chassis suppliers, reduces the autonomous driving controller's reliance on Tier 1 chassis, and improves the efficiency of closed-loop solutions for vehicle longitudinal issues.

[0010] In some possible implementations, the motor controller is further configured to obtain a second motor speed of the drive motor; and perform corresponding operations according to the first motor speed and the second motor speed.

[0011] The first motor speed may be a desired motor speed of the drive motor, and the second motor speed may be an actual motor speed of the drive motor.

[0012] In some possible implementations, the first instruction is a driving instruction or a braking instruction.

[0013] The process in which the above automatic driving controller sends an instruction for determining the motor speed to the motor controller when controlling the vehicle's driving or braking can also be understood as the process of executing driving or braking when the vehicle is in a speed mode.

[0014] In some possible implementations, the autonomous driving controller is also used to obtain the vehicle's current position information and target position information; determine the first motor speed based on the vehicle's current position information and target position information; and send the first instruction to the motor controller, where the first instruction includes the first motor speed.

[0015] In some possible implementations, the motor controller may be a motor microcontroller unit (MCU).

[0016] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is further used to: obtain the second motor speed of the drive motor; when the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, send a second instruction to the automatic driving controller, and the second instruction is used to indicate that the speed of the drive motor is abnormal; wherein the automatic driving controller is further used to: send a third instruction to the brake controller according to the second instruction, and the third instruction is used to instruct the brake controller to perform braking control.

[0017] Based on the above technical solution, when the motor controller detects an excessive difference between the expected and actual motor speeds of the drive motor, it can send a motor anomaly instruction to the autonomous driving controller, which in turn sends a braking instruction to the brake controller. This allows the brake controller to brake the vehicle in the event of a drive motor anomaly, ensuring that the vehicle can be decelerated or stopped promptly, thus improving driving safety for the user.

[0018] The process of the autonomous driving controller sending a braking command to the brake controller can be understood as the process of the vehicle braking in torque mode. After the brake controller controls the vehicle's speed to below a certain speed or stops the vehicle, the vehicle can switch from torque mode to speed mode again.

[0019] In some possible implementations, the automatic driving controller is used to: send a third instruction to the hydraulic brake controller according to the second instruction, and the third instruction is used to instruct the hydraulic brake controller to perform hydraulic braking control.

[0020] Exemplarily, the hydraulic brake controller may be an electronic stability controller (ESC).

[0021] In combination with the first aspect, in certain implementations of the first aspect, the first motor speed corresponds to a first vehicle speed, and the autonomous driving domain controller is further used to: obtain a second vehicle speed; when the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset speed difference, send a fourth instruction to the brake controller, and the fourth instruction is used to instruct the brake controller to perform braking control.

[0022] Based on the above technical solution, when the autonomous driving controller detects a significant difference between the desired and actual vehicle speeds, it can send a braking command to the brake controller. This allows the brake controller to brake the vehicle in the event of an abnormal speed, ensuring that the vehicle can be decelerated or stopped in a timely manner, thus improving driving safety for the user.

[0023] The first speed may be a desired speed of the vehicle, and the second speed may be an actual speed of the vehicle. For example, the autonomous driving controller may obtain data collected by a speed sensor and determine the actual speed of the vehicle based on the data.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the automatic driving controller is connected to the motor controller.

[0025] Based on this technical solution, the autonomous driving controller and motor controller can be directly connected, and commands from the autonomous driving controller are sent to the motor controller without passing through the vehicle domain controller (VDC). This further reduces the end-to-end latency of longitudinal control and supports the evolution of higher-level functions, such as motor phase closed-loop control and cruise control.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the longitudinal control system further includes a vehicle domain controller, the autonomous driving controller is used to send the first instruction to the vehicle domain controller; and the vehicle domain controller is used to send the first instruction to the motor controller.

[0027] In combination with the first aspect, in certain implementations of the first aspect, the automatic driving controller is further used to: before sending the first instruction to the motor controller, determine that the vehicle is in an automatic parking state, or determine that the speed of the vehicle is less than or equal to a preset speed.

[0028] Based on this technical solution, the vehicle can be controlled through speed mode during automated parking. This improved longitudinal control precision can mitigate overshoot during parking, enhancing the user's parking experience. For example, parking time is reduced by 50%, the success rate of assisted parking in narrow spaces is improved, the number of maneuvers is reduced by 30%, and parking time is reduced by 10%.

[0029] In some possible implementations, the preset speed is 10 km / h.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, the first phase is the number of revolutions of the drive motor corresponding to the first distance, and the motor controller is used to: determine the first motor speed based on the first distance or the first phase; determine the first torque based on the first motor speed.

[0031] Based on this technical solution, after the autonomous driving controller obtains the distance or phase between the vehicle and the target position, it can carry this information in a command sent to the motor controller, which then determines the motor speed. This eliminates the need for the autonomous driving controller to calculate the motor speed, helping to reduce the computational overhead of the autonomous driving controller.

[0032] In a second aspect, a longitudinal control method is provided, which is applied to a motor controller. The method includes: obtaining a first instruction from an automatic driving controller, where the first instruction is used to determine a first motor speed; determining a first torque based on the first instruction; and controlling a drive motor based on the first torque.

[0033] In combination with the second aspect, in certain implementations of the second aspect, the method further includes: obtaining a second motor speed of the drive motor; when the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, sending a second instruction to the automatic driving controller, wherein the second instruction is used to indicate that the speed of the drive motor is abnormal.

[0034] In combination with the second aspect, in certain implementations of the second aspect, obtaining the first instruction from the autonomous driving controller includes: obtaining the first instruction sent by the autonomous driving controller; or obtaining the first instruction sent by the autonomous driving controller through the vehicle domain controller.

[0035] In combination with the second aspect, in certain implementations of the second aspect, the first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the drive motor corresponding to the first distance, wherein determining the first torque based on the first instruction includes: determining the first motor speed based on the first distance or the first phase; determining the first torque based on the first motor speed.

[0036] In combination with the second aspect, in some implementations of the second aspect, the first instruction includes the first motor speed.

[0037] In a third aspect, a longitudinal control method is provided, which is applied to an automatic driving controller. The method includes: generating a first instruction, which is used to determine the speed of a first motor; and sending the first instruction to the motor controller.

[0038] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: receiving a second instruction sent by the motor controller, the second instruction being used to indicate that the speed of the drive motor is abnormal; and sending a third instruction to the brake controller according to the second instruction, the third instruction being used to instruct the brake controller to perform braking control.

[0039] In combination with the third aspect, in certain implementations of the third aspect, the first motor speed corresponds to a first vehicle speed, and the method also includes: obtaining a second vehicle speed; when the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset speed difference, sending a fourth instruction to the brake controller, the fourth instruction being used to instruct the brake controller to perform braking control.

[0040] In combination with the third aspect, in certain implementations of the third aspect, sending the first instruction to the motor controller includes: sending the first instruction to the motor controller through a vehicle domain controller.

[0041] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: before sending the first instruction to the motor controller, determining that the vehicle is in an automatic parking state, or determining that the speed of the vehicle is less than or equal to a preset speed.

[0042] In combination with the third aspect, in certain implementations of the third aspect, the first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the drive motor corresponding to the first distance.

[0043] In a fourth aspect, a longitudinal control device is provided, which includes: an acquisition unit for acquiring a first instruction from an automatic driving controller, wherein the first instruction is used to determine the speed of a first motor; a determination unit for determining a first torque based on the first instruction; and a control unit for controlling a drive motor based on the first torque.

[0044] In combination with the fourth aspect, in certain implementations of the fourth aspect, the device further includes a sending unit, and the acquisition unit is further used to acquire the second motor speed of the drive motor; the sending unit is further used to send a second instruction to the automatic driving controller when the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, and the second instruction is used to indicate that the speed of the drive motor is abnormal.

[0045] In combination with the fourth aspect, in certain implementations of the fourth aspect, the acquisition unit is used to: obtain the first instruction sent by the autonomous driving controller; or, obtain the first instruction sent by the autonomous driving controller through the vehicle domain controller.

[0046] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the drive motor corresponding to the first distance, wherein the control unit is used to: determine the first motor speed based on the first distance or the first phase; determine the first torque based on the first motor speed.

[0047] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first instruction includes the first motor speed.

[0048] In a fifth aspect, a longitudinal control device is provided, which includes: an instruction generation unit for generating a first instruction, wherein the first instruction is used to determine the speed of a first motor; and a transceiver unit for sending the first instruction to a motor controller.

[0049] In combination with the fifth aspect, in certain implementations of the fifth aspect, the transceiver unit is further used to: receive a second instruction sent by the motor controller, the second instruction being used to indicate that the speed of the drive motor is abnormal; and send a third instruction to the brake controller according to the second instruction, the third instruction being used to instruct the brake controller to perform braking control.

[0050] In combination with the fifth aspect, in certain implementations of the fifth aspect, the first motor speed corresponds to a first vehicle speed, and the device also includes: an acquisition unit for acquiring a second vehicle speed; the transceiver unit is also used to send a fourth instruction to the brake controller when the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset speed difference, and the fourth instruction is used to instruct the brake controller to perform braking control.

[0051] In combination with the fifth aspect, in certain implementations of the fifth aspect, the transceiver unit is used to: send the first instruction to the motor controller through the vehicle domain controller.

[0052] In combination with the fifth aspect, in certain implementations of the fifth aspect, the device further includes: a determination unit, configured to determine that the vehicle is in an automatic parking state, or to determine that the speed of the vehicle is less than or equal to a preset speed, before the transceiver unit sends the first instruction to the motor controller.

[0053] In combination with the fifth aspect, in certain implementations of the fifth aspect, the first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the drive motor corresponding to the first distance.

[0054] In a sixth aspect, a longitudinal control device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform any possible longitudinal control method in the second aspect.

[0055] In a seventh aspect, a longitudinal control device is provided, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to enable the device to perform any possible longitudinal control method in the third aspect.

[0056] In an eighth aspect, the present application provides a longitudinal control system, which includes the longitudinal control device described in the fourth and fifth aspects, or includes the longitudinal control device described in the sixth and seventh aspects.

[0057] In a ninth aspect, the present application provides a vehicle comprising any possible longitudinal control system of the first aspect or the eighth aspect, or comprising any possible longitudinal control device of the fourth to seventh aspects.

[0058] In a tenth aspect, the present application provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any possible longitudinal control method according to the second aspect.

[0059] In an eleventh aspect, the present application provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any possible longitudinal control method according to the third aspect.

[0060] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.

[0061] In a twelfth aspect, the present application provides a computer-readable medium storing a program code. When the computer program code runs on a computer, the computer executes any possible longitudinal control method in the second aspect.

[0062] In a thirteenth aspect, the present application provides a computer-readable medium storing a program code. When the computer program code runs on a computer, the computer executes any possible longitudinal control method in the third aspect.

[0063] In a fourteenth aspect, the present application provides a chip comprising a circuit for executing any possible longitudinal control method in the second aspect.

[0064] In a fifteenth aspect, the present application provides a chip comprising a circuit for executing any possible longitudinal control method in the third aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] FIG1 is a functional block diagram of a vehicle provided in an embodiment of the present application.

[0066] FIG2 is a schematic flow chart of a longitudinal control method provided in an embodiment of the present application.

[0067] FIG3 is a schematic diagram of a parking planning trajectory provided in an embodiment of the present application.

[0068] FIG4 is a schematic block diagram of a longitudinal control system provided in an embodiment of the present application.

[0069] FIG5 is another schematic block diagram of the longitudinal control system provided in an embodiment of the present application.

[0070] FIG6 is another schematic flow chart of the longitudinal control method provided in an embodiment of the present application.

[0071] FIG7 is another schematic block diagram of a longitudinal control system provided in an embodiment of the present application.

[0072] FIG8 is another schematic flow chart of the longitudinal control method provided in an embodiment of the present application.

[0073] FIG9 is another schematic flow chart of the longitudinal control method provided in an embodiment of the present application.

[0074] FIG10 is a schematic block diagram of a longitudinal control device provided in an embodiment of the present application.

[0075] FIG11 is another schematic block diagram of the longitudinal control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0076] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a way to describe the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0077] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a restriction on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary restriction. In addition, in the description of this embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0078] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 may include a perception system 110 and a computing platform 120, wherein the perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include one or more collision sensors. For another example, the perception system 110 may include a positioning system, and the positioning system may be a global positioning system (GPS), a BeiDou system, or other positioning systems. For another example, the perception system 110 may include one or more of an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0079] Some or all functions of the vehicle 100 may be controlled by a computing platform 120. The computing platform 120 may include one or more processors, such as processors 121 to 12n (n is a positive integer). A processor is a circuit capable of processing signals. In one implementation, the processor may be a circuit capable of reading and executing instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationships of a hardware circuit. The logical relationships of the hardware circuit may be fixed or reconfigurable. For example, the processor may be a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration file to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor may also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions, and some or all of the processors 121 to 12n may call the instructions in the memory to implement corresponding functions.

[0080] The computing platform 120 may include an autonomous driving controller and a motor controller. The autonomous driving controller may utilize various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera, ultrasonic sensor, global positioning system, inertial measurement unit) to acquire data and analyze and process the acquired data to implement functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / reminders, etc., thereby improving the safety, automation, and comfort of vehicle driving. For example, when the autonomous driving controller controls the longitudinal direction of the vehicle, the autonomous driving controller may send a command (which may be a drive command or a brake command) to the motor controller to determine the motor speed. The motor controller may control the output torque of the drive motor based on the command, thereby transmitting the torque to the drive wheels through the mechanical transmission system to achieve longitudinal control of the vehicle.

[0081] At different levels of autonomous driving (L0-L5), the autonomous driving controller can achieve different levels of autonomous driving assistance based on artificial intelligence algorithms and information obtained from multiple sensors. The above autonomous driving levels (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). Among them, L0 is no automation; L1 is driving assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. The tasks of monitoring and responding to road conditions at levels L1 to L3 are completed jointly by the driver and the system, and the driver is required to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger.

[0082] The functions implemented by the autonomous driving controller include, but are not limited to, adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, front cross traffic alert / braking, rear cross traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision avoidance warning, traffic sign recognition, traffic jam assistance, and highway assistance. It should be understood that each of these functions can have specific modes at different autonomous driving levels (L0-L5), with higher levels indicating more intelligent modes. For example, autonomous parking can include automatic parking assistance (APA), automated parking assistance (RPA), and automated parking assistance (AVP). With APA, the driver does not need to operate the steering wheel, but still needs to control the accelerator and brakes from within the vehicle. With RPA, the driver can remotely park the vehicle using a terminal (such as a mobile phone) from outside the vehicle. With AVP, the vehicle can park without the driver. In terms of corresponding autonomous driving levels, APA is approximately at level 1, RPA is approximately at levels L2-L3, and AVP is approximately at level L4.

[0083] The vehicles involved in the embodiments of the present application are vehicles in a broad sense, which can be transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of the present application do not specifically limit the type of vehicles.

[0084] FIG2 shows a schematic flow chart of a longitudinal control method 200 provided in an embodiment of the present application. The method 200 may be executed by a system consisting of an autonomous driving controller and a motor controller, and the method 200 includes:

[0085] S210, the automatic driving controller obtains the current state of the vehicle.

[0086] Exemplarily, the current state of the vehicle includes, but is not limited to, one or more of the vehicle's current position information, speed, acceleration, and heading angle.

[0087] S220, the automatic driving controller determines the first motor speed based on the current state and target state of the vehicle.

[0088] Exemplarily, the target state may include one or more of the vehicle's expected position information, speed, acceleration, and heading angle at the next moment.

[0089] The above method 200 may be a control process when the vehicle is in a speed mode. The first motor speed may be a motor speed for driving the vehicle or a motor speed for braking the vehicle.

[0090] For example, taking the vehicle being in automatic parking state as an example, the automatic driving controller can determine the first motor speed based on the distance between the current position of the vehicle and the target parking position, the transmission ratio of the mechanical transmission system, and the radius of the wheel.

[0091] For example, FIG3 is a schematic diagram showing a parking planning trajectory provided in an embodiment of the present application.

[0092] The autonomous driving controller can plan a planned trajectory from the vehicle's current position to the target parking space based on the vehicle's current position and the target parking space. The planned trajectory can include one or more trajectory points. For example, the planned trajectory includes trajectory point 1 (the vehicle's current position), trajectory point 2, and trajectory point 3 (the target parking space). The vehicle is in forward gear (D gear) between trajectory point 1 and trajectory point 2, and in reverse gear (R gear) between trajectory point 2 and trajectory point 3. During the vehicle's travel from trajectory point 1 to trajectory point 2, the vehicle can first accelerate from trajectory point 1 to trajectory point 4, and then decelerate from trajectory point 4 to trajectory point 2. During the vehicle's acceleration from trajectory point 1 to trajectory point 4, the vehicle can determine the vehicle's expected motor speed at time t1 as n1 based on the vehicle's position, velocity, acceleration, and heading angle at trajectory point 1, the vehicle's position, velocity, acceleration, and heading angle at trajectory point 4, the transmission ratio of the mechanical transmission system, and the wheel radius. Time t1 is a time between the vehicle's travel from trajectory point 1 to trajectory point 4.

[0093] S230, the automatic driving controller sends an instruction to the motor controller, where the instruction includes the first motor speed.

[0094] For example, Figure 4 shows a schematic block diagram of a longitudinal control system provided by an embodiment of the present application. As shown in Figure 4, the longitudinal control system includes an autonomous driving controller, a motor controller, and a drive motor. The motor controller and drive motor form a closed-loop speed control system. The drive motor can be connected to the drive wheels via a mechanical transmission system.

[0095] Optionally, the autonomous driving controller sends the first motor speed to the motor controller, including: the autonomous driving controller sends the first motor speed to the motor controller through the vehicle domain controller.

[0096] For example, Figure 5 shows another schematic block diagram of a longitudinal control system provided by an embodiment of the present application. As shown in Figure 5, the longitudinal control system includes an autonomous driving controller, a vehicle controller, a motor controller, and a drive motor. Upon receiving the instruction from the autonomous driving controller, the vehicle domain controller can transmit the instruction to the motor controller.

[0097] Optionally, after receiving the instruction, the vehicle domain controller may also arbitrate the motor speed carried in the instruction. For example, when the vehicle domain controller determines that the motor speed carried in the instruction is less than the maximum speed of the drive motor, it may forward the instruction to the motor controller.

[0098] Exemplarily, the instruction carries the desired motor speed n1 at time t1.

[0099] S240: The motor controller determines a first torque according to the instruction.

[0100] For example, the motor controller may determine the torque T1 according to the desired motor speed n1.

[0101] The above description of S210-S230 uses the example of the autonomous driving controller sending the first motor speed to the motor controller, but the embodiments of the present application are not limited thereto. For example, the autonomous driving controller may send information about the distance between the vehicle's current position and the target parking space to the motor controller. The motor controller determines the first motor speed based on this distance information. Alternatively, the autonomous driving controller may send information about the phase corresponding to the distance to the motor controller. The motor controller determines the first motor speed based on this phase information.

[0102] S250: The motor controller controls the driving motor according to the first torque.

[0103] For example, the motor controller may control the drive motor to output the torque T1 to the mechanical transmission system, which is then transmitted to the drive wheels via the mechanical transmission system, thereby driving the vehicle.

[0104] S260: The motor controller obtains a second motor speed of the drive motor.

[0105] Exemplarily, the second motor speed may be an actual speed n2 of the motor at time t1.

[0106] In an embodiment of the present application, a speed closed-loop control system can be formed between the motor controller and the drive motor. The motor controller can determine the torque T1 based on the expected motor speed n1 received from the automatic driving controller, and determine whether the longitudinal control of the vehicle is normal during parking by obtaining the actual motor speed n2 of the drive motor.

[0107] S270: The motor controller performs corresponding operations according to the first motor speed and the second motor speed.

[0108] Optionally, the motor controller performs corresponding operations based on the expected speed n1 and the actual speed n2, including: when the difference between the expected speed n1 and the actual speed n2 is less than or equal to the preset speed difference, the motor controller continues to execute S240-S270 based on the expected speed at the next moment.

[0109] For example, at time t1, if the motor controller determines that the difference between the desired motor speed n1 and the actual motor speed n2 is less than or equal to a preset speed difference, the vehicle's longitudinal control during parking is normal. The motor controller can then send instruction 1 to the autonomous driving controller, requesting the controller to send the desired motor speed n3 at time t2, where time t2 can be a time after time t1. Upon receiving instruction 1 from the motor controller, the autonomous driving controller can send the desired motor speed n3 at time t2 to the motor controller. The motor controller can then execute steps S240-S270 described above.

[0110] Exemplarily, the preset speed difference is 20 revolutions per second.

[0111] Optionally, the motor controller performs corresponding operations based on the expected speed n1 and the actual speed n2, including: when the difference between the expected speed n1 and the actual speed n2 is greater than a preset speed difference, the motor controller sends an instruction to the automatic driving controller, which is used to indicate that the motor speed is abnormal.

[0112] For example, at time t1, if the motor controller determines that the difference between the desired speed n1 and the actual speed n2 is greater than a preset speed difference, it can determine that the vehicle's longitudinal control is abnormal during parking. The motor controller can then send instruction 2 to the autonomous driving controller, indicating that the motor speed is abnormal. Upon receiving instruction 2, the autonomous driving controller can send instruction 3 to the hydraulic brake controller, instructing the hydraulic brake controller to perform hydraulic braking control. Upon receiving instruction 3, the hydraulic brake controller can establish master cylinder and wheel-end pressure to decelerate or stop the vehicle.

[0113] When the above autonomous driving controller sends a command to the hydraulic brake controller, the vehicle can switch from speed mode to torque mode. In torque mode, the autonomous driving controller sends a braking command to the brake controller to control the vehicle to slow down or stop.

[0114] After the vehicle slows down to below a preset speed or stops, the vehicle can switch back from torque mode to speed mode. The autonomous driving controller can continue to send motor speed information to the motor controller based on the vehicle's current state and target state, thereby continuing to control the vehicle to park in the target parking space.

[0115] For example, at time t1, if the motor controller determines that the desired speed n1 is greater than the actual speed n2 and the difference between the desired speed n1 and the actual speed n2 is greater than a preset speed difference, the vehicle may be determined to be in a stuck state during parking. Consequently, the motor controller may send instruction 4 to the autonomous driving controller, indicating that the vehicle is in a stuck state during parking. Upon receiving instruction 4, the autonomous driving controller may send instruction 5 to the hydraulic brake controller, instructing the hydraulic brake controller to perform hydraulic brake control. Upon receiving instruction 5, the hydraulic brake controller may establish master cylinder and wheel-end pressure to decelerate or stop the vehicle.

[0116] Optionally, the first motor speed corresponds to a first speed of the vehicle, and the method 200 also includes: the automatic driving controller obtains a second speed of the vehicle; when the difference between the first speed and the second speed is greater than or equal to a preset speed difference, the automatic driving controller sends an instruction to the brake controller, which is used to instruct the brake controller to perform braking control.

[0117] Exemplarily, the automatic driving controller obtains the second speed of the vehicle, including: the automatic driving controller determines the second speed based on data collected by a speed sensor.

[0118] Exemplarily, the brake controller may be an ESC.

[0119] For example, the autopilot controller can determine the desired speed v1 at time t1 based on the desired motor speed n1 at time t1. At time t1, the autopilot controller can determine the vehicle's actual speed v2 based on data collected by the vehicle's speed sensor. When the difference between the desired speed v1 and the actual speed v2 is greater than or equal to a preset speed difference, the autopilot controller can send instruction 6 to the ESC, instructing the ESC to perform hydraulic braking control. Upon receiving instruction 6, the ESC can establish master cylinder and wheel-end pressure to decelerate or stop the vehicle.

[0120] Exemplarily, the preset speed difference is 2 km / h.

[0121] The above steps S210-S270 can be understood as a speed mode. For example, when the vehicle's speed is less than or equal to a preset speed, the autonomous driving controller can control the vehicle to enter the speed mode; alternatively, when the vehicle is in an automatic parking state, the autonomous driving controller can control the vehicle to enter the speed mode. The torque mode provided in this embodiment of the application is described below using method 600.

[0122] FIG6 shows a schematic flow chart of a longitudinal control method 600 provided in an embodiment of the present application. The method 600 may be executed by a system consisting of an autonomous driving controller and a motor controller, and the method 600 includes:

[0123] S610, the automatic driving controller obtains the current state of the vehicle.

[0124] S620: The automatic driving controller determines the speed of the third motor according to the current state and target state of the vehicle.

[0125] The above S610-S620 can refer to the description of the above S210-S220, which will not be repeated here.

[0126] S630: The automatic driving controller determines the second torque based on the speed of the third motor.

[0127] S640: The automatic driving controller sends a driving instruction to the motor controller, where the driving instruction includes the second torque.

[0128] Optionally, the autonomous driving controller sends a driving instruction to the motor controller, including: the autonomous driving controller sends the driving instruction to the motor controller through the vehicle domain controller.

[0129] S650: The motor controller controls the drive motor according to the drive instruction.

[0130] S610-S650 above can be understood as the process of the vehicle performing drive control in torque mode. When the vehicle performs braking control in torque mode, the autonomous driving controller can send a braking command to the brake controller, which includes torque information. Upon receiving the braking command, the brake controller can control the vehicle to decelerate or stop.

[0131] For example, the brake controller may be a hydraulic brake controller. Upon receiving the brake command, the hydraulic brake controller may establish master cylinder and wheel end pressures to decelerate or stop the vehicle.

[0132] S660: The automatic driving controller receives a fourth motor speed sent by the motor.

[0133] S670, the automatic driving controller performs corresponding operations according to the speed of the third motor and the speed of the fourth motor.

[0134] The third motor speed mentioned above can be understood as the expected speed of the drive motor, and the fourth motor speed can be understood as the actual speed of the drive motor.

[0135] In one embodiment, when the difference between the speed of the third motor and the speed of the fourth motor is greater than or equal to a preset speed difference, the automatic driving controller may send an instruction to the brake controller, where the instruction is used to instruct the brake controller to perform braking control.

[0136] Optionally, the third motor speed corresponds to the third speed of the vehicle, and the method also includes: the automatic driving controller obtains the fourth speed of the vehicle; when the difference between the third speed and the fourth speed is greater than or equal to a preset speed difference, the automatic driving controller sends an instruction to the brake controller, which is used to instruct the brake controller to perform braking control.

[0137] The third speed mentioned above may be understood as the desired speed of the vehicle, and the fourth speed may be understood as the actual speed of the vehicle.

[0138] For example, FIG7 shows another schematic block diagram of the longitudinal control system provided in an embodiment of the present application. As shown in FIG7 , the longitudinal control system includes an automatic driving controller, a motor controller and a motor. When in torque mode, the automatic driving controller, the motor controller and the motor form a speed closed-loop control system. When the automatic driving controller controls the vehicle drive, the automatic driving controller can determine the motor speed and determine the torque based on the motor speed through the current position information and target position information of the vehicle. The automatic driving controller can send a drive instruction including torque information to the motor controller, thereby driving the vehicle through the drive motor; when the automatic driving controller controls the vehicle braking, the automatic driving controller can send a braking instruction to the brake controller.

[0139] FIG8 shows a schematic flow chart of a longitudinal control method 800 provided in an embodiment of the present application. The method 800 may be executed by the aforementioned autonomous driving controller and motor controller, and includes:

[0140] S810, the automatic driving controller sends a first instruction to the motor controller, where the first instruction is used to determine a first motor speed.

[0141] Optionally, the first instruction may include the first motor speed.

[0142] Optionally, the first instruction may include a first distance or a first phase, where the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the drive motor corresponding to the first distance.

[0143] The first instruction may be a driving instruction or a braking instruction.

[0144] The first motor speed mentioned above can be understood as the expected speed of the drive motor.

[0145] S820: The motor controller determines a first torque according to the first instruction.

[0146] Optionally, when the first instruction includes information about the first motor speed, the motor controller may determine the first torque according to the first motor speed.

[0147] Optionally, when the first instruction includes a first distance or a first phase, the motor controller determines the first torque based on the first instruction, including: the motor controller determines the first motor speed based on the first distance or the first phase; the motor controller determines the first torque based on the first motor speed.

[0148] S830: The motor controller controls the drive motor according to the first torque.

[0149] The above method 800 can be understood as the vehicle's operating process in speed mode. In speed mode, the vehicle can achieve driving and braking through the drive motor, without relying on traditional braking methods (such as hydraulic braking). This reduces coupling with Tier 1 chassis suppliers, reduces the autonomous driving controller's dependence on Tier 1 chassis, and improves the efficiency of closed-loop resolution of vehicle longitudinal issues.

[0150] As shown in Figure 4, a closed-loop execution link is formed between the motor controller and the drive motor. Compared with the closed-loop execution link between the automatic driving controller and the drive motor shown in Figure 7, the link is shorter, which helps to improve the frequency of vehicle speed control (for example, the control frequency of parking speed is increased from 100Hz to 500Hz) and the control accuracy of vehicle speed, thereby helping to improve the user experience.

[0151] Optionally, the method 800 also includes: the motor controller obtains a second motor speed of the drive motor; when the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, the motor controller sends a second instruction to the automatic driving controller, and the second instruction is used to indicate that the speed of the drive motor is abnormal; the automatic driving controller sends a third instruction to the brake controller according to the second instruction, and the third instruction is used to instruct the brake controller to brake.

[0152] The above second motor speed can be understood as the actual speed of the drive motor.

[0153] As shown in Figure 4, after obtaining the actual speed of the drive motor, the motor controller can compare it with the expected speed. When the motor controller determines that the actual speed and the expected speed differ too much, the motor controller can determine that the drive motor is abnormal. The motor controller can send an instruction to the automatic driving controller to indicate that the motor speed is abnormal. When the automatic driving controller receives the instruction, it can control the vehicle to switch from speed mode to torque mode. For example, in torque mode, the automatic driving controller can send a braking instruction to the hydraulic brake controller. When the hydraulic brake controller receives the braking instruction, it can establish master cylinder and wheel end pressure to achieve vehicle deceleration or parking.

[0154] Optionally, the first motor speed corresponds to a first vehicle speed, and the method 800 further includes: the autonomous driving domain controller obtains a second vehicle speed of the vehicle; when the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset speed difference, the autonomous driving domain controller sends a fourth instruction to the brake controller, and the fourth instruction is used to instruct the brake controller to perform braking.

[0155] The first vehicle speed may be understood as the desired vehicle speed, and the second vehicle speed may be understood as the actual vehicle speed. The first vehicle speed may correspond to the first motor speed.

[0156] The autonomous driving controller can obtain data collected by the vehicle speed sensor and determine the vehicle's actual speed based on this data. If the autonomous driving controller determines that the difference between the vehicle's desired speed and actual speed is excessive, it can control the vehicle to switch from speed mode to torque mode. For example, in torque mode, the autonomous driving controller can send a braking command to the hydraulic brake controller. Upon receiving this braking command, the hydraulic brake controller can establish master cylinder and wheel-end pressure to decelerate or stop the vehicle.

[0157] Optionally, the automatic driving controller is connected to the motor controller.

[0158] As shown in FIG4 , the autonomous driving controller and the motor controller can be directly connected via wired or wireless means.

[0159] Optionally, the autonomous driving controller sends a first instruction to the motor controller, including: the autonomous driving controller sends the first instruction to the motor controller through the vehicle domain controller.

[0160] As shown in Figure 5, the autonomous driving controller and the motor controller can be connected via the vehicle domain controller. The autonomous driving controller and the vehicle domain controller can be connected via wired or wireless communication, and the vehicle domain controller and the motor controller can be connected via wired or wireless communication.

[0161] Optionally, the method 800 further includes: before sending the first instruction to the motor controller, the automatic driving controller determines that the vehicle is in an automatic parking state, or determines that the speed of the vehicle is less than or equal to a preset speed.

[0162] The technical solutions of the embodiments of this application can be applied to scenarios where the vehicle is traveling at a low speed or in an automatic parking state. For example, when the vehicle is in automatic parking, the vehicle can be controlled by speed mode. By improving longitudinal control accuracy, the vehicle's parking overshoot can be improved, which helps enhance the user's parking experience. For example, parking time can be reduced by 50%, the success rate of assisted parking in narrow parking spaces can be improved, the number of parking attempts can be reduced by 30%, and the parking time can be reduced by 10%.

[0163] FIG9 shows a schematic flow chart of a longitudinal control method 900 provided in an embodiment of the present application. The method 900 may be executed by the aforementioned autonomous driving controller, and the method 900 includes:

[0164] S910: The autonomous driving controller obtains the vehicle status.

[0165] For example, the vehicle status includes whether the vehicle speed is greater than or equal to a preset speed, such as 10 km / h.

[0166] Exemplarily, the state of the vehicle includes whether the vehicle is in an automatic parking state, for example, whether the vehicle detects that the user has turned on the AVP function.

[0167] S920, the automatic driving controller determines the driving mode of the vehicle according to the state of the vehicle, and the driving mode includes a speed mode or a torque mode.

[0168] For example, when the vehicle's speed is less than or equal to a preset speed, the autonomous driving controller can control the vehicle to enter the aforementioned speed mode. As shown in Figure 4, in the speed mode, the autonomous driving controller can control vehicle driving or braking by sending a control instruction containing a command for determining the motor speed to the motor controller.

[0169] When the vehicle's speed exceeds a preset speed, the vehicle can be controlled to enter the aforementioned torque mode. As shown in Figure 7, in the torque mode, the autonomous driving controller can send a drive instruction including torque information to the motor controller to control the vehicle to drive; or the autonomous driving controller can send a brake instruction including torque information to the brake controller to control the vehicle to brake.

[0170] For example, when the vehicle is in an automatic parking state, the automatic driving controller may control the vehicle to enter the above speed mode. When the vehicle is in a non-parking state, the automatic driving controller may control the vehicle to enter the above torque mode.

[0171] Figure 10 shows a schematic block diagram of a longitudinal control device 1000 provided in an embodiment of the present application. Device 1000 includes: an acquisition unit 1010 for acquiring a first instruction from an autonomous driving controller, the first instruction being used to determine a first motor speed; a determination unit 1020 for determining a first torque based on the first instruction; and a control unit 1030 for controlling the drive motor based on the first torque.

[0172] Optionally, the device 1000 further includes a sending unit, and the acquisition unit 1010 is further used to obtain the second motor speed of the drive motor; the sending unit is further used to send a second instruction to the automatic driving controller when the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, and the second instruction is used to indicate that the speed of the drive motor is abnormal.

[0173] Optionally, the acquisition unit 1010 is used to: acquire the first instruction sent by the autonomous driving controller; or acquire the first instruction sent by the autonomous driving controller through the vehicle domain controller.

[0174] Optionally, the first instruction includes a first distance or a first phase, the first distance being the distance between the vehicle and the target position, and the first phase being the number of revolutions of the drive motor corresponding to the first distance, wherein the control unit 1030 is used to: determine the first motor speed based on the first distance or the first phase; and determine the first torque based on the first motor speed.

[0175] Optionally, the first instruction includes the first motor speed.

[0176] For example, the acquisition unit 1010 may be the computing platform in Figure 1 or a processing circuit, processor, or controller in the computing platform. For example, if the acquisition unit 1010 is the processor 121 in the computing platform, the processor 121 may acquire the first instruction sent by the autonomous driving controller.

[0177] For another example, the determining unit 1020 may be the computing platform in Figure 1 or a processing circuit, processor, or controller in the computing platform. For example, if the determining unit 1020 is the processor 122 in the computing platform, the processor 122 may determine the first torque based on the first instruction obtained by the processor 121.

[0178] For another example, the control unit 1030 may be the computing platform or a processing circuit, processor, or controller in the computing platform in Figure 1. For example, if the control unit 1030 is the processor 123 in the computing platform, the processor 123 may control the drive motor according to the first torque.

[0179] The functions implemented by the acquisition unit 1010, the functions implemented by the determination unit 1020, and the functions implemented by the control unit 1030 may be implemented by different processors, or may be implemented by the same processor, or some functions may be implemented by the same processor. This embodiment of the application does not limit this.

[0180] The embodiment of the present application further provides a motor controller, which may include the above-mentioned device 1000. Exemplarily, the motor controller may be a motor MCU.

[0181] Figure 11 shows a schematic block diagram of a longitudinal control device 1100 provided in an embodiment of the present application. The device 1100 includes: an instruction generation unit 1110 for generating a first instruction for determining a first motor speed; and a transceiver unit 1120 for sending the first instruction to a motor controller.

[0182] Optionally, the transceiver unit 1120 is further used to: receive a second instruction sent by the motor controller, the second instruction being used to indicate that the speed of the drive motor is abnormal; and send a third instruction to the brake controller according to the second instruction, the third instruction being used to instruct the brake controller to perform braking control.

[0183] Optionally, the first motor speed corresponds to a first vehicle speed, and the device 1100 further includes: an acquisition unit for acquiring a second vehicle speed; the transceiver unit 1120 is also used to send a fourth instruction to the brake controller when the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset speed difference, and the fourth instruction is used to instruct the brake controller to perform braking control.

[0184] Optionally, the transceiver unit 1120 is used to send the first instruction to the motor controller through the vehicle domain controller.

[0185] Optionally, the device 1100 further includes: a determining unit, configured to determine that the vehicle is in an automatic parking state, or determine that the speed of the vehicle is less than or equal to a preset speed, before the transceiver unit sends the first instruction to the motor controller.

[0186] Optionally, the first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the drive motor corresponding to the first distance.

[0187] For example, the instruction generation unit 1110 may be the computing platform in FIG1 or a processing circuit, processor, or controller in the computing platform. For example, if the instruction generation unit 1110 is the processor 124 in the computing platform, the processor 124 may obtain the current location information and target location information of the vehicle, and thereby generate the first instruction based on the current location information and target location information of the vehicle.

[0188] For another example, the transceiver unit 1120 may be a communication interface between the processor 124 and the processor 121 in Figure 1. After generating the first instruction, the processor 124 may send the first instruction to the motor controller through the communication interface.

[0189] An embodiment of the present application also provides an autonomous driving controller, which includes the above-mentioned device 1100.

[0190] It should be understood that the division of the various units in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity, or they may be physically separated. Furthermore, the units in the device may be implemented in the form of a processor calling software; for example, the device includes a processor connected to a memory storing instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or the functions of the various units in the device, where the processor is, for example, a general-purpose processor such as a CPU or a microprocessor, and the memory is a memory within the device or a memory external to the device. Alternatively, the units in the device may be implemented in the form of hardware circuits, and the functions of some or all of the units may be implemented through the design of the hardware circuits. The hardware circuits may be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units may be implemented through the design of the logical relationships between the components within the circuits. In another implementation, the hardware circuit may be implemented using a PLD, such as an FPGA, which may include a large number of logic gate circuits, and the connections between the logic gate circuits may be configured using a configuration file to implement the functions of some or all of the above units. All units of the above apparatus may be implemented entirely in the form of software called by a processor, or entirely in the form of hardware circuits, or partially in the form of software called by a processor and the rest in the form of hardware circuits.

[0191] Each unit in the above apparatus may be one or more processors (or processing circuits) configured to implement the above method, such as a CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0192] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0193] An embodiment of the present application also provides a device, which includes a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes the method or steps performed by the above embodiment.

[0194] Optionally, if the device is located in a vehicle, the processing unit may be the processors 121 - 12n shown in FIG. 1 .

[0195] An embodiment of the present application further provides a longitudinal control system, which includes the above-mentioned automatic driving controller and motor controller, or the longitudinal control system may include the above-mentioned device 1000 and device 1100.

[0196] An embodiment of the present application further provides a vehicle, which may include the above-mentioned device 1000 or device 1100, or include the above-mentioned longitudinal control system.

[0197] An embodiment of the present application further provides a computer program product, which includes: computer program code, which enables the computer to execute the above-mentioned longitudinal control method when the computer program code is run on a computer.

[0198] An embodiment of the present application further provides a computer-readable medium, wherein the computer-readable medium stores a program code. When the computer program code is run on a computer, the computer executes the above-mentioned longitudinal control method.

[0199] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or a power-on erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it will not be described in detail here.

[0200] It should be understood that in the embodiment of the present application, the memory may include a read-only memory and a random access memory, and provide instructions and data to the processor.

[0201] It should also be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0202] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0203] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0204] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0205] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0206] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0207] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0208] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be covered and fall within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A longitudinal control system, characterized in that: The longitudinal control system includes an automatic driving controller and a motor controller, wherein: The automatic driving controller is used to send a first instruction to the motor controller, wherein the first instruction is used to determine a first motor speed; The motor controller is used to determine a first torque according to the first instruction; The motor controller is further used to control the drive motor according to the first torque.

2. The system according to claim 1, characterized in that The motor controller is further used to: obtain a second motor speed of the driving motor; When the difference between the speed of the first motor and the speed of the second motor is greater than or equal to a preset speed difference, sending a second instruction to the automatic driving controller, wherein the second instruction is used to indicate that the speed of the drive motor is abnormal; Wherein, the automatic driving controller is also used for: According to the second instruction, a third instruction is sent to the brake controller, where the third instruction is used to instruct the brake controller to perform brake control.

3. The system according to claim 1, characterized in that The first motor speed corresponds to a first vehicle speed, and the automatic driving domain controller is further used for: Obtaining a second speed of the vehicle; When the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset vehicle speed difference, a fourth instruction is sent to the brake controller, where the fourth instruction is used to instruct the brake controller to perform brake control.

4. The system according to any one of claims 1 to 3, characterized in that The automatic driving controller is connected to the motor controller.

5. The system according to any one of claims 1 to 3, characterized in that The longitudinal control system also includes a vehicle domain controller, The autonomous driving controller is used to send the first instruction to the vehicle domain controller; The vehicle domain controller is used to send the first instruction to the motor controller.

6. The system according to any one of claims 1 to 5, characterized in that The automatic driving controller is further used for: Before sending the first instruction to the motor controller, it is determined that the vehicle is in an automatic parking state, or it is determined that the speed of the vehicle is less than or equal to a preset speed.

7. The system according to any one of claims 1 to 6, characterized in that The first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, the first phase is the number of revolutions of the drive motor corresponding to the first distance, and the motor controller is used to: determining a rotation speed of the first motor according to the first distance or the first phase; The first torque is determined according to the first motor speed.

8. A longitudinal control method, characterized in that: The method is applied to a motor controller, and the method comprises: Obtaining a first instruction from an automatic driving controller, wherein the first instruction is used to determine a speed of a first motor; determining a first torque according to the first instruction; The driving motor is controlled according to the first torque.

9. The method according to claim 8, characterized in that The method further comprises: Acquire a second motor speed of the driving motor; When the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, a second instruction is sent to the automatic driving controller, where the second instruction is used to indicate that the speed of the drive motor is abnormal.

10. The method according to claim 8 or 9, characterized in that: The obtaining of a first instruction from the automatic driving controller includes: Obtaining the first instruction sent by the automatic driving controller; or, Obtain the first instruction sent by the automatic driving controller through the vehicle domain controller.

11. The method according to any one of claims 8 to 10, characterized in that The first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the driving motor corresponding to the first distance. Wherein, determining the first torque according to the first instruction includes: determining a rotation speed of the first motor according to the first distance or the first phase; The first torque is determined according to the first motor speed.

12. The method according to any one of claims 8 to 10, characterized in that The first command includes the first motor speed.

13. A longitudinal control method, characterized in that: The method is applied to an automatic driving controller, and the method comprises: generating a first instruction, wherein the first instruction is used to determine a first motor speed; The first instruction is sent to the motor controller.

14. The method according to claim 13, characterized in that The method further comprises: receiving a second instruction sent by the motor controller, wherein the second instruction is used to indicate that the rotation speed of the drive motor is abnormal; According to the second instruction, a third instruction is sent to the brake controller, where the third instruction is used to instruct the brake controller to perform brake control.

15. The method according to claim 13, characterized in that The first motor speed corresponds to a first vehicle speed, and the method further includes: Obtaining a second speed of the vehicle; When the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset vehicle speed difference, a fourth instruction is sent to the brake controller, where the fourth instruction is used to instruct the brake controller to perform brake control.

16. The method according to any one of claims 13 to 15, characterized in that The sending the first instruction to the motor controller includes: The first instruction is sent to the motor controller through the vehicle domain controller.

17. The method according to any one of claims 13 to 16, characterized in that The method further comprises: Before sending the first instruction to the motor controller, it is determined that the vehicle is in an automatic parking state, or it is determined that the speed of the vehicle is less than or equal to a preset speed.

18. The method according to any one of claims 13 to 17, characterized in that The first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the driving motor corresponding to the first distance.

19. A longitudinal control device, characterized in that: include: an acquisition unit, configured to acquire a first instruction from the automatic driving controller, wherein the first instruction is used to determine a rotation speed of a first motor; a determining unit, configured to determine a first torque according to the first instruction; A control unit is used to control the drive motor according to the first torque.

20. The device according to claim 19, characterized in that The device also includes a sending unit, The acquisition unit is further used to acquire a second motor speed of the driving motor; The sending unit is also used to send a second instruction to the automatic driving controller when the difference between the first motor speed and the second motor speed is greater than or equal to a preset speed difference, and the second instruction is used to indicate that the speed of the drive motor is abnormal.

21. The device according to claim 19 or 20, characterized in that The acquisition unit is used to: Obtaining the first instruction sent by the automatic driving controller; or, Obtain the first instruction sent by the automatic driving controller through the vehicle domain controller.

22. The device according to any one of claims 19 to 21, characterized in that The first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the driving motor corresponding to the first distance. Wherein, the control unit is used for: determining a rotation speed of the first motor according to the first distance or the first phase; The first torque is determined according to the first motor speed.

23. The device according to any one of claims 19 to 21, characterized in that The first command includes the first motor speed.

24. A longitudinal control device, characterized in that: include: An instruction generating unit, configured to generate a first instruction, wherein the first instruction is used to determine a first motor speed; The transceiver unit is used to send the first instruction to the motor controller.

25. The device according to claim 24, characterized in that The transceiver unit is further used for: receiving a second instruction sent by the motor controller, wherein the second instruction is used to indicate that the rotation speed of the drive motor is abnormal; According to the second instruction, a third instruction is sent to the brake controller, wherein the third instruction is used to instruct the brake controller to brake control.

26. The device according to claim 24, characterized in that The first motor speed corresponds to a first vehicle speed, and the device further comprises: An acquisition unit, used for acquiring a second vehicle speed of the vehicle; The transceiver unit is further used to send a fourth instruction to the brake controller when the difference between the first vehicle speed and the second vehicle speed is greater than or equal to a preset vehicle speed difference, wherein the fourth instruction is used to instruct the brake controller to perform brake control.

27. The device according to any one of claims 24 to 26, characterized in that The transceiver unit is used for: The first instruction is sent to the motor controller through the vehicle domain controller.

28. The device according to any one of claims 24 to 27, characterized in that The device also includes: A determination unit is used to determine that the vehicle is in an automatic parking state, or to determine that the speed of the vehicle is less than or equal to a preset speed, before the transceiver unit sends the first instruction to the motor controller.

29. The device according to any one of claims 24 to 28, characterized in that The first instruction includes a first distance or a first phase, the first distance is the distance between the vehicle and the target position, and the first phase is the number of revolutions of the driving motor corresponding to the first distance.

30. A longitudinal control device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 8 to 18.

31. A vehicle, characterized in that: The method comprises a longitudinal control system as claimed in any one of claims 1 to 7, or a longitudinal control device as claimed in any one of claims 19 to 30.

32. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 8 to 18 is implemented.

33. A chip, characterized in that: include: A circuit for executing the method according to any one of claims 8 to 18.

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