Domain controller, vehicle control method and control system, vehicle, and storage medium

Abstract

A domain controller 110, used for a vehicle. The domain controller 110 is connected to an information acquisition unit 120 of the vehicle, and the domain controller 110 is connected to a plurality of first controlled units 130 of the vehicle. The domain controller 110 is configured to determine a first control signal on the basis of first vehicle information acquired by the information acquisition unit 120, and send the first control signal to the plurality of first controlled units 130, wherein the first control signal is used for instructing the plurality of first controlled units 130 to perform corresponding operations.

Description

Domain controller, vehicle control method, control system, vehicle, and storage medium

[0001] Priority information

[0002] This application claims priority and benefits of patent application No. 2023118682610 filed with the State Intellectual Property Office of China on December 29, 2023, and the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the field of vehicle technology, and in particular to a domain controller, a vehicle control method, a vehicle control system, a vehicle, and a computer-readable storage medium. Background Art

[0004] In traditional EE (Electrical Electronic) architectures, vehicles include multiple ECUs (Electronic Control Units) to implement distinct independent functions. For example, during braking, multiple ECUs may be required to perform vehicle status detection, target torque calculation, torque arbitration, and torque distribution. However, this disperses the vehicle's computing power across multiple ECUs, resulting in low braking efficiency. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application provides a domain controller, a vehicle control method, a vehicle control system, a vehicle, and a computer-readable storage medium.

[0006] An embodiment of the present application provides a domain controller for a vehicle, wherein the domain controller is connected to an information collection unit of the vehicle, and the domain controller is connected to a plurality of first controlled units of the vehicle;

[0007] The domain controller is configured to determine a first control signal based on the first vehicle information collected by the information collection unit, and send the first control signal to the multiple first controlled units, wherein the first control signal instructs the multiple first controlled units to perform corresponding operations.

[0008] The domain controller for a vehicle provided in an embodiment of the present application can determine a first control signal through the first vehicle information collected by the connected information collection unit, and send the first control signal to multiple first controlled units connected to itself, so that the first controlled units perform corresponding operations according to the instructions of the first control signal.

[0009] In this way, the embodiment of the present application enables the information collection unit in the vehicle to collect the first vehicle information, such as vehicle deceleration information, and the domain controller can determine the corresponding first control signal based on the first vehicle information of the information collection unit, so as to control the multiple first controlled units of the vehicle to perform corresponding operations according to the first control signal. For example, it enables the brake-related calipers, motors and other components to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller to complete the corresponding data processing. For example, the vehicle status detection, target torque calculation, torque arbitration and torque distribution functions during vehicle braking can all be completed by the domain controller, and the vehicle computing power can be centralized. After the embodiment of the present application sends the first control signal to multiple first controlled units, any one of the multiple first controlled units can perform the corresponding operation according to its own function and the received first control signal, so that the domain controller can ignore the receiving object of the first control signal, thereby improving the signal transmission efficiency of the domain controller to a certain extent, and then, the overall execution efficiency of the vehicle is improved.

[0010] In some embodiments, the domain controller is connected to a plurality of second controlled units of the vehicle;

[0011] The domain controller is configured to determine a second control signal based on the second vehicle information collected by the multiple second controlled units, and send the second control signal to the multiple second controlled units, wherein the second control signal instructs the multiple second controlled units to perform corresponding operations.

[0012] In this way, the implementation method of the present application enables the second controlled unit in the vehicle to perform corresponding operations after receiving the second control signal, so that data processing related to the second controlled unit in the vehicle can be completed by the domain controller, and the computing power of the domain controller can be fully utilized.

[0013] In certain embodiments, the first control signal includes torque control information.

[0014] In some embodiments, the first vehicle information includes current accelerator pedal opening information, current operating mode information, current vehicle speed information and current vehicle gear information, and the domain controller is configured to determine the torque control information based on the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information and the current vehicle gear information to obtain the first control signal.

[0015] In this way, the implementation mode of the present application enables the drive control of the vehicle to be completed by the domain controller, or in other words, after the domain controller determines the torque control information to obtain the first control signal based on the current accelerator pedal opening information, current operating mode information, current vehicle speed information and current vehicle gear information collected or detected by the first information collection unit, the first control signal is sent to the first controlled unit, so that the first controlled unit performs corresponding operations according to the first control signal, so that the vehicle generates corresponding driving force to accelerate.

[0016] In some embodiments, the domain controller is configured to:

[0017] The torque control information is determined based on the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined based on the current operating mode information and the predetermined torque mapping information corresponding to each operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0018] In this way, the implementation method of the present application can determine the corresponding torque mapping information based on the operating mode information, that is, the target mapping information, and then determine the corresponding torque according to the current accelerator pedal opening information, the current vehicle speed information, and the current vehicle gear information, thereby obtaining the torque control information. As a result, the efficiency of obtaining the torque control information is guaranteed.

[0019] In some embodiments, the first vehicle information includes current brake pedal opening information, and the domain controller is configured to determine the torque control information according to a target braking torque, wherein the target braking torque is determined according to the current brake pedal opening information.

[0020] In this way, the embodiment of the present application enables the domain controller to determine the target braking torque based on the current brake pedal opening information after the user steps on the brake pedal to change the brake pedal opening, and generate corresponding torque control information based on the target braking torque, thereby generating a corresponding first control signal. Then, when the first controlled unit receives the first control signal and obtains the torque control information, it can perform corresponding operations to make the vehicle generate the target braking torque, so that the user's braking needs are met.

[0021] In some embodiments, the first vehicle information includes current battery status information and current drive motor status information, and the domain controller is configured to:

[0022] The torque control information is determined according to the target braking torque and the current maximum braking torque, wherein the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0023] In this way, the implementation mode of the present application enables the domain controller to determine the current maximum braking torque that the vehicle can currently generate based on the current drive motor state information. Furthermore, the domain controller can determine the corresponding torque control information based on the current maximum braking torque and the target braking torque, such as determining the torque control information based on the smaller value of the current maximum braking torque and the target braking torque, so that the determination of the torque control information can be carried out more reasonably.

[0024] In some embodiments, the first vehicle information includes current vehicle speed information, and the domain controller is configured to:

[0025] The torque control information is determined according to the target braking torque, the current maximum braking torque and the feedback torque, wherein the feedback torque is determined according to the current battery status information, the current drive motor status information and the current vehicle speed information.

[0026] In this way, the implementation manner of the present application enables the domain controller in the vehicle to determine the feedback torque based on the current battery status information, the current drive motor status information and the current vehicle speed information, that is, when it is determined that the vehicle can perform battery energy feedback during braking, the domain controller can determine the corresponding torque control information based on the target braking torque, the current maximum braking torque and the feedback torque. For example, the corresponding torque control information is generated based on the smaller value of the target braking torque and the current maximum braking torque, and the feedback torque, so that after the first controlled unit receives the first control signal, the vehicle can generate the braking torque of the aforementioned smaller value, and a part of the braking torque is composed of the feedback torque, thereby enabling the vehicle braking to be completed based on the feedback torque.

[0027] In some embodiments, the first vehicle information includes current wheel speed information, and the domain controller is configured to determine the torque control information based on current slip information, wherein the current slip information is determined based on the current wheel speed information and vehicle speed information corresponding to the current wheel speed information.

[0028] In this way, the domain controller of the embodiment of the present application can also generate corresponding torque control information and a first control signal based on the current slip information determined by the current wheel speed information and the current vehicle speed information. Then, the first controlled unit that receives the first control signal and obtains the torque control information can perform corresponding operations, such as slowing down the vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0029] In some embodiments, the torque control information includes torque reduction information, the multiple first controlled units include a drive motor, the first vehicle information includes the current generated torque of the drive motor, and the domain controller is configured to determine the torque reduction information of the drive motor based on the current generated torque and the current slip information to obtain the torque control information when the current slip information indicates that the vehicle slip rate is higher than a preset value, wherein the drive motor is configured to reduce the current generated torque according to the torque reduction information when the torque reduction information in the first control signal is obtained.

[0030] In this way, the embodiment of the present application enables the domain controller to determine corresponding torque reduction information and torque control information based on the current torque generated by the drive motor when the vehicle slip rate is higher than a preset value. Furthermore, the domain controller sends a first control signal to multiple first controlled units, and when the drive motor receives the first control signal, the drive motor can obtain the torque reduction information according to the first control signal and reduce the current torque generated according to the torque reduction information, so that the vehicle speed can be reduced and the stable driving of the vehicle can be ensured.

[0031] In certain embodiments, the first vehicle information includes current vehicle steering information, and the domain controller is configured to determine the torque control information based on a vehicle steering angle, a vehicle steering torque, and a vehicle steering speed, wherein the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined based on the current vehicle steering information.

[0032] In this way, the implementation manner of the present application enables the domain controller to determine the corresponding torque control information based on the vehicle steering angle, vehicle steering torque and vehicle steering speed determined by the current vehicle steering information during the vehicle steering process, so that the first controlled unit in the vehicle can complete the vehicle steering operation according to the torque control information, so that the data processing during the vehicle steering process can be reliably or efficiently completed by the domain controller, and the vehicle steering can be carried out reliably.

[0033] In some embodiments, the torque control information includes torque adjustment information, the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information and the current torque generated by the drive motor, and the domain controller is configured to determine the torque adjustment information to obtain torque control information based on the vehicle steering angle, the vehicle steering torque, the vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information and the current torque generated, wherein the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information, and the drive motor is configured to, when the torque adjustment information in the first control signal is obtained, brake according to the torque adjustment information to make the vehicle's forward direction match the vehicle steering angle.

[0034] In this way, the domain controller of the embodiment of the present application can also determine the actual movement of the vehicle during the steering process based on the current slip information, the current vehicle speed information, the vehicle offset information and the current torque generated, and then determine the torque adjustment information in combination with the user's steering intention, that is, the vehicle steering angle, the vehicle steering torque and the vehicle steering speed. Furthermore, after the first controlled unit such as the drive motor obtains the torque adjustment information according to the first control signal, it can perform corresponding operations according to the torque adjustment information to match the actual movement of the vehicle with the user's steering intention, that is, the vehicle's forward direction matches the aforementioned vehicle steering angle, so that lateral trajectory repair can be achieved.

[0035] An embodiment of the present application provides a method for controlling a vehicle, wherein the vehicle is equipped with the above-mentioned domain controller, and the method includes:

[0036] determining a first control signal according to the first vehicle information collected by the information collection unit;

[0037] The first control signal is sent to the plurality of first controlled units, wherein the first control signal instructs the plurality of first controlled units to perform corresponding operations.

[0038] In this way, the embodiment of the present application enables the information collection unit in the vehicle to collect the first vehicle information, such as vehicle deceleration information, and the domain controller can determine the corresponding first control signal based on the first vehicle information of the information collection unit, so as to control the multiple first controlled units of the vehicle to perform corresponding operations according to the first control signal. For example, it enables the brake-related calipers, motors and other components to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller to complete the corresponding data processing. For example, the vehicle status detection, target torque calculation, torque arbitration and torque distribution functions during vehicle braking can all be completed by the domain controller, and the vehicle computing power can be centralized. After the embodiment of the present application sends the first control signal to multiple first controlled units, any one of the multiple first controlled units can perform the corresponding operation according to its own function and the received first control signal, so that the domain controller can ignore the receiving object of the first control signal, thereby improving the signal transmission efficiency of the domain controller to a certain extent, and then, the overall execution efficiency of the vehicle is improved.

[0039] In some embodiments, the domain controller is connected to a plurality of second controlled units of the vehicle, and the method further comprises:

[0040] determining a second control signal according to the second vehicle information collected by the plurality of second controlled units;

[0041] The second control signal is sent to the plurality of second controlled units, wherein the second control signal instructs the plurality of second controlled units to perform corresponding operations.

[0042] In this way, the implementation method of the present application enables the second controlled unit in the vehicle to perform corresponding operations after receiving the second control signal, so that data processing related to the second controlled unit in the vehicle can be completed by the domain controller, and the computing power of the domain controller can be fully utilized.

[0043] In certain embodiments, the first control signal includes torque control information.

[0044] In some embodiments, the first vehicle information includes current accelerator pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information. Determining the first control signal based on the first vehicle information collected by the information collection unit includes:

[0045] The torque control information is determined according to the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information.

[0046] In this way, the implementation mode of the present application enables the drive control of the vehicle to be completed by the domain controller, or in other words, after the domain controller determines the torque control information to obtain the first control signal based on the current accelerator pedal opening information, current operating mode information, current vehicle speed information and current vehicle gear information collected or detected by the first information collection unit, the first control signal is sent to the first controlled unit, so that the first controlled unit performs corresponding operations according to the first control signal, so that the vehicle generates corresponding driving force to accelerate.

[0047] In some embodiments, determining the torque control information based on the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information includes:

[0048] The torque control information is determined based on the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined based on the current operating mode information and the predetermined torque mapping information corresponding to each operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0049] In this way, the implementation method of the present application can determine the corresponding torque mapping information based on the operating mode information, that is, the target mapping information, and then determine the corresponding torque according to the current accelerator pedal opening information, the current vehicle speed information, and the current vehicle gear information, thereby obtaining the torque control information. As a result, the efficiency of obtaining the torque control information is guaranteed.

[0050] In some embodiments, the first vehicle information includes current brake pedal opening information, and the method further includes:

[0051] The torque control information is determined according to the target braking torque, wherein the target braking torque is based on the current brake pedal opening information.

[0052] In this way, the embodiment of the present application enables the domain controller to determine the target braking torque based on the current brake pedal opening information after the user steps on the brake pedal to change the brake pedal opening, and generate corresponding torque control information based on the target braking torque, thereby generating a corresponding first control signal. Then, when the first controlled unit receives the first control signal and obtains the torque control information, it can perform corresponding operations to make the vehicle generate the target braking torque, so that the user's braking needs are met.

[0053] In some embodiments, the first vehicle information includes current battery status information and current drive motor status information, and determining the torque control information based on the target braking torque includes:

[0054] The torque control information is determined according to the target braking torque and the current maximum braking torque, wherein the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0055] In this way, the implementation mode of the present application enables the domain controller to determine the current maximum braking torque that the vehicle can currently generate based on the current drive motor state information. Furthermore, the domain controller can determine the corresponding torque control information based on the current maximum braking torque and the target braking torque, such as determining the torque control information based on the smaller value of the current maximum braking torque and the target braking torque, so that the determination of the torque control information can be carried out more reasonably.

[0056] In some embodiments, the first vehicle information includes current vehicle speed information, and determining the torque control information according to the target braking torque and the current maximum braking torque includes:

[0057] The torque control information is determined according to the target braking torque, the current maximum braking torque and the feedback torque, wherein the feedback torque is determined according to the current battery status information, the current drive motor status information and the current vehicle speed information.

[0058] In this way, the implementation manner of the present application enables the domain controller in the vehicle to determine the feedback torque based on the current battery status information, the current drive motor status information and the current vehicle speed information, that is, when it is determined that the vehicle can perform battery energy feedback during braking, the domain controller can determine the corresponding torque control information based on the target braking torque, the current maximum braking torque and the feedback torque. For example, the corresponding torque control information is generated based on the smaller value of the target braking torque and the current maximum braking torque, and the feedback torque, so that after the first controlled unit receives the first control signal, the vehicle can generate the braking torque of the aforementioned smaller value, and a part of the braking torque is composed of the feedback torque, thereby enabling the vehicle braking to be completed based on the feedback torque.

[0059] In some embodiments, the first vehicle information includes current wheel speed information, and the method further includes:

[0060] The torque control information is determined according to current slip information, wherein the current slip information is determined according to the current wheel speed information and vehicle speed information corresponding to the current wheel speed information.

[0061] In this way, the domain controller of the embodiment of the present application can also generate corresponding torque control information and a first control signal based on the current slip information determined by the current wheel speed information and the current vehicle speed information. Then, the first controlled unit that receives the first control signal and obtains the torque control information can perform corresponding operations, such as slowing down the vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0062] In certain embodiments, the torque control information includes torque reduction information, the plurality of first controlled units include a drive motor, the first vehicle information includes a current torque generated by the drive motor, and determining the torque control information based on the current slip information includes:

[0063] When the current slip information indicates that the vehicle slip rate is higher than a preset value, the torque reduction information of the drive motor is determined based on the current generated torque and the current slip information to obtain the torque control information, wherein the drive motor is configured to reduce the current generated torque according to the torque reduction information when the torque reduction information in the first control signal is obtained.

[0064] In this way, the embodiment of the present application enables the domain controller to determine corresponding torque reduction information and torque control information based on the current torque generated by the drive motor when the vehicle slip rate is higher than a preset value. Furthermore, the domain controller sends a first control signal to multiple first controlled units, and when the drive motor receives the first control signal, the drive motor can obtain the torque reduction information according to the first control signal and reduce the current torque generated according to the torque reduction information, so that the vehicle speed can be reduced and the stable driving of the vehicle can be ensured.

[0065] In some embodiments, the first vehicle information includes current vehicle steering information, and the method further includes:

[0066] The torque control information is determined according to a vehicle steering angle, a vehicle steering torque, and a vehicle steering speed, wherein the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined according to the current vehicle steering information.

[0067] In this way, the implementation manner of the present application enables the domain controller to determine the corresponding torque control information based on the vehicle steering angle, vehicle steering torque and vehicle steering speed determined by the current vehicle steering information during the vehicle steering process, so that the first controlled unit in the vehicle can complete the vehicle steering operation according to the torque control information, so that the data processing during the vehicle steering process can be reliably or efficiently completed by the domain controller, and the vehicle steering can be carried out reliably.

[0068] In certain embodiments, the torque control information includes torque adjustment information, the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and current torque generated by the drive motor, and determining the torque control information based on the vehicle steering angle, vehicle steering torque, and vehicle steering speed includes:

[0069] The torque adjustment information is determined based on the vehicle steering angle, the vehicle steering torque, the vehicle steering speed, the current slip information, the current vehicle speed information, the vehicle offset information and the current generated torque to obtain torque control information, wherein the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information. The drive motor is configured to, when the torque adjustment information in the first control signal is obtained, brake according to the torque adjustment information to make the vehicle's forward direction match the vehicle steering angle.

[0070] In this way, the domain controller of the embodiment of the present application can also determine the actual movement of the vehicle during the steering process based on the current slip information, the current vehicle speed information, the vehicle offset information and the current torque generated, and then determine the torque adjustment information in combination with the user's steering intention, that is, the vehicle steering angle, the vehicle steering torque and the vehicle steering speed. Furthermore, after the first controlled unit such as the drive motor obtains the torque adjustment information according to the first control signal, it can perform corresponding operations according to the torque adjustment information to match the actual movement of the vehicle with the user's steering intention, that is, the vehicle's forward direction matches the aforementioned vehicle steering angle, so that lateral trajectory repair can be achieved.

[0071] An embodiment of the present application provides a vehicle control system, including the above-mentioned domain controller.

[0072] An embodiment of the present application provides a vehicle, comprising a vehicle body;

[0073] The vehicle body is equipped with the above-mentioned domain controller, or is equipped with the above-mentioned vehicle control system.

[0074] An embodiment of the present application provides a vehicle, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above method is implemented.

[0075] The present application provides a computer-readable storage medium having a computer program stored therein. When the computer program is executed by one or more processors, the method described above is implemented.

[0076] The vehicle control system, vehicle, and computer-readable storage medium provided by the embodiments of the present application enable the information collection unit in the vehicle to collect first vehicle information, such as vehicle deceleration information, and the domain controller to determine a corresponding first control signal based on the first vehicle information of the information collection unit to control multiple first controlled units of the vehicle to perform corresponding operations based on the first control signal. For example, it enables brake-related components such as calipers and motors to perform corresponding operations. Therefore, multiple functions in the vehicle can rely on the domain controller to complete the corresponding data processing. For example, the vehicle status detection, target torque calculation, torque arbitration, and torque distribution functions during vehicle braking can all be completed by the domain controller, and the vehicle computing power can be centralized. After the embodiments of the present application send the first control signal to multiple first controlled units, any one of the multiple first controlled units can perform the corresponding operation based on its own function and the received first control signal, so that the domain controller can ignore the recipient of the first control signal, thereby improving the signal transmission efficiency of the domain controller to a certain extent, and thus, the overall execution efficiency of the vehicle is improved.

[0077] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0079] Figure 1 is a schematic diagram of the vehicle control architecture;

[0080] FIG2 is a schematic diagram of a vehicle in certain embodiments of the present application;

[0081] FIG3 is a flow chart of a vehicle control method in certain embodiments of the present application;

[0082] FIG4 is a schematic diagram of a domain controller in certain embodiments of the present application;

[0083] FIG5 is a schematic diagram of a vehicle in certain embodiments of the present application;

[0084] FIG6 is a schematic diagram of a vehicle in some embodiments of the present application. DETAILED DESCRIPTION

[0085] The following describes in detail embodiments of the present application, examples of which 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.

[0086] During driving, any vehicle operation, such as steering, deceleration, and acceleration, requires the participation of multiple sensors and ECUs. Specifically, please refer to Figure 1, which shows a schematic diagram of the vehicle control architecture. Specifically, as shown in Figure 1, braking and acceleration require the participation of wheel speed sensors, pedal sensors, acceleration sensors, the vehicle control unit (VCU) ECU, the motor control unit (MCU) ECU, and the battery management system (BMS) ECU. Steering requires the participation of torque angle sensors, wheel speed sensors, acceleration sensors, the integrated power brake (IPB) ECU, and the electronic power steering (EPS) ECU. Furthermore, temperature data collected by the temperature sensor must be transmitted to the vehicle control unit ECU, the battery management system ECU, and the motor control unit ECU to ensure that these ECUs can determine whether their functions are performing reliably based on the temperature data. If the vehicle temperature is too high, the motor control unit must prevent the motor speed from increasing further.

[0087] Furthermore, taking the braking process as an example, the ECU of the vehicle control unit, the ECU of the battery management system, the ECU of the motor control unit and the ECU of the integrated power brake work together to complete the braking process. Each ECU needs to transmit the data calculated or generated by itself to another ECU. For example, the ECU of the battery management system needs to send the SOC (State of Charge) of the power battery to the ECU of the vehicle control unit and the ECU of the motor control unit. The ECU of the vehicle control unit needs to send the required torque corresponding to the brake pedal opening to the ECU of the motor control unit, and the ECU of the motor control unit needs to send the current torque of the motor to the ECU of the vehicle control unit.

[0088] Therefore, the total response time of vehicle braking after the user steps on the brake pedal may include the calculation time of each ECU, the logic processing time, and the data interaction time between different ECUs.

[0089] Therefore, if a complex function requires the participation of a large number of ECUs, the response time of this function will become unbearable for users. At the same time, as user needs become more complex and functional upgrades occur, the number of sensors and ECUs required to implement each function is also increasing. Factors such as the connection relationship between ECUs and sensors and the communication requirements between ECUs will make vehicle wiring increasingly difficult, and the weight and cost of the vehicle will also continue to increase.

[0090] Based on the above-mentioned possible problems, referring to FIG2 , an embodiment of the present application provides a domain controller 110 for a vehicle. The domain controller 110 is connected to the vehicle's information collection unit 120, and the domain controller 110 is connected to multiple first controlled units 130 of the vehicle. The domain controller 110 is configured to determine a first control signal based on the first vehicle information collected by the information collection unit 120, and to send the first control signal to the multiple first controlled units 130, wherein the first control signal instructs the multiple first controlled units 130 to perform corresponding operations.

[0091] Referring to FIG. 3 , an embodiment of the present application further provides a control method for a vehicle equipped with the aforementioned domain controller 110 , the method comprising:

[0092] 01: Determine a first control signal according to the first vehicle information collected by the information collection unit 120;

[0093] 02: Send a first control signal to the plurality of first controlled units 130 , wherein the first control signal instructs the plurality of first controlled units 130 to perform corresponding operations.

[0094] The present application also provides a vehicle comprising a memory and a processor. The vehicle control method of the present application can be implemented by the vehicle of the present application. Specifically, the memory stores a computer program, and the processor is configured to determine a first control signal based on first vehicle information collected by the information collection unit 120; and to send the first control signal to a plurality of first controlled units 130, wherein the first control signal instructs the plurality of first controlled units 130 to perform corresponding operations.

[0095] That is, the vehicle of the embodiment of the present application is configured based on an electronic and electrical architecture of domain control, and the vehicle is divided into multiple areas, and the components in each area are controlled by a corresponding domain controller 110, and the regional controllers 110 in different areas are interconnected to exchange data with each other. For example, in some embodiments, the vehicle is divided into a power domain, an intelligent driving domain, a cockpit domain, a chassis domain, and a body domain, so the vehicle includes a power domain controller 110, an intelligent driving domain controller 110, a cockpit domain controller 110, a chassis domain controller 110, and a body domain controller 110, and each domain controller 110 is responsible for all components in its own area. For example, the power domain controller 110 may be responsible for the control of the hydraulic brake unit and the drive motor, while the body domain controller 110 may be responsible for the suspension control.

[0096] In other embodiments, the vehicle is divided into a front domain, a rear domain, a left domain, a right domain and a smart cockpit domain, and thus the vehicle includes a front domain controller 110, a rear domain controller 110, a left domain controller 110, a right domain controller 110 and a smart cockpit domain controller 110.

[0097] Based on the domain control-based electrical and electronic architecture, the domain controller 110 in the embodiments of this application is connected to each information collection unit 120 within its own domain. Information collection unit 120 can be understood as a device, including sensors, that can be used to collect or detect operating parameters of vehicle components. For example, a sensor for collecting brake pedal opening or drive pedal opening. Another example is a temperature sensor for collecting power battery temperature.

[0098] Furthermore, when multiple information collection units 120 are connected to a single domain controller 110, the domain controller 110 can perform data processing functions such as determining user intent, calculating torque, and distributing torque based on the data collected by each information collection unit 120. For example, after the domain controller 110 determines the accelerator pedal opening based on data collected by the accelerator pedal start sensor, it combines data collected by other sensors (such as wheel speed sensors) to determine the user's required torque. Finally, the domain controller 110 generates a first control signal based on the user's required torque and broadcasts the first control signal on the in-vehicle local area network. In other words, the domain controller 110 sends the first control signal to the multiple first controlled units 130 connected to the domain controller 110.

[0099] Furthermore, after receiving the first control signal, the first controlled unit 130 of the embodiment of the present application can automatically perform corresponding operations based on the data in the first control signal. For example, when the driving torque state bit in the first control signal is 1 instead of 0, the first controlled unit 130 related to the drive (such as the drive motor) can perform corresponding control operations according to the first control signal to accelerate or drive the vehicle. It is understandable that the operation that can be performed by each first controlled unit 130 not related to the drive (such as the hydraulic brake unit) can be "maintaining the current state unchanged", that is, "not performing any processing" operation.

[0100] For example, in some embodiments, the first control signal includes "the braking torque N1 assigned to the first controlled unit A", "the braking torque N2 assigned to the first controlled unit B" and "the braking torque N3 assigned to the first controlled unit C". Then, when the first controlled unit A, the first controlled unit B and the first controlled unit C each receive the first control signal, the first controlled unit A performs a corresponding operation to generate a braking force of N1, the first controlled unit B performs a corresponding operation to generate a braking force of N2, and the first controlled unit C performs a corresponding operation to generate a braking force of N3, thereby completing vehicle braking.

[0101] It is conceivable that the domain controller 110 and each first controlled unit 130 in the embodiment of the present application may be in the same local area network, so that the domain controller 110 can directly broadcast the first control signal in the local area network, so that each first controlled unit 130 in the local area network can perform corresponding operations after receiving the first control signal broadcast by the domain controller 110.

[0102] In summary, the embodiments of the present application enable the information collection unit 120 within the vehicle to collect first vehicle information, such as vehicle deceleration information, and the domain controller 110 to determine a corresponding first control signal based on the first vehicle information from the information collection unit 120. This control signal then controls the vehicle's multiple first controlled units 130 to perform corresponding operations based on the first control signal. For example, this allows brake-related components such as calipers and motors to perform corresponding operations. Consequently, multiple functions within the vehicle can rely on the domain controller 110 to perform corresponding data processing. For example, vehicle status detection, target torque calculation, torque arbitration, and torque distribution during braking can all be performed by the domain controller, centralizing vehicle computing power. In the embodiments of the present application, after the first control signal is transmitted to the multiple first controlled units 130, any of the multiple first controlled units 130 can perform corresponding operations based on its own function and the received first control signal. This allows the domain controller 110 to ignore the recipient of the first control signal, thereby improving the signal transmission efficiency of the domain controller 110 and, in turn, the overall execution efficiency of the vehicle.

[0103] It is also understood that, due to limitations on the number of pins and computing power, all sensors in a vehicle may not be connected to a single domain controller 110. Instead, each sensor in the vehicle may be connected to the domain controller 110 corresponding to the region to which it belongs. Domain controllers 110 can be interconnected. Furthermore, if the left domain controller 110 requires specific data collected by a sensor in the right domain, the left domain controller 110 can request the right domain controller 110 to forward the aforementioned specific data to the left domain controller 110. It is understood that, based on this connection method, the forwarding and interaction of various types of data can be completed based on a smaller number of domain controllers 110, thereby ensuring data transmission efficiency.

[0104] Moreover, when a domain controller 110 integrates multiple functional modules or multiple functions, such as when a domain controller 110 integrates the functions of ECU units related to power and chassis, that is, when it has data processing functional modules corresponding to VCU, MCU, BMS, IPB and EPS, then when the vehicle performs driving control or deceleration control related to power and chassis, the domain controller 110 can calculate or process the corresponding data processing results based on its own integrated data processing functional module corresponding to the VCU, and forward the data processing results to one or more combinations of the data processing functional modules corresponding to the MCU, BMS, IPB and EPS. It can be understood that compared to the aforementioned case where multiple ECUs are installed in the vehicle and data is forwarded between any two ECUs, the embodiment of the present application also enables data forwarding to be completed within the domain controller 110, so that data forwarding can be converted into data calling, thereby improving data processing efficiency and usage efficiency.

[0105] Furthermore, it should be noted that the specific structure of the first controlled unit 130 in the embodiments of the present application can be configured according to actual circumstances. For example, in certain embodiments, see Figure 4 for details, which is a schematic diagram of the first controlled unit 130 in certain embodiments of the present application. Specifically, each first controlled unit 130 can have a power port, a ground port, and a network port. Furthermore, each network port can be used to connect to a CAN-FD (Controller Area Network with Flexible Data Rate). Consequently, each first controlled unit 130 can be controlled using the same network protocol.

[0106] In certain embodiments of the present application, referring to FIG5 , a domain controller 110 is connected to a plurality of second controlled units 140 of a vehicle. The domain controller 110 is configured to determine a second control signal based on second vehicle information collected by the plurality of second controlled units 140, and to send the second control signal to the plurality of second controlled units 140, wherein the second control signal instructs the plurality of second controlled units 140 to perform corresponding operations.

[0107] The control method provided in the embodiments of the present application further includes:

[0108] A second control signal is determined based on the second vehicle information collected by the plurality of second controlled units 140 , and the second control signal is sent to the plurality of second controlled units 140 , wherein the second control signal instructs the plurality of second controlled units 140 to perform corresponding operations.

[0109] The processor of the embodiment of the present application is also used to determine a second control signal based on the second vehicle information collected by the multiple second controlled units 140, and send the second control signal to the multiple second controlled units 140, wherein the second control signal instructs the multiple second controlled units 140 to perform corresponding operations.

[0110] It should be noted that the second controlled unit 140 in the embodiments of the present application can be understood as a component that can both receive and send signals and perform corresponding operations based on the received signals. For example, in some embodiments, the second controlled unit 140 can include a door lock opening and closing unit.

[0111] Furthermore, when the door lock opening and closing unit receives a door locking command sent to the vehicle by a user through a device such as a car key or a mobile terminal, the door lock opening and closing unit receives the door locking signal and sends the door locking signal to the domain controller 110. The domain controller 110 may send a second control signal to each second controlled unit 140 after verifying that the door locking signal is valid. After receiving the second control signal, the door lock opening and closing unit in the second controlled unit 140 may perform a locking operation according to the second control signal.

[0112] It is understood that the second controlled unit 140 in the embodiments of the present application can also be located within the same local area network as the domain controller 110. Furthermore, the domain controller 110 can broadcast a second control signal within the local area network, so that each second controlled unit 140 within the local area network receives the second control signal and performs corresponding operations. For example, after receiving the second control signal, the aforementioned door lock opening and closing unit can perform a locking operation based on the second control signal. Conversely, a second controlled unit 140 that is not a door lock opening and closing unit can perform an operation to "maintain the current state unchanged," that is, not perform any processing.

[0113] In this way, the embodiment of the present application enables the second controlled unit 140 in the vehicle to perform corresponding operations after receiving the second control signal, so that all data processing related to the second controlled unit 140 in the vehicle can be completed by the domain controller 110, and the computing power of the domain controller 110 can be fully utilized.

[0114] In some embodiments of the present application, the first control signal includes torque control information.

[0115] That is, the domain controller 110 of the embodiment of the present application can determine the driving force or braking force that the user wants the vehicle to generate after stepping on the brake pedal or the driving pedal based on the information collected by each information collection unit 120, thereby generating torque control information.

[0116] Furthermore, after generating the torque control information, the domain controller 110 may generate a corresponding first control signal based on the torque control information, and send the first control signal to multiple first controlled units 130, so that each first controlled unit 130 performs a corresponding operation after receiving the first control signal and obtaining the torque control information, thereby causing the vehicle to generate driving force or braking force to meet the user's intention.

[0117] In certain embodiments of the present application, the first vehicle information includes current accelerator pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information. The domain controller 110 is configured to determine the torque control information based on the current accelerator pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information.

[0118] In the control method of the embodiment of the present application, step 01 includes:

[0119] The torque control information is determined based on the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information and the current vehicle gear information.

[0120] The processor of the embodiment of the present application is also used to determine torque control information based on current accelerator pedal opening information, current operating mode information, current vehicle speed information and current vehicle gear information.

[0121] That is, the first information collection unit 120 of the embodiment of the present application may include multiple units, such as an accelerator pedal sensor for collecting accelerator pedal opening information, a wheel speed sensor (or vehicle speed sensor) for collecting vehicle speed information, a gear detection unit for detecting the vehicle gear (i.e., forward gear or reverse gear), and a mode detection unit for detecting the vehicle operating mode. Therefore, after receiving the information collected or detected by the aforementioned first information collection unit 120 at the current moment, i.e., the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information, the domain controller 110 can determine the vehicle driving force required by the user based on the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information, thereby determining the corresponding torque control information and generating the corresponding first control signal.

[0122] It can be understood that after the domain controller 110 determines that the vehicle accelerator pedal has been depressed based on the current accelerator pedal opening information obtained, it can determine the driving force required by the driver to accelerate the vehicle, or in other words, determine the torque control information, based on the current accelerator pedal opening information, combined with the current operating mode information, the current vehicle speed information and the current vehicle gear information.

[0123] It is also understood that after the domain controller 110 determines the torque control information, it can generate a corresponding first control signal based on the torque control information and send the first control signal to each first controlled unit 130. Furthermore, after receiving the first control signal, the components related to vehicle acceleration can perform corresponding operations based on the first control signal to accelerate the vehicle, that is, generate the driving force required by the user.

[0124] In this way, the embodiment of the present application enables the drive control of the vehicle to be completed by the domain controller 110, or in other words, after the domain controller 110 determines the torque control information to obtain the first control signal based on the current accelerator pedal opening information, current operating mode information, current vehicle speed information and current vehicle gear information collected or detected by the first information acquisition unit 120, the first control signal is sent to the first controlled unit 130, so that the first controlled unit 130 performs corresponding operations according to the first control signal, so that the vehicle generates corresponding driving force to accelerate.

[0125] In addition, it can be understood that the specific process of determining the torque control information based on the current accelerator pedal opening information, combined with the current operating mode information, the current vehicle speed information and the current vehicle gear information can be set according to actual conditions.

[0126] It should also be noted that, in certain embodiments of the present application, the current vehicle speed information can be determined based on the current wheel speed information collected by the wheel speed sensor in the vehicle, combined with a pre-set vehicle speed calculation method or vehicle speed calculation module, and the corresponding vehicle speed information, i.e., the current vehicle speed information, can be determined through the current wheel speed information.

[0127] In certain embodiments of the present application, the domain controller 110 is configured to determine the torque control information based on the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined based on the current operating mode information and the predetermined torque mapping information corresponding to each operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0128] In the control method provided in the embodiment of the present application, the step of determining the torque control information based on the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information includes:

[0129] The torque control information is determined based on the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined based on the current operating mode information and the predetermined torque mapping information corresponding to each operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0130] The processor provided in the embodiment of the present application is also used to determine the torque control information based on the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information and the target mapping relationship, wherein the target torque mapping information is determined based on the current operating mode information and the torque mapping information corresponding to each predetermined operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed and vehicle gear torque corresponding to the torque.

[0131] That is, the vehicle of the embodiment of the present application pre-stores torque mapping information corresponding to different operating modes of the vehicle, and then the vehicle of the embodiment of the present application can determine the target torque mapping information corresponding to the current operating mode from the torque mapping information corresponding to each operating mode according to the current operating mode.

[0132] For example, assuming that the vehicle's configurable operating modes include normal driving mode, economy mode, and sport mode, the vehicle's pre-stored torque mapping information includes torque mapping information inform1 corresponding to normal driving mode, torque mapping information inform2 corresponding to economy mode, and torque mapping information inform3 corresponding to sport mode. Furthermore, if domain controller 110 determines that the current operating mode is sport mode based on the current operating mode information, domain controller 110 may use torque mapping information inform3 as the target mapping relationship.

[0133] It should also be noted that the torque mapping information in the present embodiment can be understood as a mapping table with "accelerator pedal, vehicle speed, and vehicle gear" as the key and "torque" as the value. Furthermore, the domain controller 110 can determine the corresponding value (i.e., torque) from the target torque mapping information based on the current accelerator pedal opening information, current vehicle speed information, current vehicle gear information, and the target mapping relationship, thereby generating a torque control signal.

[0134] In this way, the implementation method of the present application can determine the corresponding torque mapping information based on the operating mode information, that is, the target mapping information, and then determine the corresponding torque according to the current accelerator pedal opening information, the current vehicle speed information, and the current vehicle gear information, thereby obtaining the torque control information. As a result, the efficiency of obtaining the torque control information is guaranteed.

[0135] In addition, it can also be understood that the aforementioned mapping table is only a feasible implementation method, and the present application can also adopt other implementation methods such as functions or neural network models to set the torque mapping information.

[0136] In certain embodiments of the present application, the first vehicle information includes current brake pedal opening information, and the domain controller 110 is configured to determine torque control information based on the target braking torque, wherein the target braking torque is determined based on the current brake pedal opening information.

[0137] In the control method of the embodiment of the present application, step 01 includes:

[0138] Torque control information is determined according to the target braking torque, wherein the target braking torque is determined according to the current brake pedal opening information.

[0139] The processor of the embodiment of the present application is further configured to determine torque control information based on the target braking torque, wherein the target braking torque is determined based on current brake pedal opening information.

[0140] That is, the domain controller 110 of the embodiment of the present application can also determine the corresponding braking torque, that is, the target braking torque, based on the current brake pedal opening information after the user steps on the brake pedal, or in other words, after the current brake pedal opening information indicates that the brake pedal has been stepped on.

[0141] Furthermore, after obtaining the target braking torque, the domain controller 110 can also determine corresponding torque control information based on the target braking torque, so that the braking-related components perform corresponding operations and the vehicle generates corresponding braking force, thereby meeting user needs or intentions.

[0142] In this way, the embodiment of the present application enables the domain controller 110 to determine the target braking torque based on the current brake pedal opening information after the user steps on the brake pedal to change the brake pedal opening, and generate corresponding torque control information based on the target braking torque, thereby generating a corresponding first control signal. Then, when the first controlled unit 130 receives the first control signal and obtains the torque control information, it can perform corresponding operations to enable the vehicle to generate the target braking torque, so that the user's braking needs are met.

[0143] In certain embodiments of the present application, the first vehicle information includes current battery status information and current drive motor status information, and the domain controller 110 is configured to:

[0144] Determine the current maximum braking torque according to the current battery status information and the current drive motor status information;

[0145] The torque control information is determined according to the target braking torque and the current maximum braking torque.

[0146] In the control method of the embodiment of the present application, the step of determining the torque control information based on the target braking torque, wherein the target braking torque is determined based on the current brake pedal opening information, includes:

[0147] The torque control information is determined according to the target braking torque and the current maximum braking torque, wherein the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

[0148] The processor of the embodiment of the present application is further configured to determine the torque control information based on the target braking torque and the current maximum braking torque, wherein the current maximum braking torque is determined based on the current battery status information and the current drive motor status information.

[0149] That is, after determining the user's required torque, i.e., the target braking torque, the domain controller 110 in the embodiments of the present application will also determine the maximum braking torque that the vehicle can actually achieve, i.e., the current maximum braking torque, based on the actual conditions of the drive motor, i.e., the current drive motor state information. It is understood that the specific content of the current drive motor state information in the embodiments of the present application can be set based on actual conditions. For example, in some embodiments, the current drive motor state information includes the speed and temperature of the drive motor.

[0150] Furthermore, after determining the current maximum braking torque, the domain controller 110 may determine the magnitude of the braking torque that the vehicle will ultimately generate based on the smaller value between the current maximum braking torque and the target braking torque.

[0151] For example, if the target braking torque is smaller than the current maximum braking torque between the current maximum braking torque and the target braking torque, the vehicle will generate torque control information based on the target braking torque and generate a corresponding first control signal. After the first controlled unit 130 receives the first control signal and performs the corresponding operation, the vehicle will generate a braking force equal to the target braking torque.

[0152] In contrast, if the current maximum braking torque is less than or equal to the target braking torque, the vehicle will generate a braking force equal to the current maximum braking torque after the first controlled unit 130 receives the first control signal and performs corresponding operations.

[0153] In this way, the embodiment of the present application enables the domain controller 110 to determine the current maximum braking torque that the vehicle can currently generate based on the current drive motor state information. Furthermore, the domain controller 110 can determine corresponding torque control information based on the current maximum braking torque and the target braking torque, such as determining the torque control information based on the smaller value of the current maximum braking torque and the target braking torque, so that the determination of the torque control information can be carried out more reasonably.

[0154] In certain embodiments of the present application, the first vehicle information includes current vehicle speed information, and the domain controller 110 is configured to determine the torque control information based on the target braking torque, the current maximum braking torque, and the feedback torque, wherein the feedback torque is determined based on the current battery status information, the current drive motor status information, and the current vehicle speed information.

[0155] In the control method of the embodiment of the present application, the step of determining the torque control information based on the target braking torque and the current maximum braking torque includes:

[0156] The torque control information is determined according to the target braking torque, the current maximum braking torque and the feedback torque, wherein the feedback torque is determined according to the current battery status information, the current drive motor status information and the current vehicle speed information.

[0157] The processor of the embodiment of the present application is also used to determine the torque control information based on the target braking torque, the current maximum braking torque and the feedback torque, wherein the feedback torque is determined based on the current battery status information, the current drive motor status information and the current vehicle speed information.

[0158] That is, the domain controller 110 of the embodiment of the present application can also determine whether the vehicle needs to perform braking feedback based on the current battery status information, the current drive motor status information and the current vehicle speed information, that is, determine whether to allocate a certain amount of braking torque in the form of feedback torque.

[0159] Furthermore, the domain controller 110 determines whether the vehicle battery needs energy feedback based on the current battery status information, the current drive motor status information and the current vehicle speed information, that is, based on the current power of the power battery (corresponding to the current battery status information), the current speed of the vehicle, the current speed and current temperature of the drive motor (corresponding to the current drive motor status information), etc., and if so, determines the corresponding feedback torque.

[0160] Finally, torque control information is determined based on the target braking torque, the current maximum braking torque, and the regenerative torque. For example, the domain controller 110 may determine the final braking torque that the vehicle actually needs to generate based on the smaller of the target braking torque and the current maximum braking torque, while replacing a portion of the final braking torque with the regenerative torque.

[0161] For example, assuming that the smaller value between the target braking torque and the current maximum braking torque is 2000N, and the feedback torque determined by the domain controller 110 is 1000N, after all the first controlled units 130 in the vehicle receive the first control signal, the hydraulic braking units in all the first controlled units 130 can generate a braking force of 1000N, and the drive motor can generate a feedback torque of 1000N, thereby completing the braking of the vehicle.

[0162] In this way, the embodiment of the present application enables the domain controller 110 in the vehicle to determine the feedback torque based on the current battery status information, the current drive motor status information and the current vehicle speed information, that is, when it is determined that the vehicle can perform battery energy feedback during braking, the corresponding torque control information is determined according to the target braking torque, the current maximum braking torque and the feedback torque. For example, the corresponding torque control information is generated according to the smaller value of the target braking torque and the current maximum braking torque, and the feedback torque, so that after the first controlled unit 130 receives the first control signal, the vehicle can generate the braking torque of the aforementioned smaller value, and a part of the braking torque is composed of the feedback torque, thereby enabling the vehicle braking to be completed based on the feedback torque.

[0163] In certain embodiments of the present application, the first vehicle information includes current wheel speed information, and the domain controller 110 is configured to determine the torque control information based on the current slip information, wherein the current slip information is determined based on the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

[0164] In certain embodiments of the present application, step 01 includes:

[0165] Torque control information is determined according to current slip information, wherein the current slip information is determined according to current wheel speed information and vehicle speed information corresponding to the current wheel speed information.

[0166] The processor of the embodiment of the present application is further configured to determine torque control information based on current slip information, wherein the current slip information is determined based on current wheel speed information and vehicle speed information corresponding to the current wheel speed information.

[0167] That is, in order to avoid the situation in which the wheels of the vehicle slip severely due to a slippery road surface, the vehicle has a high slip rate, and the risk of wheel loss of control is high, the embodiment of the present application can also determine the current vehicle speed information based on the current wheel speed information detected by the wheel speed sensor, and then calculate the vehicle's slip rate based on the current vehicle speed information and the current wheel speed information, thereby obtaining the current slip information.

[0168] Finally, the domain controller 110 can determine the corresponding torque control information based on the current slip information, so that after generating the first control signal, the first controlled unit 130 that receives the first control signal and obtains the torque control information can generate a certain braking torque to reduce the vehicle speed and thus maintain vehicle body stability.

[0169] In this way, the domain controller 110 of the embodiment of the present application can also generate corresponding torque control information and a first control signal based on the current slip information determined by the current wheel speed information and the current vehicle speed information. Then, the first controlled unit 130 that receives the first control signal and obtains the torque control information can perform corresponding operations, such as slowing down the vehicle, thereby ensuring the stable driving of the vehicle to a certain extent.

[0170] In some embodiments, the torque control information includes torque reduction information, the plurality of first controlled units 130 include a drive motor, the first vehicle information includes a current torque generated by the drive motor, and the domain controller 110 is configured to:

[0171] When the current slip information indicates that the vehicle slip rate is higher than a preset value, the torque reduction information of the drive motor is determined based on the currently generated torque and the current slip information to obtain torque control information, wherein the drive motor is configured to reduce the currently generated torque according to the torque reduction information when the torque reduction information in the first control signal is obtained.

[0172] In the control method provided in the embodiment of the present application, the step of determining the torque control information based on the current slip information includes:

[0173] When the current slip information indicates that the vehicle slip rate is higher than a preset value, the torque reduction information of the drive motor is determined based on the currently generated torque and the current slip information to obtain torque control information, wherein the drive motor is configured to reduce the currently generated torque according to the torque reduction information when the torque reduction information in the first control signal is obtained.

[0174] The processor of the embodiment of the present application is also used to determine the torque reduction information of the drive motor to obtain torque control information based on the current generated torque and the current slip information when the current slip information indicates that the vehicle slip rate is higher than a preset value, wherein the drive motor is configured to reduce the current generated torque according to the torque reduction information when the torque reduction information in the first control signal is obtained.

[0175] That is, in the process of determining the torque control information based on the vehicle slip rate, the embodiment of the present application will also determine the amount of torque that needs to be reduced for the entire vehicle based on the torque generated by the drive motor at the current moment, thereby obtaining torque reduction information, and determining the torque control information based on the torque reduction information.

[0176] Exemplarily, when the domain controller 110 previously determined the current slip information and determined that the vehicle slip ratio is greater than a preset value (e.g., 20%), the domain controller 110 may determine the amount by which the drive motor needs to reduce or decrease the current torque based on the current torque generated by the drive motor detected by the information acquisition unit 120, i.e., the torque reduction information. Finally, the domain controller 110 may determine the torque control information based on the torque reduction information, or alternatively, determine the torque reduction information as the torque control information. Furthermore, after the first controlled unit 130 receives the first control signal, obtains the torque control information, and performs a corresponding operation, i.e., after the drive motor receives the first control signal, obtains the torque control information, and performs a corresponding operation, the drive motor will reduce the current torque generated based on the torque reduction information to reverse the vehicle's motion, thereby reducing the vehicle's speed.

[0177] In this way, the embodiment of the present application enables the domain controller 110 to determine corresponding torque reduction information and torque control information based on the current torque generated by the drive motor when the vehicle slip rate is higher than a preset value. Furthermore, the domain controller 110 sends the first control signal to the multiple first controlled units 130, and when the drive motor receives the first control signal, the drive motor can obtain the torque reduction information according to the first control signal and reduce the current torque generated according to the torque reduction information, so that the vehicle speed can be reduced and the stable driving of the vehicle can be ensured.

[0178] In some embodiments, the first vehicle information includes current vehicle steering information, and the domain controller 110 is configured to determine the torque control information based on the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed, wherein the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined based on the current vehicle steering information.

[0179] In the control method provided in the embodiment of the present application, step 01 includes:

[0180] Torque control information is determined according to a vehicle steering angle, a vehicle steering torque, and a vehicle steering speed, wherein the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined according to current vehicle steering information.

[0181] The processor of the embodiment of the present application is also used to determine torque control information based on the vehicle steering angle, vehicle steering torque and vehicle steering speed, wherein the vehicle steering angle, vehicle steering torque and vehicle steering speed are determined based on the current vehicle steering information.

[0182] That is, the domain controller 110 of the present embodiment can also be responsible for data processing operations during vehicle steering. Specifically, when the first vehicle information collected by the information collection unit 120 includes current vehicle steering information due to the user rotating the steering wheel, the domain controller 110 can also determine the corresponding vehicle steering angle, vehicle steering torque, and vehicle steering speed based on the current vehicle steering information, thereby understanding the user's steering intention. Subsequently, the domain controller 110 determines corresponding torque control information based on the vehicle steering angle, vehicle steering torque, and vehicle steering speed to complete the vehicle steering operation or assist the user in completing the vehicle steering operation.

[0183] It should be noted that the current vehicle steering information in the embodiments of the present application can be understood as information collected by the torque angular velocity sensor.

[0184] It should also be noted that the vehicle steering angle can be understood as the angle at which the vehicle body turns left or right when the user turns the steering wheel, the vehicle steering torque can be understood as the magnitude of the torque applied by the user or driver, and the vehicle steering speed can be understood as the vehicle speed during the steering process, including speed and acceleration.

[0185] In this way, the embodiment of the present application enables the domain controller 110 to determine the corresponding torque control information based on the vehicle steering angle, vehicle steering torque and vehicle steering speed determined by the current vehicle steering information during the vehicle steering process, so that the first controlled unit 130 in the vehicle can complete the vehicle steering operation according to the torque control information, so that data processing during the vehicle steering process can be reliably or efficiently completed by the domain controller 110, and vehicle steering can be carried out reliably.

[0186] In some embodiments, the torque control information includes torque adjustment information, the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information and the current torque generated by the drive motor, and the domain controller 110 is configured to determine the torque adjustment information to obtain the torque control information based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information and the current torque generated, wherein the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information, and the drive motor is configured to, when the torque adjustment information in the first control signal is obtained, brake according to the torque adjustment information to make the vehicle's forward direction match the vehicle steering angle.

[0187] In the control method provided in the embodiment of the present application, the step of determining the torque control information based on the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed includes:

[0188] Torque adjustment information is determined based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information and current generated torque to obtain torque control information, wherein the current slip information is determined based on current wheel speed information, and the vehicle offset information is determined based on vehicle acceleration information and vehicle yaw angle information. The drive motor is configured to brake according to the torque adjustment information in the first control signal so that the vehicle's forward direction matches the vehicle steering angle when the torque adjustment information is obtained.

[0189] The processor of the embodiment of the present application is also used to determine torque adjustment information to obtain torque control information based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information and current generated torque, wherein the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and the vehicle yaw angle information. The drive motor is configured to brake according to the torque adjustment information in the first control signal to make the vehicle's forward direction match the vehicle steering angle when the torque adjustment information is obtained.

[0190] That is, in order to avoid or improve the trajectory deviation phenomenon during vehicle steering, the implementation mode of the present application will also collect the current wheel speed information obtained by the wheel speed sensor, the vehicle acceleration information obtained by the acceleration sensor, and the vehicle yaw angle information detected by the yaw angle sensor during the vehicle steering process, and the current torque generated by the drive motor.

[0191] Thereafter, current vehicle speed information is determined through the current wheel speed information, and a slip ratio, ie, current slip information, is determined based on the current vehicle speed information and the current wheel speed information.

[0192] At the same time, based on the vehicle acceleration information and the vehicle yaw angle information, the deviation between the actual steering direction of the vehicle and the steering wheel rotation direction is determined, that is, the vehicle offset information.

[0193] Then, based on the previously determined user steering intention, that is, the vehicle steering angle, vehicle steering torque, and vehicle steering speed, combined with the actual vehicle steering situation and vehicle driving conditions, that is, vehicle offset information and current slip information, the corresponding torque adjustment information is determined.

[0194] Finally, torque control information is determined based on the torque adjustment information, or the torque adjustment information is determined as torque adjustment information, and a corresponding first control signal is generated based on the torque control information. After the first control signal is received by the first controlled unit 130, the first controlled unit 130 performs corresponding operations based on the torque adjustment information in the first control signal. For example, the drive motor adjusts the output torque based on the torque adjustment information to ensure that the vehicle's forward direction matches or is consistent with the user's desired steering direction, that is, the vehicle's forward direction matches the aforementioned vehicle steering angle, thereby achieving lateral trajectory restoration.

[0195] In some embodiments, the first controlled unit 130 may further perform a braking feedback operation after acquiring the torque adjustment information.

[0196] In this way, the domain controller 110 of the embodiment of the present application can also determine the actual movement of the vehicle during the steering process based on the current slip information, the current vehicle speed information, the vehicle offset information and the current torque generated, and then determine the torque adjustment information in combination with the user's steering intention, that is, the vehicle steering angle, the vehicle steering torque and the vehicle steering speed. Then, after the first controlled unit 130, such as the drive motor, obtains the torque adjustment information according to the first control signal, it can perform corresponding operations according to the torque adjustment information to match the actual movement of the vehicle with the user's steering intention, that is, the vehicle's forward direction matches the aforementioned vehicle steering angle, so that lateral trajectory repair can be achieved.

[0197] In certain embodiments of the present application, please refer to Figure 6 for details, which is a schematic diagram of a vehicle in certain embodiments of the present application. Specifically, the information acquisition unit 120 in these embodiments may include an accelerator pedal sensor, a brake pedal sensor, a wheel speed sensor, an acceleration sensor, a torque angle sensor, and a yaw angle sensor. Furthermore, the first controlled device may include a motor drive assembly for controlling the vehicle's drive motor, a brake actuator for controlling brake-related components (such as a hydraulic brake unit), a steering actuator for controlling steering-related components, and a display within the vehicle.

[0198] In certain embodiments, the domain controller in the embodiments of the present application includes a data arbitration module, a centralized computing module, an energy management module, and a status detection and signal output module. Furthermore, the domain controller 110 in the embodiments of the present application can pre-process the first vehicle information and the second vehicle information collected by the information acquisition unit 120 and the second controlled unit 140, respectively, such as performing signal amplification and filtering, to ensure the subsequent reasonable use of the vehicle information. Furthermore, the domain controller 110 can also receive vehicle network messages, such as CAN-FD messages, to determine the execution status of each controlled unit.

[0199] Furthermore, when the domain controller 110 simultaneously receives multiple pieces of vehicle information, such as accelerator pedal opening information and brake pedal opening information, the domain controller 110 can, based on the data arbitration module, prioritize the brake pedal opening information and corresponding wheel speed information to determine the corresponding torque control information and first control signal to ensure optimal execution of vehicle braking. Optionally, in certain embodiments, the data arbitration module is configured with a processing priority for different vehicle information. Furthermore, the domain controller 110 can sequentially process the simultaneously received vehicle information based on the processing priority configured in the data arbitration module.

[0200] After determining the vehicle information to be processed through the data arbitration module, the domain controller 110 can perform functions such as determining the current operating mode, determining the current vehicle speed, calculating torque, determining the current steering information, and state monitoring according to the centralized computing module.

[0201] The current operating mode can be determined by inputting a gear message and / or a mode control message in a vehicle network, thereby knowing the current operating mode of the vehicle, such as an economy mode or a sports mode.

[0202] During the process of determining the current vehicle speed, the current vehicle speed and slip ratio can be calculated based on the wheel speeds collected by the wheel speed sensors. Simultaneously, the vehicle acceleration state and vehicle offset information can also be calculated based on information transmitted by the information collection unit 120, such as the acceleration sensor and yaw angle sensor.

[0203] During the torque calculation process, the corresponding driving torque or braking torque can be calculated according to the accelerator pedal opening or the brake pedal opening.

[0204] During the steering calculation process, the steering torque, steering speed, steering acceleration, steering angle, etc. required by the driver can be calculated based on the information collected by the torque angular velocity sensor on the steering.

[0205] After the domain controller 110 completes the corresponding calculations through the centralized computing module, it determines whether regenerative torque is required for vehicle control based on the calculation results. If so, the energy management module determines whether the vehicle battery currently requires regenerative energy. Specifically, the energy management module determines whether the vehicle battery is capable of regenerative energy based on the current battery power, the previously calculated current vehicle speed, the previously detected motor driving state, the previously calculated driving torque or braking torque, and a pre-set decision algorithm. If so, it outputs the corresponding regenerative torque value.

[0206] When the domain controller 110 determines the braking torque, driving torque, and feedback torque through the centralized computing module and the energy management module, the state detection and signal output module can generate corresponding torque control information and a first control signal based on the determined torques. The first control signal is broadcasted within the vehicle network and sent to each first controlled unit 130 within the vehicle network. Simultaneously, the state detection and signal output module detects the operating status of each first controlled unit 130, or in other words, receives operational feedback information from the first controlled unit 130, thereby understanding the operating status of the first controlled unit 130.

[0207] An embodiment of the present application further provides a vehicle control system, including the above-mentioned domain controller 110.

[0208] The embodiment of the present application further provides a vehicle, including a vehicle body, wherein the vehicle body is equipped with the aforementioned domain controller 110 or the aforementioned vehicle control system.

[0209] The present application also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned vehicle control method when the computer program is executed by one or more processors.

[0210] In the description of this specification, the descriptions with reference to the terms "particularly", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0211] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0212] 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 domain controller for a vehicle, wherein, The domain controller is connected to the information acquisition unit of the vehicle, and the domain controller is connected to a plurality of first controlled units of the vehicle; The domain controller is configured to determine a first control signal according to the first vehicle information collected by the information acquisition unit, and send the first control signal to the plurality of first controlled units, wherein the first control signal instructs the plurality of first controlled units to perform corresponding operations.

2. The domain controller according to claim 1, wherein, The domain controller is connected to a plurality of second controlled units of the vehicle; The domain controller is configured to determine a second control signal according to the second vehicle information collected by the plurality of second controlled units, and send the second control signal to the plurality of second controlled units, wherein the second control signal instructs the plurality of second controlled units to perform corresponding operations.

3. The domain controller according to claim 1, wherein, The first control signal includes torque control information.

4. The domain controller according to claim 3, wherein The first vehicle information includes current accelerator pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information. The domain controller is configured to determine the torque control information according to the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information to obtain the first control signal.

5. The domain controller according to claim 4, wherein, The domain controller is configured to determine the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information, and the target mapping relationship, wherein the target torque mapping information is determined according to the current operating mode information and the torque mapping information corresponding to each pre-determined operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed, and vehicle gear torque corresponding to the torque.

6. The domain controller according to any one of claims 3-5, wherein, The first vehicle information includes current brake pedal opening information. The domain controller is configured to determine the torque control information according to the target braking torque, wherein the target braking torque is determined according to the current brake pedal opening information.

7. The domain controller according to claim 6, wherein, The first vehicle information includes current battery state information and current drive motor state information. The domain controller is configured to: Determine the torque control information according to the target braking torque and the current maximum braking torque, wherein the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

8. The domain controller according to claim 7, wherein The first vehicle information includes current vehicle speed information. The domain controller is configured to: Determine the torque control information according to the target braking torque, the current maximum braking torque, and the feedback torque, wherein the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

9. The domain controller according to any one of claims 3-8, wherein, The first vehicle information includes current wheel speed information. The domain controller is configured to determine the torque control information according to the current slip information, wherein the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

10. The domain controller according to claim 9, wherein, The torque control information includes torque reduction information. The plurality of first controlled units include a drive motor. The first vehicle information includes the currently generated torque of the drive motor. The domain controller is configured to, when the current slip information indicates that the vehicle slip rate is higher than a preset value, determine the torque reduction information of the drive motor based on the currently generated torque and the current slip information to obtain the torque control information. Wherein, the drive motor is configured to reduce the currently generated torque according to the torque reduction information in the first control signal when the torque reduction information is obtained.

11. The domain controller according to any one of claims 3-8, wherein, The first vehicle information includes current vehicle steering information. The domain controller is configured to determine the torque control information based on the vehicle steering angle, vehicle steering torque, and vehicle steering speed. Wherein, the vehicle steering angle, vehicle steering torque, and vehicle steering speed are determined based on the current vehicle steering information.

12. The domain controller according to claim 11, wherein, The torque control information includes torque adjustment information. The first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the currently generated torque of the drive motor. The domain controller is configured to determine the torque adjustment information based on the vehicle steering angle, vehicle steering torque, vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and the currently generated torque to obtain the torque control information. Wherein, the current slip information is determined based on the current wheel speed information, and the vehicle offset information is determined based on the vehicle acceleration information and vehicle yaw angle information. The drive motor is configured to brake according to the torque adjustment information in the first control signal when the torque adjustment information is obtained so that the forward direction of the vehicle matches the vehicle steering angle.

13. A control method for a vehicle, wherein, The vehicle is equipped with the domain controller according to any one of claims 1-12. The method includes: Determining a first control signal based on the first vehicle information collected by the information collection unit; Sending the first control signal to the plurality of first controlled units, wherein the first control signal instructs the plurality of first controlled units to perform corresponding operations.

14. The method according to claim 13, wherein, The domain controller is connected to a plurality of second controlled units of the vehicle. The method further includes: Determining a second control signal based on the second vehicle information collected by the plurality of second controlled units; Sending the second control signal to the plurality of second controlled units, wherein the second control signal instructs the plurality of second controlled units to perform corresponding operations.

15. The method according to claim 13 or 14, wherein, The first control signal includes torque control information.

16. The method according to claim 15, wherein, The first vehicle information includes current throttle pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information. Determining the first control signal based on the first vehicle information collected by the information collection unit includes: Determining the torque control information based on the current throttle pedal opening information, current operating mode information, current vehicle speed information, and current vehicle gear information.

17. The method according to claim 16, wherein, Determining the torque control information according to the current accelerator pedal opening information, the current operating mode information, the current vehicle speed information, and the current vehicle gear information includes: Determining the torque control information according to the current accelerator pedal opening information, the current vehicle speed information, the current vehicle gear information, and a target mapping relationship, where the target torque mapping information is determined according to the current operating mode information and the torque mapping information corresponding to each pre-determined operating mode, and the torque mapping information includes torque, and the accelerator pedal, vehicle speed, and vehicle gear torque corresponding to the torque.

18. The method according to any one of claims 15 - 17, wherein, The first vehicle information includes current brake pedal opening information, and the method further includes: Determining the torque control information according to a target braking torque, where the target braking torque is based on the current brake pedal opening information.

19. The method according to claim 18, wherein The first vehicle information includes current battery state information and current drive motor state information, and determining the torque control information according to the target braking torque includes: Determining the torque control information according to the target braking torque and the current maximum braking torque, where the current maximum braking torque is determined according to the current battery state information and the current drive motor state information.

20. The method according to claim 19, wherein, The first vehicle information includes current vehicle speed information, and determining the torque control information according to the target braking torque and the current maximum braking torque includes: Determining the torque control information according to the target braking torque, the current maximum braking torque, and a feedback torque, where the feedback torque is determined according to the current battery state information, the current drive motor state information, and the current vehicle speed information.

21. The method according to any one of claims 15 - 20, wherein, The first vehicle information includes current wheel speed information, and the method further includes: Determining the torque control information according to current slip information, where the current slip information is determined according to the current wheel speed information and the vehicle speed information corresponding to the current wheel speed information.

22. The method according to claim 21, wherein, The torque control information includes torque reduction information, the plurality of first controlled units includes a drive motor, the first vehicle information includes the currently generated torque of the drive motor, and determining the torque control information according to the current slip information includes: When the current slip information is that the vehicle slip ratio is higher than a preset value, determining torque reduction information for the drive motor according to the currently generated torque and the current slip information to obtain the torque control information, where the drive motor is configured to reduce the currently generated torque according to the torque reduction information when obtaining the torque reduction information in the first control signal.

23. The method according to any one of claims 15-17, wherein The first vehicle information includes current vehicle steering information, and the method further includes: Determining the torque control information according to the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed, where the vehicle steering angle, the vehicle steering torque, and the vehicle steering speed are determined according to the current vehicle steering information.

24. The method according to claim 23, wherein The torque control information includes torque adjustment information, and the first vehicle information includes current wheel speed information, vehicle acceleration information, vehicle yaw angle information, and the currently generated torque of the drive motor. Determining the torque control information according to the vehicle steering angle, vehicle steering torque, and vehicle steering speed includes: Determining the torque adjustment information to obtain torque control information according to the vehicle steering angle, the vehicle steering torque, the vehicle steering speed, current slip information, current vehicle speed information, vehicle offset information, and the currently generated torque, where the current slip information is determined according to the current wheel speed information, the vehicle offset information is determined according to the vehicle acceleration information and vehicle yaw angle information, and the drive motor is configured to perform braking according to the torque adjustment information in the first control signal to make the forward direction of the vehicle match the vehicle steering angle.

25. A control system for a vehicle, wherein, Comprising the domain controller according to any one of claims 1-12.

26. A vehicle, wherein, Comprising a vehicle body; The vehicle body is equipped with the domain controller according to any one of claims 1-12, or is equipped with the vehicle control system according to claim 25.

27. A vehicle, wherein, Comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 13-24 is implemented.

28. A computer-readable storage medium, wherein, The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 13-24 is implemented.

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