Control method and control apparatus for vehicle intelligent driving, vehicle, and medium

Abstract

A control method and control apparatus for vehicle intelligent driving, a vehicle, and a medium. The control method comprises: when a vehicle is in an autonomous driving state, determining a current acceleration request of the vehicle on the basis of road conditions and preset planning data, and converting the current acceleration request into a torque request; when the torque request is a negative torque request and a driver sends a positive torque request by means of an accelerator pedal of the vehicle, controlling a driving system of the vehicle not to independently respond to the negative torque request, and filtering the negative torque request to reduce a negative torque corresponding to the negative torque request; and controlling the driving system to respond to the positive torque request to drive the vehicle, and entering a state where the driver takes over vehicle control via the accelerator pedal.

Description

Vehicle intelligent driving control method, control device, vehicle and medium TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle intelligent driving control method, control device, vehicle and computer readable storage medium. BACKGROUND

[0002] With the increasing popularity of intelligent driving of vehicles, many vehicles are equipped with adaptive cruise control and other L2+ level automatic driving. During vehicle cruise control by the automatic driving system, the driver also monitors the environment and driving state around the vehicle. In some vehicle driving states, when the driver identifies that the driving speed of the vehicle controlled by the current automatic driving is low, the driver will override by pressing the accelerator pedal. When the vehicle acceleration requested by the driver pressing the accelerator pedal is greater than the acceleration of the vehicle controlled by the current automatic driving, the drive system of the vehicle needs to drive the vehicle according to the request of the driver's accelerator pedal. At this time, the cruise control of the vehicle is overridden by the driver, and the control of the vehicle returns to the driver. Then, when the driver feels that the speed of the current vehicle or the distance to the front obstacle has reached the expectation, the driver will release the accelerator pedal. At this time, the automatic driving system needs to take back the control of the vehicle from the driver and continue to control the vehicle according to the perception planning of the automatic driving. This override scenario is common when the automatic driving cruise follows the vehicle in traffic congestion, or when the driver wants the vehicle to drive at a higher speed on an empty road.

[0003] During the process of the driver taking over the vehicle by pressing the accelerator and releasing the accelerator to exit the takeover, the vehicle often has a surge in the driving direction. The surge is mainly caused by the sudden change of the longitudinal acceleration of the vehicle caused by the control of the intelligent driving acceleration, the control of the drive torque and the recovery torque of the vehicle drive system, and the control of the recovery torque and hydraulic braking force of the braking system during the process of the driver taking over and exiting. How to coordinate the control of the vehicle to avoid surge during the process of the driver taking over and exiting is a problem to be faced. Currently, there is no relevant control strategy.

[0004] SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a vehicle intelligent driving control method, which can make the vehicle smoothly respond to the process of the driver taking over the accelerator, and the vehicle drives more smoothly

[0006] The present application also provides a vehicle intelligent driving control device, vehicle and computer readable storage medium.

[0007] The control method for intelligent driving of a vehicle according to a first aspect of an embodiment of the present application is applied to a vehicle with an automatic driving function, and the control method comprises the following steps:

[0008] When the vehicle is in an automatic driving state, a current acceleration request of the vehicle is determined according to a road condition and preset planning data, and the current acceleration request is converted into a torque request;

[0009] When the torque request is a negative torque request and a driver issues a positive torque request through a gas pedal of the vehicle, the driving system of the vehicle is controlled not to respond to the negative torque request alone, and the negative torque request is filtered to reduce a negative torque corresponding to the negative torque request.

[0010] The driving system is controlled to respond to the positive torque request to drive the vehicle, and the vehicle enters a state in which the driver takes over the vehicle.

[0011] The control method for intelligent driving of a vehicle according to an embodiment of the present application has at least the following beneficial effects:

[0012] The control method of the embodiment is applied to a vehicle with an intelligent driving function. When the vehicle is in an automatic driving state, a current acceleration request of the vehicle is determined according to a road condition and preset planning data, and the current acceleration request is converted into a torque request. The torque request can be a positive torque request or a negative torque request. When the torque request is a negative torque request, it is determined whether there is a gas pedal override according to the situation in which the driver steps on the gas pedal. If the driver issues a positive torque request through the gas pedal, the driving system is controlled not to respond to the negative torque request alone, and the negative torque request is filtered to reduce a negative torque corresponding to the negative torque request. Since the driving system responds to the positive torque request to drive the vehicle after the negative torque is reduced, the vehicle enters a state in which the driver takes over the vehicle. Compared with a process in which the driving system directly transitions from a negative torque to a positive torque, the fluctuation of the longitudinal acceleration is reduced, so that the vehicle can smoothly respond to the process in which the driver takes over the vehicle, and the vehicle travels more smoothly.

[0013] According to some embodiments of the present application, after the control of the driving system to respond to the positive torque request to drive the vehicle and the entering of the state in which the driver takes over the vehicle, the following steps are further included:

[0014] When the driver releases the gas pedal, the state in which the driver takes over the vehicle is controlled to exit, and a deceleration request is issued;

[0015] The recovery torque brake of the driving system is controlled not to respond to the deceleration request, and the negative torque required by the deceleration request is controlled to be provided by the hydraulic brake of the vehicle.

[0016] According to some embodiments of the present application, the control further comprises:

[0017] controlling the drive system to reduce the positive torque corresponding to the current positive torque request until the positive torque is less than or equal to zero, and sending a regenerative torque instruction to a brake system of the vehicle;

[0018] controlling the brake system to perform torque distribution between regenerative braking of the drive system and hydraulic braking of the vehicle in response to the regenerative torque instruction.

[0019] According to some embodiments of the present application, the control further comprises:

[0020] determining a current acceleration of the vehicle according to environmental information of the vehicle, a current speed of the vehicle, and preset planning data, and issuing the deceleration request starting from the current acceleration when the driver releases the accelerator pedal.

[0021] According to some embodiments of the present application, the control method further comprises:

[0022] comparing the current acceleration request with an acceleration request of the driver pressing the accelerator pedal;

[0023] determining that the driver issues a positive torque request through the accelerator pedal when the acceleration request is greater than the current acceleration request.

[0024] According to some embodiments of the present application, the comparison between the current acceleration request and the acceleration request of the driver pressing the accelerator pedal comprises:

[0025] obtaining an opening degree of the driver pressing the accelerator pedal, and converting the opening degree to obtain an acceleration of the acceleration request;

[0026] comparing the acceleration of the acceleration request with an acceleration of the current acceleration request, and determining that the acceleration request is greater than the current acceleration request when the acceleration of the acceleration request is greater than the acceleration of the current acceleration request.

[0027] According to some embodiments of the present application, the control of the drive system of the vehicle not only responds to the negative torque request, but also filters the negative torque request to reduce a negative torque corresponding to the negative torque request, comprising:

[0028] controlling regenerative braking of the drive system and hydraulic braking of the vehicle to perform torque distribution on the negative torque, and adjusting the negative torque from a negative value to zero based on the negative torque.

[0029] The control of the driving system to drive the vehicle in response to the positive torque request comprises:

[0030] After the negative torque is zero, a positive torque corresponding to the positive torque request is determined as a target response torque of the driving system, and the driving torque of the driving system is controlled to transit from zero to the target response torque.

[0031] According to some embodiments of the present application, the conversion of the current acceleration request into a torque request comprises:

[0032] When the acceleration of the current acceleration request of the vehicle is positive, the current acceleration request is converted into a positive torque request.

[0033] When the acceleration of the current acceleration request of the vehicle is negative, the current acceleration request is converted into a negative torque request.

[0034] According to some embodiments of the present application, the control method further comprises:

[0035] When the torque request is a positive torque request, the driving system is controlled to drive the vehicle in response to the current acceleration request.

[0036] The control device for intelligent driving of a vehicle according to the second aspect of the embodiments of the present application comprises:

[0037] A highly automated driving system is configured to determine a current acceleration request of the vehicle according to road conditions and preset planning data when the vehicle is in an automated driving state.

[0038] A vehicle motion control system is configured to convert the current acceleration request into a torque request, when the torque request is a negative torque request and a driver issues a positive torque request through an accelerator pedal of the vehicle, control the driving system of the vehicle not to respond to the negative torque request alone, and filter the negative torque request to reduce a negative torque corresponding to the negative torque request; control the driving system to drive the vehicle in response to the positive torque request, and enter a state in which the driver takes over the vehicle by the accelerator.

[0039] The control device for intelligent driving of a vehicle according to the embodiments of the present application has at least the following beneficial effects:

[0040] The control device of the embodiment is applied to a vehicle with an intelligent driving function, when the vehicle is in an automatic driving state, a highly automated driving system determines a current acceleration request of the vehicle according to driving conditions of the vehicle and preset planning data, a vehicle motion control system converts the obtained current acceleration request into a torque request, and the torque request can be a positive torque request or a negative torque request; when the torque request is a negative torque request, whether there is a throttle override condition at present is judged according to the condition that a driver steps on a throttle, if the driver sends a positive torque request through a throttle pedal, at this time, the control driving system does not respond to the negative torque request alone, and the negative torque request is filtered to reduce the negative torque corresponding to the negative torque request, and since the driving system responds to the positive torque request to drive the vehicle after the negative torque is reduced, the state that the driver takes over the vehicle by the throttle is entered, compared with the process that the driving system is directly transitioned from the negative torque to the positive torque, the fluctuation of the longitudinal acceleration is reduced, the vehicle can smoothly cope with the process that the driver takes over the vehicle by the throttle, and the vehicle travels more stably.

[0041] According to some embodiments of the present application, the highly automated driving system is further configured to control the state that the driver takes over the vehicle by the throttle to exit when the driver releases the throttle pedal, and send a deceleration request;

[0042] The vehicle motion control system is further configured to control that the regenerative torque brake of the driving system does not respond to the deceleration request, and control that the negative torque required by the deceleration request is provided by the hydraulic brake of the vehicle.

[0043] The vehicle according to the third aspect of the embodiments of the present application comprises a memory, a processor and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the control method of the intelligent driving of the vehicle according to the first aspect of the embodiments.

[0044] The computer readable storage medium according to the fourth aspect of the embodiments of the present application stores computer executable instructions, and the computer executable instructions are used to make the computer execute the control method of the intelligent driving of the vehicle according to the first aspect of the embodiments.

[0045] Since the vehicle and the computer readable storage medium adopt all the technical solutions of the control method of the intelligent driving of the vehicle according to the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are obtained, which will not be repeated here.

[0046] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be learned through implementation of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0047] Fig. 1 is a principle architecture of a vehicle with a specific automatic driving function according to an embodiment of the present application.

[0048] Fig. 2 is a flow chart of the process of the driver taking over the vehicle in the control method of the intelligent driving of the vehicle according to an embodiment of the present application;

[0049] Fig. 3 is a flow chart of the process of the HAD taking over the vehicle in the control method of the intelligent driving of the vehicle according to an embodiment of the present application;

[0050] Fig. 4 is a flow chart of the process of determining whether the driver has the throttle override according to an embodiment of the present application;

[0051] Fig. 5 is a flow chart of the process of filtering the negative torque according to an embodiment of the present application;

[0052] Fig. 6 is a flow chart of the process of the control method of the intelligent driving of the vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components have the same reference numerals throughout. The embodiments described below are examples for explaining the present application and are not intended to limit the present application.

[0054] In the description of the present application, it should be understood that the terms up, down, etc. indicate the positional or location relationship based on the positional or location relationship shown in the drawings, and are only for the purpose of describing the present application and simplifying the description, and do not indicate or imply that the device or component indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0055] In the description of the present application, the meaning of multiple is more than two, greater than, less than, more than, etc. is not included in the number, above, below, etc. is included in the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0056] In the description of the present application, it should be noted that the words such as setting, installing, connecting, etc. should be understood broadly, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0057] The technical solutions of the present application will be described below in conjunction with the drawings. Obviously, the following described embodiments are part of the embodiments of the present application, not all embodiments.

[0058] The control link of the vehicle automatic driving process is a highly automated driving system (HAD), also known as an intelligent driving control system, which controls the driving system to accelerate, the braking system to decelerate, and the steering system to steer through the form path planning of the vehicle based on the processing of the perception system and the direction in the form of vehicle position and vehicle plan, and through the vehicle motion control (VMC) function. It should be noted that the braking system can decelerate in three ways: one is to decelerate through the hydraulic braking system for pure hydraulic braking, the other is to decelerate through the recovery torque of the driving system, and the third is to decelerate through both hydraulic braking and recovery torque braking according to the actual situation. The recovery torque is the deceleration achieved by the motor reverse drag of the driving system, which can realize energy recovery.

[0059] The intelligent driving control system generally obtains the surrounding environment information of the vehicle through sensors such as laser radar, camera, and millimeter wave radar, and analyzes and processes the environment information in real time through a computer, so as to control the vehicle to move forward, accelerate, decelerate, turn, and other actions, and realize the technology of full automatic driving, thereby improving the safety and comfort of driving.

[0060] In terms of function, the intelligent driving control system includes driving function and parking function. The driving function includes adaptive cruise control (ACC), lane centering control (LCC), automatic lane changing assistance (ALC), traffic jam assistance (TJA), and high-speed following driving assistance (NOA), etc. The parking function includes automatic parking assistance (APA), remote parking (RPA), intelligent calling (SS), memory parking (HPA), and autonomous guest parking (AVP), etc.

[0061] Referring to FIG. 1, the embodiment of the present application relates to HAD, VMC, driving system, and braking system, and is suitable for electric vehicles or hybrid vehicles with energy recovery.

[0062] In this system, HAD and VMC connect the drive and braking systems via a gateway. Control signals and data are sent to the drive and braking systems through the gateway, which has multiple functions such as data processing, filtering, and forwarding to ensure reliable data transmission within the system. In some embodiments, the vehicle's braking system includes a service brake, a parking brake, an emergency braking system, and an auxiliary braking system. A hydraulic braking system is a type of vehicle braking system. It uses fluid to transmit force to achieve braking and mainly consists of a brake pedal, a master brake cylinder, brake lines, and brake calipers. When the driver presses the brake pedal, the master brake cylinder generates hydraulic pressure, which is transmitted to the brake calipers through the brake lines, causing the brake pads to rub against the brake disc, thus achieving the braking effect. It can be understood that a hydraulic braking system is one type of vehicle braking system, but a vehicle's braking system also includes other types of braking systems, which together constitute a complete vehicle braking system.

[0063] In related technologies, the control processes of intelligent driving acceleration, drive torque and regenerative torque of the vehicle's drive system, and regenerative torque and hydraulic braking force of the braking system during driver take-over and exit from take-over can easily cause sudden changes in the vehicle's longitudinal acceleration, resulting in jerking in the vehicle's direction of travel and affecting its driving stability. Therefore, coordinating and controlling the vehicle to ensure a smooth transition during driver throttle take-over and exit from take-over is particularly important.

[0064] The present invention provides a control method and control device for intelligent driving of a vehicle, which can reduce vehicle jerking during the process of the driver taking over and disengaging the throttle, making the vehicle drive more smoothly.

[0065] Referring to Figures 2 to 6, a control method for intelligent driving of a vehicle according to an embodiment of the present invention is described, which is applied to a vehicle with intelligent driving function. The control method is described below with specific examples.

[0066] Referring to Figure 2, the vehicle intelligent driving control method of this embodiment includes, but is not limited to, the following steps:

[0067] Step S100: When the vehicle is in autonomous driving mode, the current acceleration request of the vehicle is determined based on road conditions and preset planning data, and the current acceleration request is converted into a torque request.

[0068] Step S200: When the torque request is a negative torque request and the driver issues a positive torque request through the vehicle's accelerator pedal, the vehicle's drive system does not respond to the negative torque request alone, and filters the negative torque request to reduce the negative torque corresponding to the negative torque request.

[0069] Step S300, the control driving system drives the vehicle in response to the positive torque request, and enters a state in which the driver's throttle takes over the vehicle.

[0070] It can be understood that the control method of the embodiment of the application controls the takeover process between the automatic driving mode and the driver operation mode of the vehicle, and the prerequisite is that the automatic driving function is in an activated state, therefore, it is necessary to first determine the working state of the automatic driving of the vehicle, so as to determine whether the automatic driving function is in the activated state, and the automatic driving function can also be understood as the intelligent driving function of the vehicle.

[0071] Specifically, the HAD has functions of judging function activation, exit, override, takeover, emergency, fault and request recording, and whether the automatic driving is started can be fed back through the HAD, so as to determine the working state of the automatic driving function. The HAD obtains information from the CAN network and processes and calculates, and then sends the execution command to the control end. The HAD will integrate information from the camera, radar and radio frequency sensor, and perform logic strategy calculation to command the vehicle to perform lane keeping, automatic parking, adaptive cruise, active brake function. For example, when the driver starts the NOA, the corresponding control signal is fed back through the HAD, indicating that the vehicle is in the automatic driving state. It should be noted that when the automatic driving function of the vehicle is not activated, the vehicle is controlled to run by the driver.

[0072] In the above step S100, the HAD will determine the current acceleration request of the vehicle according to the road condition and the preset planning data, wherein the HAD can perceive the surrounding environment information of the vehicle through sensors such as laser radar, camera, millimeter wave radar, and determine the road condition where the vehicle is located according to the surrounding environment information; the preset planning data can be understood as data such as planning route, driver preference and habit determined by the HAD according to the demand of the driver, for example, if the driver likes to take the highway, the system can plan a route that prefers to take the highway. The HAD will also adjust the pre-planned driving route in time according to the real-time traffic information to ensure that the vehicle can smoothly reach the destination, which specifically includes real-time updated traffic congestion, accident information, road construction, etc. In this way, the HAD can issue the current acceleration request of the vehicle according to the perceived information and the planning route, and the acceleration request will change continuously according to the specific driving environment and the planning route of the vehicle.

[0073] In addition, the VMC will convert the acceleration request of the HAD into a torque request, specifically, the torque request will be converted into a positive torque request or a negative torque request according to the acceleration corresponding to the acceleration request of the HAD, wherein the positive torque request can also be understood as a driving torque request, indicating a request to drive the vehicle to accelerate; the negative torque request can also be understood as a braking torque request, indicating a request to drive the vehicle to decelerate.

[0074] It can be understood that when the torque request is determined to be a negative torque request, the acceleration is negative, and the vehicle is in a deceleration state, the current driver is monitored to determine whether the driver has an over-control of the accelerator. In an embodiment, whether the driver has an over-control of the accelerator is determined according to the driver's stepping on the accelerator pedal. Specifically, when the driver identifies that the vehicle speed of the vehicle controlled by the automatic driving is low, the driver will over-control by stepping on the accelerator pedal, that is, the driver's request for the vehicle acceleration by stepping on the accelerator pedal is greater than the acceleration of the vehicle controlled by the automatic driving, and the driving system needs to drive the vehicle according to the driver's request for the accelerator pedal. Since the positive torque request indicates a request for driving the vehicle, it is determined whether the driver has an over-control of the accelerator by determining whether the driver sends a positive torque request through the accelerator pedal. That is, when the acceleration request of the HAD is a negative torque request, and the driver sends a positive torque request through the accelerator pedal of the vehicle, it indicates that the driver has an over-control of the accelerator.

[0075] In the related art, when the driver has an over-control of the accelerator, since the driving system is responding to a negative torque, the driver sends a positive torque request through the accelerator, and the driving system needs to transition from the current negative torque to the positive torque requested by the driver. Generally, since the negative torque of the driving system is the recovery torque of the braking system responding to the deceleration request, in order to ensure the accurate response of the braking, the driving system cannot smoothly pass through the process of the torque from the negative torque to the positive torque, that is, the negative torque is directly adjusted to the positive torque, which will cause an impact and make the vehicle sway in the driving direction.

[0076] In order to solve the above problems, after the driver steps on the accelerator to over-control, the driving system does not separately respond to the negative torque request, and the negative torque request is filtered. The negative torque corresponding to the negative torque request is reduced through the filtering process. The filtering process can be understood as reducing the absolute value of the negative torque to make the negative torque close to zero or equal to zero. Since the negative torque is reduced, the driving system responds to the positive torque request, drives the vehicle by using the acceleration of the positive torque request, and enters the state of the driver taking over the vehicle. Compared with the process of directly transitioning the driving system from the negative torque to the positive torque, the embodiment of the present application reduces the negative torque first, so that the torque of the driving system can be smoothly transitioned to the positive torque, the change range of the torque is reduced, the longitudinal acceleration is reduced, the vehicle can smoothly respond to the process of the driver taking over the vehicle, and the vehicle runs more smoothly.

[0077] It should be noted that the step of the driving system not separately responding to the negative torque request can also use hydraulic braking and recovery torque braking to decelerate, that is, the motor of the driving system uses the recovery torque to reverse drag and provide part of the braking force, and also realizes energy recovery. Another part of the braking force is provided by the hydraulic braking.

[0078] With reference to FIG. 3, in some embodiments, after performing the above step S300, the control method further comprises the following steps:

[0079] Step S400, when the driver releases the accelerator pedal, the control exits the state of the driver taking over the vehicle with the accelerator pedal, and issues a deceleration request;

[0080] Step S500, the control drives the recovery torque brake of the drive system not to respond to the deceleration request, and controls the hydraulic brake of the vehicle to provide the negative torque required by the deceleration request;

[0081] Step S600, the control of the drive system reduces the positive torque corresponding to the current positive torque request until the positive torque is less than or equal to zero, and sends a recovery torque instruction to the brake system of the vehicle;

[0082] Step S700, the control of the brake system responds to the recovery torque instruction to torque distribute the recovery torque brake of the drive system and the hydraulic brake of the vehicle.

[0083] It can be understood that if the driver releases the accelerator pedal after taking over the vehicle with the accelerator pedal, the state of the driver taking over the vehicle with the accelerator pedal is exited at this time, and the HAD needs to take over the vehicle for control. Since in the above step S300, the drive system responds to the positive torque request of the driver, that is, the vehicle is in an acceleration state, if the driver releases the accelerator pedal, it indicates that the driver needs to exit the vehicle takeover and return to the automatic driving state, then the HAD issues a deceleration request to the drive system, so that the vehicle speed of the vehicle is reduced to the cruise speed requirement of the automatic driving, to ensure the smoothness of the vehicle driving.

[0084] Since the drive system drives the vehicle to accelerate before the driver releases the accelerator pedal, when the driver takes over the vehicle and the HAD takes over, the HAD will issue a deceleration request according to the current road conditions or preset planning data, requesting the vehicle to reduce to a preset vehicle speed, that is, switching the positive torque request to a negative torque request. The recovery torque brake of the drive system does not respond to the deceleration request, and the negative torque after the HAD takes over is completely provided by the hydraulic brake system, that is, when the driver exits the vehicle takeover with the accelerator pedal, the recovery torque of the drive system is not used for vehicle deceleration, but the hydraulic brake is used for deceleration, to ensure the smoothness of the vehicle driving.

[0085] Considering that if the positive torque is directly transitioned to the negative torque, the torque change fluctuation amplitude is large, and impact is easy to occur, causing the vehicle to surge in the driving direction. Therefore, in the step S600 described above, after the vehicle is taken over by the HAD, the vehicle needs to decelerate, at which time the control of the driving system reduces the positive torque corresponding to the current positive torque request, that is, the positive torque is filtered, and the positive torque is reduced to zero through filtering. After the positive torque is reduced to zero, the recovery torque instruction is sent to the braking system of the vehicle, and then the step S700 is executed to control the braking system to respond to the recovery torque instruction, so as to execute the deceleration request. The negative torque of the deceleration request is distributed by the recovery torque braking of the driving system and the hydraulic braking of the vehicle, for example, a part of the braking torque is provided by the recovery torque braking, and another part of the braking torque is provided by the hydraulic braking, so that the recovery torque braking of the driving system and the hydraulic braking cooperate to brake the vehicle, the braking is more stable, and the smoothness of the vehicle is ensured.

[0086] Specifically, the vehicle braking mode includes the recovery torque braking of the driving system and the hydraulic braking of the vehicle. When the driver's throttle takes over the vehicle and exits, at this time, the driving system is just responding to the driver's throttle request, and the driving torque is positive. In response to the deceleration request of the HAD, the torque of the driving system needs to change from positive torque to negative torque. At this time, in order to ensure the smooth transition of the torque of the driving system to zero, the braking system needs not to respond to the negative torque. The negative torque of the deceleration after the HAD takes over is realized by the hydraulic braking system. The driving system controls the current driving torque to smoothly transition from positive torque to zero and then to negative value. The driving system issues the recovery torque instruction after the torque is zero. After receiving the recovery torque instruction of the driving system, the braking system distributes the recovery torque and the hydraulic braking. In this way, the vehicle surge caused by the step change of the deceleration request of the HAD can be avoided, the longitudinal acceleration fluctuation of the process from the driver's throttle taking over to the automatic driving of the vehicle is reduced, the vehicle can smoothly cope with the taking-over process of the HAD, and the vehicle can travel more smoothly and safely.

[0087] In some embodiments, the step S400 of the control method described above specifically further includes:

[0088] In step S410, when the driver releases the throttle pedal, the current acceleration of the vehicle is determined according to the environmental information, the current speed and the preset planning data of the vehicle, and a deceleration request is issued with the current acceleration as the starting point.

[0089] The preset planning data can be planning route, driver preference and habit, etc. After the driver takes over the vehicle, if the driver releases the accelerator pedal, the HAD needs to take over the vehicle and perform cruise control. The HAD determines the current acceleration of the vehicle according to the surrounding environment information, the current vehicle speed and the planning route, etc. and sends a deceleration request. In order to ensure the smoothness of the vehicle, the HAD needs to send a deceleration request starting from the current vehicle acceleration, so as to avoid the jolt of the vehicle caused by the step change of the deceleration request of the HAD. Because the VMC needs to strictly implement the request of the HAD during the automatic driving process, otherwise there will be a safety risk, so the step request of the HAD will cause the jolt of the vehicle.

[0090] Referring to FIG. 4, in some embodiments, the control method further comprises:

[0091] Step S800, obtaining the opening degree of the accelerator pedal stepped down by the driver, and converting the opening degree to obtain the acceleration of the acceleration request;

[0092] Step S900, comparing the acceleration of the acceleration request with the acceleration of the current acceleration request;

[0093] Step S1000, when the acceleration of the acceleration request is greater than the acceleration of the current acceleration request, determining that the driver sends a positive torque request through the accelerator pedal.

[0094] It can be understood that the acceleration request of the driver is obtained through the accelerator pedal stepped down by the driver. The opening degree of the accelerator pedal stepped down by the driver can be understood as the opening angle of the accelerator. The deeper the accelerator is stepped down, the greater the opening degree of the accelerator, and the greater the acceleration. Therefore, the acceleration of the acceleration request can be converted according to the opening degree of the accelerator. When the driver releases the accelerator, the opening degree of the accelerator can be understood as zero, that is, the driver does not send an acceleration request.

[0095] When the vehicle is in the automatic driving state, the HAD determines the current acceleration request of the vehicle according to the surrounding environment information, the current vehicle speed and the planning route, etc. The corresponding acceleration of the current acceleration request can be determined. When the driver steps down the accelerator pedal, an acceleration request is sent. The corresponding acceleration of the acceleration request can be determined. Therefore, when comparing the current acceleration request with the acceleration request of the accelerator pedal stepped down by the driver, the acceleration of the acceleration request is compared with the acceleration of the current acceleration request. When the acceleration of the acceleration request is greater than the acceleration of the current acceleration request, it is determined that the driver sends a positive torque request through the accelerator pedal. At this time, the driver's accelerator override occurs. Because the acceleration of the vehicle is affected by various factors, such as vehicle type, engine performance, vehicle weight, transmission ratio, vehicle shape and wind resistance coefficient, etc., in the specific example, the acceleration of the vehicle is determined in real time according to the actual use.

[0096] It should be noted that the acceleration is positive, indicating that the vehicle is accelerating, at which time it is converted into driving torque; otherwise, the acceleration is negative, indicating that it is decelerating, which is converted into braking torque.

[0097] Referring to FIG. 5, in some embodiments, steps S200 and S300 of the above control method further include the following steps:

[0098] Step S210, control the torque distribution of the negative torque by the recovery torque brake of the drive system and the hydraulic brake of the vehicle, and adjust the negative torque from a negative value to zero based on the negative torque;

[0099] Step S310, after the negative torque is adjusted to zero, the positive torque corresponding to the positive torque request is determined as the target response torque of the drive system, and the driving torque of the drive system is controlled to transition from zero to the target response torque.

[0100] In combination with FIG. 6, when the vehicle is in an automatic driving state, the HAD issues an acceleration request of the current vehicle according to perception and planning, which changes constantly with positive and negative values according to the specific driving environment and planning of the vehicle. The VMC converts the acceleration request of the HAD into a torque request. If the torque request of the current vehicle is a positive torque request, the drive system responds to the positive torque, i.e., drives the vehicle to accelerate according to the positive torque.

[0101] If the torque request of the current vehicle is a negative torque request, it is monitored whether the driver has an accelerator override. If the driver has an accelerator override, the drive system no longer handles the braking recovery torque request alone after the driver steps on the accelerator to override, and the negative torque is distributed by the recovery torque brake of the drive system and the hydraulic brake of the vehicle, that is, the hydraulic brake and the recovery torque brake are used simultaneously for deceleration. Based on the current negative torque, the torque is filtered and processed to adjust the negative torque from a negative value to zero, ensuring smooth transition of the driving torque to zero, and then responding to the positive torque request of the driver. Since the positive torque corresponding to the positive torque request is the target response torque of the drive system, the torque of the drive system transitions from zero to the target response torque when driving the vehicle, reducing the change amplitude of the torque and thereby reducing the fluctuation of the longitudinal acceleration, so that the vehicle can smoothly cope with the process of the driver taking over the accelerator, and the vehicle travels more smoothly.

[0102] The embodiment of the application can control the acceleration request mode of the upper automatic driving in the process of the driver's throttle takeover and exit, the processing strategy of the driver driving torque and brake recovery torque of the driving system, and the filtering processing mode of the torque, the allocation mode of the recovery torque and hydraulic braking of the braking system in response to the automatic driving deceleration demand, and the longitudinal acceleration fluctuation of the vehicle in the process of the driver's throttle takeover and exit of the automatic driving, so that the vehicle can smoothly respond to the driver's takeover process without increasing hardware devices.

[0103] The embodiment of the application also provides a vehicle intelligent driving control device, which can execute the vehicle intelligent driving control method provided by the above embodiment. Specifically, the intelligent driving control device comprises a highly automated driving system (HAD) and a vehicle motion control system (VMC).

[0104] Referring to FIG. 6, when the vehicle is in an automatic driving state, the HAD sends an acceleration request of the current vehicle according to perception and planning. The acceleration request will change according to the specific driving environment and the planned route of the vehicle. The VMC converts the acceleration request of the HAD into a torque request. The torque request will be converted into a driving torque request or a braking torque request according to the acceleration of the HAD. When the front vehicle is a positive torque request, the driving system responds to the positive torque at this time.

[0105] If the torque of the current vehicle is a negative torque, it is monitored whether the driver has an over-control of the throttle. If the driver has an over-control of the throttle, the driving system no longer processes the braking recovery torque request alone after the driver steps on the throttle to over-control. Based on the current negative torque, the torque is filtered to ensure that the driving torque is smoothly changed from zero to the positive torque request of the driver.

[0106] If the driver releases the throttle pedal after taking over the vehicle, the HAD needs to take over the vehicle and perform cruise control at this time. The HAD will usually issue a deceleration request according to the surrounding environment information / current vehicle speed / route planning, etc. To ensure the smoothness of the vehicle, the HAD needs to issue a deceleration request based on the current vehicle acceleration as a starting point to avoid the vehicle from being jolted due to the step change of the HAD's deceleration request. Because the VMC needs to strictly execute the HAD request during the automatic driving process, otherwise there will be a safety risk, so if the HAD issues a step request, it will inevitably cause the vehicle to be jolted.

[0107] When the driver throttle takes over the vehicle, at this time the drive system is just responding to the driver's throttle request, the drive torque is positive, in response to the HAD deceleration request, the drive system torque needs to change from positive to negative, at this time to ensure the smooth transition of the drive system torque to zero, the brake system needs to not request the drive negative torque, the HAD takes over the deceleration negative torque is realized by the hydraulic brake system, the drive system controls the current drive torque to smoothly transition from positive torque to zero, and then to negative value; the drive system sends the recovery torque capability after the torque reaches zero, the brake system receives the drive system recovery torque capability and allocates the recovery torque and hydraulic braking.

[0108] Without increasing hardware devices, through special control strategies for different scenes, the acceleration request mode of the upper automatic driving during the driver throttle takeover and exit process, the drive system processing strategy of the driver drive torque and brake recovery torque and the torque filtering mode, the brake system allocation mode of the recovery torque and hydraulic braking in the automatic driving deceleration demand, the control vehicle longitudinal acceleration fluctuation in the process of the driver throttle takeover and exit of the automatic driving, so that the vehicle can smoothly respond to the driver's takeover process.

[0109] It should be noted that the vehicle of the embodiment of the application has a processor and a memory, and the memory is used to store instructions, when the instructions are executed by the processor, the control method of the vehicle intelligent driving of the above-embodiment is executed.

[0110] The processor and the memory in the intelligent driving control device can be connected through a bus. The memory as a kind of non-transient computer readable storage medium can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transient memory, such as at least one disk memory, flash memory device, or other non-transient solid state memory device. In some embodiments, the memory can optionally include a memory remotely arranged relative to the control processor, and these remote memories can be connected to the controller through a network.

[0111] The non-transient software programs and instructions required for the control method of the above-embodiment are stored in the memory, and when executed by the processor, the control method in the above-embodiment is executed, for example, the method steps S100 to S300 in FIG. 2, the method steps S400 to S700 in FIG. 3, the method steps S800 to S1000 in FIG. 4, etc. described above are executed.

[0112] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0113] The embodiment of the application also provides a vehicle comprising the intelligent driving control device of the above embodiment. The vehicle can be a private car, such as a sedan, an SUV, an MPV or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck or a large trailer, etc. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0114] The control method of the embodiment is applied to a vehicle with intelligent driving function. When the vehicle is in an automatic driving state, the current acceleration request of the vehicle is determined according to the driving road condition of the vehicle and the preset planning data. The obtained current acceleration request is converted into a torque request, which can be a positive torque request or a negative torque request. When the torque request is a negative torque request, it is determined whether there is an accelerator override condition according to the situation that the driver steps on the accelerator. If the driver sends a positive torque request through the accelerator pedal, the control driving system does not respond to the negative torque request alone at this time, and the negative torque request is filtered to reduce the negative torque corresponding to the negative torque request. Since the driving system responds to the positive torque request to drive the vehicle after reducing the negative torque, the state of the driver taking over the vehicle with the accelerator is entered. Compared with the process of directly transitioning the driving system from the negative torque to the positive torque, the longitudinal acceleration fluctuation is reduced, so that the vehicle can smoothly respond to the process of the driver taking over the process with the accelerator, and the vehicle runs more smoothly.

[0115] Since the vehicle adopts the intelligent driving control method of the above embodiment, it at least has all the beneficial effects brought by the technical solutions of the above embodiment, which will not be repeated here.

[0116] In the embodiment of the application, a computer readable storage medium is also provided, which stores a computer program. The computer program includes program instructions. A processor executes the program instructions to implement any one of the vehicle intelligent driving control methods provided by the embodiments.

[0117] The computer readable storage medium can be a hard disk or a memory of the domain controller of the above embodiment. The computer readable storage medium can also be an external storage device of the domain controller, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0118] Due to the computer program stored in the computer readable storage medium, any intelligent driving control method provided by the embodiments of the present application can be executed, thus the beneficial effects that can be achieved by any intelligent driving control method provided by the embodiments of the present application can be achieved, which will be described in detail in the foregoing embodiments and will not be described herein again.

[0119] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.

Claims

1. A control method of intelligent driving of a vehicle, characterized by, The control method is applied to a vehicle with an automatic driving function, and comprises the following steps: When the vehicle is in an automatic driving state, a current acceleration request of the vehicle is determined according to road conditions and preset planning data, and the current acceleration request is converted into a torque request; When the torque request is a negative torque request and a driver issues a positive torque request through a throttle pedal of the vehicle, a drive system of the vehicle is controlled not to respond to the negative torque request alone, and the negative torque request is filtered to reduce a negative torque corresponding to the negative torque request; The drive system is controlled to respond to the positive torque request to drive the vehicle, and a state in which the driver takes over the vehicle through the throttle is entered.

2. The control method of intelligent driving of a vehicle according to claim 1, characterized in that, After the drive system is controlled to respond to the positive torque request to drive the vehicle and enter the state in which the driver takes over the vehicle through the throttle, the following steps are further included: When the driver releases the throttle pedal, the state in which the driver takes over the vehicle through the throttle is exited, and a deceleration request is issued; The drive system is controlled not to respond to the deceleration request, and a negative torque required by the deceleration request is provided by hydraulic braking of the vehicle.

3. The control method of intelligent driving of a vehicle according to claim 2, characterized in that, After the state in which the driver takes over the vehicle through the throttle is exited and the deceleration request is issued, the following steps are further included: The drive system is controlled to reduce a positive torque corresponding to the positive torque request, and after the positive torque is less than or equal to zero, a recovery torque instruction is sent to a braking system of the vehicle; The braking system is controlled to respond to the recovery torque instruction to perform torque distribution on the recovery torque braking of the drive system and the hydraulic braking of the vehicle.

4. The control method of intelligent driving of a vehicle according to claim 2, characterized in that, The control of exiting the state in which the driver takes over the vehicle through the throttle and issuing the deceleration request comprises the following steps: When the driver releases the throttle pedal, a current acceleration of the vehicle is determined according to environmental information of the vehicle, a current vehicle speed and preset planning data, and the deceleration request is issued starting from the current acceleration.

5. The control method of intelligent driving of a vehicle according to claim 1, characterized by, The control method further comprises the following steps: The current acceleration request is compared with an acceleration request of the driver stepping on the throttle pedal; When the acceleration request is greater than the current acceleration request, it is determined that the driver issues the positive torque request through the throttle pedal.

6. The control method of intelligent driving of a vehicle according to claim 5, characterized in that, The comparison between the current acceleration request and the acceleration request of the driver stepping on the throttle pedal comprises the following steps: An opening degree of the driver stepping on the throttle pedal is obtained, and the opening degree is converted to obtain an acceleration of the acceleration request; The acceleration of the acceleration request is compared with an acceleration of the current acceleration request, and when the acceleration of the acceleration request is greater than the acceleration of the current acceleration request, it is determined that the acceleration request is greater than the current acceleration request.

7. The control method of intelligent driving of a vehicle according to claim 1, characterized by, The control of the drive system not responding to the negative torque request alone and filtering the negative torque request to reduce a negative torque corresponding to the negative torque request comprises the following steps: The negative torque is distributed on the recovery torque braking of the drive system and the hydraulic braking of the vehicle, and the negative torque is adjusted from a negative value to zero based on the negative torque; The control of the drive system responding to the positive torque request to drive the vehicle comprises the following steps: After the negative torque is adjusted to zero, a positive torque corresponding to the positive torque request is determined as a target response torque of the drive system, and a drive torque of the drive system is controlled to transit from zero to the target response torque.

8. The control method of intelligent driving of a vehicle according to claim 1, characterized by, The converting the current acceleration request into a torque request comprises: When the acceleration of the current acceleration request of the vehicle is positive, the current acceleration request is converted into a positive torque request; When the acceleration of the current acceleration request of the vehicle is negative, the current acceleration request is converted into a negative torque request.

9. The control method of intelligent driving of a vehicle according to claim 1, characterized by, The control method further comprises: When the torque request is a positive torque request, the drive system is controlled to drive the vehicle in response to the current acceleration request.

10. A control device for intelligent driving of a vehicle, characterized by comprising: Comprise: a highly automated driving system configured to determine a current acceleration request of a vehicle according to road conditions and preset planning data when the vehicle is in an automated driving state; a vehicle motion control system configured to convert the current acceleration request into a torque request, when the torque request is a negative torque request and a driver issues a positive torque request through an accelerator pedal of the vehicle, control the drive system of the vehicle not to respond to the negative torque request alone, and filter the negative torque request to reduce a negative torque corresponding to the negative torque request; control the drive system to drive the vehicle in response to the positive torque request, and enter a state in which the driver takes over the vehicle by the accelerator.

11. The control device for intelligent driving of a vehicle according to claim 10, characterized by, The highly automated driving system is further configured to control the exit from the state in which the driver takes over the vehicle by the accelerator when the driver releases the accelerator pedal, and issue a deceleration request; The vehicle motion control system is further configured to control a regenerative torque brake of the drive system not to respond to the deceleration request, and control a negative torque required by the deceleration request to be provided by hydraulic brakes of the vehicle.

12. A vehicle characterized by comprising: The computer readable storage medium stores computer executable instructions for causing a computer to execute the control method of intelligent driving of a vehicle according to any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to execute the control method of intelligent driving of a vehicle according to any one of claims 1 to 9.

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