CN107656519A - Driving control method and device for electric vehicle - Google Patents
Driving control method and device for electric vehicle Download PDFInfo
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- CN107656519A CN107656519A CN201710940534.6A CN201710940534A CN107656519A CN 107656519 A CN107656519 A CN 107656519A CN 201710940534 A CN201710940534 A CN 201710940534A CN 107656519 A CN107656519 A CN 107656519A
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000012360 testing method Methods 0.000 claims abstract description 53
- 238000001514 detection method Methods 0.000 claims description 73
- 238000004891 communication Methods 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 14
- 230000010365 information processing Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 235000013399 edible fruits Nutrition 0.000 claims description 6
- 230000006870 function Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 4
- 238000004378 air conditioning Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
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- 230000004888 barrier function Effects 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/30—Auxiliary equipments
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a driving control method and a driving control device for an electric vehicle, wherein the method comprises the following steps: when the vehicle is in a manual driving mode, the VCU of the vehicle control unit judges whether an automatic driving mode switching request of a vehicle user is received; when an automatic driving mode switching request of a vehicle user is received, a self-checking result of a VCU and a self-checking result of an automatic driving control unit ADU are obtained; determining whether the self-checking of the VCU and the ADU passes or not according to the self-checking result of the VCU and the self-checking result of the ADU; if the self-tests of the VCU and the ADU are both passed, the manual driving mode of the vehicle is switched to the automatic driving mode, and an automatic driving instruction is sent to the ADU, so that the ADU controls the driving of the vehicle according to the automatic driving mode, the vehicle can be switched to the automatic driving mode when the self-tests of the VCU and the ADU are both passed, and the automatic driving mode switching request of a vehicle user is received, so that the safety of automatic driving of the vehicle is improved, and the driving safety is improved.
Description
Technical field
The present invention relates to the driving control method and device of technical field of vehicle, more particularly to a kind of electric vehicle.
Background technology
At present, pilotless automobile is the main trend of automotive field Future Development.Driving automatically in pilotless automobile
Control unit ADU is sailed, the information such as road environment, vehicle location, traffic signals and barrier are perceived by vehicle-mounted sensor-based system,
On this basis automatic planning travelling line and by certain control logic realize vehicle vertical, horizontal couple control, make car
Arrive safe and sound intended destination, manually need not additionally intervene during this period.However, in the prior art, shadow be present in vehicle
When ringing the failure of Function for Automatic Pilot, automatic Pilot control unit ADU is difficult to effectively control vehicle, travel safety
Difference.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of driving control method of electric vehicle, it is existing for solving
With the presence of in technology when vehicle influences the failure of Function for Automatic Pilot, the problem of pilotless automobile travel safety difference.
Second object of the present invention is to propose a kind of steering control device of electric vehicle.
Third object of the present invention is the steering control device for proposing another electric vehicle.
Fourth object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
The 5th purpose of the present invention is to propose a kind of computer program product.
For the above-mentioned purpose, first aspect present invention embodiment proposes a kind of driving control method of electric vehicle, bag
Include：
When vehicle is in pilot steering pattern, entire car controller VCU judges whether that receiving the automatic of vehicle user drives
Sail mode switch request；
When receiving the automatic driving mode handover request of vehicle user, entire car controller VCU self-detection result is obtained
And automatic Pilot control unit ADU self-detection result；
According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, it is determined that described
Whether self-test passes through by entire car controller VCU and the automatic Pilot control unit ADU；
If the entire car controller VCU and the automatic Pilot control unit ADU self-tests are by by the vehicle
Pilot steering pattern switching is automatic driving mode, and sends automatic Pilot instruction to automatic Pilot control unit ADU so that from
Dynamic Driving control unit ADU carries out Driving control according to automatic driving mode to the vehicle.
Further, the self-detection result of the entire car controller VCU is the entire car controller VCU to full-vehicle control system
Each part in system carries out the self-detection result that self-test obtains；Part in the whole-control system includes：Entire car controller
VCU, and the execution unit being connected with entire car controller VCU；
The self-detection result of the automatic Pilot control unit ADU is the automatic Pilot control unit ADU to environment sensing
And each part in information processing system carries out the self-detection result that self-test obtains；In the environment sensing and information processing system
Part includes：Automatic Pilot control unit ADU, and the awareness tool and inertial navigation of the ADU connections of automatic Pilot control unit
System.
Further, described method also includes：
When vehicle is in automatic driving mode, entire car controller VCU judges whether to get pilot steering trigger signal；
The pilot steering trigger signal includes any one in signals below or a variety of：Automatic Pilot control unit ADU event
Hinder the trigger signal of signal, entire car controller VCU fault-signal, communication failure signal and vehicle user；
When getting the pilot steering trigger signal, the automatic driving mode of the vehicle is switched into pilot steering
Pattern, and sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic Pilot control unit ADU stops
To the Driving control of the vehicle.
Further, the trigger signal of the vehicle user includes：Brake signal during user's brake pedal, and/
Or, signal of user when pressing emergency button.
Further, the pilot steering pattern switching by the vehicle is automatic driving mode, including：
Entire car controller VCU stops the information of each part in collection whole-control system；
Entire car controller VCU receives the control instruction that automatic Driving control unit ADU is sent, according to the control instruction control
Each part performs corresponding operation in whole-control system processed.
Further, the automatic driving mode by the vehicle switches to pilot steering pattern, including：
Entire car controller VCU stops receiving the control instruction that automatic Driving control unit ADU is sent；
The information of each part in entire car controller VCU collection whole-control systems, according to each part in whole-control system
Information to the vehicle carry out Driving control.
Further, entire car controller VCU gathers the information of each part in whole-control system, according to whole-control system
In each part information to the vehicle carry out Driving control, including：
The information of each part in entire car controller VCU collection whole-control systems；
Judge the information of each part, if the control instruction sent with automatic Pilot control unit ADU before pattern switching
Match somebody with somebody；
If in the presence of the information with the unmatched first component of the control instruction, according in the control instruction with first
The related order of part controls the first component, until vehicle user operates to the first component.
The driving control method of the electric vehicle of the embodiment of the present invention, when vehicle is in pilot steering pattern, vehicle control
Device VCU processed judges whether to receive the automatic driving mode handover request of vehicle user；Driven receiving the automatic of vehicle user
When sailing mode switch request, entire car controller VCU self-detection result and automatic Pilot control unit ADU self-test knot are obtained
Fruit；According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, full-vehicle control is determined
Whether self-test passes through by device VCU and automatic Pilot control unit ADU；If entire car controller VCU and automatic Pilot control unit ADU is certainly
Inspection is by being then automatic driving mode by the pilot steering pattern switching of vehicle, and sent to automatic Pilot control unit ADU
Automatic Pilot instructs so that and automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to vehicle, so that
Vehicle can entire car controller VCU and automatic Pilot control unit ADU self-tests by, and receive vehicle user from
It is automatic driving mode by the pilot steering pattern switching of vehicle, so as to improve in the case of dynamic driving model handover request
The security of Vehicular automatic driving, improves travel safety.
For the above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of steering control device of electric vehicle, bag
Include：
Judge module, for when vehicle is in pilot steering pattern, judging whether that receiving the automatic of vehicle user drives
Sail mode switch request；
Acquisition module, for when receiving the automatic driving mode handover request of vehicle user, obtaining entire car controller
VCU self-detection result and automatic Pilot control unit ADU self-detection result；
Determining module, the self-test for the self-detection result according to entire car controller VCU and automatic Pilot control unit ADU
As a result, determine whether self-test passes through by the entire car controller VCU and the automatic Pilot control unit ADU；
Handover module, for passing through in the entire car controller VCU and the automatic Pilot control unit ADU self-tests
When, it is automatic driving mode by the pilot steering pattern switching of the vehicle, and sent automatically to automatic Pilot control unit ADU
Steering instructions so that automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to the vehicle.
Further, the self-detection result of the entire car controller VCU is the entire car controller VCU to full-vehicle control system
Each part in system carries out the self-detection result that self-test obtains；Part in the whole-control system includes：Entire car controller
VCU, and the execution unit being connected with entire car controller VCU；
The self-detection result of the automatic Pilot control unit ADU is the automatic Pilot control unit ADU to environment sensing
And each part in information processing system carries out the self-detection result that self-test obtains；In the environment sensing and information processing system
Part includes：Automatic Pilot control unit ADU, and the awareness tool and inertial navigation of the ADU connections of automatic Pilot control unit
System.
Further, the judge module, it is additionally operable to, when vehicle is in automatic driving mode, judge whether to get people
Work drives trigger signal；The pilot steering trigger signal includes any one in signals below or a variety of：Automatic Pilot
The triggering of control unit ADU fault-signal, entire car controller VCU fault-signal, communication failure signal and vehicle user
Signal；
The handover module, it is additionally operable to when getting the pilot steering trigger signal, automatic by the vehicle is driven
It is artificial driving model to sail pattern switching, and is sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic
Driving control unit ADU stops the Driving control to the vehicle.
Further, the trigger signal of the vehicle user includes：Brake signal during user's brake pedal, and/
Or, signal of user when pressing emergency button.
Further, the handover module is specifically used for,
Stop the information of each part in collection whole-control system；
The control instruction that automatic Driving control unit ADU is sent is received, full-vehicle control system is controlled according to the control instruction
Each part performs corresponding operation in system.
Further, the handover module is specifically used for,
Stop receiving the control instruction that automatic Driving control unit ADU is sent；
The information of each part in whole-control system is gathered, according to the information of each part in whole-control system to the car
Carry out Driving control.
Further, the handover module is specifically used for,
Gather the information of each part in whole-control system；
Judge the information of each part, if the control instruction sent with automatic Pilot control unit ADU before pattern switching
Match somebody with somebody；
If in the presence of the information with the unmatched first component of the control instruction, according in the control instruction with first
The related order of part controls the first component, until vehicle user operates to the first component.
The steering control device of the electric vehicle of the embodiment of the present invention, when vehicle is in pilot steering pattern, vehicle control
Device VCU processed judges whether to receive the automatic driving mode handover request of vehicle user；Driven receiving the automatic of vehicle user
When sailing mode switch request, entire car controller VCU self-detection result and automatic Pilot control unit ADU self-test knot are obtained
Fruit；According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, full-vehicle control is determined
Whether self-test passes through by device VCU and automatic Pilot control unit ADU；If entire car controller VCU and automatic Pilot control unit ADU is certainly
Inspection is by being then automatic driving mode by the pilot steering pattern switching of vehicle, and sent to automatic Pilot control unit ADU
Automatic Pilot instructs so that and automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to vehicle, so that
Vehicle can entire car controller VCU and automatic Pilot control unit ADU self-tests by, and receive vehicle user from
It is automatic driving mode by the pilot steering pattern switching of vehicle, so as to improve in the case of dynamic driving model handover request
The security of Vehicular automatic driving, improves travel safety.
For the above-mentioned purpose, third aspect present invention embodiment proposes the steering control device of another electric vehicle,
Including memory, processor and store the computer program that can be run on a memory and on a processor, it is characterised in that institute
The driving control method of electric vehicle as described above is realized when stating computing device described program.
To achieve these goals, fourth aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium, when the instruction in the storage medium is executed by processor, realize method as described above.
For the above-mentioned purpose, fifth aspect present invention embodiment proposes a kind of computer program product, when the calculating
When instruction processing unit in machine program product performs, a kind of driving control method of electric vehicle is performed, methods described includes：
When vehicle is in pilot steering pattern, entire car controller VCU judges whether that receiving the automatic of vehicle user drives
Sail mode switch request；
When receiving the automatic driving mode handover request of vehicle user, entire car controller VCU self-detection result is obtained
And automatic Pilot control unit ADU self-detection result；
According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, it is determined that described
Whether self-test passes through by entire car controller VCU and the automatic Pilot control unit ADU；
If the entire car controller VCU and the automatic Pilot control unit ADU self-tests are by by the vehicle
Pilot steering pattern switching is automatic driving mode, and sends automatic Pilot instruction to automatic Pilot control unit ADU so that from
Dynamic Driving control unit ADU carries out Driving control according to automatic driving mode to the vehicle.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is a kind of schematic flow sheet of the driving control method of electric vehicle provided in an embodiment of the present invention；
Fig. 2 is the control system framework of vehicle in the embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the driving control method of another electric vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of structural representation of the steering control device of electric vehicle provided in an embodiment of the present invention；
Fig. 5 is the structural representation of the steering control device of another electric vehicle provided in an embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the driving control method and device of the electric vehicle of the embodiment of the present invention are described.
Fig. 1 is a kind of schematic flow sheet of the driving control method of electric vehicle provided in an embodiment of the present invention.Such as Fig. 1 institutes
Show, the driving control method of the electric vehicle mainly includes the following steps that：
S101, when vehicle is in pilot steering pattern, entire car controller VCU judge whether to receive vehicle user from
Dynamic driving model handover request.
The executive agent of the driving control method of electric vehicle provided by the invention is the steering control device of electric vehicle,
The steering control device of electric vehicle is specifically as follows entire car controller (vehicle control unit, VCU), or including
There is entire car controller VCU vehicle control system.Vehicle in the present embodiment can refer to pure electric vehicle.
The control system framework of vehicle can be with as shown in Fig. 2 in fig. 2 in the present embodiment, the control system framework of vehicle
Including：Environment sensing and information processing system and whole-control system.In environment sensing and information processing system, automatic Pilot
Control unit (Automatic driving control unit, ADU) and laser radar, millimetre-wave radar, excusing from death ripple radar,
Video camera, locator GPS and inertial navigation system connection, automatic Pilot control unit ADU pass through laser radar, millimeter wave thunder
Reach, have children outside the state plan ripple radar, video camera, locator GPS and inertial navigation system feedack progress vehicle-periphery, vehicle
The detection of state and vehicle-surroundings barrier；ADU calculates the expectation shape of vehicle according to information above according to certain logical algorithm
State, such as vehicle it is expected that longitudinal acceleration, vehicle it is expected transverse acceleration, vehicle desired braking speed；Expectation shape to vehicle
State is decoupled, and obtains vehicle command, for example, vehicle expectation acceleration is converted into accelerator pedal aperture；Vehicle it is expected horizontal
Vehicle front wheel angle is converted into acceleration；Vehicle desired braking speed is converted into brake pedal opening degree command；In addition, ADU
Notch command is provided according to vehicle-state；Above vehicle command is sent to entire car controller VCU by ADU, whole
Vehicle controller VCU controls each execution unit in whole-control system to perform corresponding operating according to above vehicle command so that vehicle
Desirably state travels, to realize automatic Pilot.
In whole-control system, entire car controller VCU and electric machine controller MCU, battery management system BMS, accelerate to step on
Plate system APS, brake pedal system BPS, gear system GP, instrument system ICM, servo steering system EPS, accessory system AUX,
Deceleration of electrons unit EBU, air-conditioning system AC and car body control module BCM connections, electric machine controller MCU and motor
Motor connections, battery management system BMS are connected with high voltage power battery BATT, wherein, accelerator pedal system APS, brake pedal
System BPS, gear system GP, servo steering system EPS, deceleration of electrons unit EBU and motor Motor are enforcement division
Part.When vehicle is in pilot steering pattern, entire car controller VCU is according to accelerator pedal system APS, gear system GP and braking
Pedal system BPS feedacks, motor desired output moment of torsion is obtained according to certain logical calculated, according to high voltage power electricity
Pond BATT, motor Motor and electric machine controller MCU state limited the desired output moment of torsion, smooth etc.
Reason, obtains torque command, and is sent to electric machine controller MCU, and electric machine controller MCU controls motor according to the torque command
Output torque, finally realize the traveling of vehicle.In the above process, entire car controller VCU is always according to vehicle-state and driver
The normal work of the systems such as operation, control instrument, power-assisted steering, air-conditioning, annex.
When vehicle is in automatic driving mode, entire car controller VCU is not further according to accelerator pedal system APS, gear system
Motor desired output moment of torsion is calculated in system GP and brake pedal system BPS feedacks, now entire car controller VCU
Receive the accelerator pedal opening degree command, the order of vehicle front wheel angle, brake pedal aperture life that automatic Driving control unit ADU sends
Make, notch command and light order, and accelerator pedal system APS in whole-control system, braking are replaced using mentioned order
The feedacks such as pedal system BPS, gear system GP, control execution unit work, and are finally reached the mesh of Vehicular automatic driving
's.
In addition, it is also necessary to illustrate, in the present embodiment, after vehicle switchs to power-up state from power-down state, be
Guarantee vehicle and passengers inside the car's safety, the initial pattern behaviour work driving model of vehicle.On vehicle after electricity, entire car controller
VCU can send self-checking command to automatic Pilot control unit ADU so that ADU is according to self-checking command for automatic Pilot control unit
The self-detection result that self-test obtains is carried out to each part in environment sensing and information processing system；Entire car controller VCU can be with
The self-detection result that self-test obtains is carried out to each part in whole-control system.
S102, when receiving the automatic driving mode handover request of vehicle user, obtain entire car controller VCU self-test
As a result and automatic Pilot control unit ADU self-detection result.
In the present embodiment, automatic Pilot button can be provided with vehicle.When vehicle user presses the button, vehicle control
The operation of vehicle user can be identified as automatic driving mode handover request by device VCU processed.
S103, according to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, really
Determining entire car controller VCU and automatic Pilot control unit ADU, whether self-test passes through.
In the present embodiment, specifically, in the self-detection result according to entire car controller VCU, it is determined that high voltage power electricity does not occur
Pond limits power failure, and electric machine controller MCU and motor failure does not occur, and when execution unit does not break down, it is determined that
Entire car controller VCU self-tests pass through.In the self-detection result according to automatic Pilot control unit ADU, determine that each environment sensing passes
Sensor, such as laser radar, millimetre-wave radar, excusing from death ripple radar, video camera, locator GPS and inertial navigation system etc. are not
When breaking down, determine that automatic Pilot control unit ADU self-tests pass through.
If S104, entire car controller VCU and automatic Pilot control unit ADU self-tests are by the way that artificial by vehicle is driven
It is automatic driving mode to sail pattern switching, and sends automatic Pilot instruction to automatic Pilot control unit ADU so that automatic Pilot
Control unit ADU carries out Driving control according to automatic driving mode to vehicle.
Wherein, the pilot steering pattern switching of vehicle specifically may be used by entire car controller VCU for the process of automatic driving mode
Think, entire car controller VCU stops the information of each part in collection whole-control system；Entire car controller VCU is received and driven automatically
The control instruction of control unit ADU transmissions is sailed, controls each part in whole-control system to perform corresponding behaviour according to control instruction
Make.
Specifically, (1) entire car controller VCU stops receiving the accelerator pedal signal of accelerator pedal system APS feedbacks, then
The accelerator pedal opening degree command that automatic Driving control unit ADU is sent is received, and set control logic is realized according to the order；
(2) entire car controller VCU receives the vehicle front wheel angle order that automatic Driving control unit ADU is sent, and according to the order control
Servo steering system EPS processed realizes vehicle auto-steering；Wherein, vehicle user will be unable to manipulate steering wheel under the state；(3) it is whole
Vehicle controller VCU receives the brake pedal opening degree command that automatic Driving control unit ADU is sent, and is realized according to the order set
Control logic, control for brake is not carried out further according to brake pedal system BPS feedacks, but now still to brake pedal status
It is monitored；(4) entire car controller VCU stops receiving the physics gear signal of gear system GP feedbacks, then receives and drive automatically
The notch command of control unit ADU transmissions is sailed, and set control logic is realized according to the order；Wherein, driver under the state
Gear can be manipulated, but gear system GP does not feed back physics gear signal；(5) entire car controller VCU receives automatic Driving control
The unlatching for the light order control lights of vehicle that unit ADU is sent, including high beam, dipped headlight, clearance light, fog lamp, steering indicating light
Deng；(6) instrument lights " automatic Pilot " status lamp, while text prompt driver：Vehicle enters automatic driving mode.
In the present embodiment, during being automatic driving mode by the pilot steering pattern switching of vehicle, entire car controller
VCU by carrying out certain information exchange with automatic Pilot control unit ADU to realize automatic Pilot, the information interaction amount compared with
It is small, the control command on execution unit is only received, is finally realized by the automatic Pilot control unit ADU control commands simulated
Automatic Pilot.Wherein, in addition to automatic Pilot vehicle other functions, such as airconditioning control still operates realization by driver.
The driving control method of the electric vehicle of the embodiment of the present invention, when vehicle is in pilot steering pattern, vehicle control
Device VCU processed judges whether to receive the automatic driving mode handover request of vehicle user；Driven receiving the automatic of vehicle user
When sailing mode switch request, entire car controller VCU self-detection result and automatic Pilot control unit ADU self-test knot are obtained
Fruit；According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, full-vehicle control is determined
Whether self-test passes through by device VCU and automatic Pilot control unit ADU；If entire car controller VCU and automatic Pilot control unit ADU is certainly
Inspection is by being then automatic driving mode by the pilot steering pattern switching of vehicle, and sent to automatic Pilot control unit ADU
Automatic Pilot instructs so that and automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to vehicle, so that
Vehicle can entire car controller VCU and automatic Pilot control unit ADU self-tests by, and receive vehicle user from
It is automatic driving mode by the pilot steering pattern switching of vehicle, so as to improve in the case of dynamic driving model handover request
The security of Vehicular automatic driving, improves travel safety.
Fig. 3 be another electric vehicle provided in an embodiment of the present invention driving control method schematic flow sheet, such as Fig. 3
It is shown, on the basis of embodiment illustrated in fig. 1, when vehicle is in automatic driving mode, specific fault and driver occurs
Need to exit automatic driving mode during specific operation, to meet the actual drive demand of vehicle user and traffic safety, therefore, institute
The method stated can also include：
S105, when vehicle is in automatic driving mode, entire car controller VCU judges whether to get pilot steering triggering
Signal；Pilot steering trigger signal includes any one in signals below or a variety of：Automatic Pilot control unit ADU event
Hinder the trigger signal of signal, entire car controller VCU fault-signal, communication failure signal and vehicle user.
Wherein, automatic Pilot control unit ADU fault-signal includes：Laser radar failure, millimetre-wave radar failure, surpass
Raw ripple radar fault, fault of camera, locator GPS failure, inertial navigation system faults and other system failures etc..Vehicle
Controller VCU fault-signal includes：High voltage power battery limit power failure, electric machine controller and motor failure, hold
Row unit failure etc..Communication failure signal includes：Communication failure between all parts, for example, entire car controller VCU with it is automatic
Communication loss between Driving control unit ADU, i.e. entire car controller VCU can not receive automatic Pilot control unit ADU's
The communication information.The trigger signal of vehicle user includes：Brake signal during user's brake pedal, and/or, user presses tightly
Signal during anxious situation button.
Wherein, when vehicle is in automatic driving mode, if brake pedal is operated, show that vehicle user has braking
Demand, that is, the demand of vehicle drive is intervened, therefore meet the condition for exiting automatic driving mode in this state；If vehicle is used
Family thinks that vehicle is in the hole, and automatic Pilot control unit ADU is not responded to the precarious position, then can be passed through
Press emergency button and carry out compulsory withdrawal automatic driving mode, be switched to pilot steering pattern, ensure to go by pilot steering
Car safety.
In addition, it should also be noted that, when catastrophe failure, such as the influence vehicle drive such as motor damage occurs in vehicle
Failure when, the automatic driving mode of vehicle can be switched to pilot steering pattern by entire car controller VCU, and remind vehicle to use
Family stops vehicle as early as possible, and in the case where vehicle stops, lower electric treatment is carried out to vehicle.
S106, when getting pilot steering trigger signal, the automatic driving mode of vehicle is switched into pilot steering mould
Formula, and sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic Pilot control unit ADU stoppings pair
The Driving control of vehicle.
In the present embodiment, entire car controller VCU switches to the automatic driving mode of vehicle the process of pilot steering pattern
It is specifically as follows, entire car controller VCU stops receiving the control instruction that automatic Driving control unit ADU is sent；Entire car controller
The information of each part, drives according to the information of each part in whole-control system to vehicle in VCU collection whole-control systems
Sail control.Wherein, entire car controller VCU gathers the information of each part in whole-control system, according to each in whole-control system
The process that the information of part carries out Driving control to vehicle is specifically as follows, in entire car controller VCU collection whole-control systems
The information of each part；Judge the information of each part, if refer to the controls sent of automatic Pilot control unit ADU before pattern switching
Order matching；If in the presence of the information with the unmatched first component of control instruction, according to related to first component in control instruction
Order control first component, until vehicle user operates to first component.
Specifically, the accelerator pedal signal that (1) entire car controller VCU is fed back by automatic Pilot control unit ADU is completed
Wagon control, set control logic is not realized further according to the automatic Pilot control unit ADU accelerator pedal opening degree commands sent；
(2) entire car controller VCU does not control power-assisted steering further according to the vehicle front wheel angle order that automatic Pilot control unit ADU is sent
System EPS realizes vehicle auto-steering, and now driver can manipulate to steering wheel；(3) entire car controller VCU passes through braking
The brake pedal signal of pedal system BPS feedbacks completes wagon control, the system not sent further according to automatic Pilot control unit ADU
Dynamic pedal opening degree command realizes set control logic；(4) the physics gear that entire car controller VCU is fed back by gear system GP is believed
Number complete wagon control, not further according to automatic Pilot control unit ADU send notch command realize set control logic；If shelves
The physics gear signal of position system GP feedbacks differs with the notch commands sent of automatic Pilot control unit ADU before pattern switching
Causing, then the notch command for continuing automatic Pilot control unit ADU before switching in mode carries out wagon control for effective gear signal,
Until vehicle user has gear shift operation；(5) entire car controller VCU is according to vehicle user operational control lights of vehicle, Ruo Moshiqie
The signal light control order that automatic Pilot control unit ADU is sent before changing and the operation of switching rear vehicle user are not inconsistent, then continuation with
Automatic Pilot control unit ADU light order carries out lights of vehicle control before pattern switching, until vehicle user is to corresponding lamp
Light is operated；(6) instrument closes " automatic Pilot " status lamp, and ring prompt tone, while text prompt driver：Vehicle enters people
Work driving model, asks safe driving.
Wherein, vehicle in automatic driving mode into the handoff procedure of pilot steering pattern, it may appear that gear before and after switching
The inconsistent situation of signal, reason has following two：1st, automatic Pilot control unit ADU can root in automatic Pilot control process
Factually border transport condition control gear change, this will cause before pattern switching automatic Pilot control unit ADU notch commands with
Gear system GP physics gear is not inconsistent after pattern switching；2nd, vehicle user is artificially grasped during automatic Pilot to gear
Make, this also results in automatic Pilot control unit ADU notch commands and the thing of gear system GP after pattern switching before pattern switching
Reason gear is not inconsistent.In view of the ride comfort of pattern switching, the influence to caused by traffic safety due to gear mutation is prevented, if pattern
When gear information is inconsistent before and after switching, the present invention is complete using the notch command of automatic Pilot control unit ADU before pattern switching
Into wagon control.
Wherein, vehicle may have light order in automatic driving mode into the handoff procedure of pilot steering pattern
The problem of inconsistent.Consider for traffic safety, such as automatic Pilot is carried out at night, now automatic Pilot control unit ADU
Control lights of vehicle to open, consider that driver is not opened lights of vehicle system before after pilot steering pattern is switched to
Open operation, if therefore in the light of actual conditions, the light of vehicle should be at closed mode, and this will be in mode handover procedure to row
Car causes safely huge harm, for these reasons, automatic before the inconsistent situation present invention occur and continuing to use pattern switching
Driving control unit ADU light order carries out lights of vehicle control.
The driving control method of the electric vehicle of the embodiment of the present invention, when vehicle is in automatic driving mode, vehicle control
Device VCU processed judges whether to get pilot steering trigger signal；Pilot steering trigger signal includes any one in signals below
Kind is a variety of：Automatic Pilot control unit ADU fault-signal, entire car controller VCU fault-signal, communication failure signal
And the trigger signal of vehicle user；When getting pilot steering trigger signal, the automatic driving mode of vehicle is switched to
Pilot steering pattern, and sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic Pilot control unit
ADU stops to the Driving control of vehicle so that vehicle can occur automatic Pilot control unit ADU fault-signal,
During trigger signal of entire car controller VCU fault-signal, communication failure signal or vehicle user etc., automatic by vehicle is driven
It is artificial driving model to sail pattern switching, so as to improve the security of Vehicular automatic driving, improves travel safety.
Fig. 4 is a kind of structural representation of the steering control device of electric vehicle provided in an embodiment of the present invention.Such as Fig. 4 institutes
Show, including：Judge module 41, acquisition module 42, determining module 43 and handover module 44.
Wherein, judge module 41, for when vehicle is in pilot steering pattern, judging whether to receive vehicle user
Automatic driving mode handover request；
Acquisition module 42, for when receiving the automatic driving mode handover request of vehicle user, obtaining full-vehicle control
Device VCU self-detection result and automatic Pilot control unit ADU self-detection result；
Determining module 43, for oneself of the self-detection result according to entire car controller VCU and automatic Pilot control unit ADU
Result is examined, determines whether self-test passes through by the entire car controller VCU and the automatic Pilot control unit ADU；
Handover module 44, for passing through in the entire car controller VCU and the automatic Pilot control unit ADU self-tests
When, it is automatic driving mode by the pilot steering pattern switching of the vehicle, and sent automatically to automatic Pilot control unit ADU
Steering instructions so that automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to the vehicle.
The steering control device of electric vehicle provided by the invention is specifically as follows entire car controller (vehicle
Control unit, VCU), or include entire car controller VCU vehicle control system.Vehicle in the present embodiment can be with
Refer to pure electric vehicle.
In the present embodiment, after vehicle switchs to power-up state from power-down state, in order to ensure vehicle and passengers inside the car's safety,
The initial pattern behaviour work driving model of vehicle.On vehicle after electricity, entire car controller VCU can be to automatic Pilot control unit
ADU sends self-checking command so that automatic Pilot control unit ADU is according to self-checking command in environment sensing and information processing system
Each part carry out the obtained self-detection result of self-test；Entire car controller VCU can also enter to each part in whole-control system
The self-detection result that row self-test obtains.
Wherein, entire car controller VCU self-detection result is the entire car controller VCU to each in whole-control system
Part carries out the self-detection result that self-test obtains；Part in the whole-control system includes：Entire car controller VCU, Yi Jiyu
The execution unit of entire car controller VCU connections；
The self-detection result of the automatic Pilot control unit ADU is the automatic Pilot control unit ADU to environment sensing
And each part in information processing system carries out the self-detection result that self-test obtains；In the environment sensing and information processing system
Part includes：Automatic Pilot control unit ADU, and the awareness tool and inertial navigation of the ADU connections of automatic Pilot control unit
System.
In the present embodiment, automatic Pilot button can be provided with vehicle.When vehicle user presses the button, vehicle control
The operation of vehicle user can be identified as automatic driving mode handover request by device VCU processed.
In the present embodiment, specifically, in the self-detection result according to entire car controller VCU, it is determined that high voltage power electricity does not occur
Pond limits power failure, and electric machine controller MCU and motor failure does not occur, and when execution unit does not break down, it is determined that
Entire car controller VCU self-tests pass through.In the self-detection result according to automatic Pilot control unit ADU, determine that each environment sensing passes
Sensor, such as laser radar, millimetre-wave radar, excusing from death ripple radar, video camera, locator GPS and inertial navigation system etc. are not
When breaking down, determine that automatic Pilot control unit ADU self-tests pass through.
Further, the handover module is specifically used for,
Stop the information of each part in collection whole-control system；
The control instruction that automatic Driving control unit ADU is sent is received, full-vehicle control system is controlled according to the control instruction
Each part performs corresponding operation in system.
Specifically, (1) entire car controller VCU stops receiving the accelerator pedal signal of accelerator pedal system APS feedbacks, then
The accelerator pedal opening degree command that automatic Driving control unit ADU is sent is received, and set control logic is realized according to the order；
(2) entire car controller VCU receives the vehicle front wheel angle order that automatic Driving control unit ADU is sent, and according to the order control
Servo steering system EPS processed realizes vehicle auto-steering；Wherein, vehicle user will be unable to manipulate steering wheel under the state；(3) it is whole
Vehicle controller VCU receives the brake pedal opening degree command that automatic Driving control unit ADU is sent, and is realized according to the order set
Control logic, control for brake is not carried out further according to brake pedal system BPS feedacks, but now still to brake pedal status
It is monitored；(4) entire car controller VCU stops receiving the physics gear signal of gear system GP feedbacks, then receives and drive automatically
The notch command of control unit ADU transmissions is sailed, and set control logic is realized according to the order；Wherein, driver under the state
Gear can be manipulated, but gear system GP does not feed back physics gear signal；(5) entire car controller VCU receives automatic Driving control
The unlatching for the light order control lights of vehicle that unit ADU is sent, including high beam, dipped headlight, clearance light, fog lamp, steering indicating light
Deng；(6) instrument lights " automatic Pilot " status lamp, while text prompt driver：Vehicle enters automatic driving mode.
In the present embodiment, during being automatic driving mode by the pilot steering pattern switching of vehicle, entire car controller
VCU by carrying out certain information exchange with automatic Pilot control unit ADU to realize automatic Pilot, the information interaction amount compared with
It is small, the control command on execution unit is only received, is finally realized by the automatic Pilot control unit ADU control commands simulated
Automatic Pilot.Wherein, in addition to automatic Pilot vehicle other functions, such as airconditioning control still operates realization by driver.
The steering control device of the electric vehicle of the embodiment of the present invention, when vehicle is in pilot steering pattern, vehicle control
Device VCU processed judges whether to receive the automatic driving mode handover request of vehicle user；Driven receiving the automatic of vehicle user
When sailing mode switch request, entire car controller VCU self-detection result and automatic Pilot control unit ADU self-test knot are obtained
Fruit；According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, full-vehicle control is determined
Whether self-test passes through by device VCU and automatic Pilot control unit ADU；If entire car controller VCU and automatic Pilot control unit ADU is certainly
Inspection is by being then automatic driving mode by the pilot steering pattern switching of vehicle, and sent to automatic Pilot control unit ADU
Automatic Pilot instructs so that and automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to vehicle, so that
Vehicle can entire car controller VCU and automatic Pilot control unit ADU self-tests by, and receive vehicle user from
It is automatic driving mode by the pilot steering pattern switching of vehicle, so as to improve in the case of dynamic driving model handover request
The security of Vehicular automatic driving, improves travel safety.
Further, the judge module 41, it is additionally operable to, when vehicle is in automatic driving mode, judge whether to get
Pilot steering trigger signal；The pilot steering trigger signal includes any one in signals below or a variety of：Automatically drive
Sail touching for control unit ADU fault-signal, entire car controller VCU fault-signal, communication failure signal and vehicle user
Signal；
The handover module 44, it is additionally operable to when getting the pilot steering trigger signal, by the automatic of the vehicle
Driving model switches to pilot steering pattern, and is sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that from
Dynamic Driving control unit ADU stops the Driving control to the vehicle.
Wherein, the trigger signal of the vehicle user includes：Brake signal during user's brake pedal, and/or, use
Press signal during emergency button in family.Automatic Pilot control unit ADU fault-signal includes：Laser radar failure, milli
Metre wave radar failure, excusing from death ripple radar fault, fault of camera, locator GPS failure, inertial navigation system faults and other
System failure etc..Entire car controller VCU fault-signal includes：High voltage power battery limit power failure, electric machine controller and
Motor failure, execution unit failure etc..Communication failure signal includes：Communication failure between all parts, such as vehicle
Communication loss between controller VCU and automatic Pilot control unit ADU, i.e. entire car controller VCU can not receive to be driven automatically
Sail the control unit ADU communication information.
Wherein, when vehicle is in automatic driving mode, if brake pedal is operated, show that vehicle user has braking
Demand, that is, the demand of vehicle drive is intervened, therefore meet the condition for exiting automatic driving mode in this state；If vehicle is used
Family thinks that vehicle is in the hole, and automatic Pilot control unit ADU is not responded to the precarious position, then can be passed through
Press emergency button and carry out compulsory withdrawal automatic driving mode, be switched to pilot steering pattern, ensure to go by pilot steering
Car safety.
In addition, it should also be noted that, when catastrophe failure, such as the influence vehicle drive such as motor damage occurs in vehicle
Failure when, the automatic driving mode of vehicle can be switched to pilot steering pattern by entire car controller VCU, and remind vehicle to use
Family stops vehicle as early as possible, and in the case where vehicle stops, lower electric treatment is carried out to vehicle.
Further, the handover module 44 is specifically used for,
Stop receiving the control instruction that automatic Driving control unit ADU is sent；
The information of each part in whole-control system is gathered, according to the information of each part in whole-control system to the car
Carry out Driving control.
Further, the handover module is specifically used for,
Gather the information of each part in whole-control system；
Judge the information of each part, if the control instruction sent with automatic Pilot control unit ADU before pattern switching
Match somebody with somebody；
If in the presence of the information with the unmatched first component of the control instruction, according in the control instruction with first
The related order of part controls the first component, until vehicle user operates to the first component.
Specifically, the accelerator pedal signal that (1) entire car controller VCU is fed back by automatic Pilot control unit ADU is completed
Wagon control, set control logic is not realized further according to the automatic Pilot control unit ADU accelerator pedal opening degree commands sent；
(2) entire car controller VCU does not control power-assisted steering further according to the vehicle front wheel angle order that automatic Pilot control unit ADU is sent
System EPS realizes vehicle auto-steering, and now driver can manipulate to steering wheel；(3) entire car controller VCU passes through braking
The brake pedal signal of pedal system BPS feedbacks completes wagon control, the system not sent further according to automatic Pilot control unit ADU
Dynamic pedal opening degree command realizes set control logic；(4) the physics gear that entire car controller VCU is fed back by gear system GP is believed
Number complete wagon control, not further according to automatic Pilot control unit ADU send notch command realize set control logic；If shelves
The physics gear signal of position system GP feedbacks differs with the notch commands sent of automatic Pilot control unit ADU before pattern switching
Causing, then the notch command for continuing automatic Pilot control unit ADU before switching in mode carries out wagon control for effective gear signal,
Until vehicle user has gear shift operation；(5) entire car controller VCU is according to vehicle user operational control lights of vehicle, Ruo Moshiqie
The signal light control order that automatic Pilot control unit ADU is sent before changing and the operation of switching rear vehicle user are not inconsistent, then continuation with
Automatic Pilot control unit ADU light order carries out lights of vehicle control before pattern switching, until vehicle user is to corresponding lamp
Light is operated；(6) instrument closes " automatic Pilot " status lamp, and ring prompt tone, while text prompt driver：Vehicle enters people
Work driving model, asks safe driving.
Wherein, vehicle in automatic driving mode into the handoff procedure of pilot steering pattern, it may appear that gear before and after switching
The inconsistent situation of signal, reason has following two：1st, automatic Pilot control unit ADU can root in automatic Pilot control process
Factually border transport condition control gear change, this will cause before pattern switching automatic Pilot control unit ADU notch commands with
Gear system GP physics gear is not inconsistent after pattern switching；2nd, vehicle user is artificially grasped during automatic Pilot to gear
Make, this also results in automatic Pilot control unit ADU notch commands and the thing of gear system GP after pattern switching before pattern switching
Reason gear is not inconsistent.In view of the ride comfort of pattern switching, the influence to caused by traffic safety due to gear mutation is prevented, if pattern
When gear information is inconsistent before and after switching, the present invention is complete using the notch command of automatic Pilot control unit ADU before pattern switching
Into wagon control.
Wherein, vehicle may have light order in automatic driving mode into the handoff procedure of pilot steering pattern
The problem of inconsistent.Consider for traffic safety, such as automatic Pilot is carried out at night, now automatic Pilot control unit ADU
Control lights of vehicle to open, consider that driver is not opened lights of vehicle system before after pilot steering pattern is switched to
Open operation, if therefore in the light of actual conditions, the light of vehicle should be at closed mode, and this will be in mode handover procedure to row
Car causes safely huge harm, for these reasons, automatic before the inconsistent situation present invention occur and continuing to use pattern switching
Driving control unit ADU light order carries out lights of vehicle control.
The steering control device of the electric vehicle of the embodiment of the present invention, when vehicle is in automatic driving mode, vehicle control
Device VCU processed judges whether to get pilot steering trigger signal；Pilot steering trigger signal includes any one in signals below
Kind is a variety of：Automatic Pilot control unit ADU fault-signal, entire car controller VCU fault-signal, communication failure signal
And the trigger signal of vehicle user；When getting pilot steering trigger signal, the automatic driving mode of vehicle is switched to
Pilot steering pattern, and sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic Pilot control unit
ADU stops to the Driving control of vehicle so that vehicle can occur automatic Pilot control unit ADU fault-signal,
During trigger signal of entire car controller VCU fault-signal, communication failure signal or vehicle user etc., automatic by vehicle is driven
It is artificial driving model to sail pattern switching, so as to improve the security of Vehicular automatic driving, improves travel safety.
Fig. 5 is the structural representation of the steering control device of another electric vehicle provided in an embodiment of the present invention.The electricity
The steering control device of motor-car includes：
Memory 1001, processor 1002 and it is stored in the calculating that can be run on memory 1001 and on processor 1002
Machine program.
Processor 1002 realizes the driving control method of the electric vehicle provided in above-described embodiment when performing described program.
Further, the steering control device of electric vehicle also includes：
Communication interface 1003, for the communication between memory 1001 and processor 1002.
Memory 1001, for depositing the computer program that can be run on processor 1002.
Memory 1001 may include high-speed RAM memory, it is also possible to also including nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
Processor 1002, the Driving control side of the electric vehicle described in above-described embodiment is realized during for performing described program
Method.
If memory 1001, processor 1002 and the independent realization of communication interface 1003, communication interface 1003, memory
1001 and processor 1002 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard
Architecture (Industry Standard Architecture, referred to as ISA) bus, external equipment interconnection
(Peripheral Component, referred to as PCI) bus or extended industry-standard architecture (Extended Industry
Standard Architecture, referred to as EISA) bus etc..The bus can be divided into address bus, data/address bus, control
Bus processed etc..For ease of representing, only represented in Fig. 5 with a thick line, it is not intended that an only bus or a type of
Bus.
Optionally, in specific implementation, if memory 1001, processor 1002 and communication interface 1003, are integrated in one
Realized on block chip, then memory 1001, processor 1002 and communication interface 1003 can be completed mutual by internal interface
Communication.
Processor 1002 is probably a central processing unit (Central Processing Unit, referred to as CPU), or
Person is specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), or quilt
It is configured to implement one or more integrated circuits of the embodiment of the present invention.
The present embodiment also provides a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, its
It is characterised by, the program realizes the driving control method of electric vehicle as described above when being executed by processor.
The present embodiment also provides a kind of computer program product, when the instruction processing unit in the computer program product is held
During row, a kind of driving control method of electric vehicle is performed, methods described includes：
When vehicle is in pilot steering pattern, entire car controller VCU judges whether that receiving the automatic of vehicle user drives
Sail mode switch request；
When receiving the automatic driving mode handover request of vehicle user, entire car controller VCU self-detection result is obtained
And automatic Pilot control unit ADU self-detection result；
According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, it is determined that described
Whether self-test passes through by entire car controller VCU and the automatic Pilot control unit ADU；
If the entire car controller VCU and the automatic Pilot control unit ADU self-tests are by by the vehicle
Pilot steering pattern switching is automatic driving mode, and sends automatic Pilot instruction to automatic Pilot control unit ADU so that from
Dynamic Driving control unit ADU carries out Driving control according to automatic driving mode to the vehicle.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize custom logic function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware with another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With the logic gates for realizing logic function to data-signal from
Logic circuit is dissipated, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although have been shown and retouch above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (17)
- A kind of 1. driving control method of electric vehicle, it is characterised in that including：When vehicle is in pilot steering pattern, entire car controller VCU judges whether to receive the automatic Pilot mould of vehicle user Formula handover request；When receiving the automatic driving mode handover request of vehicle user, obtain entire car controller VCU self-detection result and Automatic Pilot control unit ADU self-detection result；According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, the vehicle is determined Whether self-test passes through by controller VCU and the automatic Pilot control unit ADU；If the entire car controller VCU and the automatic Pilot control unit ADU self-tests are by by the artificial of the vehicle Driving model switches to automatic driving mode, and sends automatic Pilot instruction to automatic Pilot control unit ADU so that drives automatically Sail control unit ADU and Driving control is carried out to the vehicle according to automatic driving mode.
- 2. according to the method for claim 1, it is characterised in thatThe self-detection result of the entire car controller VCU, each part in whole-control system is entered for the entire car controller VCU The self-detection result that row self-test obtains；Part in the whole-control system includes：Entire car controller VCU, and with vehicle control The execution unit of device VCU connections processed；The self-detection result of the automatic Pilot control unit ADU is the automatic Pilot control unit ADU to environment sensing and letter Each part in breath processing system carries out the self-detection result that self-test obtains；Part in the environment sensing and information processing system Including：Automatic Pilot control unit ADU, and the awareness tool and inertial navigation system of the ADU connections of automatic Pilot control unit.
- 3. according to the method for claim 1, it is characterised in that also include：When vehicle is in automatic driving mode, entire car controller VCU judges whether to get pilot steering trigger signal；It is described Pilot steering trigger signal includes any one in signals below or a variety of：Automatic Pilot control unit ADU failure letter Number, the trigger signal of entire car controller VCU fault-signal, communication failure signal and vehicle user；When getting the pilot steering trigger signal, the automatic driving mode of the vehicle is switched into pilot steering mould Formula, and sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic Pilot control unit ADU stoppings pair The Driving control of the vehicle.
- 4. according to the method for claim 3, it is characterised in thatThe trigger signal of the vehicle user includes：Brake signal during user's brake pedal, and/or, user presses tightly Signal during anxious situation button.
- 5. according to the method for claim 1, it is characterised in that the pilot steering pattern switching by the vehicle is certainly Dynamic driving model, including：Entire car controller VCU stops the information of each part in collection whole-control system；Entire car controller VCU receives the control instruction that automatic Driving control unit ADU is sent, and is controlled according to the control instruction whole Each part performs corresponding operation in vehicle control.
- 6. according to the method for claim 3, it is characterised in that it is people that the automatic driving mode by the vehicle, which switches, Work driving model, including：Entire car controller VCU stops receiving the control instruction that automatic Driving control unit ADU is sent；The information of each part in entire car controller VCU collection whole-control systems, according to the letter of each part in whole-control system Breath carries out Driving control to the vehicle.
- 7. according to the method for claim 6, it is characterised in that each portion in entire car controller VCU collection whole-control systems The information of part, Driving control is carried out to the vehicle according to the information of each part in whole-control system, including：The information of each part in entire car controller VCU collection whole-control systems；Judge the information of each part, if match with the control instructions sent of automatic Pilot control unit ADU before pattern switching；If in the presence of the information with the unmatched first component of the control instruction, according in the control instruction with first component Related order controls the first component, until vehicle user operates to the first component.
- A kind of 8. steering control device of electric vehicle, it is characterised in that including：Judge module, for when vehicle is in pilot steering pattern, judging whether to receive the automatic Pilot mould of vehicle user Formula handover request；Acquisition module, for when receiving the automatic driving mode handover request of vehicle user, obtaining entire car controller VCU's The self-detection result of self-detection result and automatic Pilot control unit ADU；Determining module, for the self-detection result according to entire car controller VCU and automatic Pilot control unit ADU self-test knot Fruit, determine whether self-test passes through by the entire car controller VCU and the automatic Pilot control unit ADU；Handover module, for the entire car controller VCU and the automatic Pilot control unit ADU self-tests by when, will The pilot steering pattern switching of the vehicle is automatic driving mode, and sends automatic Pilot to automatic Pilot control unit ADU Instruction so that automatic Pilot control unit ADU carries out Driving control according to automatic driving mode to the vehicle.
- 9. device according to claim 8, it is characterised in thatThe self-detection result of the entire car controller VCU, each part in whole-control system is entered for the entire car controller VCU The self-detection result that row self-test obtains；Part in the whole-control system includes：Entire car controller VCU, and with vehicle control The execution unit of device VCU connections processed；The self-detection result of the automatic Pilot control unit ADU is the automatic Pilot control unit ADU to environment sensing and letter Each part in breath processing system carries out the self-detection result that self-test obtains；Part in the environment sensing and information processing system Including：Automatic Pilot control unit ADU, and the awareness tool and inertial navigation system of the ADU connections of automatic Pilot control unit.
- 10. device according to claim 8, it is characterised in thatThe judge module, it is additionally operable to when vehicle is in automatic driving mode, judges whether to get pilot steering triggering letter Number；The pilot steering trigger signal includes any one in signals below or a variety of：Automatic Pilot control unit ADU's Fault-signal, entire car controller VCU fault-signal, the trigger signal of communication failure signal and vehicle user；The handover module, it is additionally operable to when getting the pilot steering trigger signal, by the automatic Pilot mould of the vehicle Formula switches to pilot steering pattern, and is sent to automatic Pilot control unit ADU and stop automatic Pilot instruction so that automatic Pilot Control unit ADU stops the Driving control to the vehicle.
- 11. device according to claim 10, it is characterised in thatThe trigger signal of the vehicle user includes：Brake signal during user's brake pedal, and/or, user presses tightly Signal during anxious situation button.
- 12. device according to claim 8, it is characterised in that the handover module is specifically used for,Stop the information of each part in collection whole-control system；The control instruction that automatic Driving control unit ADU is sent is received, is controlled according to the control instruction in whole-control system Each part performs corresponding operation.
- 13. device according to claim 10, it is characterised in that the handover module is specifically used for,Stop receiving the control instruction that automatic Driving control unit ADU is sent；The information of each part in whole-control system is gathered, the vehicle is entered according to the information of each part in whole-control system Row Driving control.
- 14. device according to claim 13, it is characterised in that the handover module is specifically used for,Gather the information of each part in whole-control system；Judge the information of each part, if match with the control instructions sent of automatic Pilot control unit ADU before pattern switching；If in the presence of the information with the unmatched first component of the control instruction, according in the control instruction with first component Related order controls the first component, until vehicle user operates to the first component.
- A kind of 15. steering control device of electric vehicle, it is characterised in that including：Memory, processor and storage are on a memory and the computer program that can run on a processor, it is characterised in that institute The driving control method of the electric vehicle as described in any in claim 1-7 is realized when stating computing device described program.
- 16. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the program The driving control method of the electric vehicle as described in any in claim 1-7 is realized when being executed by processor.
- 17. a kind of computer program product, when the instruction processing unit in the computer program product performs, perform a kind of electricity The driving control method of motor-car, methods described include：When vehicle is in pilot steering pattern, entire car controller VCU judges whether to receive the automatic Pilot mould of vehicle user Formula handover request；When receiving the automatic driving mode handover request of vehicle user, obtain entire car controller VCU self-detection result and Automatic Pilot control unit ADU self-detection result；According to entire car controller VCU self-detection result and automatic Pilot control unit ADU self-detection result, the vehicle is determined Whether self-test passes through by controller VCU and the automatic Pilot control unit ADU；If the entire car controller VCU and the automatic Pilot control unit ADU self-tests are by by the artificial of the vehicle Driving model switches to automatic driving mode, and sends automatic Pilot instruction to automatic Pilot control unit ADU so that drives automatically Sail control unit ADU and Driving control is carried out to the vehicle according to automatic driving mode.
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