CN110745133A - Vehicle control system and method and vehicle - Google Patents
Vehicle control system and method and vehicle Download PDFInfo
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- CN110745133A CN110745133A CN201910945378.1A CN201910945378A CN110745133A CN 110745133 A CN110745133 A CN 110745133A CN 201910945378 A CN201910945378 A CN 201910945378A CN 110745133 A CN110745133 A CN 110745133A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 25
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- 238000010586 diagram Methods 0.000 description 9
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- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W30/14—Adaptive cruise control
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- 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
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- 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
- B60W2510/182—Brake pressure, e.g. of fluid or between pad and disc
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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- Regulating Braking Force (AREA)
Abstract
The present disclosure relates to a vehicle control system, a method and a vehicle, the vehicle control system comprising: the system comprises a main controller, a brake execution module and an accelerator controller; the main controller is used for acquiring the current speed of the vehicle and the environmental information around the vehicle, determining a target speed and a predicted adjustment distance according to the environmental information, and acquiring a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance; the brake controller is used for controlling the vehicle to brake through the brake execution module according to the brake control parameters; and the accelerator controller is used for generating an accelerator signal according to the accelerator control parameter and controlling the accelerator of the vehicle through the accelerator signal. According to the method and the device, the main controller is used for obtaining the brake control parameters and the accelerator control parameters of the vehicle, controlling the vehicle to brake according to the brake control parameters, and controlling the accelerator of the vehicle according to the accelerator control parameters, so that the automatic driving of the vehicle can be realized.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle control system, method, and vehicle.
Background
With the development of the automatic driving technology and the car networking technology, the automatic driving vehicle is widely applied. The automatic driving vehicle has automatic driving capability, can enable a computer to automatically and safely operate the vehicle under the condition of no operation, can liberate people from time-consuming and troublesome driving, can improve the safety of motor vehicles and reduce traffic accidents.
At present, the automatic driving technology mostly depends on a drive-by-wire chassis, and various instructions of automatic driving operation need to be executed through the drive-by-wire chassis, but the number of vehicles using the drive-by-wire chassis is small, so that the automatic driving of the vehicles cannot be realized, and the control precision of the drive-by-wire chassis is low, so that the requirements of automatic driving cannot be well met.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a vehicle control system, a method, and a vehicle.
In a first aspect, the present disclosure provides a vehicle control system comprising: the main controller is respectively connected with the brake controller and the throttle controller, and the brake controller is connected with the brake execution module; the main controller is used for acquiring the current speed of a vehicle and environmental information around the vehicle, determining a target speed and a predicted adjustment distance according to the environmental information, acquiring a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance, sending the brake control parameter to the brake controller, and sending the accelerator control parameter to the accelerator controller; the brake controller is used for controlling the vehicle to brake through the brake execution module according to the brake control parameters; and the throttle controller is used for generating a throttle signal according to the throttle control parameter and controlling the throttle of the vehicle through the throttle signal.
Optionally, the system further comprises: the pressure sensor is respectively connected with the brake controller and the brake execution module; the pressure sensor is used for acquiring the current brake pressure of the brake execution module and sending the current brake pressure to the brake controller; and the brake controller is also used for adjusting the brake control parameters according to the current brake pressure.
Optionally, the brake controller is further configured to receive the current brake pressure sent by the pressure sensor, obtain a difference between the current brake pressure and a target brake pressure corresponding to the brake control parameter, and adjust the brake control parameter according to the difference if the difference is greater than or equal to a preset difference threshold.
Optionally, the system further comprises: the digital-to-analog converter DAC is connected with the throttle controller; the DAC is used for receiving the throttle signal generated by the throttle controller and converting the throttle signal from a digital signal to an analog signal so as to control the throttle of the vehicle through the analog signal.
Optionally, the main controller is further configured to obtain a target acceleration according to the current speed, the target speed, and the predicted adjustment distance, and obtain the brake control parameter and the accelerator control parameter according to the target acceleration.
Optionally, the main controller is further configured to calculate the target acceleration by the following formula:
acc＝(v1 2-v0 2)/2/s/factor
wherein acc is the target acceleration, v1Is the target speed, v0And s is the predicted adjustment distance for the current speed, and the factor is a preset adjustment factor.
In a second aspect, the present disclosure provides a vehicle control method comprising: acquiring the current speed of a vehicle and environmental information around the vehicle; determining a target speed and a predicted adjustment distance according to the environment information; obtaining a braking control parameter and an accelerator control parameter according to the current speed, the target speed and the estimated adjustment distance; controlling the vehicle to brake according to the brake control parameter; and generating an accelerator signal according to the accelerator control parameter, and controlling the accelerator of the vehicle through the accelerator signal.
Optionally, after the controlling the vehicle braking according to the braking control parameter, further comprising; acquiring the current brake pressure of the vehicle; and adjusting the brake control parameter according to the current brake pressure.
Optionally, the adjusting the brake control parameter according to the current brake pressure comprises: obtaining a difference value between the current brake pressure and a target brake pressure corresponding to the brake control parameter; and if the difference is greater than or equal to a preset difference threshold, adjusting the brake control parameter according to the difference.
Optionally, the controlling the throttle of the vehicle by the throttle signal comprises: and converting the throttle signal from a digital signal to an analog signal so as to control the throttle of the vehicle through the analog signal.
Optionally, the obtaining a braking control parameter and a throttle control parameter according to the current speed, the target speed, and the predicted adjustment distance includes: acquiring a target acceleration according to the current speed, the target speed and the estimated adjustment distance; and acquiring the brake control parameter and the accelerator control parameter according to the target acceleration.
Optionally, the obtaining a target acceleration according to the current speed, the target speed, and the expected adjustment distance includes: the target acceleration is calculated by the following formula:
acc＝(v1 2-v0 2)/2/s/factor
wherein acc is the target acceleration, v1Is the target speed, v0And s is the predicted adjustment distance for the current speed, and the factor is a preset adjustment factor.
In a third aspect, the present disclosure provides a vehicle comprising the vehicle control system of the first aspect described above.
Through above-mentioned technical scheme, this disclosure provides a vehicle control system includes: the accelerator control system comprises a main controller, a brake execution module and an accelerator controller, wherein the main controller is respectively connected with the brake controller and the accelerator controller, and the brake controller is connected with the brake execution module; the main controller is used for acquiring the current speed of a vehicle and environmental information around the vehicle, determining a target speed and a predicted adjustment distance according to the environmental information, acquiring a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance, sending the brake control parameter to the brake controller, and sending the accelerator control parameter to the accelerator controller; the brake controller is used for controlling the vehicle to brake through the brake execution module according to the brake control parameters; and the throttle controller is used for generating a throttle signal according to the throttle control parameter and controlling the throttle of the vehicle through the throttle signal. Therefore, the main controller acquires the brake control parameters and the accelerator control parameters of the vehicle, the brake controller controls the vehicle to brake according to the brake control parameters, and the accelerator controller controls the accelerator of the vehicle according to the accelerator control parameters, so that the automatic driving of the vehicle can be realized.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic structural diagram of a vehicle control system provided by an embodiment of the present disclosure;
FIG. 2 is a schematic block diagram of another vehicle control system provided by embodiments of the present disclosure;
FIG. 3 is a schematic structural diagram of a throttle system provided by the disclosed embodiment;
FIG. 4 is a schematic block diagram of a third vehicle control system provided by an embodiment of the present disclosure;
FIG. 5 is a block diagram of a braking system provided by an embodiment of the present disclosure;
FIG. 6 is a flow chart of a vehicle control method provided by an embodiment of the present disclosure;
fig. 7 is a flowchart of another vehicle control method provided by the embodiments of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
First, an application scenario of the present disclosure is described, and the present disclosure may be applied to a scenario of vehicle automatic driving, in which an automatic driving technology mostly depends on a drive-by-wire chassis, and various instructions of automatic driving operation need to be executed through the drive-by-wire chassis, but there are few vehicles using the drive-by-wire chassis at present, which may result in that automatic driving of the vehicles may not be implemented, for example, when a freight company transports goods in an automatic driving queue manner, because a conventional vehicle may not implement an automatic driving function, all conventional vehicles need to be replaced with vehicles using the drive-by-wire chassis, which may result in an increase in operation cost, and the control accuracy of the drive-by-wire chassis is low, which may not well meet the demand of.
In order to solve the existing problems, the present disclosure provides a vehicle control system, a method and a vehicle, wherein the vehicle control system includes a main controller, a brake execution module and a throttle controller, the main controller is respectively connected with the brake controller and the throttle controller, and the brake controller is connected with the brake execution module; the main controller is used for acquiring the current speed of the vehicle and the environmental information around the vehicle, determining a target speed and a predicted adjustment distance according to the environmental information, acquiring a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance, sending the brake control parameter to the brake controller, and sending the accelerator control parameter to the accelerator controller; the brake controller is used for controlling the vehicle to brake through the brake execution module according to the brake control parameters; and the accelerator controller is used for generating an accelerator signal according to the accelerator control parameter and controlling the accelerator of the vehicle through the accelerator signal. Therefore, the main controller acquires the brake control parameters and the accelerator control parameters of the vehicle, the brake controller controls the vehicle to brake according to the brake control parameters, and the accelerator controller controls the accelerator of the vehicle according to the accelerator control parameters, so that the automatic driving of the vehicle can be realized.
Fig. 1 is a schematic structural diagram of a vehicle control system provided in an embodiment of the present disclosure, and as shown in fig. 1, the vehicle control system 100 includes: the system comprises a main controller 101, a brake controller 102, a brake execution module 103 and a throttle controller 104, wherein the main controller 101 is respectively connected with the brake controller 102 and the throttle controller 104, and the brake controller 102 is connected with the brake execution module 103;
the main controller 101 is configured to obtain a current speed of the vehicle and environmental information around the vehicle, determine a target speed and a predicted adjustment distance according to the environmental information, obtain a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance, send the brake control parameter to the brake controller 102, and send the accelerator control parameter to the accelerator controller 104;
the brake controller 102 is used for controlling the vehicle brake through the brake execution module 103 according to the brake control parameters;
the throttle controller 104 is configured to generate a throttle signal according to the throttle control parameter, and control the throttle of the vehicle according to the throttle signal.
The environmental information around the vehicle may include lane information where the vehicle is located, a vehicle distance between the vehicle and a preceding vehicle, a traveling speed of the preceding vehicle, and the like.
The main controller 101 may obtain environmental information around the vehicle through a camera, a sensor, and the like mounted on the vehicle, for example, may obtain lane information where the vehicle is located through the camera or a vehicle data recorder, may obtain a distance between the vehicle and a front obstacle (a static obstacle or a preceding vehicle) through a microwave radar, and may also obtain a traveling speed of the preceding vehicle; the Vehicle distance between the Vehicle and the preceding Vehicle, the traveling speed of the preceding Vehicle, and the acceleration of the preceding Vehicle may also be acquired by a Vehicle V2X (Vehicle to outside information exchange) device, and the manner of acquiring the environmental information of the Vehicle is not limited herein.
After acquiring the current speed of the vehicle and the environmental information around the vehicle, the main controller 101 may acquire the target speed of the vehicle according to the environmental information, for example, a speed range corresponding to the lane information may be acquired according to the lane information where the vehicle is located, for example, if the speed range corresponding to the lane information is 90km/h to 120km/h, the target speed of the vehicle may be set in the speed range. In addition, the target speed and the expected adjustment distance of the vehicle can be determined according to the types of obstacles around the vehicle, if the front obstacle is a static object and the vehicle cannot change lanes due to the fact that the left lane and the right lane of the vehicle are both provided with obstacles, the vehicle needs to stop before reaching the position of the obstacle, so that the target speed of the vehicle is 0km/h, the expected adjustment distance is smaller than the distance between the vehicle and the front obstacle, and the vehicle can safely stop; if the obstacle is a preceding vehicle, the predicted adjustment distance and the target speed of the vehicle can be determined according to the running speed of the vehicle, the running speed of the preceding vehicle, the distance between the vehicle and the preceding vehicle and the preset safe distance between the vehicle and the preceding vehicle, wherein the preset safe distance can be determined according to the current speed of the vehicle, the higher the speed is, the larger the corresponding preset safe distance is, for example, when the vehicle speed exceeds 100km/h, the preset safe distance is more than 100 meters, and when the vehicle speed is less than 100km/h, the preset safe distance is more than 50 meters.
It should be noted that, the above-mentioned manner for determining the predicted adjustment distance and the target speed of the vehicle may refer to the manner for determining the predicted adjustment distance and the target speed of the vehicle in the prior art, and will not be described herein again.
After obtaining the target speed and the predicted adjustment distance of the vehicle, the main controller 101 may obtain a target acceleration according to the current speed, the target speed and the predicted adjustment distance, and obtain a brake control parameter and an accelerator control parameter according to the target acceleration. Wherein the target acceleration can be calculated by the following formula:
acc＝(v1 2-v0 2)/2/s/factor
wherein acc is the target acceleration, v1Is the target speed, v0And s is the predicted adjustment distance for the current speed, and the factor is a preset adjustment factor.
It should be noted that the factor may be determined according to the type of the vehicle.
After obtaining the target acceleration of the vehicle, the main controller 101 may obtain a brake control parameter and an accelerator control parameter corresponding to the target acceleration according to a preset correspondence between the acceleration and the control parameter, and send the brake control parameter to the brake controller 102 and the accelerator control parameter to the accelerator controller 104.
The main controller 101 may also determine a control mode of the vehicle according to the target acceleration, which includes a pure throttle control mode, a brake and throttle control mode, an idle mode, and the like. For example, when the target acceleration is a negative value and the absolute value of the target acceleration is greater than or equal to a first preset acceleration threshold value, that is, the vehicle needs emergency braking, a braking and throttle control mode may be selected, and the vehicle is controlled to reach the target speed by adjusting a braking parameter and a throttle parameter; when the target acceleration is a negative value, the absolute value of the target acceleration is smaller than the first preset acceleration threshold and larger than or equal to the second preset acceleration threshold, namely the vehicle only needs to run in a decelerating mode, a pure accelerator control mode can be selected, and the vehicle is controlled to reach the target speed by adjusting the accelerator parameters.
After obtaining the control mode of the vehicle, the main controller 101 may determine the brake control parameter and the accelerator control parameter of the vehicle according to the current accelerator and brake states of the vehicle. For example, when the vehicle needs emergency braking, the control mode of the vehicle may be a braking and throttle control mode, if the vehicle is in a fueling state, the throttle control parameter may be set to 0, and then the braking control parameter is determined according to a preset corresponding relationship between the target acceleration and the control parameter; when the vehicle only needs to run in a deceleration mode, the control mode of the vehicle can be a pure throttle control mode, and the throttle control parameter can be determined according to the corresponding relation between the target acceleration and the control parameter. In addition, after the master controller 101 obtains the braking control parameter and the throttle control parameter, the braking control parameter and the throttle control parameter may be adjusted according to the type of the vehicle, which includes an electric vehicle and a fuel vehicle.
After the brake controller 102 receives the brake control parameter, the brake execution module 103 is controlled to control the vehicle to brake, and the brake execution module 103 may include a brake pump and a pressure retaining valve, and the brake pump outputs a brake pressure corresponding to the brake control parameter, and the pressure retaining valve retains the brake pressure, so as to control the vehicle to reach the brake pressure corresponding to the brake control parameter.
After receiving the accelerator control parameter, the accelerator controller 104 generates an accelerator signal according to the accelerator control parameter, and simulates the output of an accelerator pedal according to the accelerator signal, thereby controlling the accelerator of the vehicle.
As shown in fig. 2, the system further comprises a DAC105, and the DAC105 is connected with the throttle controller 104; the DAC105 is configured to receive the throttle signal generated by the throttle controller 104, and convert the throttle signal from a digital signal to an analog signal to control the throttle of the vehicle through the analog signal.
Fig. 3 is a schematic structural diagram of an accelerator System provided in the embodiment of the present disclosure, and as shown in fig. 3, by switching a switch, a connection between an accelerator pedal and an EMS (Engine Management System) may be disconnected, an output end of a DAC may be connected to the EMS, and an accelerator signal generated by the accelerator controller 104 may be converted from a digital signal to an analog signal by the DAC, where the analog signal may simulate an output of the accelerator pedal, so that an accelerator of a vehicle may be controlled by the analog signal. The change-over switch can be an automatic switch or a manual switch.
By adopting the system, the main controller acquires the brake control parameters and the accelerator control parameters of the vehicle, the brake controller controls the vehicle to brake according to the brake control parameters, and the accelerator controller controls the accelerator of the vehicle according to the accelerator control parameters, so that the automatic driving of the vehicle can be realized.
FIG. 4 is a schematic diagram of a third vehicle control system according to the embodiment of the present disclosure, and as shown in FIG. 4, the system further includes a pressure sensor 106, and the pressure sensor 106 is connected to the brake controller 102 and the brake actuation module 103 respectively;
the pressure sensor 106 is configured to obtain a current brake pressure of the brake execution module 103, and send the current brake pressure to the brake controller 102;
the brake controller 102 is further configured to adjust a brake control parameter based on the current brake pressure.
Wherein the pressure sensor 106 may be a hydraulic pressure sensor.
Fig. 5 is a schematic structural block diagram of a brake system provided in the embodiment of the present disclosure, and as shown in fig. 5, a brake execution module 103 is respectively connected to an ESP (Electronic Stability Program), an HCU (hybrid control Unit), a brake pedal, and a brake controller of the vehicle, and in the embodiment, the brake execution module 103 is controlled to control braking of the vehicle by the brake controller 102 instead of the brake pedal. When the brake execution module 103 brakes the vehicle by the brake pressure, the current brake pressure of the brake execution module 103 may be obtained by the pressure sensor 106, and the current brake pressure is sent to the brake controller 102, and the brake controller 102 may obtain a difference between the current brake pressure and a target brake pressure corresponding to the brake control parameter, and adjust the brake control parameter according to the difference if the difference is greater than or equal to a preset difference threshold. For example, if the current brake pressure is less than the target brake pressure and the difference between the current brake pressure and the target brake pressure is greater than or equal to the preset difference threshold, the brake control parameter may be increased according to the ratio of the brake control parameter to the current brake pressure.
By adopting the system, the main controller acquires the brake control parameters and the accelerator control parameters of the vehicle, the brake controller controls the vehicle to brake according to the brake control parameters, and the accelerator controller controls the accelerator of the vehicle according to the accelerator control parameters, so that the automatic driving of the vehicle can be realized. Furthermore, when the brake controller controls the vehicle to brake according to the brake control parameters, the current brake pressure can be obtained through the pressure sensor, and the brake control parameters are adjusted according to the current brake pressure, so that the adjusted brake control parameters are more accurate, and the vehicle brake control is more accurate.
Fig. 6 is a flowchart of a vehicle control method provided in an embodiment of the present disclosure, and as shown in fig. 6, the method includes:
s601, acquiring the current speed of the vehicle and the environmental information around the vehicle.
The environmental information around the vehicle may include lane information where the vehicle is located, a vehicle distance between the vehicle and a preceding vehicle, a traveling speed of the preceding vehicle, and the like.
In this step, environmental information around the vehicle may be acquired by a camera, a sensor, or the like mounted on the vehicle, for example, lane information where the vehicle is located may be acquired by the camera or a vehicle data recorder, a distance between the vehicle and an obstacle (a static obstacle or a preceding vehicle) ahead may be acquired by a microwave radar, and a traveling speed of the preceding vehicle may also be acquired; the Vehicle distance between the Vehicle and the preceding Vehicle, the traveling speed of the preceding Vehicle, and the acceleration of the preceding Vehicle may also be acquired by a Vehicle V2X (Vehicle to outside information exchange) device, and the manner of acquiring the environmental information of the Vehicle is not limited herein.
And S602, determining a target speed and an expected adjustment distance according to the environment information.
In this step, the target speed of the vehicle may be obtained according to the environment information, for example, a speed range corresponding to the lane information may be obtained through the lane information where the vehicle is located, and for example, if the speed range corresponding to the lane information is 90km/h to 120km/h, the target speed of the vehicle may be set within the speed range. In addition, the target speed and the expected adjustment distance of the vehicle can be determined according to the types of obstacles around the vehicle, if the front obstacle is a static object and the vehicle cannot change lanes due to the fact that the left lane and the right lane of the vehicle are both provided with obstacles, the vehicle needs to stop before reaching the position of the obstacle, so that the target speed of the vehicle is 0km/h, the expected adjustment distance is smaller than the distance between the vehicle and the front obstacle, and the vehicle can safely stop; if the obstacle is a preceding vehicle, the predicted adjustment distance and the target speed of the vehicle can be determined according to the running speed of the vehicle, the running speed of the preceding vehicle, the distance between the vehicle and the preceding vehicle and the preset safe distance between the vehicle and the preceding vehicle, wherein the preset safe distance can be determined according to the current speed of the vehicle, the higher the speed is, the larger the corresponding preset safe distance is, for example, when the vehicle speed exceeds 100km/h, the preset safe distance is more than 100 meters, and when the vehicle speed is less than 100km/h, the preset safe distance is more than 50 meters.
It should be noted that, the above-mentioned manner for determining the predicted adjustment distance and the target speed of the vehicle may refer to the manner for determining the predicted adjustment distance and the target speed of the vehicle in the prior art, and will not be described herein again.
And S603, obtaining a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance.
In this step, the target acceleration may be calculated by the following formula:
acc＝(v1 2-v0 2)/2/s/factor
wherein acc is the target acceleration, v1Is the target speed, v0And s is the predicted adjustment distance for the current speed, and the factor is a preset adjustment factor.
After the target acceleration of the vehicle is obtained, the brake control parameter and the throttle control parameter corresponding to the target acceleration can be obtained according to the preset corresponding relation between the acceleration and the control parameter, and in addition, the control mode of the vehicle can be determined according to the target acceleration, wherein the control mode comprises a pure throttle control mode, a brake and throttle control mode, an idle speed mode and the like. For example, when the target acceleration is a negative value and the absolute value of the target acceleration is greater than or equal to a first preset acceleration threshold value, that is, the vehicle needs emergency braking, a braking and throttle control mode may be selected, and the vehicle is controlled to reach the target speed by adjusting a braking parameter and a throttle parameter; when the target acceleration is a negative value, the absolute value of the target acceleration is smaller than the first preset acceleration threshold and larger than or equal to the second preset acceleration threshold, namely the vehicle only needs to run in a decelerating mode, a pure accelerator control mode can be selected, and the vehicle is controlled to reach the target speed by adjusting the accelerator parameters.
After the control mode of the vehicle is obtained, the brake control parameter and the accelerator control parameter of the vehicle can be determined according to the current accelerator and brake states of the vehicle. For example, when the vehicle needs emergency braking, the control mode of the vehicle may be a braking and throttle control mode, if the vehicle is in a fueling state, the throttle control parameter may be set to 0, and then the braking control parameter is determined according to a preset corresponding relationship between the target acceleration and the control parameter; when the vehicle only needs to run in a deceleration mode, the control mode of the vehicle can be a pure throttle control mode, and the throttle control parameter can be determined according to the corresponding relation between the target acceleration and the control parameter. In addition, after obtaining the brake control parameter and the throttle control parameter, the brake control parameter and the throttle control parameter can be adjusted according to the type of the vehicle, wherein the type of the vehicle comprises an electric vehicle and a fuel vehicle.
And S604, controlling the vehicle brake according to the brake control parameter.
In this step, the brake pump may output the brake pressure corresponding to the brake control parameter, and the pressure retaining valve may retain the brake pressure, thereby controlling the vehicle to reach the brake pressure corresponding to the brake control parameter.
And S605, generating an accelerator signal according to the accelerator control parameter, and controlling the accelerator of the vehicle according to the accelerator signal.
In this step, an accelerator signal may be generated according to the accelerator control parameter, and the output of the accelerator pedal may be simulated by the accelerator signal, so as to control the accelerator of the vehicle.
It should be noted that step S604 and step S605 may be performed synchronously without any sequence.
By adopting the method, the vehicle brake is controlled according to the brake control parameter and the throttle control parameter, so that the automatic driving of the vehicle can be realized.
Fig. 7 is a flowchart of another vehicle control method provided in the embodiment of the present disclosure, and as shown in fig. 7, the method includes:
s701, acquiring the current speed of the vehicle and the environmental information around the vehicle.
The environmental information around the vehicle may include lane information where the vehicle is located, a vehicle distance between the vehicle and a preceding vehicle, a traveling speed of the preceding vehicle, and the like.
S702, determining a target speed and an expected adjusting distance according to the environment information.
And S703, acquiring the target acceleration according to the current speed, the target speed and the estimated adjustment distance.
And S704, obtaining a brake control parameter and an accelerator control parameter according to the target acceleration.
And S705, controlling the vehicle brake according to the brake control parameter.
And S706, acquiring the current brake pressure of the vehicle.
And S707, acquiring a difference value between the current brake pressure and a target brake pressure corresponding to the brake control parameter.
And S708, if the difference is larger than or equal to a preset difference threshold, adjusting the brake control parameter according to the difference.
And S709, generating an accelerator signal according to the accelerator control parameter.
And S710, converting the throttle signal from a digital signal to an analog signal so as to control the throttle of the vehicle through the analog signal.
It should be noted that step S705 and step S709 may be performed synchronously without any sequence.
In this step, the throttle signal can be converted from a digital signal to an analog signal, and the analog signal can simulate the output of the throttle pedal, so that the throttle of the vehicle can be controlled by the analog signal.
By adopting the method, the vehicle brake is controlled according to the brake control parameter and the throttle control parameter, so that the automatic driving of the vehicle can be realized. Furthermore, by acquiring the current brake pressure and adjusting the brake control parameters according to the current brake pressure, the adjusted brake control parameters are more accurate, so that the brake control of the vehicle is more accurate.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The embodiment of the disclosure also provides a vehicle, which comprises the vehicle control system.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A vehicle control system, characterized by comprising: the accelerator control system comprises a main controller, a brake execution module and an accelerator controller, wherein the main controller is respectively connected with the brake controller and the accelerator controller, and the brake controller is connected with the brake execution module;
the main controller is used for acquiring the current speed of a vehicle and environmental information around the vehicle, determining a target speed and a predicted adjustment distance according to the environmental information, acquiring a brake control parameter and an accelerator control parameter according to the current speed, the target speed and the predicted adjustment distance, sending the brake control parameter to the brake controller, and sending the accelerator control parameter to the accelerator controller;
the brake controller is used for controlling the vehicle to brake through the brake execution module according to the brake control parameters;
and the throttle controller is used for generating a throttle signal according to the throttle control parameter and controlling the throttle of the vehicle through the throttle signal.
2. The system of claim 1, further comprising: the pressure sensor is respectively connected with the brake controller and the brake execution module;
the pressure sensor is used for acquiring the current brake pressure of the brake execution module and sending the current brake pressure to the brake controller;
and the brake controller is also used for adjusting the brake control parameters according to the current brake pressure.
3. The system according to claim 2, wherein the brake controller is further configured to receive the current brake pressure sent by the pressure sensor, obtain a difference between the current brake pressure and a target brake pressure corresponding to the brake control parameter, and adjust the brake control parameter according to the difference if the difference is greater than or equal to a preset difference threshold.
4. The system of claim 1, further comprising: the digital-to-analog converter DAC is connected with the throttle controller;
the DAC is used for receiving the throttle signal generated by the throttle controller and converting the throttle signal from a digital signal to an analog signal so as to control the throttle of the vehicle through the analog signal.
5. The system of claim 1, wherein the master controller is further configured to obtain a target acceleration according to the current speed, the target speed, and the estimated adjustment distance, and obtain the braking control parameter and the throttle control parameter according to the target acceleration.
6. A vehicle control method characterized by comprising:
acquiring the current speed of a vehicle and environmental information around the vehicle;
determining a target speed and a predicted adjustment distance according to the environment information;
obtaining a braking control parameter and an accelerator control parameter according to the current speed, the target speed and the estimated adjustment distance;
controlling the vehicle to brake according to the brake control parameter;
and generating an accelerator signal according to the accelerator control parameter, and controlling the accelerator of the vehicle through the accelerator signal.
7. The method of claim 6, further comprising, after said controlling the vehicle braking according to the braking control parameter;
acquiring the current brake pressure of the vehicle;
and adjusting the brake control parameter according to the current brake pressure.
8. The method of claim 7, wherein the adjusting the brake control parameter as a function of the current brake pressure comprises:
obtaining a difference value between the current brake pressure and a target brake pressure corresponding to the brake control parameter;
and if the difference is greater than or equal to a preset difference threshold, adjusting the brake control parameter according to the difference.
9. The method of claim 6, wherein said deriving a brake control parameter and a throttle control parameter based on said current speed, said target speed, and said projected adjustment distance comprises:
acquiring a target acceleration according to the current speed, the target speed and the estimated adjustment distance;
and acquiring the brake control parameter and the accelerator control parameter according to the target acceleration.
10. A vehicle characterized by comprising the vehicle control system of any one of claims 1 to 5.
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| CN201910945378.1A CN110745133A (en) | 2019-09-30 | 2019-09-30 | Vehicle control system and method and vehicle |
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