CN110758400A - Control method and device for intelligently driving vehicle - Google Patents
Control method and device for intelligently driving vehicle Download PDFInfo
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- CN110758400A CN110758400A CN201810846478.4A CN201810846478A CN110758400A CN 110758400 A CN110758400 A CN 110758400A CN 201810846478 A CN201810846478 A CN 201810846478A CN 110758400 A CN110758400 A CN 110758400A
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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Abstract
The invention relates to a control method and a device for intelligently driving a vehicle, wherein the control method comprises the following steps: receiving an intelligent function mode selected by a driver, and determining a configuration scheme of a sensing system according to the intelligent function mode; and controlling to provide working power supply for the sensing units selected in the sensing system configuration scheme according to the determined sensing system configuration scheme. The invention determines the configuration scheme of the sensing system according to the intelligent function mode selected by the driver, determines the sensing units needing to be started according to the configuration scheme of the sensing system, and controls the sensing units needing to be started to provide working power supplies, and other sensing units do not need to work due to no power supply, thereby saving the part of power consumption of the whole vehicle and improving the energy utilization rate; meanwhile, the use frequency of part of sensing units can be reduced, and the service life of the sensing units is prolonged.
Description
Technical Field
The invention relates to a control method and a control device for intelligently driving a vehicle, and belongs to the technical field of intelligent driving of vehicles.
Background
With the increasing upgrading of the beautiful travel demands of customers in the market and the implementation of the national 2017 intelligent networking technology planning, in recent years, various commercial vehicle enterprises in China have been researched and gradually begin to popularize various intelligent configurations. Aiming at different climatic conditions, particularly long-term operation in environments such as high-temperature, alpine or high-altitude areas, whether various intelligent functions, safety and reliability of the intelligent driving passenger car can be fully exerted permanently is a severe test on the reliable and safe design of a vehicle intelligent system and is one of key factors influencing whether the intelligent driving passenger car can be popularized in a large scale.
At present, the field of domestic new energy intelligent driving commercial vehicles more focuses on the extreme climate adaptability of a vehicle power battery and research and test of a certain function of an intelligent driving vehicle, the adaptability of an intelligent driving system under the all-weather condition is not considered, and the related technology has a large gap with foreign countries. With the current intelligent driving situation, the following problems exist:
1. in the full life cycle range of the intelligent driving passenger car, after an intelligent function is closed, the corresponding sensing part and the data fusion function still work, so that energy is wasted, efficient and accurate fusion of effective information is not facilitated, and part of intelligent configuration functions cannot be guaranteed to be exerted durably, effectively and reliably;
2. because of the integrated multiple perception sensors, the intelligent driving passenger car has more voltage platforms such as 5V, 12V, 24V and the like, and because of the larger size of the vehicle, the layout path of the related wire harnesses of the power supply is far away, the power supply reliability cannot be guaranteed, and the working reliability of the perception system has risks.
Disclosure of Invention
The invention aims to provide a control method and a control device for an intelligent driving vehicle, which are used for solving the problems that the power supply of the existing intelligent driving passenger car is not energy-saving and the working reliability of a sensing system can not be effectively ensured.
In order to solve the technical problem, the invention provides a control method of an intelligent driving vehicle, which comprises the following steps:
receiving an intelligent function mode selected by a driver, and determining a configuration scheme of a sensing system according to the intelligent function mode;
and controlling to provide working power supply for the sensing units selected in the sensing system configuration scheme according to the determined sensing system configuration scheme.
The invention has the beneficial effects that: the method comprises the steps that a configuration scheme of a sensing system is determined according to an intelligent function mode selected by a driver, sensing units needing to be started are determined according to the configuration scheme of the sensing system, and the sensing units needing to be started are controlled to provide working power supplies for the sensing units, and other sensing units do not need to work due to the fact that no power supply is available, so that the power consumption of the whole vehicle is saved, and the energy utilization rate is improved; meanwhile, the use frequency of part of sensing units can be reduced, and the service life of the sensing units is prolonged.
Furthermore, in order to process the information to complete the required decision result and evaluation task, information fusion is performed according to the configuration scheme of the sensing system, the environmental information acquired by each sensing unit and the working state of the sensing unit selected in the configuration scheme of the sensing system.
Furthermore, in order to update the configuration scheme of the sensing system in real time, the sensing units needing to be started are determined, the sensing units not needing to be started are closed, various intelligent functions, safety and reliability of the vehicle are ensured to be exerted fully and durably, and the configuration scheme of the sensing system is optimized and adjusted in real time according to the information fusion result and the working state of the selected sensing units in the configuration scheme of the sensing system.
Furthermore, in order to enable operators to know the abnormal conditions of the sensing units in time and facilitate maintenance and management, the abnormal conditions of the sensing units selected in the sensing system configuration scheme and the abnormal conditions of the sensing system configuration scheme are reported to the background for monitoring.
Furthermore, in order to enable the driver to know the abnormal conditions of the sensing unit in time, remind the driver of safe driving and maintain in time, the method also comprises the step of displaying the abnormal conditions of the sensing unit selected in the configuration scheme of the sensing system and the abnormal conditions of the configuration scheme of the sensing system in real time.
The invention also provides a control device of an intelligent driving vehicle, which comprises a processor and a memory, wherein the processor is used for processing the instructions stored in the memory to realize the following method:
receiving an intelligent function mode selected by a driver, and determining a configuration scheme of a sensing system according to the intelligent function mode;
and controlling to provide working power supply for the sensing units selected in the sensing system configuration scheme according to the determined sensing system configuration scheme.
And further, performing information fusion according to the configuration scheme of the sensing system, the environmental information acquired by each sensing unit and the working state of the selected sensing unit in the configuration scheme of the sensing system.
And further, optimizing and adjusting the configuration scheme of the sensing system in real time according to the information fusion result and the working state of the sensing unit selected from the configuration scheme of the sensing system.
And further reporting the abnormal conditions of the selected sensing units in the sensing system configuration scheme and the abnormal conditions of the sensing system configuration scheme to a background monitor.
Further, the method also comprises the step of displaying the abnormal conditions of the selected sensing units in the sensing system configuration scheme and the abnormal conditions of the sensing system configuration scheme in real time.
Drawings
FIG. 1 is a flow chart of a control method of the present invention for intelligently driving a vehicle;
FIG. 2 is a schematic structural diagram of embodiment 1 of a control system of a smart driving vehicle;
FIG. 3 is a schematic diagram of the power management unit of the present invention;
FIG. 4 is a schematic configuration diagram of embodiment 2 of the control system of the intelligent driving vehicle;
fig. 5 is a schematic configuration diagram of embodiment 3 of the control system of the intelligent driving vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention provides a control device of an intelligent driving vehicle, which comprises a processor and a memory, wherein the processor is used for processing instructions stored in the memory so as to realize a control method of the intelligent driving vehicle. The control method and the control device of the intelligent driving vehicle can be applied to the intelligent driving commercial vehicle, wherein the flow chart of the control method is shown in figure 1 and comprises the following steps:
(1) and receiving an intelligent function mode selected by a driver, and determining a configuration scheme of the perception system according to the intelligent function mode.
(2) And controlling to provide working power supply for the sensing units selected in the sensing system configuration scheme according to the determined sensing system configuration scheme.
The intelligent function mode selected by a driver is received, the configuration scheme of the sensing system is determined according to the intelligent function mode, the sensing units needing to be started are determined according to the configuration scheme of the sensing system, the sensing units needing to be started are controlled to be provided with working power supplies to enable the sensing units to be started to be in operation, and other sensing units not needing to be started do not need to be in operation due to no power supply, so that part of power consumption is saved for the whole vehicle, the low-voltage energy consumption of the whole vehicle is reduced, and the energy utilization rate is improved; meanwhile, the use frequency of part of sensing units can be reduced, the service life of the sensing units is prolonged, and the pressure of a power supply wire network and a communication wire network is reduced.
In order to update the configuration scheme of the sensing system in real time, the sensing units needing to be started are determined in real time, the sensing units not needing to be started are closed, various intelligent functions, safety and reliability of the vehicle are ensured to be exerted fully and durably, information fusion is carried out according to the configuration scheme of the sensing system, the environmental information collected by the sensing units and the working state of the sensing unit selected in the configuration scheme of the sensing system, and the configuration scheme of the sensing system is optimized and adjusted in real time according to the information fusion result and the working state of the sensing unit selected in the configuration scheme of the sensing system. The information fusion refers to an information processing technology for automatically analyzing and integrating a plurality of pieces of observation information obtained according to a time sequence under a certain criterion so as to complete required decision and evaluation tasks. The real-time road condition is constructed by effectively processing data in the information fusion process, and accurate input can be provided for the configuration strategy of the perception system. In addition, the sensing units which are not put into operation do not participate in the data fusion process any more, so that the information fusion processing efficiency is improved.
In order to realize the control method and device of the intelligent driving vehicle, the invention provides a control system of the intelligent driving vehicle, the structural schematic diagram of the control system is shown in fig. 2, and the control system comprises an intelligent decision unit, a power supply management unit, a data fusion unit and a multi-source sensing system. The power supply management unit is in power supply connection with the multi-source sensing system, the data fusion unit is in sampling connection with the multi-source sensing system and the power supply management unit and is in communication connection with the intelligent decision unit, and the intelligent decision unit is in communication connection with the power supply management unit. The intelligent decision unit is also provided with an information input port for receiving the driver intelligent function mode, wherein the receiving of the driver intelligent function mode can be realized through a hard line or a message.
The multisource sensing system mainly refers to a sensing system meeting various configurations of an intelligent driving passenger car and comprises multiple sensing units such as a camera, an ultrasonic radar and a millimeter wave radar.
The power supply management unit is a management system for supplying power to the multi-source sensing system, and mainly comprises a control module and a power supply conversion module, wherein the output of the power supply conversion module is connected with at least two power supply branches with different voltage levels for supplying power to each sensing unit in the multi-source sensing system, and the structural schematic diagram of the power supply management unit is shown in fig. 3. Specifically, the input voltage of the power conversion module is 24V, and power supplies with multiple voltage levels can be output through the power supply branch, for example, multiple direct current power supplies such as 5V, 9V, 12V and the like can be provided, and the requirements of different sensing units, namely sensing parts, can be met at the same time; the control switches are arranged in the power supply branches in series, the control module is connected with the control switches in a control mode, the power supply branches are controlled to be switched on or switched off through the switching-on or switching-off of the control switches, and the power supply or awakening of the sensing units is managed. For example, each control switch may be a relay switch, a thyristor, or other controllable switch, and the control module controls the relay switch, the thyristor, or other controllable switches through a control circuit corresponding to the relay switch and the thyristor. Meanwhile, each power supply branch in the power management unit is provided with a current and voltage detection element, namely a voltage and current acquisition module, the control module is connected with the voltage and current acquisition module in a sampling mode, and based on voltage and current information of the power supply branches, the working state (including core working environment parameters such as power and voltage) of the corresponding sensing unit can be preliminarily monitored. The control module is also provided with a first port which is used for being in communication connection with the intelligent decision unit to acquire the configuration scheme of the sensing system sent by the intelligent decision unit and sending the working state of the sensing unit to the intelligent decision unit, and a second port which is used for being in communication connection with the data fusion unit to send the working state of the sensing unit.
The data fusion unit carries out efficient and accurate data fusion by receiving the type of the current sensing system configuration scheme sent by the intelligent decision unit, various environmental information of the multi-source sensing system and the working state of each sensing unit provided by the power management unit, and provides accurate input for the intelligent decision unit. Taking a parking auxiliary system as an example, assuming that a configuration scheme of a perception system with the function is 8 ultrasonic radars (left 2+ right 2+ rear 4) +1 camera (rear 1), after a driver selects a function button for starting parking assistance, an intelligent decision unit sends the configuration scheme of the perception system with the function to a power management unit and a data fusion unit, the power management unit normally supplies power to the corresponding perception units according to the configuration scheme of the perception system, and feeds back working states corresponding to the 8 ultrasonic radars and the cameras to the data fusion unit, the data fusion unit rejects abnormal state sensor information according to the configuration scheme, effective data fusion is carried out, and accurate parking space information, obstacle information and the like are provided for intelligent decision.
The intelligent decision unit is used as a core module of the whole control system, and decides and optimizes the configuration scheme of the sensing system required by the real vehicle in real time by receiving the input of the intelligent function mode of the driver, the input of the data fusion unit and the working state of each sensing unit fed back by the power management unit. Taking a 360-degree auxiliary early warning system as an example, assuming that a vehicle is provided with 12 ultrasonic radars (6 in front and back and 1 in front and back and left and right), and the perception system configuration scheme of the auxiliary early warning function in a default state is 8 ultrasonic radars (4 in front and back) and 4 standard clear cameras, when a driver starts the auxiliary early warning system function, firstly, an intelligent decision unit outputs the default perception system configuration scheme to a power management unit and a data fusion unit, and if the feedback states received by the intelligent decision unit are normal, the auxiliary early warning function is exerted by the configuration; if one of the ultrasonic radars fed back by the power management unit is abnormal (if the power supply voltage is normal, but the output current is 0, no sensing information is fed back), the intelligent decision unit adjusts the configuration scheme of the ultrasonic radar at the rear, another 2 or 1 ultrasonic radars at the rear are called to make up the blind area, the power management unit closes the power supply branch of the abnormal ultrasonic radar, the newly configured power supply scheme is started, the data fusion unit synchronously updates the fusion result, and the reliable performance of the 360-degree auxiliary early warning system is ensured. Furthermore, the implementation scheme of the 360-degree auxiliary early warning system has multiple modes, such as 8 ultrasonic radars +2 standard definition cameras, only 4 standard definition cameras, 10 ultrasonic radars +2 standard definition cameras and the like, which can be used as the configuration scheme of the sensing system updated by the intelligent decision unit under the abnormal condition.
In addition, in order to report each intelligent configuration function state of the real vehicle, a self-organization state of a configuration scheme of a sensing system and a working state of a sensing unit to a background for monitoring, and facilitate timely maintenance and management of operators, the control system of the intelligent driving vehicle further comprises a vehicle-mounted Terminal (TBOX) in communication connection with the intelligent decision-making unit and the power management unit, at the moment, a control module in the power management unit is provided with a third port and is in communication connection with the vehicle-mounted terminal through the third port to send the working state of each sensing unit, and the vehicle-mounted terminal is provided with a communication port in communication connection with the background for monitoring, so that data interaction is realized.
In order to display the failure state of the fault sensing unit or the scheme configuration of the multi-source sensing system in real time, the intelligent decision-making unit is also connected with a display instrument to remind a driver of safe driving at the first time and timely maintain. In order to realize data transmission, the power management unit is connected with the intelligent decision unit, the data fusion unit and the vehicle-mounted terminal through a high-speed bus, wherein the high-speed bus comprises but is not limited to a CAN, a FlexRay bus, an Ethernet and the like.
The working principle of the control system of the intelligent driving vehicle is as follows: after the intelligent decision unit acquires the intelligent function requirements of the driver through hardwires or messages, the intelligent decision unit self-adaptively self-organizes the configuration scheme of the sensing system which meets the working conditions in real time according to the intelligent function selection of the driver, the real-time road condition information provided by the data fusion unit and the current state of the multi-source sensing system, and synchronously sends the configuration scheme to the data fusion unit and the power management unit. The power management unit controls the corresponding power supply branch to supply power to the sensing units needing to be started according to the current configuration scheme of the sensing system, and temporarily closes the sensing units not needing to work so as to reduce the use frequency of part of the sensing units, prolong the service life of the sensing units, save the power consumption of the sensing units for the whole vehicle and reduce the pressure of a power network and a communication network. The multisource sensing system acquires road condition information in real time by the sensing unit needing to work according to the power supply control of the power management unit and provides front-end information input for the data fusion unit. The data fusion unit performs fast and efficient data fusion on the sensing information according to the state of the sensing unit fed back by the power management unit, the information acquired by the multi-source sensing system and the type of the configuration scheme of the current sensing system, provides directional reliable input for a sensing configuration strategy, and effectively improves the data fusion data processing efficiency.
In addition, the latest intelligent configuration function state, the self-organization state of the configuration scheme of the sensing system and the working state of each sensing unit are sent to the TBOX and a display instrument (which can be simply called as an instrument) for monitoring and related alarm reminding. Aiming at the failure of an abnormal sensing unit or an intelligent function, the display instrument and the background monitoring can give an alarm in time, the driver is reminded of safe driving in the first time, the operation management personnel can maintain the vehicle conveniently, the function failure caused by single-point or multi-point faults is finally avoided, and the exertion of intelligent functionality, safety and reliability functions is ensured.
It should be noted that the processing function modules in the intelligent decision unit, the data fusion unit, and the power management unit may also be directly implemented by using one processor unit, and a structural schematic diagram corresponding to the control system of the intelligent driving vehicle is shown in fig. 4. The processor unit is connected with a plurality of power supplies in a control mode, each power supply is connected with the multi-source sensing system in a power supply branch circuit in a power supply mode so as to supply power to each sensing unit in the multi-source sensing system, and the multi-voltage-level power supplies used for supplying power to each sensing unit can be integrated multi-voltage-level power supplies, such as the power supply conversion module for outputting the multi-voltage-level power supplies, and can also be separately arranged. And each power supply branch connected with the output of each power supply is provided with a voltage and current acquisition module for acquiring the output voltage and current of the power supply. The processor unit is also connected with the multi-source sensing system in a sampling mode to acquire environment sensing information; the sampling is connected with the voltage and current acquisition module to acquire the working state of the sensing unit. In the working process, the processor unit realizes the decision of the configuration scheme of the sensing system, controls the power supply to supply power to the corresponding sensing units according to the decided configuration scheme of the sensing system, performs information fusion according to the environmental information acquired by each sensing unit, the working state of the sensing unit and the configuration scheme of the sensing system, and adjusts the configuration scheme of the sensing system in real time according to the information fusion result.
Of course, as another embodiment, only one processor unit may be used to implement all functions of the intelligent decision unit and the data fusion unit, and a structural schematic diagram corresponding to the control system of the intelligent driving vehicle is shown in fig. 5. The processor unit is in communication connection with the power management unit, the power management unit supplies power to be connected with the multi-source sensing system, and the processor unit is also in sampling connection with the multi-source sensing system and the power management unit. At this time, the processor unit can complete the sensing system configuration scheme decision and the data fusion processing at the same time, and the specific control process is described in detail in the above-mentioned contents, and is not described here again.
Claims (10)
1. A control method for an intelligent driving vehicle is characterized by comprising the following steps:
receiving an intelligent function mode selected by a driver, and determining a configuration scheme of a sensing system according to the intelligent function mode;
and controlling to provide working power supply for the sensing units selected in the sensing system configuration scheme according to the determined sensing system configuration scheme.
2. The control method of the intelligent driving vehicle according to claim 1, further comprising performing information fusion according to the sensing system configuration scheme, the environmental information collected by each sensing unit, and the working state of the sensing unit selected in the sensing system configuration scheme.
3. The control method of the intelligent driving vehicle as claimed in claim 2, further comprising optimizing and adjusting the configuration scheme of the sensing system in real time according to the information fusion result and the working state of the sensing unit selected from the configuration schemes of the sensing system.
4. The control method of the intelligent driving vehicle according to any one of claims 1 to 3, further comprising reporting the abnormal condition of the selected sensing unit in the sensing system configuration scheme and the abnormal condition of the sensing system configuration scheme to a background monitor.
5. The control method of the intelligent driving vehicle according to any one of claims 1 to 3, further comprising displaying the abnormal situation of the selected sensing unit in the sensing system configuration scheme and the abnormal situation of the sensing system configuration scheme in real time.
6. A control device for a smart-driven vehicle, comprising a processor and a memory, the processor being configured to process instructions stored in the memory to implement the method of:
receiving an intelligent function mode selected by a driver, and determining a configuration scheme of a sensing system according to the intelligent function mode;
and controlling to provide working power supply for the sensing units selected in the sensing system configuration scheme according to the determined sensing system configuration scheme.
7. The control device of claim 6, further comprising performing information fusion according to the sensing system configuration scheme, the environmental information collected by each sensing unit, and the operating state of the sensing unit selected in the sensing system configuration scheme.
8. The control device of claim 7, further comprising a configuration scheme of the sensing system for real-time optimization and adjustment according to the information fusion result and the working state of the sensing unit selected from the configuration schemes of the sensing system.
9. The control device of the intelligent driving vehicle as claimed in any one of claims 6 to 8, further comprising reporting the abnormal condition of the selected sensing unit in the sensing system configuration scheme and the abnormal condition of the sensing system configuration scheme to the background monitor.
10. The control device of the intelligent driving vehicle according to any one of claims 6 to 8, further comprising displaying the abnormal condition of the selected sensing unit in the sensing system configuration scheme and the abnormal condition of the sensing system configuration scheme in real time.
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