CN111559385A - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN111559385A CN111559385A CN202010270732.8A CN202010270732A CN111559385A CN 111559385 A CN111559385 A CN 111559385A CN 202010270732 A CN202010270732 A CN 202010270732A CN 111559385 A CN111559385 A CN 111559385A
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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
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
Abstract
The invention provides a vehicle control method and a vehicle control device, wherein the method comprises the following steps: acquiring a driving mode signal of the vehicle and a driving demand signal of a driver; generating a mode adjusting instruction for each executing mechanism according to the driving mode signal, and sending the mode adjusting instruction to each executing mechanism so as to adjust each executing mechanism to a driving mode corresponding to the mode adjusting instruction; and generating an operation control instruction aiming at a first target execution mechanism in each execution mechanism according to the driving demand signal, and sending the operation control instruction to the first target execution mechanism so as to control the first target execution mechanism to execute operation control operation corresponding to the operation control instruction. The invention carries out unified judgment processing on all function demand signals, further converts the function demand signals into control instructions and sends the control instructions to the execution mechanism, thereby avoiding direct communication and logic judgment processing between the function layer and the execution mechanism.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle control method and device.
Background
Currently, in the existing vehicle control framework, a function demand layer is directly communicated with an execution layer, which results in that each function switch needs to send an instruction and receive feedback, and also needs to logically judge the working state of each execution subsystem of the execution layer; meanwhile, each execution subsystem needs to receive instructions and feedback states and needs to perform priority logic judgment on input of each function demand signal of the functional layer.
The structure mode is complicated, and the data volume is too large, so that the local area network load of the whole vehicle controller is too large, and further the system has low execution efficiency and poor reliability; meanwhile, the above-mentioned architecture requires that each function switch and the execution subsystem have sufficient signal processing and judging capability, which will increase the cost of the components; in addition, the above-mentioned architecture will result in the rapid increase of functional interfaces, which is not convenient for the platform design.
Disclosure of Invention
In view of the above, the present invention provides a vehicle control method and device, so as to solve the problem that the existing vehicle control method easily causes an excessive load on the local area network of the vehicle controller, which further causes low system execution efficiency and poor reliability.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle control method, wherein the method comprises:
acquiring a driving mode signal of the vehicle and a driving demand signal of a driver;
generating a mode adjusting instruction for each executing mechanism according to the driving mode signal, and sending the mode adjusting instruction to each executing mechanism so as to adjust each executing mechanism to a driving mode corresponding to the mode adjusting instruction;
and generating an operation control instruction aiming at a first target execution mechanism in each execution mechanism according to the driving demand signal, and sending the operation control instruction to the first target execution mechanism so as to control the first target execution mechanism to execute operation control operation corresponding to the operation control instruction.
Optionally, the method further comprises:
monitoring first feedback information aiming at the mode adjusting instruction to determine a mode adjusting result of each executing mechanism;
and monitoring second feedback information aiming at the operation control instruction to determine the operation control state of each execution mechanism.
Optionally, in the vehicle control method, the actuator includes at least one of a steering system, a braking system, a powertrain, a transmission, a four-wheel drive control system, a differential lock, and an active suspension system.
Alternatively, in the vehicle control method, the driving mode signal may include a snow mode signal, a mud mode signal, a sand mode signal, a 4L mode signal, an economy mode signal, a standard mode signal, a sport mode signal, an off-road cruise mode signal, and a tank turning mode signal.
Optionally, in the vehicle control method, a corresponding relationship between a driving mode, an actuator, and a preset parameter is stored in the vehicle;
the generating a mode adjustment instruction for each actuator according to the driving mode signal, and sending the mode adjustment instruction to each actuator specifically includes:
determining a corresponding target driving mode according to the mode adjusting signal;
acquiring target preset parameters corresponding to the actuating mechanisms according to the target driving modes and the corresponding relations;
and sending the target preset parameters to a corresponding second target execution mechanism so that the second target execution mechanism can adjust working parameters according to the target preset parameters.
Optionally, in the vehicle control method, the driving demand signal includes an accelerator pedal signal, a steering wheel signal and a brake signal.
Optionally, in the vehicle control, when the driving mode signal is an off-road cruise mode signal, the generating a mode adjustment command for each actuator according to the driving mode signal and sending the mode adjustment command to each actuator includes:
if the vehicle is in a 4L mode currently and the brake is released, generating mode adjusting instructions for each executing mechanism according to the driving mode signal, sending the mode adjusting instructions to each executing mechanism, and controlling the off-road cruise function of the vehicle to be in an activated state when received first feedback information for the mode adjusting instructions meets preset conditions;
ignoring the driving mode signal if the vehicle is not currently in the 4L mode and/or the brake is not released.
Optionally, in the vehicle control method, when an off-road cruise function of the vehicle is activated, the generating an operation control command for a first target actuator of the actuators according to the driving demand signal and sending the operation control command to the first target actuator includes:
determining a target vehicle speed of the vehicle according to the driving demand signal;
acquiring the current speed of the vehicle;
and generating an operation control instruction aiming at a power assembly and a brake system according to the target vehicle and the current vehicle speed, and sending the operation control instruction to the power assembly and the brake system so as to adjust the vehicle speed of the vehicle until the difference value between the vehicle speed and the target vehicle speed is smaller than a preset threshold value.
Optionally, in the vehicle control method, when an off-road cruise function of the vehicle is activated, the method further includes:
acquiring the water temperature of an engine, the temperature of a transmission and the temperature of a four-wheel drive system;
and judging whether an overheating condition exists or not according to the engine water temperature, the transmission temperature and the four-wheel drive system temperature, and controlling the off-road cruising function of the vehicle to be in a closed state when the overheating condition exists.
Another object of the present invention is to provide a vehicle control apparatus, wherein the apparatus includes:
the advanced arbitration module is used for acquiring a driving mode signal of the vehicle and a driving demand signal of a driver, generating a mode adjustment instruction aiming at each execution mechanism according to the driving mode signal, and generating an operation control instruction aiming at a first target execution mechanism in each execution mechanism according to the driving demand signal;
the control scheduling module is used for sending the mode adjusting instruction to each executing mechanism so as to adjust each executing mechanism to a driving mode corresponding to the mode adjusting instruction; and sending the operation control instruction to the first target execution mechanism to control the first target execution mechanism to execute the operation control operation corresponding to the operation control instruction.
Compared with the prior art, the vehicle control method and the vehicle control device have the following advantages:
the corresponding mode adjusting instruction and the operation control instruction are generated by acquiring the driving mode signal of the vehicle and the driving demand signal of the driver, and then the corresponding executing mechanism is controlled to execute by the instructions. Namely, the unified judgment processing is carried out on all function demand signals, and then the function demand signals are converted into control instructions, and then the control instructions are sent to all execution mechanisms, so that the direct communication and logic judgment processing between a function demand layer and the execution mechanisms is avoided, the function demand layer only needs to complete signal sending, and the execution mechanisms only need to complete instruction receiving, so that the control framework is clearer, the centralized processing advantages are achieved, the deceleration data are in miscellaneous and staggered mode, the condition that the function development is limited due to insufficient processing capacity of subsystem control units of the function demand layer and the execution mechanisms can be avoided, the platform software design is convenient to carry out, the interface is reserved for the mode and the function which are increased subsequently, and the problems that the whole vehicle controller local area network is overloaded easily in the existing vehicle control mode, the system execution efficiency is low, and the reliability is poor are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention;
FIG. 2 is a table showing the correspondence between driving modes, actuators, and predetermined parameters according to the embodiment of the present invention;
FIG. 3 is a block diagram of a control system corresponding to the vehicle control method according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of the activation of the off-road cruise function in an embodiment of the present invention;
FIG. 5 is a schematic diagram of the operation of the off-road cruise function in an embodiment of the present invention;
FIG. 6 is a schematic diagram of an exit process for the off-road cruise function in an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, a schematic flow chart of a vehicle control method according to an embodiment of the present invention is shown, wherein the method includes steps S100 to S300.
And S100, acquiring a driving mode signal of the vehicle and a driving demand signal of a driver.
In the step S100, the driving mode signal refers to a driving mode or function signal that the driver needs to enter according to the road condition and the driving requirement. The driving mode signal may be triggered by the driver selecting a different driving mode or function. Each actuating mechanism of the vehicle has different working parameters under different driving modes so as to realize different driving requirements and meet different terrain working conditions. In practical applications, the driving mode signals include a snow mode signal, a mud mode signal, a sand mode signal, a 4L mode signal, an economy mode signal, a standard mode signal, a sport mode signal, an off-road cruise mode signal and a tank turning mode signal, and the driving mode signals are sequentially triggered by receiving selection operations of the snow mode, the mud mode, the sand mode, the 4L mode, the economy mode, the standard mode, the sport mode, the off-road cruise mode and the tank turning mode by a driver. The economic mode can improve the fuel economy of the vehicle and is suitable for flat and hard pavements such as urban roads and paved roads; the standard mode integrates the dynamic property and the economical efficiency of the vehicle and is suitable for various road surfaces; the sport mode may improve the dynamics of the vehicle, resulting in a higher level of response speed and ride experience. The method is suitable for flat pavements with few vehicles, wide running and the like; the snow mode is suitable for the road surface with hard surface but smooth surface, including snow, ice surface, grassland, gravel road, etc.; the mud mode is suitable for the road surface with uneven mud, a layer of smooth and shallow mud on the surface or tracks; the sand mode is suitable for gobi desert edge areas with hard sand on the surface layer; the 4L mode can be understood as an off-road mode, which is suitable for worse outdoor road conditions; the off-road cruise mode is a state of entering the vehicle speed cruise mode in the off-road mode, so that the driving operation of a driver can be reduced, and the driver only needs to control the driving direction through a steering wheel; and the tank turning mode is a mode in which the tank turning function can be realized.
In the step S100, the driving demand signal refers to an actual driving operation signal of the driver when driving the vehicle, and may be specifically represented as an accelerator pedal signal, a steering wheel signal and a brake signal. The driving demand signal can be generated by receiving the control operation trigger of the driver on an accelerator pedal, a steering wheel and a brake in sequence.
In the embodiment of the invention, the driving mode signal and the driving demand signal which represent the function demand are acquired from the functional layer through a special control device, so that subsequent unified judgment processing and conversion into a control command are facilitated, and further, the data transmission quantity between the function demand layer and the execution layer and respective data processing loads can be reduced.
Step S200, generating a mode adjusting instruction aiming at each execution mechanism according to the driving mode signal, and sending the mode adjusting instruction to each execution mechanism so as to adjust each execution mechanism to a driving mode corresponding to the mode adjusting instruction.
In step S200, since the operating parameters of the actuators of the vehicle are different in different driving modes, when a specific driving mode signal is received, the actuators need to be adjusted to operate in the corresponding driving modes. Therefore, the special control device needs to generate a mode adjustment command for each actuator according to the acquired driving mode signal, and send the mode adjustment command to each actuator, so as to adjust the operating mode of each actuator to the driving mode corresponding to the mode adjustment command according to the mode adjustment command.
In practical application, the actuator comprises a Steering system (EPS), a brake system (EPS), a powertrain, a transmission, a four-wheel drive control system, a differential lock and an active suspension system, and the operating mode of the actuator is adjusted according to the mode adjusting command, so that the vehicle enters a driving mode corresponding to the driving mode signal, and the current road condition and the driving requirement of the driver are better adapted. The differential lock comprises a front differential lock and a rear differential lock, and the active suspension system comprises a Continuous damping control system (CDC), an air spring, an active stabilizer bar and the like.
In this embodiment, not only the control device is utilized to perform mode adjustment on the steering system, the brake system, the power assembly, the transmission and the four-wheel drive control system according to the mode adjustment command, but also the active suspension and the differential lock are adjusted, when the vehicle selects different driving modes or functions, different combinations of the ground clearance of the whole vehicle, the suspension damping and the stabilizer bar connection state are adjusted through the active suspension system matched with the differential lock state and different parameters, so that the suspension of the vehicle is controlled to be in an optimal state suitable for different terrain working conditions, the off-road capability of the whole vehicle can be further improved under the limited conditions of the torque output of the whole vehicle, the four-wheel drive ratio and the like, and the intelligent operation of the off-road is improved.
Step S300, generating an operation control instruction aiming at a first target execution mechanism in each execution mechanism according to the driving demand signal, and sending the operation control instruction to the first target execution mechanism so as to control the first target execution mechanism to execute operation control operation corresponding to the operation control instruction.
In step S300, a special control device generates an operation control instruction for a first target actuator in each actuator according to the driving demand signal, and the control device sends the operation control instruction to the first target actuator to control the first target actuator to execute an operation control operation corresponding to the operation control instruction, so as to meet the driving demand of the driver.
Compared with the prior art, the vehicle control method has the following advantages:
the corresponding mode adjusting instruction and the operation control instruction are generated by acquiring the driving mode signal of the vehicle and the driving demand signal of the driver, and then the corresponding executing mechanism is controlled to execute by the instructions. Namely, the unified judgment processing is carried out on all function demand signals, and then the function demand signals are converted into control instructions, and then the control instructions are sent to all execution mechanisms in a unified manner, so that the direct communication and logic judgment processing between a function demand layer and the execution mechanisms are avoided, the function demand layer only needs to complete signal sending, and the execution layer only needs to complete instruction receiving, so that the control framework is clearer, the centralized processing advantage is achieved, the deceleration data can be staggered in a miscellaneous mode, the condition that the function development is limited due to insufficient processing capacity of individual subsystem control units can be avoided, the platform software design is convenient to carry out, interfaces are reserved for follow-up added modes and functions, and the problems that the local area network of the whole vehicle controller is overloaded easily, the system execution efficiency is low, and the reliability is poor due to the existing vehicle control mode.
Optionally, in an embodiment, the vehicle stores a corresponding relationship between a driving mode, an actuator, and a preset parameter, and the step S200 specifically includes steps S201 to S203:
and step S201, determining a corresponding target driving mode according to the mode adjusting signal.
In step S201, when the mode adjustment signal is acquired, it is determined to which driving mode the vehicle needs to be adjusted.
Step S202, acquiring target preset parameters corresponding to the execution mechanisms according to the driving modes and the corresponding relations.
In the above step S202, that is, according to the target driving mode determined in the step S201 and the corresponding relationship among the driving mode, the actuators and the preset parameters stored in the vehicle, the target preset parameters corresponding to the respective actuators can be determined.
Step S203, sending the target preset parameter to a corresponding second target execution mechanism, so that the second target execution mechanism can adjust a working parameter according to the target preset parameter.
In the step S203, the preset target parameters obtained in the step S203 are correspondingly sent to the second target executing mechanism, and the second target executing mechanism adjusts the working parameters of the preset target parameters to the preset target parameters after receiving the preset target parameters, that is, the executing mechanisms are adjusted to the target driving mode state.
In the embodiment, preset parameters are preset for each executing mechanism in different driving modes, then when a mode adjusting instruction is detected, a corresponding target driving mode is determined, then preset parameters of each executing mechanism in the target driving mode are determined, then each preset parameter is respectively sent to the corresponding executing mechanism, and after the executing mechanism receives the preset parameters, the operating parameters of the executing mechanism are adjusted to the preset parameters, so that each executing mechanism is quickly and automatically adjusted to the target driving mode state.
In practical application, please refer to fig. 2, which shows a corresponding relationship table between the driving mode, the actuator and the preset parameters.
Alternatively, in one embodiment, the vehicle control method according to the embodiment of the present invention further includes step S2001 after step S200, and step S3001 after step S300:
step S2001, monitoring first feedback information for the mode adjustment instruction to determine a mode adjustment result of each actuator;
and step S3001, monitoring second feedback information aiming at the operation control instruction to determine the operation control state of each execution mechanism.
In step S2001, that is, after the mode adjustment instruction is issued to each actuator, the actuator feeds back the execution result, generates the first feedback information for the mode adjustment instruction, and acquires the first feedback information, that is, the mode adjustment result of each actuator can be known, so that the system can know the current state of each actuator, and can determine whether each actuator has a fault.
In step S3001, that is, after the operation control instruction is sent to the first target execution mechanism, the first target execution mechanism may feed back the operation control result, generate second feedback information for the operation control instruction, and acquire the second feedback information, that is, the operation control result of the second target execution mechanism may be known, so that the system knows whether the second target execution mechanism has completed the operation control instruction, and may determine whether the first target execution mechanism has a fault.
In this embodiment, by monitoring the first feedback information for the mode adjustment instruction and monitoring the second feedback information for the operation control instruction, the system can know the current state of each execution mechanism, and can determine whether each execution mechanism has a fault.
Optionally, in an implementation manner, when the driving mode signal is an off-road cruise mode signal, in the step S200 according to the embodiment of the present invention, the step S211 to the step S214 are included:
s211, if the vehicle is in a 4L mode at present and the brake is released, generating a mode adjusting instruction for each executing mechanism according to the driving mode signal, and sending the mode adjusting instruction to each executing mechanism.
In the step S211, only on the premise that the vehicle is currently in the 4L mode and the brake in the brake system is released, the mode adjustment command for controlling each actuator to enter the off-road cruise mode state is generated and sent to each actuator, so that each actuator adjusts its operating mode to the off-road circulation mode.
In practical application, when the driving mode signal is an off-road cruise mode signal, the mode adjusting command for each executing mechanism comprises an off-road cruise control executing command, a rear differential lock locking command, a shock absorber mode switching command, an air spring highest adjusting command and a driving stabilizer bar disconnecting command. The off-road cruise control execution command is used for controlling a steering system, a braking system, a power assembly, a transmission and a four-wheel drive control system to enter a 4L mode; the rear differential lock locking instruction is used for controlling the locking of the rear differential lock; the shock absorber mode switching instruction is used for controlling the shock absorption control system to enter an off-road cruise mode, and specifically, the compression damping and the extension damping of the shock absorber are adjusted to a numerical value state corresponding to the off-road cruise mode; the air spring highest adjustment instruction is used for controlling the air spring to be adjusted to the highest state, namely corresponding to the cross-country cruise mode; the active stabilizer bar disconnect command is used to control the active stabilizer bar to disconnect to enter the off-road cruise mode.
S212, monitoring first feedback information aiming at the mode adjusting instruction.
The above step S212 can refer to the detailed description of step S2001, which is not repeated herein.
And S213, controlling the off-road cruise function of the vehicle to be in an activated state when the first feedback information meets the preset condition.
The preset condition is a preset activation condition for activating the off-road cruise function. In the step S213, it is determined whether the vehicle currently satisfies the activation condition of the off-road cruise function according to the first feedback information, and when the first feedback information satisfies the preset condition, it indicates that the current state of the vehicle satisfies the condition of activating the off-road cruise function, so as to control the off-road cruise function of the vehicle to be turned on, i.e., enable the off-road cruise function of the vehicle to be in an activated state. In practical application, the off-road cruise control switch indicator light is illuminated after the off-road cruise function of the vehicle is activated.
Optionally, the preset conditions include that the steering system, the braking system, the powertrain, the transmission and the four-wheel drive control system are all in the 4L mode state, regardless of whether the active suspension and the differential lock are in the off-road circulation mode state. Considering that the influence on driving safety caused by whether the active suspension and the differential lock enter the cross-country circulation mode is less, the control device only sends a mode adjusting instruction to the active suspension and the differential lock, but does not perform state feedback judgment so as to avoid the influence on the activation of the cross-country cruise function caused by the execution states of the active suspension and the differential lock.
S214, if the vehicle is not in the 4L mode and/or the brake is not released, ignoring the driving mode signal.
In step S214, if the 4L mode of the vehicle is not activated or the brake in the brake system is not released, the vehicle cannot cruise, and therefore the driving mode signal is ignored, i.e., the vehicle is not controlled to enter the off-road cruise mode.
Alternatively, in one embodiment, when the driving mode signal is an off-road cruise mode signal, the step S300 includes steps S301 to S303:
s301, obtaining the current speed and the target speed of the vehicle.
In the above step S301, the target vehicle speed is set by the driver as required, and the current vehicle speed can be determined by the wheel speed signal fed back by the brake system in real time.
S302, generating a vehicle speed adjusting instruction aiming at a power assembly and a brake system according to the target vehicle and the current vehicle speed, and adjusting and sending the vehicle speed to the power assembly and the brake system so as to adjust the vehicle speed of the vehicle until the difference value between the vehicle speed and the target vehicle speed is smaller than a preset threshold value.
In the step S302, a vehicle speed control command is generated through the target vehicle speed and the current vehicle speed obtained in real time, and the operations of the powertrain and the braking system are controlled, and the vehicle speed is adjusted until the difference value between the vehicle speed and the target vehicle speed is smaller than the preset threshold value, so as to realize the cruise state.
Optionally, in a specific embodiment, when the off-road cruise function of the vehicle is activated, the method further includes steps S401 to S402:
s401, obtaining the water temperature of an engine, the temperature of a transmission and the temperature of a four-wheel drive system.
In the step S401, the temperature sensor obtains the temperature of the engine water, the temperature of the transmission, and the temperature of the four-wheel drive system in real time, so as to determine whether the engine, the transmission, and the four-wheel drive system are overheated.
S402, judging whether an overheating condition exists or not according to the engine water temperature, the transmission temperature and the four-wheel drive system temperature, and controlling the off-road cruise function of the vehicle to exit the activated state when the overheating condition exists.
In the step S402, that is, the engine water temperature, the transmission temperature and the four-wheel drive system temperature obtained in the step S401 are used to correspondingly determine whether the engine, the transmission and the four-wheel drive system are overheated, and when the engine, the transmission or the four-wheel drive system is overheated, the off-road cruise function is not started, and the operation control command is stopped being sent to the first target execution mechanism such as the engine, the transmission and the four-wheel drive system, so as to avoid the first target execution mechanism from being damaged due to the continuous overheating state.
Referring to fig. 3, a structural diagram of a control system corresponding to the method of the embodiment of the invention in practical application is shown. As shown in fig. 3, the control system architecture in the embodiment of the present invention includes a functional layer 10, an off-road control system 20, and an execution layer 30. The functional layer 10 comprises a driver demand, an all-terrain control system, a driving mode system, an off-road cruise function and a tank turning function; the cross-country control system 20 comprises an advanced arbitration module 21 and a control scheduling module 22; the actuating layer 30 includes actuating mechanisms such as a steering system, a brake system, a power assembly, a four-wheel drive system, etc., and air springs, active stabilizer bars, shock absorbers, etc., in a differential lock and an active suspension.
The all-terrain control system can select a snow mode, a mud mode, a sand mode and a 4L mode, correspondingly generates a snow mode signal, a mud mode signal, a sand mode signal and a 4L mode signal, and inputs the signals into the off-road control system as functional requirements; the driving mode system can select an economy mode, a standard mode and a motion mode number, correspondingly generates an economy mode signal, a standard mode signal and a motion mode signal, and inputs the signals into the off-road control system as functional requirements; and the off-road cruise function and the tank turning function are selected, so that an off-road cruise mode signal and a tank turning mode signal are correspondingly generated and input into an off-road control system as functional requirements.
The high-level arbitration module 21 obtains the function requirement inputs in the functional layers, performs unified judgment processing on the function requirement inputs, then sends the arbitration result to the control scheduling module 22, and the control scheduling module 22 converts the arbitration result into a control instruction which is sent to each execution mechanism in a unified manner.
After receiving the control instruction, each executing mechanism executes corresponding operation according to the control instruction. For example, if the Control command is a mode adjustment command, the brake System (Electronic stability Program, EPS) will adjust the intervention thresholds of the Anti-lock Braking System (ABS), the Traction Control System (TCS) and the Vehicle dynamic Control System (VDC) to the state of the driving mode corresponding to the mode adjustment command, the powertrain will adjust the torque response and pedal curve of the Engine Control Module (ECM) to the state of the driving mode corresponding to the mode adjustment command, and the Transmission will adjust the shift curve and start gear of the automatic Transmission Control Unit (Transmission Control Unit) to the state of the driving mode corresponding to the mode adjustment command; the four-wheel drive system can adjust the torque ratio to the state of the driving mode corresponding to the mode adjusting instruction; the Steering system (Electronic Power Steering, EPS) adjusts the Steering feel to the state of the driving mode corresponding to the mode adjusting instruction; the shock absorber can adjust the compression damping and the stretching damping of the shock absorber to the state of the driving mode corresponding to the mode adjusting instruction; the air spring can adjust the height of the air spring to a state of a driving mode corresponding to the mode adjusting instruction; the driving stabilizer bar can switch and adjust the connection state among full connection, transitional connection and full disconnection, so that the connection state is adjusted to the state of the driving mode corresponding to the mode adjusting instruction.
After each execution mechanism in the execution layer finishes executing the operation corresponding to the control instruction, the execution result is fed back to the control scheduling module 22, and the control scheduling module 22 feeds back the execution result to the high-level arbitration module 21 for analysis processing.
In summary, it can be seen that in the control system architecture according to the embodiment of the present invention, the logic of direct communication judgment between the functional layer and the execution layer is avoided.
In practical application, the main Control Unit of the off-road domain Control system may be an independent Electronic Control Unit (ECU) or an ECU sharing parts with sufficient signal processing and logic judgment capabilities, such as an ECM, a TCU, an EPS, an ESP, and the like, and specifically, a whole plant may autonomously perform module software design and development selection according to functional mode requirements, and is not limited by development of ESP parts.
Referring to fig. 4, fig. 4 illustrates a schematic diagram of the activation of the off-road cruise function. As shown in fig. 4, the off-road cruise control switch is turned on first, and the switch triggers an activation instruction of the off-road cruise control, and after receiving the activation instruction, the advanced arbitration module sends activation condition judgment to each node of the functional layer, and judges whether a brake is released or not, and whether a 4L mode is selected in the all-terrain control system or not;
after the brake is released and the 4L mode is selected in the all-terrain control system, the high-level arbitration module sends an off-road cruise control execution instruction, a rear differential lock locking instruction, a shock absorber 4Lmap switching instruction, an air spring highest adjustment instruction and a driving stabilizer bar disconnection instruction to the control scheduling module; the control scheduling module sends an execution request to each execution mechanism according to the instruction and judges the state feedback of the preset execution mechanism, wherein the preset execution mechanism comprises a steering system, a braking system, a power assembly, a transmission and a four-wheel drive control system, whether the preset execution mechanisms are all in a 4L mode state is judged through the state feedback, the control scheduling module only sends an execution instruction to the active suspension and the differential lock, but does not judge the state feedback, namely the execution states of the active suspension and the differential lock do not influence the activation of the cross-country cruise control function;
after the control scheduling module judges that the steering system, the brake system, the power assembly, the transmission and the four-wheel drive control system are all switched to the 4L mode according to the state feedback of the executing mechanism, signals that the executing layers all meet the activation conditions are fed back to the advanced arbitration module, the advanced arbitration module receives the signals, the signals are comprehensively judged and then an activation permission instruction is sent to the cross-country cruise control switch, then the indicator light of the cross-country cruise function switch is lightened, and the cross-country cruise function enters the activation state.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating the operation of the off-road cruise function. As shown in fig. 5, the advanced arbitration module monitors whether the system is currently in an active state of the off-road cruise control function, then monitors a driver demand signal, analyzes and judges the driver demand signal, and then converts the driver demand signal into an off-road cruise operation control instruction to be sent to the control scheduling module, wherein the off-road cruise operation control instruction comprises a cruise speed increase and decrease instruction, a brake deceleration instruction, an oiling acceleration instruction and the like;
the control scheduling module judges after receiving the cross-country cruise operation control instruction, and then correspondingly sends an acceleration execution instruction or a deceleration execution instruction to the power assembly, specifically an engine torque-up/torque-down request, and sends a deceleration execution instruction to a braking system;
the engine operates the lifting button after receiving the lifting/lowering button request, and feeds back an execution result to the control scheduling module; after receiving the deceleration instruction, the ESP responds to the braking deceleration request and feeds back the wheel speed signal to the control scheduling module in real time;
the control scheduling module receives the wheel speed signal fed back by the ESP in real time to judge whether the execution instruction sent by the high-level arbitration module is achieved or not, and compares the wheel speed signal with the target vehicle speed of the driver to judge whether the difference value between the target vehicle speed and the actual vehicle speed exceeds a threshold or not; when the difference value between the target vehicle speed and the actual vehicle speed exceeds a preset threshold value, correspondingly sending a torque up/down request to the engine and sending an HDC activation request to the ESP to adjust the vehicle speed of the vehicle until the difference value between the target vehicle speed and the actual vehicle speed is smaller than the preset threshold value;
meanwhile, the control scheduling module monitors an engine water temperature signal, a transmission temperature signal and a four-wheel drive system temperature signal in real time, judges whether an overheating condition exists or not, sends the temperature signals of each execution layer to the high-level arbitration module, judges whether an execution instruction is continuously sent or not and whether the cross-country cruise control function is continuously in an activated state or not by the high-level arbitration module, and particularly controls the cross-country cruise function of the vehicle to be in a closed state when the overheating condition is judged to exist according to the temperature signals.
Referring to FIG. 6, FIG. 6 illustrates an exit process diagram for the off-road cruise function. As shown in fig. 6, the off-road cruise control closing instruction is sent through the off-road cruise control switch, after the high-level arbitration module receives the closing instruction, the off-road cruise control execution instruction is immediately stopped being sent to the control scheduling module, and meanwhile, a rear differential lock opening instruction, an air spring 4L adjustment instruction, a shock absorber 4Lmap switching instruction and an active stabilizer bar connecting instruction are sent to the control scheduling module, so that the off-road cruise control function is closed; the control scheduling module sends a rear differential lock opening request to the differential lock according to the instruction, sends an air spring 4L adjusting request, a shock absorber 4Lmap switching request to the air suspension and sends a connecting request to the active stabilizer bar;
then, the advanced arbitration module monitors driver demand signals such as an accelerator human intervention signal and a brake human intervention signal in real time, analyzes and judges the driver demand signals, whether a driver demand execution instruction is sent to the control scheduling module or not is determined according to an analysis and judgment result, the control scheduling module generates an operation control instruction according to the driver demand execution instruction, and sends the operation control instruction to a corresponding execution mechanism for execution, so that the driving demand of a driver is met.
Another objective of the present invention is to provide a vehicle control device, wherein, referring to fig. 7, fig. 7 shows a schematic structural diagram of a vehicle control device according to an embodiment of the present invention, the device includes:
the advanced arbitration module 71 is used for acquiring a driving mode signal of the vehicle and a driving demand signal of a driver, generating a mode adjusting instruction for each execution mechanism according to the driving mode signal, and generating an operation control instruction for a first target execution mechanism in each execution mechanism according to the driving demand signal;
the control scheduling module 72 is configured to send the mode adjustment instruction to each of the actuators, so as to adjust each of the actuators to a driving mode corresponding to the mode adjustment instruction; and sending the operation control instruction to the first target execution mechanism to control the first target execution mechanism to execute the operation control operation corresponding to the operation control instruction.
In the device according to the embodiment of the present invention, the advanced arbitration module 71 obtains the driving mode signal of the vehicle and the driving demand signal of the driver, generates the corresponding mode adjustment command and the operation control command, and the control scheduling module 72 sends the command to the corresponding execution mechanism, so that the command controls the corresponding execution mechanism to execute. Namely, the unified judgment processing is carried out on all function demand signals, and then the function demand signals are converted into control instructions, and then the control instructions are sent to all execution mechanisms, so that the direct communication and logic judgment processing between a function demand layer and the execution mechanisms is avoided, the function demand layer only needs to complete signal sending, and the execution mechanisms only need to complete instruction receiving, so that the control framework is clearer, the centralized processing advantages are achieved, the deceleration data are in miscellaneous and staggered mode, the condition that the function development is limited due to insufficient processing capacity of subsystem control units of the function demand layer and the execution mechanisms can be avoided, the platform software design is convenient to carry out, the interface is reserved for the mode and the function which are increased subsequently, and the problems that the whole vehicle controller local area network is overloaded easily in the existing vehicle control mode, the system execution efficiency is low, and the reliability is poor are solved.
Optionally, in the vehicle control apparatus, the control scheduling module 72 is further configured to monitor first feedback information for the mode adjustment instruction to determine a mode adjustment result of each actuator; and the second feedback information aiming at the operation control instruction is monitored so as to determine the operation control state of each execution mechanism.
Optionally, in the vehicle control apparatus, the actuator includes at least one of a steering system, a brake system, a powertrain, a transmission, a four-wheel drive control system, a differential lock, and an active suspension system.
Alternatively, in the vehicle control apparatus, the driving mode signal may include a snow mode signal, a mud mode signal, a sand mode signal, a 4L mode signal, an economy mode signal, a standard mode signal, a sport mode signal, an off-road cruise mode signal, and a tank turning mode signal.
Optionally, in the vehicle control apparatus, a corresponding relationship between a driving mode, an actuator, and a preset parameter is stored in the vehicle;
the advanced arbitration module 71 comprises:
the driving mode determining unit is used for determining a corresponding target driving mode according to the mode adjusting signal;
the preset parameter acquisition unit is used for acquiring target preset parameters corresponding to the execution mechanisms according to the target driving mode and the corresponding relation;
the control scheduling module 72 is specifically configured to send the target preset parameter to a corresponding second target execution mechanism, so that the second target execution mechanism adjusts a working parameter according to the target preset parameter.
Optionally, in the vehicle control device, the driving demand signal includes an accelerator pedal signal, a steering wheel signal and a brake signal.
Optionally, in the vehicle apparatus, when the driving mode signal is an off-road cruise mode signal, the advanced arbitration module 71 is specifically configured to generate a mode adjustment command for each actuator according to the driving mode signal if the vehicle is currently in a 4L mode and the brake is released, and control the off-road cruise function of the vehicle to be in an activated state when the received first feedback information for the mode adjustment command meets a preset condition, and ignore the driving mode signal if the vehicle is not currently in the 4L mode and/or the brake is not released;
the control scheduling module 72 is specifically configured to send the mode adjustment instruction to each of the execution mechanisms, and receive first feedback information for the mode adjustment instruction.
Alternatively, in the vehicle control apparatus, when the off-road cruise function of the vehicle is activated,
the advanced arbitration module 71 is specifically configured to determine a target vehicle speed of the vehicle according to the driving demand signal; generating an operation control instruction aiming at a power assembly and a brake system according to the target vehicle and the current vehicle speed of the vehicle, and sending the operation control instruction to the power assembly and the brake system through the control scheduling module so as to adjust the vehicle speed of the vehicle until the difference value between the vehicle speed and the target vehicle speed is smaller than a preset threshold value;
the control scheduling module 72 is specifically configured to obtain a current vehicle speed of the vehicle, and send the operation control instruction to the powertrain and the brake system via the control scheduling module;
optionally, in the vehicle control method, when the off-road cruise function of the vehicle is activated, the control scheduling module 72 is further configured to obtain an engine water temperature, a transmission temperature, and a four-wheel drive system temperature;
the advanced arbitration module 71 is further configured to determine whether an overheat condition exists according to the engine water temperature, the transmission temperature and the four-wheel drive system temperature, and control the off-road cruise function of the vehicle to be in an off state when the overheat condition exists.
It is a further object of the invention to propose a vehicle, wherein the vehicle comprises the above-mentioned vehicle control arrangement.
Compared with the prior art, the vehicle control device, the vehicle and the vehicle control method have the same advantages, and detailed description is omitted here
Technical details and benefits regarding the above-described system and vehicle have been set forth in the above-described method and will not be described in detail herein.
In summary, the vehicle control method and the vehicle control device provided by the application generate the corresponding mode adjusting instruction and the operation control instruction by acquiring the driving mode signal of the vehicle and the driving demand signal of the driver, and then control the corresponding execution mechanism to execute the instructions. Namely, the unified judgment processing is carried out on all function demand signals, and then the function demand signals are converted into control instructions, and then the control instructions are sent to all execution mechanisms, so that the direct communication and logic judgment processing between a function demand layer and the execution mechanisms is avoided, the function demand layer only needs to complete signal sending, and the execution mechanisms only need to complete instruction receiving, so that the control framework is clearer, the centralized processing advantages are achieved, the deceleration data are in miscellaneous and staggered mode, the condition that the function development is limited due to insufficient processing capacity of subsystem control units of the function demand layer and the execution mechanisms can be avoided, the platform software design is convenient to carry out, the interface is reserved for the mode and the function which are increased subsequently, and the problems that the whole vehicle controller local area network is overloaded easily in the existing vehicle control mode, the system execution efficiency is low, and the reliability is poor are solved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle control method, characterized by comprising:
acquiring a driving mode signal of the vehicle and a driving demand signal of a driver;
generating a mode adjusting instruction for each executing mechanism according to the driving mode signal, and sending the mode adjusting instruction to each executing mechanism so as to adjust each executing mechanism to a driving mode corresponding to the mode adjusting instruction;
and generating an operation control instruction aiming at a first target execution mechanism in each execution mechanism according to the driving demand signal, and sending the operation control instruction to the first target execution mechanism so as to control the first target execution mechanism to execute operation control operation corresponding to the operation control instruction.
2. The vehicle control method according to claim 1, characterized by further comprising:
monitoring first feedback information aiming at the mode adjusting instruction to determine a mode adjusting result of each executing mechanism;
and monitoring second feedback information aiming at the operation control instruction to determine the operation control state of each execution mechanism.
3. The vehicle control method of claim 1, wherein the actuators include a steering system, a braking system, a powertrain, a transmission, a four-wheel drive control system, a differential lock, and an active suspension system.
4. The vehicle control method according to claim 1, characterized in that the driving mode signal includes a snow mode signal, a mud mode signal, a sand mode signal, a 4L mode signal, an economy mode signal, a standard mode signal, a sport mode signal, an off-road cruise mode signal, and a tank turning mode signal.
5. The vehicle control method according to claim 1, characterized in that a correspondence relationship between a driving mode, an actuator, and a preset parameter is stored in the vehicle;
the generating a mode adjustment instruction for each actuator according to the driving mode signal, and sending the mode adjustment instruction to each actuator specifically includes:
determining a corresponding target driving mode according to the mode adjusting signal;
acquiring target preset parameters corresponding to the actuating mechanisms according to the target driving modes and the corresponding relations;
and sending the target preset parameters to a corresponding second target execution mechanism so that the second target execution mechanism can adjust working parameters according to the target preset parameters.
6. The vehicle control method according to claim 1, characterized in that the driving demand signal includes an accelerator pedal signal, a steering wheel signal, and a brake signal.
7. The vehicle control method according to claim 4, wherein, when the driving mode signal is an off-road cruise mode signal, the generating a mode adjustment command for each actuator according to the driving mode signal and sending the mode adjustment command to each actuator includes:
if the vehicle is in a 4L mode at present and the brake is released, generating a mode adjusting instruction for each executing mechanism according to the driving mode signal, and sending the mode adjusting instruction to each executing mechanism;
monitoring first feedback information aiming at the mode adjusting instruction;
when the first feedback information meets a preset condition, controlling an off-road cruise function of the vehicle to be in an activated state;
ignoring the driving mode signal if the vehicle is not currently in the 4L mode and/or the brake is not released.
8. The vehicle control method according to claim 7, characterized by, after generating an operation control instruction for a first target actuator among the respective actuators according to the driving demand signal and sending the operation control instruction to the first target actuator while an off-road cruise function of the vehicle is in an activated state, further comprising:
acquiring the current speed and the target speed of the vehicle;
and generating a vehicle speed adjusting instruction aiming at a power assembly and a braking system according to the target vehicle and the current vehicle speed, and sending the vehicle speed adjusting instruction to the power assembly and the braking system so as to adjust the vehicle speed of the vehicle until the difference value between the vehicle speed and the target vehicle speed is smaller than a preset threshold value.
9. The vehicle control method according to claim 7, characterized in that when an off-road cruise function of the vehicle is active, the method further comprises:
acquiring the water temperature of an engine, the temperature of a transmission and the temperature of a four-wheel drive system;
and judging whether an overheating condition exists or not according to the engine water temperature, the transmission temperature and the four-wheel drive system temperature, and controlling the off-road cruising function of the vehicle to be in a closed state when the overheating condition exists.
10. A vehicle control apparatus, characterized in that the apparatus comprises:
the advanced arbitration module is used for acquiring a driving mode signal of the vehicle and a driving demand signal of a driver, generating a mode adjustment instruction aiming at each execution mechanism according to the driving mode signal, and generating an operation control instruction aiming at a first target execution mechanism in each execution mechanism according to the driving demand signal;
the control scheduling module is used for sending the mode adjusting instruction to each executing mechanism so as to adjust each executing mechanism to a driving mode corresponding to the mode adjusting instruction; and sending the operation control instruction to the first target execution mechanism to control the first target execution mechanism to execute the operation control operation corresponding to the operation control instruction.
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| CN202010270732.8A CN111559385A (en) | 2020-04-08 | 2020-04-08 | Vehicle control method and device |
| PCT/CN2021/085881 WO2021204177A1 (en) | 2020-04-08 | 2021-04-08 | Vehicle control method and device |
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| CN202010270732.8A CN111559385A (en) | 2020-04-08 | 2020-04-08 | Vehicle control method and device |
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Application publication date: 20200821 |