CN112061106A - Automatic driving control method, device, vehicle and storage medium - Google Patents
Automatic driving control method, device, vehicle and storage medium Download PDFInfo
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- CN112061106A CN112061106A CN202010966346.2A CN202010966346A CN112061106A CN 112061106 A CN112061106 A CN 112061106A CN 202010966346 A CN202010966346 A CN 202010966346A CN 112061106 A CN112061106 A CN 112061106A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
Abstract
The invention discloses an automatic driving control method, an automatic driving control device, a vehicle and a storage medium, wherein the method comprises the following steps: initiating a hill autopilot condition when the vehicle is on a hill; determining the ramp acceleration according to the current running information of the vehicle, and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve; and controlling the vehicle to run according to the driving torque and the braking torque. According to the embodiment of the application, the driving torque and the braking torque of the ramp acceleration required by vehicle running are determined by using the preset decoupling curve in the ramp, so that the automatic driving of the vehicle under the condition of the ramp road is realized, the safety of the vehicle is enhanced, and the running experience of a driver can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic control, in particular to an automatic driving control method, an automatic driving control device, a vehicle and a storage medium.
Background
With the development of the internet of vehicles technology, the automatic driving function has become an important research point in the industry, the application of automatic driving on the current vehicle can gradually adapt to the driving conditions under different scenes, however, for roads with larger gradients, the current vehicle cannot activate the automatic driving function, or take over reminding occurs in the execution process of the automatic driving function. Such frequent exiting of the automatic driving function or the failure to enter the automatic driving function may seriously reduce the experience of the driver and increase the risk of the vehicle running.
Disclosure of Invention
The invention provides an automatic driving control method, an automatic driving control device, a vehicle and a storage medium, which are used for realizing automatic driving of a vehicle on a steep slope road, reducing the driving danger of the vehicle and improving the experience degree of a driver.
In a first aspect, an embodiment of the present application provides an automatic driving control method, where the method includes:
initiating a hill autopilot condition when the vehicle is on a hill;
determining the ramp acceleration according to the current running information of the vehicle, and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve;
and controlling the vehicle to run according to the driving torque and the braking torque.
In a second aspect, an embodiment of the present application provides an automatic driving control apparatus, including:
the driving starting module is used for starting a ramp automatic driving state when the vehicle is positioned on a ramp;
the torque determining module is used for determining the ramp acceleration according to the current running information of the vehicle and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve;
and the vehicle control module is used for controlling the vehicle to run according to the driving torque and the braking torque.
In a third aspect, an embodiment of the present application provides a vehicle, including:
one or more controllers;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement an autopilot control method as described in any of the embodiments of the present application.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, the program, when executed by a controller, implementing an automatic driving control method according to any of the embodiments of the present application.
The embodiment of the application, through starting the automatic driving state of the ramp when the vehicle is located the ramp, determine the ramp acceleration according to the current driving information of the vehicle, and determine the driving torque and the braking torque that the ramp acceleration corresponds through the preset decoupling curve, and control the vehicle to travel according to the driving torque and the braking torque, the automatic driving of the vehicle in the ramp is realized, the problem of driving safety hidden danger caused by frequent occurrence of automatic driving function quitting and takeover reminding is solved, the safety of the vehicle in the automatic driving scene is improved, and the driving experience of a user can be enhanced.
Drawings
FIG. 1 is a flow chart of an automatic driving control method according to an embodiment of the present disclosure;
fig. 2 is a flowchart of an automatic driving control method according to a second embodiment of the present application;
fig. 3 is an exemplary diagram of a preset decoupling curve provided in the second embodiment of the present application;
fig. 4 is an exemplary diagram of an automatic driving control method provided in the second embodiment of the present application;
fig. 5 is a schematic structural diagram of an automatic driving control device according to a third embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present disclosure;
FIG. 7 is an exemplary illustration of a vehicle provided in a fourth embodiment of the present application;
fig. 8 is a network architecture diagram of a vehicle according to a fourth embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of an automatic driving control method provided in an embodiment of the present application, where the embodiment is applicable to a situation where a vehicle is automatically driven on a slope, and the method may be executed by an automatic driving control device, which may be implemented in a hardware and/or software manner, and referring to fig. 1, the method provided in the embodiment of the present application specifically includes the following steps:
The vehicle may be an automobile with an automatic driving function, and may include a new energy automobile and a conventional fuel automobile. The ramp may be a sloped roadway. The hill autopilot state may be a state in which the vehicle is automatically traveling in a hill.
Specifically, the lane where the vehicle is located may be detected by the vehicle, and the vehicle may be controlled to initiate a hill autopilot function when the vehicle is determined to be on a hill, so that the vehicle may travel in the hill using autopilot.
And step 120, determining the ramp acceleration according to the current running information of the vehicle, and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve.
The current driving information may be related information of a current driving state of the vehicle, and may include information such as an automatic driving parameter set by a driver, a driving pedal travel, a brake pedal travel, and a steering wheel angle. The hill acceleration may be an acceleration that is required to drive the vehicle up or down a hill, the driving torque may be a torque for driving the vehicle to run, and the braking torque may be a torque for use in decelerating the vehicle.
In the embodiment of the invention, the information reflecting the current running state of the vehicle can be collected, the information can be input into the controller of the vehicle, the target acceleration required by the vehicle in the current running state can be searched through a calculation formula or a parameter calibration table prestored in the controller, and the target acceleration can be used as the ramp acceleration of the vehicle. Because the driving torque and the braking torque required by the vehicle when the vehicle runs on the slope can change along with the change of the slope, the driving torque and the braking torque required by the slope acceleration under the current running state can be determined according to the preset decoupling curve. The preset decoupling curves can store curves of distribution relations of driving torque and braking torque under different gradients and different speeds, and the distribution relations of the driving torque and the braking torque corresponding to the ramp acceleration under different speeds and different gradients are different.
And step 130, controlling the vehicle to run according to the driving torque and the braking torque.
Specifically, when the vehicle is in a hill-climbing automatic driving state, the driving device of the vehicle can be controlled to output driving torque, and the braking device of the vehicle can be controlled to output braking torque, so that the vehicle can reach the hill acceleration required for driving on the hill through the driving torque and the braking torque.
The embodiment of the application, through starting the automatic driving state of the ramp when the vehicle is located the ramp, determine the ramp acceleration according to the current driving information of the vehicle, and determine the driving torque and the braking torque that the ramp acceleration corresponds through the preset decoupling curve, and control the vehicle to travel according to the driving torque and the braking torque, the automatic driving of the vehicle in the ramp is realized, the problem of driving safety hidden danger caused by frequent occurrence of automatic driving function quitting and takeover reminding is solved, the safety of the vehicle in the automatic driving scene is improved, and the driving experience of a user can be enhanced.
Example two
Fig. 2 is a flowchart of an automatic driving control method provided in an embodiment of the present application, which is embodied on the basis of the above embodiment, and determines that a vehicle is on a slope through a gradient and a gradient change rate, and determines a corresponding preset decoupling curve according to a slope acceleration, referring to fig. 2, the method provided in the embodiment of the present application includes the following steps:
The environment data may be data of an environment where the vehicle is located, and may include lane data, landmark data, landscape data, and the like.
Specifically, a sensor arranged in the vehicle can collect data of an environment where the vehicle is located, can collect environment data such as lane line images, roadside landscape distances, road sign indication information and the like, and can process the environment data through a neural network or a mode recognition method and the like to determine the gradient of the vehicle where the vehicle is located.
And step 220, if the gradient is greater than the gradient threshold value and the variation of the gradient within the preset time is greater than the variation threshold value, determining that the vehicle is in a ramp control starting ramp automatic driving state, and otherwise, not changing the running state of the vehicle.
The gradient threshold may be a numerical value used for determining that the lane is on a slope, and when the gradient of the lane is greater than the gradient threshold, the lane may be regarded as a slope. The change amount of the slope may be a change degree of the slope in a period of time, and may be a change degree of the current slope and the slope acquired last time.
In this embodiment of the application, the acquired gradient may be compared with a threshold gradient, and when it is determined that the gradient is greater than the threshold gradient and the amount of change in the gradient acquired within the preset time is greater than the change threshold, it may be determined that the vehicle is on the gradient, and the vehicle may be controlled to start the automatic driving state of the ramp, otherwise, it may be determined that the vehicle is still in a normal lane, and the driving state of the vehicle may not be changed.
And step 230, acquiring at least one of the current cruising speed, the brake pedal stroke, the accelerator pedal stroke and the steering wheel angle of the vehicle as current running information.
The cruising speed may be a speed at which the vehicle is cruising at a constant speed set by the driver. The brake pedal stroke may be a degree to which the brake pedal is depressed, and may indicate a braking state of the vehicle. The accelerator pedal stroke may be a degree to which the accelerator pedal is depressed, and may indicate an acceleration state of the vehicle. The steering wheel angle may be the angle of rotation of the steering wheel, and may indicate the turning of the vehicle.
Specifically, a sensor may be disposed in the vehicle to collect internal states of the vehicle during traveling, which may include a cruising speed, a brake pedal travel, an accelerator pedal travel, a steering wheel angle, and the like, and the collected information may be used as current traveling information of the vehicle.
And step 240, searching the ramp acceleration corresponding to the current driving information in a preset calibration information table.
The preset calibration information table may be an information table in which current driving information and ramp acceleration are stored, the current driving information with different values in the preset calibration information table may correspond to different ramp accelerations, and the preset calibration information table may be generated through vehicle experiment calibration.
In the embodiment of the application, the stored acceleration value can be associated by the difference value of the numerical value of the current running information in the preset calibration information table, and the acceleration value can be used as the slope acceleration required by the vehicle running on the slope.
And 250, searching a preset decoupling curve corresponding to the ramp acceleration, and acquiring the real-time speed of the vehicle according to a preset time interval.
Specifically, a plurality of preset decoupling curves can be stored in the vehicle, the preset decoupling curves corresponding to the ramp acceleration of different values are different, optionally, the vehicle can be divided into a plurality of ramp acceleration value intervals according to different values, and each value interval can correspond to one preset decoupling curve. And a preset decoupling curve corresponding to the acquired ramp acceleration difference value can be used in the vehicle. In the embodiment of the application, the preset decoupling curve can be related to the current speed of the vehicle, and the real-time speed of the vehicle can be continuously monitored.
And step 260, searching for the driving torque and the braking torque corresponding to the real-time vehicle speed in a preset decoupling curve.
In the embodiment of the application, the real-time vehicle speed of the vehicle may correspond to one coordinate in the preset decoupling curve, and the abscissa and the ordinate of the coordinate may be respectively used as the driving torque and the braking torque of the vehicle. Fig. 3 is an exemplary diagram of a preset decoupling curve provided in the second embodiment of the present application, referring to fig. 3, when a vehicle is in an uphill state, has the same vehicle mass M, has the same gradient I, and has a real-time vehicle speed of 0km/h, in order to meet the same slope acceleration, a pressure corresponding to a braking torque is gradually reduced from Pa, and a pressure corresponding to a driving torque is gradually increased from Ta; if the real-time vehicle speed is Va which is greater than 0km/h, and the vehicle runs to a road section with a longitudinal slope and a slope Ia, in order to keep the same slope acceleration, the pressure corresponding to the braking torque required for slope acceleration decoupling is gradually reduced from Pa to beta Pa, and the pressure corresponding to the driving torque is gradually increased from Ta to alpha Ta. When the vehicle is in a downhill state, the mass M of the vehicle is the same, the gradient I is the same, and the real-time speed is 0Km/h, in order to meet the acceleration of the same ramp, the pressure corresponding to the braking torque is gradually reduced from Pb, and the pressure corresponding to the driving torque is gradually increased from Tb; if the current speed is Vb larger than 0km/h and the vehicle runs to a road section with a longitudinal slope and an Ib gradient, in order to keep the same slope acceleration, the pressure of the braking torque required by slope acceleration decoupling is gradually reduced from lambda Pb, and the driving torque is gradually improved from nu Tb.
And step 270, controlling the output torques of the electronic vehicle body stabilizing system and the driving system to be a braking torque and a driving torque respectively.
Specifically, the braking torque and the driving torque may be sent to controllers of the electronic vehicle body stabilizing system and the driving system, and the controllers may control the electronic vehicle body stabilizing system and the driving system to output corresponding torques.
And step 280, controlling the vehicle to exit from the automatic driving state of the ramp when the gradient of the ramp is greater than the take-over threshold value.
The takeover threshold can be a ramp threshold for a driver to take over the vehicle, and when the ramp is large, the automatic driving function has potential safety hazards and the driver needs to take over the vehicle.
In the embodiment of the application, the slope on which the vehicle is located can be monitored, when the slope of the monitored road slope is greater than the takeover threshold value, the vehicle can be controlled to exit from the automatic driving state of the slope, when the vehicle exits from the automatic driving state of the slope, the vehicle can send out reminding information to the driver, and the vehicle exits from the automatic driving state of the slope after obtaining the confirmation information of the driver.
Further, on the basis of the embodiment of the above application, the manner of acquiring the environmental data around the vehicle includes at least one of the following: the method comprises the steps of collecting through a millimeter wave radar, collecting through an image sensor and obtaining according to a high-precision map.
In the embodiment of the application, millimeter radar waves, an image sensor and a high-precision map can be arranged in the vehicle, and data of the environment where the vehicle is located can be determined through at least one device.
Fig. 4 is an exemplary diagram of an automatic driving control method provided in the second embodiment of the present application, and referring to fig. 4, an exemplary embodiment includes the following steps:
1. the vehicle judges the current state of the vehicle, and whether the gradient of the lane in which the vehicle is positioned exceeds the gradient of a longitudinal slope of a common road by 3 percent. If not, the vehicle may normally activate the hill hold function; and if the longitudinal slope gradient is greater than 3%, and the longitudinal slope gradient change rate ζ is obtained, wherein the longitudinal slope gradient change rate can be the difference value between the longitudinal slope gradient value of the current measurement and calculation period and the longitudinal slope gradient value of the last measurement and calculation period in unit time. When the gradient of the longitudinal slope is less than zeta0Entering a driving state of the ramp road section; if the change rate of the longitudinal slope gradient is more than zeta0And reminding the driver to take over, gradually increasing the brake pressure, reducing the driving torque, and parking in the current lane.
2. When the automatic driving function is started, the vehicle needs to calculate the acceleration Ax of the whole vehicle ramp based on the cruising speed or the function requirement set by the driver. The power distribution unit of the vehicle needs to combine the vehicle state and the longitudinal slope information to decouple Ax so as to distribute the driving torque and the braking pressure. So as to meet the driving conditions of uphill slope, downhill slope and different longitudinal slope slopes.
3. The vehicle running gradient state is monitored in real time, vehicle body information and road information are received, dynamic adjustment is achieved, and a feedback closed loop is formed. The decoupling of the vehicle target longitudinal acceleration Ax relates to vehicle dynamics and kinematics analysis, and the implementation modes of the decoupling relate to different vehicle speeds and vehicle weights. In general, the logic for Ax decoupling is as follows:
when the vehicle is in an uphill state, the mass M of the vehicle is the same, the gradient I is the same, and the current vehicle speed is 0km/h, in order to meet the same Ax, the braking pressure is gradually reduced from Pa, and the driving torque is gradually increased from Ta; if the current vehicle speed is Va (greater than 0), namely in the automatic driving activation state, when the vehicle runs to a road section with a longitudinal slope Ia, in order to keep the same Ax, the acceleration decoupling brake pre-charging pressure is gradually reduced from Pa to alpha Pa, and the driving torque is gradually increased from Ta to beta Ta. Viewed from another perspective, if the vehicle is accelerating on a grade while ascending a hill, the rate of rise of the drive torque should be made faster than the rate of fall of the brake pre-charge; if the vehicle is going uphill and the vehicle requests to run at a reduced speed, the rate of rise of the driving torque is made slower than the rate of fall of the brake pre-charging pressure.
When the vehicle is in a downhill state, the mass M of the vehicle is the same, the gradient I is the same, and the current vehicle speed is 0Km/h, in order to meet the same Ax, the braking pressure is gradually reduced from Pb, and the driving torque is gradually increased from Tb; if the current vehicle speed is Vb (greater than zero), namely in the automatic driving activation state, when the vehicle runs to a section with a longitudinal slope as Ib, in order to keep the same Ax, the braking pressure required by acceleration decoupling is gradually reduced from lambda Pb, and the driving torque is gradually improved from v Tb. Similarly, when the vehicle requests to accelerate downhill, the climbing rate of the driving torque is faster than the falling rate of the braking pressure; when the vehicle requests deceleration downhill, the rate of rise of the driving torque is made slower than the rate of fall of the brake pressure. Ax should be 0 when the real-time speed of the vehicle reaches the preset cruise speed. At this time, the vehicle should be kept in a stable state while keeping the weighting factors of the current driving torque and the brake pressure unchanged. And when alpha, beta, lambda and v are decoupled and distributed under different working conditions at the same target acceleration Ax, distributing weight coefficients corresponding to the braking pressure and the driving torque are obtained. And the weight coefficient is correspondingly adjusted along with the change of the real-time speed of the vehicle.
EXAMPLE III
Fig. 5 is a schematic structural diagram of an automatic driving control device provided in the third embodiment of the present application, which is capable of executing an automatic driving control method provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method. The device can be implemented by software and/or hardware, and specifically comprises: a driving initiation module 301, a torque determination module 302, and a vehicle control module 303.
A driving initiation module 301 for initiating a hill autopilot state when the vehicle is located on a hill.
The torque determining module 302 is configured to determine a ramp acceleration according to the current driving information of the vehicle, and determine a driving torque and a braking torque corresponding to the ramp acceleration according to a preset decoupling curve.
And a vehicle control module 303, configured to control the vehicle to run according to the driving torque and the braking torque.
According to the embodiment of the application, the automatic driving state of the ramp is started when the vehicle is located on the ramp through the driving starting module, the torque determining module determines the ramp acceleration according to the current driving information of the vehicle, and determines the driving torque and the braking torque corresponding to the ramp acceleration through the preset decoupling curve, the vehicle control module controls the vehicle to drive according to the driving torque and the braking torque, the automatic driving of the vehicle in the ramp is realized, the problem that the automatic driving function quits and takes over the driving safety hazard caused by frequent occurrence of reminding is solved, the safety of the vehicle in the automatic driving scene is improved, and the driving experience of a user can be enhanced.
Further, on the basis of the embodiment of the above application, the driving start module 301 includes:
a gradient determination unit that acquires environmental data around the vehicle and determines a gradient of a lane based on the environmental data.
And the starting execution unit is used for determining that the vehicle is in a ramp control starting ramp automatic driving state if the gradient is greater than a gradient threshold value and the variation of the gradient is greater than a change rate threshold value within preset time, otherwise, not changing the running state of the vehicle.
Further, on the basis of the embodiment of the above application, the manner of acquiring the environmental data around the vehicle in the gradient determining unit at least includes one of the following:
the method comprises the steps of collecting through a millimeter wave radar, collecting through an image sensor and obtaining according to a high-precision map.
Further, on the basis of the embodiment of the above application, the torque determination module 302 includes:
an information acquisition unit configured to acquire at least one of a current cruising speed, a brake pedal stroke, an accelerator pedal stroke, and a steering wheel angle of the vehicle as the current running information.
And the acceleration unit is used for searching the ramp acceleration corresponding to the current running information in a preset calibration information table.
Further, on the basis of the embodiment of the above application, the torque determination module 302 further includes:
and the vehicle speed acquisition unit is used for searching a preset decoupling curve corresponding to the ramp acceleration and acquiring the real-time vehicle speed of the vehicle according to a preset time interval.
And the torque searching unit is used for searching the driving torque and the braking torque corresponding to the real-time vehicle speed in a preset decoupling curve.
Further, on the basis of the foregoing application embodiment, the vehicle control module 303 is specifically configured to: and controlling the output torques of the electronic vehicle body stabilizing system and the driving system to be the braking torque and the driving torque respectively.
Example four
Fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present application, and as shown in fig. 6, the vehicle includes a controller 60, a memory 61, an input device 62, and an output device 63; the number of controllers 60 in a device/terminal/server may be one or more, and one controller 60 is illustrated in fig. 6; the controller 60, the memory 61, the input device 62, and the output device 63 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 6.
The memory 61, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic driving control method in the embodiment of the present invention (e.g., a driving start module 301, a torque determination module 302, and a vehicle control module 303 in the automatic driving control apparatus). The controller 60 executes various functional applications and data processing of the vehicle, that is, implements the above-described automatic driving control method, by executing software programs, instructions, and modules stored in the memory 61.
The memory 61 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 61 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 61 may further include memory remotely located from the controller 60, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 62 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the vehicle. The output device 63 may include a display device such as a display screen.
Fig. 7 is an exemplary diagram of a vehicle provided in the fourth embodiment of the present application, and in an exemplary implementation, referring to fig. 7, the vehicle may include three parts, namely, a sensing system, an automatic driving system and a power system, and the automatic driving system may perform the automatic driving control method provided in any embodiment of the present application. The sensing system is divided into an external information sensing module and a vehicle body information sensing module; the automatic driving system comprises a data fusion module, a track planning module, a power distribution module and a control decision module; the power system comprises an automobile body electronic stabilizing system, a whole automobile controller and a steering power-assisted system. The external information sensing module comprises a front-view camera, five millimeter wave radars (including a front millimeter wave radar, a front left corner millimeter wave radar, a front right corner millimeter wave radar, a rear left corner millimeter wave radar and a rear right corner millimeter wave radar), a rear-view camera, a high-precision map, an intelligent antenna and other sensing devices;
the vehicle body information sensing module comprises a tire pressure sensor, a vehicle speed sensor, a wheel speed sensor, a longitudinal acceleration sensor, a brake pedal stroke sensor, an accelerator pedal stroke sensor, a steering wheel power-assisted sensor and a road longitudinal slope measuring and calculating unit; the data fusion module can be used for screening and reconstructing sensing information, recognizing scene information such as lane lines, target vehicles and the like through fusion information of the camera and the radar, and supporting decision control of the automatic driving vehicle. And the path planning module plans the path when the vehicle automatically drives through the collected road information and the collected vehicle body information. The power distribution module can convert the longitudinal acceleration information of the vehicle into an input instruction corresponding to the actuator, namely decoupling the ramp acceleration into the braking pressure of the electronic vehicle body stabilizing system and the driving torque of the vehicle control unit through a power distribution curve. And the control decision module can output each control instruction to the bus to drive the corresponding actuator to work based on the trajectory planning and the power distribution. Furthermore, the connection mode of the automatic driving system, the vehicle body electronic stabilizing system, the power steering system and the vehicle control unit is shown in fig. 8, the automatic driving system can be connected with a high-precision map, the vehicle body electronic stabilizing system, the power steering system, the vehicle control unit and the like through a gateway, and the automatic driving system carries out decision-making through data collected by the high-precision map, a millimeter wave radar, a front-view camera and a rear-view camera to determine driving torque and braking torque of ramp driving. The vehicle body electronic stabilizing system, the steering power-assisted system and the vehicle control unit realize the driving control of the vehicle through the driving torque and the braking torque transmitted by the gateway, and meanwhile, the vehicle body electronic stabilizing system, the steering power-assisted system and the vehicle control unit can also acquire the data of the accelerator pedal stroke sensor, the brake pedal stroke sensor and the steering wheel power-assisted sensor in the control process, so that the closed-loop control of the automatic driving of the vehicle is realized.
EXAMPLE five
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform an autopilot control method, the method including:
initiating a hill autopilot condition when the vehicle is on a hill;
determining the ramp acceleration according to the current running information of the vehicle, and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve;
and controlling the vehicle to run according to the driving torque and the braking torque.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the automatic driving control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the automatic driving control device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automatic driving control method, characterized in that the method comprises:
initiating a hill autopilot condition when the vehicle is on a hill;
determining the ramp acceleration according to the current running information of the vehicle, and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve;
and controlling the vehicle to run according to the driving torque and the braking torque.
2. The method of claim 1, wherein initiating a hill autopilot state when the vehicle is on a hill comprises:
acquiring environmental data around the vehicle, and determining the gradient of a lane based on the environmental data;
and if the gradient is greater than a gradient threshold value and the variation of the gradient within the preset time is greater than a change rate threshold value, determining that the vehicle is in a ramp control starting ramp automatic driving state, otherwise, not changing the running state of the vehicle.
3. The method of claim 2, wherein the manner of obtaining environmental data about the vehicle includes at least one of:
the method comprises the steps of collecting through a millimeter wave radar, collecting through an image sensor and obtaining according to a high-precision map.
4. The method of claim 1, wherein determining a hill acceleration based on current driving information of the vehicle comprises:
acquiring at least one of the current cruising speed, the travel of a brake pedal, the travel of an accelerator pedal and the steering wheel angle of the vehicle as the current running information;
and searching the ramp acceleration corresponding to the current driving information in a preset calibration information table.
5. The method according to claim 1 or 4, wherein the determining the driving torque and the braking torque corresponding to the hill acceleration according to a preset decoupling curve comprises:
searching a preset decoupling curve corresponding to the ramp acceleration, and acquiring the real-time speed of the vehicle according to a preset time interval;
and searching the driving torque and the braking torque corresponding to the real-time vehicle speed in a preset decoupling curve.
6. The method according to claim 5, wherein the controlling the vehicle to travel according to the driving torque and the braking torque comprises:
and controlling the output torques of the electronic vehicle body stabilizing system and the driving system to be the braking torque and the driving torque respectively.
7. The method of claim 1, further comprising: and when the gradient of the ramp is greater than the take-over threshold value, controlling the vehicle to exit the ramp automatic driving state.
8. An automatic driving control apparatus, characterized in that the apparatus comprises:
the driving starting module is used for starting a ramp automatic driving state when the vehicle is positioned on a ramp;
the torque determining module is used for determining the ramp acceleration according to the current running information of the vehicle and determining the driving torque and the braking torque corresponding to the ramp acceleration according to a preset decoupling curve;
and the vehicle control module is used for controlling the vehicle to run according to the driving torque and the braking torque.
9. A vehicle, characterized in that the vehicle comprises:
one or more controllers;
a memory for storing one or more programs,
when executed by the one or more controllers, cause the one or more controllers to implement the autopilot control method of any of claims 1-7.
10. A computer-readable storage medium on which a computer program is stored, the program, when executed by a controller, implementing an autopilot control method according to any one of claims 1-7.
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| CN113044036A (en) * | 2021-05-12 | 2021-06-29 | 中国第一汽车股份有限公司 | Control method and device for vehicle lane changing, electronic equipment and storage medium |
| CN113335287A (en) * | 2021-07-22 | 2021-09-03 | 中国第一汽车股份有限公司 | Steep descent control method and system, vehicle and storage medium |
| CN113415176A (en) * | 2021-07-19 | 2021-09-21 | 上海洛轲智能科技有限公司 | Vehicle control method and device, vehicle and storage medium |
| CN114013450A (en) * | 2021-11-16 | 2022-02-08 | 交控科技股份有限公司 | Vehicle operation control method and system and computer equipment |
| CN114397845A (en) * | 2022-01-14 | 2022-04-26 | 重庆长安汽车股份有限公司 | Automatic driving longitudinal motion control system and control method based on vehicle weight |
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