CN112224205A - Mode switching method and device for vehicle and control system thereof, and storage medium - Google Patents
Mode switching method and device for vehicle and control system thereof, and storage medium Download PDFInfo
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- CN112224205A CN112224205A CN202011109055.8A CN202011109055A CN112224205A CN 112224205 A CN112224205 A CN 112224205A CN 202011109055 A CN202011109055 A CN 202011109055A CN 112224205 A CN112224205 A CN 112224205A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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Abstract
The invention discloses a mode switching method, a mode switching device and a storage medium of a vehicle and a control system thereof, wherein the method comprises the following steps: after receiving an adaptive cruise mode switching request instruction of a vehicle, sending an initialization instruction to an adaptive cruise control system to control the adaptive cruise control system to initialize; after the initialization of the self-adaptive cruise control system is completed, a torque transition instruction is sent to the self-adaptive cruise control system to control the self-adaptive cruise control system to gradually increase the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller; after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle controller, the vehicle controller is controlled to stop outputting the control torque so that the vehicle is switched from the non-adaptive cruise mode to the adaptive cruise mode. Therefore, the problem that the vehicle shakes due to sudden torque change when the vehicle enters the ACC working condition, namely the adaptive cruise mode, can be effectively solved.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a mode switching method, a mode switching device and a storage medium for a vehicle and a control system thereof.
Background
In general, in an ACC (Adaptive Cruise Control) system of a Vehicle, there is a process of power Control switching, that is, when the Vehicle is operated in a non-ACC condition, torque distribution of the Vehicle is controlled by a VCU (Vehicle Control Unit), in which case, if the ACC system directly takes over Control of the Vehicle during a driver's request to enter the ACC condition, abrupt torque change of the Vehicle may be caused, thereby causing Vehicle shake and affecting comfort of the Vehicle.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art. Therefore, a first objective of the present invention is to provide a mode switching method for a vehicle control system, which can effectively eliminate the problem of vehicle judder caused by a sudden torque change when a vehicle enters an ACC operating mode, i.e., an adaptive cruise mode, and effectively improve the comfort of the vehicle.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a mode switching device of a vehicle control system.
A fourth object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a mode switching method for a vehicle control system, where the vehicle control system includes a vehicle controller and an adaptive cruise control system, and the method includes the following steps: after receiving an adaptive cruise mode switching request instruction of a vehicle, sending an initialization instruction to an adaptive cruise control system to control the adaptive cruise control system to initialize; after the initialization of the self-adaptive cruise control system is completed, a torque transition instruction is sent to the self-adaptive cruise control system to control the self-adaptive cruise control system to gradually increase the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller; after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle controller, the vehicle controller is controlled to stop outputting the control torque so that the vehicle is switched from the non-adaptive cruise mode to the adaptive cruise mode.
According to the mode switching method of the vehicle control system, after the adaptive cruise mode switching request instruction of the vehicle is received, an initialization instruction is sent to the adaptive cruise control system to control the adaptive cruise control system to initialize, after the initialization of the adaptive cruise control system is completed, a torque transition instruction is sent to the adaptive cruise control system to control the adaptive cruise control system to gradually increase the control torque of the adaptive cruise control system to the control torque of the whole vehicle controller, and after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the whole vehicle controller, the whole vehicle controller is controlled to stop outputting the control torque to enable the vehicle to be switched from the non-adaptive cruise mode to the adaptive cruise mode. In the mode switching process, the control right of the vehicle is handed to the adaptive cruise control system after the adaptive cruise control system gradually raises the control torque of the adaptive cruise control system to the control torque of the vehicle controller, so that torque transition can be stably and safely realized, instantaneous torque sudden change of the adaptive cruise mode can be avoided, acceleration sudden change caused by the torque sudden change can be avoided, shaking of the vehicle when the vehicle enters the adaptive cruise mode is eliminated, and the comfort of the adaptive cruise mode of the vehicle is improved.
According to some embodiments of the invention, the mode switching method of the vehicle control system described above further includes: receiving initialization completion identification information sent by the self-adaptive cruise control system, and judging whether the initialization completion identification information is the same as first preset information or not; if the initialized identification information is the same as the first preset information, a torque transition instruction is sent to the self-adaptive cruise control system; and if the initialization completion identification information is different from the first preset information and the delay time reaches the first preset time, stopping mode switching and reminding.
According to some embodiments of the invention, the mode switching method of the vehicle control system described above further includes: receiving torque transition completion identification information sent by the adaptive cruise control system, and judging whether the torque transition completion identification information is the same as second preset information; if the torque transition completion identification information is the same as the second preset information, controlling the whole vehicle controller to stop outputting the control torque; and if the torque transition completion identification information is different from the second preset information and the delay time reaches the second preset time, stopping mode switching and reminding.
According to some embodiments of the invention, after receiving an adaptive cruise mode switching request command of a vehicle, the method further comprises: setting the running state flag position of the whole vehicle controller as a first value, setting the vehicle longitudinal control flag position of the adaptive cruise control system as a second value, and sending an initialization instruction carrying the vehicle longitudinal control flag position to the adaptive cruise control system.
Further, after the initialization of the adaptive cruise control system is completed, the method further comprises the following steps: setting the running state flag position of the whole vehicle controller as a first value, setting the vehicle longitudinal control flag position of the adaptive cruise control system as a third value, and sending a torque transition instruction carrying the vehicle longitudinal control flag position to the adaptive cruise control system.
Further, after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle control unit, the method further comprises the following steps: and setting the running state flag position of the whole vehicle controller as a fourth value, and setting the vehicle longitudinal control flag position of the self-adaptive cruise control system as a third value so as to control the whole vehicle controller to stop outputting the control torque.
Further, when the vehicle is in the non-adaptive cruise mode, the method further comprises the following steps: and setting the running state flag position of the whole vehicle controller as a first value, and setting the vehicle longitudinal control flag position of the self-adaptive cruise control system as a fifth value.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium having stored thereon a mode switching program of a vehicle control system, which when executed by a processor implements the above-described mode switching method of the vehicle control system.
According to the computer-readable storage medium of the embodiment of the invention, through the mode switching method of the vehicle control system, during mode switching, torque transition can be stably and safely realized, so that transient torque mutation at the moment of activating the adaptive cruise mode can be avoided, acceleration mutation caused by the transient torque mutation can be avoided, shaking of the vehicle when the vehicle enters the adaptive cruise mode can be eliminated, and comfort of the vehicle in the adaptive cruise mode can be improved.
In order to achieve the above object, a third aspect of the present invention provides a mode switching apparatus of a vehicle control system, the vehicle control system including a vehicle control unit and an adaptive cruise control system, the apparatus including: the system comprises a receiving module, a processing module and a control module, wherein the receiving module is used for receiving an adaptive cruise mode switching request instruction of a vehicle; the initialization module is used for sending an initialization instruction to the adaptive cruise control system to control the adaptive cruise control system to initialize after the receiving module receives an adaptive cruise mode switching request instruction of the vehicle; the torque transition module is used for sending a torque transition instruction to the adaptive cruise control system to control the adaptive cruise control system to gradually increase the control torque of the adaptive cruise control system to the control torque of the whole vehicle controller after the adaptive cruise control system is initialized; and the mode switching module is used for controlling the whole vehicle controller to stop outputting the control torque so as to switch the vehicle from the non-adaptive cruise mode to the adaptive cruise mode after the adaptive cruise control system gradually increases the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller.
According to the mode switching device of the vehicle control system of the embodiment of the invention, the receiving module receives the self-adaptive cruise mode switching request instruction of the vehicle, after the initialization module receives the self-adaptive cruise mode switching request instruction of the vehicle, sending an initialization command to the adaptive cruise control system to control the adaptive cruise control system to initialize, and after the initialization of the self-adaptive cruise control system is completed, a torque transition instruction is sent to the self-adaptive cruise control system through the torque transition module to control the self-adaptive cruise control system to gradually increase the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller, after the self-adaptive cruise control system gradually increases the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller through the mode switching module, and controlling the vehicle controller to stop outputting the control torque so as to switch the vehicle from the non-adaptive cruise mode to the adaptive cruise mode. In the mode switching process, the control right of the vehicle is handed to the adaptive cruise control system after the adaptive cruise control system gradually raises the control torque of the adaptive cruise control system to the control torque of the vehicle controller, so that torque transition can be stably and safely realized, instantaneous torque sudden change of the adaptive cruise mode can be avoided, acceleration sudden change caused by the torque sudden change can be avoided, shaking of the vehicle when the vehicle enters the adaptive cruise mode is eliminated, and the comfort of the adaptive cruise mode of the vehicle is improved.
In order to achieve the above object, a fourth aspect of the present invention provides a vehicle including the mode switching device of the vehicle control system described above.
According to the vehicle of the embodiment of the invention, through the mode switching device of the vehicle control system, the torque transition can be stably and safely realized during the mode switching, so that the transient torque mutation caused by the activation of the adaptive cruise mode can be avoided, the acceleration mutation caused by the torque mutation can be avoided, the shake of the vehicle when the vehicle enters the adaptive cruise mode can be eliminated, and the comfort of the adaptive cruise mode of the vehicle can be improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a mode switching method of a vehicle control system according to one embodiment of the present invention;
FIG. 2 is a schematic view of a vehicle control system interacting with states during mode switching according to an embodiment of the present invention;
fig. 3 is a block diagram of a mode switching device of a vehicle control system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Mode switching methods, apparatuses, and storage media of a vehicle and a control system thereof according to embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a mode switching method of a vehicle control system according to an embodiment of the present invention. The vehicle control system comprises a vehicle controller and an adaptive cruise control system, and referring to fig. 1, the mode switching method of the vehicle control system comprises the following steps:
and step S102, after receiving the adaptive cruise mode switching request instruction of the vehicle, sending an initialization instruction to the adaptive cruise control system to control the adaptive cruise control system to initialize.
Generally, a button for entering an adaptive cruise mode is provided on a steering wheel of a Vehicle, the button is connected to a Vehicle Control unit of the Vehicle, and after a driver presses the button, the Vehicle Control unit receives an adaptive cruise mode switching request command, and based on the request command, the Vehicle Control unit sends an initialization command to an adaptive cruise Control system to initialize the adaptive cruise Control system, for example, to initialize a Control variable related to a VLC (longitudinal Control) of the Vehicle in the adaptive cruise Control system.
And step S104, after the initialization of the adaptive cruise control system is completed, a torque transition instruction is sent to the adaptive cruise control system to control the adaptive cruise control system to gradually increase the control torque of the adaptive cruise control system to the control torque of the whole vehicle controller.
After the initialization of the adaptive cruise control system is completed, the vehicle controller sends a torque transition instruction to the adaptive cruise control system, and the adaptive cruise control system gradually reaches the current control torque of the vehicle controller by gradually increasing the control torque of the vehicle controller after receiving the torque transition instruction so as to realize the smooth transition of the control torque.
And S106, after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle controller, controlling the vehicle controller to stop outputting the control torque so as to enable the vehicle to be switched from the non-adaptive cruise mode to the adaptive cruise mode.
After the adaptive cruise control system gradually increases the control torque of the vehicle to the control torque of the vehicle controller, the vehicle controller stops outputting the control torque to give the control right to the adaptive cruise control system, and therefore the vehicle is switched from the non-adaptive cruise mode to the adaptive cruise mode.
According to the mode switching method of the vehicle control system, in the mode switching process, the control right of the vehicle is handed to the adaptive cruise control system after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle controller, so that torque transition can be stably and safely realized, the moment of torque sudden change of the adaptive cruise control mode is avoided, acceleration sudden change caused by the moment of torque sudden change is avoided, shaking of the vehicle when the vehicle enters the adaptive cruise control mode is eliminated, and the comfort of the adaptive cruise control mode of the vehicle is improved.
In one embodiment of the present invention, the mode switching method of the vehicle control system further includes: receiving initialization completion identification information sent by the self-adaptive cruise control system, judging whether the initialization completion identification information is the same as first preset information or not, if the initialization completion identification information is the same as the first preset information, sending a torque transition instruction to the self-adaptive cruise control system, and if the initialization completion identification information is different from the first preset information and the delay time reaches first preset time, stopping mode switching and reminding.
Specifically, the adaptive cruise control system further sends initialization completion identification information to the vehicle control unit after initialization is completed, and the vehicle control unit judges whether the initialization completion identification information is the same as the first preset information or not after receiving the initialization completion identification information so as to determine whether the adaptive cruise control system completes initialization or not. If the initialization completion identification information is the same as the first preset information, the initialization of the adaptive cruise control system is successful, and therefore a torque transition instruction can be sent to the adaptive cruise control system; if the initialization completion identification information which is the same as the first preset information is not received within the first preset time, it is indicated that the initialization of the adaptive cruise control system fails or network interruption and other abnormalities occur, the vehicle control unit stops sending a torque transition instruction to the adaptive cruise control system, mode switching fails, and a driver is reminded.
In one embodiment of the present invention, the mode switching method of the vehicle control system further includes: and receiving torque transition completion identification information sent by the adaptive cruise control system, judging whether the torque transition completion identification information is the same as second preset information or not, controlling the whole vehicle controller to stop outputting control torque if the torque transition completion identification information is the same as the second preset information, and stopping mode switching and reminding if the torque transition completion identification information is different from the second preset information and the delay time reaches second preset time.
Specifically, the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle controller, and then sends torque transition completion identification information to the vehicle controller, and the vehicle controller determines whether the torque transition completion identification information is the same as second preset information after receiving the torque transition completion identification information, so as to determine whether the control torque of the adaptive cruise control system is completed in a transition manner. If the torque transition completion identification information is the same as the second preset information, the control torque transition of the adaptive cruise control system is completed, and the vehicle controller can stop outputting the control torque so as to give the control right of the vehicle to the adaptive cruise control system; if the torque transition completion identification information which is the same as the second preset information is not received within the second preset time, it is indicated that the control torque of the adaptive cruise control system is not successfully transitioned or network interruption and other abnormalities occur, the vehicle controller keeps the current control right, namely, the vehicle is continuously controlled, the mode switching fails, and the driver is reminded.
In some embodiments of the present invention, after receiving an adaptive cruise mode switching request command of a vehicle, the method further includes: setting the running state flag position of the whole vehicle controller as a first value, setting the vehicle longitudinal control flag position of the adaptive cruise control system as a second value, and sending an initialization instruction carrying the vehicle longitudinal control flag position to the adaptive cruise control system. Further, after the initialization of the adaptive cruise control system is completed, the method further comprises the following steps: setting the running state flag position of the whole vehicle controller as a first value, setting the vehicle longitudinal control flag position of the adaptive cruise control system as a third value, and sending a torque transition instruction carrying the vehicle longitudinal control flag position to the adaptive cruise control system. After the self-adaptation cruise control system promotes the control torque of self to the control torque of vehicle control unit step by step, still include: and setting the running state flag position of the whole vehicle controller as a fourth value, and setting the vehicle longitudinal control flag position of the self-adaptive cruise control system as a third value so as to control the whole vehicle controller to stop outputting the control torque. When the vehicle is in the non-adaptive cruise mode, the method further comprises the following steps: and setting the running state flag position of the whole vehicle controller as a first value, and setting the vehicle longitudinal control flag position of the self-adaptive cruise control system as a fifth value.
That is, the control output of each associated module in the vehicle control system may be performed in a state interactive manner to implement the switching of the adaptive cruise mode.
As a specific example, referring to fig. 2, status flag bits St _ VCU and St _ VLC may be set, where St _ VCU is used to indicate an operation status of the vehicle controller, i.e., an operating mode, 0 indicates a non-adaptive cruise mode, and 1 indicates an adaptive cruise mode; st _ VLC is used to indicate a vehicle longitudinal control state of the adaptive cruise control system, and more specifically, may indicate a state of a VLC control unit in the adaptive cruise control system.
When the vehicle is in the non-adaptive cruise mode, St _ VCU is equal to 0 (a first value) and St _ VLC is equal to 0 (a fifth value), which indicates that the longitudinal control of the adaptive cruise control system is in the off state, that is, the VLC control unit is in the off state, and the vehicle is controlled by the vehicle controller, that is, the control right is in the vehicle controller. In this process, if an adaptive cruise mode switching request command sent by the driver is received, the vehicle control unit sets St _ VCU to 0 (a first value) and St _ VLC to 1 (a second value), and sends St _ VLC to 1 to the adaptive cruise control system to initialize the adaptive cruise control system, even if the VLC control unit initializes.
After the initialization of the VLC control unit is completed, the VLC control unit sends initialization completion identification information such as Rs _ VLC 1 to the vehicle controller to inform the vehicle controller of the completion of the initialization. If the vehicle control unit successfully receives the Rs _ VLC (variable length code) 1, entering the next torque transition stage; if the vehicle controller does not successfully receive the Rs _ VLC (variable length coding) value 1, it is indicated that the VLC control unit may be failed in initialization or the vehicle controller and the VLC control unit cannot normally interact or the system fails, and at this time, a waiting time, namely a first preset time (for example, 1s) is set, and if the first preset time is up, the vehicle controller still does not successfully receive the Rs _ VLC value 1, at this time, mode switching is stopped, the vehicle controller still controls the vehicle, and the driver is reminded.
After the vehicle control unit successfully receives the Rs _ VLC equal to 1, the vehicle control unit sets St _ VCU equal to 0 (a first value) and St _ VLC equal to 2 (a third value), and sends St _ VLC equal to 2 to the adaptive cruise control system, so that the adaptive cruise control system performs torque transition, that is, the VLC control unit gradually reaches the control torque of the vehicle control unit through the ramp-up torque.
After the torque transition of the VLC control unit is completed, the VLC control unit sends torque transition completion identification information such as Rs _ VLC 2 to the vehicle controller so as to inform the vehicle controller of the completion of the torque transition. If the vehicle controller successfully receives Rs _ VLC which is 2, the torque transition is finished, the VLC control unit can be activated, namely the adaptive cruise control system can be activated, St _ VCU which is 1 (a fourth value) and St _ VLC which is 2 (a third value) are set, the output of the control torque is stopped, and the control right is handed to the VLC control unit so as to finish the switching of the vehicle from the non-adaptive cruise mode to the adaptive cruise mode; if the vehicle controller does not successfully receive the Rs _ VLC (variable length coding) value of 2, the fact that the VLC control unit may fail in torque transition or the vehicle controller and the VLC control unit cannot normally interact or system faults and the like is indicated, at the moment, waiting time, namely second preset time (such as 1s), if the second preset time is up, the vehicle controller still does not successfully receive the Rs _ VLC value of 2, mode switching is stopped at the moment, the vehicle controller still controls the vehicle, and a driver is reminded.
According to the mode switching method of the vehicle control system, aiming at the longitudinal control of the vehicle in the adaptive cruise control system, a layer of interaction mechanism is introduced, namely a layer of interaction management is added between the whole vehicle controller and the VLC control unit in the adaptive cruise control system, so that the problem of vehicle shaking caused by the change of the control right of the vehicle at the moment when the adaptive cruise control system is activated is solved.
In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a mode switching program of a vehicle control system is stored, where the program, when executed by a processor, implements the mode switching method of the vehicle control system according to the above embodiment, so as to smoothly and safely implement torque transition when a vehicle is switched from a non-adaptive cruise mode to an adaptive cruise mode, thereby facilitating avoidance of sudden change of torque at the moment of activation of the adaptive cruise mode, further facilitating avoidance of sudden change of acceleration due to sudden change of torque, eliminating vehicle shake when entering the adaptive cruise mode, and improving comfort of the adaptive cruise mode of the vehicle.
Fig. 3 is a block diagram schematically illustrating a mode switching device of a vehicle control system according to an embodiment of the present invention. Wherein, vehicle control system includes vehicle control unit and self-adaptation cruise control system, and mode switching device 10 includes: the device comprises a receiving module 1, an initialization module 2, a torque transition module 3 and a mode switching module 4.
The receiving module 1 is used for receiving an adaptive cruise mode switching request instruction of a vehicle; the initialization module 2 is used for sending an initialization instruction to the adaptive cruise control system to control the adaptive cruise control system to initialize after the receiving module receives an adaptive cruise mode switching request instruction of the vehicle; the torque transition module 3 is used for sending a torque transition instruction to the adaptive cruise control system to control the adaptive cruise control system to gradually increase the control torque of the adaptive cruise control system to the control torque of the whole vehicle controller after the adaptive cruise control system is initialized; the mode switching module 4 is used for controlling the vehicle controller to stop outputting the control torque so as to switch the vehicle from the non-adaptive cruise mode to the adaptive cruise mode after the adaptive cruise control system gradually increases the control torque of the vehicle controller to the control torque of the vehicle controller.
It should be noted that a specific implementation manner of the mode switching device of the vehicle control system according to the embodiment of the present invention is similar to a specific implementation manner of the mode switching method of the vehicle control system according to the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
According to the mode switching device of the vehicle control system, when the vehicle is switched from the non-adaptive cruise mode to the adaptive cruise mode, torque transition can be stably and safely realized, so that sudden change of the torque at the moment of activating the adaptive cruise mode is avoided, sudden change of the acceleration caused by the sudden change of the torque is avoided, vehicle shaking when the vehicle enters the adaptive cruise mode is eliminated, and the comfort of the vehicle in the adaptive cruise mode is improved.
In addition, the embodiment of the invention also provides a vehicle, which comprises the mode switching device of the vehicle control system in the embodiment, so that when the vehicle is switched from the non-adaptive cruise mode to the adaptive cruise mode, torque transition can be smoothly and safely realized, sudden change of the torque at the moment of activating the adaptive cruise mode is favorably avoided, sudden change of the acceleration caused by the sudden change of the torque is favorably avoided, vehicle shaking when the vehicle enters the adaptive cruise mode is eliminated, and the comfort of the vehicle in the adaptive cruise mode is improved.
It should be noted that the processor may be an integrated circuit chip having signal processing capability. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed.
Also, the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A mode switching method of a vehicle control system, characterized in that the vehicle control system includes a vehicle control unit and an adaptive cruise control system, the method comprising the steps of:
after receiving an adaptive cruise mode switching request instruction of a vehicle, sending an initialization instruction to an adaptive cruise control system to control the adaptive cruise control system to initialize;
after the initialization of the self-adaptive cruise control system is completed, a torque transition instruction is sent to the self-adaptive cruise control system to control the self-adaptive cruise control system to gradually increase the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller;
after the adaptive cruise control system gradually increases the control torque of the adaptive cruise control system to the control torque of the vehicle controller, the vehicle controller is controlled to stop outputting the control torque so that the vehicle is switched from the non-adaptive cruise mode to the adaptive cruise mode.
2. The mode switching method of a vehicle control system according to claim 1, characterized by further comprising:
receiving initialization completion identification information sent by the self-adaptive cruise control system, and judging whether the initialization completion identification information is the same as first preset information or not;
if the initialization completion identification information is the same as the first preset information, sending the torque transition instruction to the adaptive cruise control system;
and if the initialization completion identification information is different from the first preset information and the delay time reaches the first preset time, stopping mode switching and reminding.
3. The mode switching method of a vehicle control system according to claim 1, characterized by further comprising:
receiving torque transition completion identification information sent by the adaptive cruise control system, and judging whether the torque transition completion identification information is the same as second preset information;
if the torque transition completion identification information is the same as the second preset information, controlling the vehicle control unit to stop outputting the control torque;
and if the torque transition completion identification information is different from the second preset information and the delay time reaches the second preset time, stopping mode switching and reminding.
4. The mode switching method of a vehicle control system according to any one of claims 1 to 3, characterized by further comprising, after receiving an adaptive cruise mode switching request command of the vehicle:
setting the running state flag position of the whole vehicle controller to be a first value, setting the vehicle longitudinal control flag position of the adaptive cruise control system to be a second value, and sending an initialization instruction carrying the vehicle longitudinal control flag position to the adaptive cruise control system.
5. The mode switching method of a vehicle control system according to claim 4, further comprising, after the initialization of the adaptive cruise control system is completed:
setting the running state flag position of the whole vehicle controller to be the first value, setting the vehicle longitudinal control flag position of the adaptive cruise control system to be the third value, and sending a torque transition instruction carrying the vehicle longitudinal control flag position to the adaptive cruise control system.
6. The mode switching method of a vehicle control system according to claim 5, further comprising, after the adaptive cruise control system gradually raising its control torque to that of the vehicle control unit:
and setting the running state flag position of the whole vehicle controller as a fourth value, and setting the vehicle longitudinal control flag position of the adaptive cruise control system as a third value so as to control the whole vehicle controller to stop outputting the control torque.
7. The mode switching method of a vehicle control system according to claim 5, characterized by further comprising, when the vehicle is in the non-adaptive cruise mode:
and setting the running state flag position of the whole vehicle controller as the first value, and setting the vehicle longitudinal control flag position of the adaptive cruise control system as the fifth value.
8. A computer-readable storage medium, characterized in that a mode switching program of a vehicle control system is stored thereon, which when executed by a processor implements a mode switching method of the vehicle control system according to any one of claims 1 to 7.
9. A mode switching apparatus of a vehicle control system, characterized in that the vehicle control system includes a vehicle control unit and an adaptive cruise control system, the apparatus comprising:
the system comprises a receiving module, a processing module and a control module, wherein the receiving module is used for receiving an adaptive cruise mode switching request instruction of a vehicle;
the initialization module is used for sending an initialization instruction to the adaptive cruise control system to control the adaptive cruise control system to initialize after the receiving module receives an adaptive cruise mode switching request instruction of the vehicle;
the torque transition module is used for sending a torque transition instruction to the adaptive cruise control system to control the adaptive cruise control system to gradually increase the control torque of the adaptive cruise control system to the control torque of the whole vehicle controller after the adaptive cruise control system is initialized;
and the mode switching module is used for controlling the whole vehicle controller to stop outputting the control torque so as to switch the vehicle from the non-adaptive cruise mode to the adaptive cruise mode after the adaptive cruise control system gradually increases the control torque of the self-adaptive cruise control system to the control torque of the whole vehicle controller.
10. A vehicle characterized by comprising the mode switching device of the vehicle control system according to claim 9.
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