CN112389412A - Remote control driving control method and system for vehicle and vehicle - Google Patents
Remote control driving control method and system for vehicle and vehicle Download PDFInfo
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- CN112389412A CN112389412A CN201910698591.7A CN201910698591A CN112389412A CN 112389412 A CN112389412 A CN 112389412A CN 201910698591 A CN201910698591 A CN 201910698591A CN 112389412 A CN112389412 A CN 112389412A
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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
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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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
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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- Chemical & Material Sciences (AREA)
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- Automation & Control Theory (AREA)
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- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a remote control driving control method and system for a vehicle and the vehicle. The remote control driving control method of the vehicle comprises the following steps: entering remote control driving, and controlling a driving motor to enter a zero rotating speed control mode by a motor controller; when the brake system releases the brake, acquiring a zero rotating speed torque corresponding to the zero rotating speed control mode; obtaining a first torque limit and a second torque limit according to a target driving torque and the zero rotating speed torque, wherein the first torque limit is smaller than the second torque limit; and exiting the zero rotating speed control mode, and controlling the vehicle according to the actual output torque of the driving motor, the first torque limit value, the second torque limit value and the environment information. The remote control driving control method of the vehicle can realize real-time and accurate control of the rotating speed of the driving motor, thereby improving the remote control driving experience.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a remote control driving control method and system for a vehicle and the vehicle.
Background
In the related art, when an operator controls a vehicle in a remote control manner, a vehicle body controller receives a remote control key command, the vehicle body controller forwards the remote control command to a Vehicle Control Unit (VCU), the VCU sends a calibrated torque demand to a Motor Control Unit (MCU), and finally the motor control unit controls the vehicle to operate according to the command demand. At the end of the remote command, the VCU issues a command to control the electronic brake system (EPB) to enable, keeping the vehicle stationary. There are the following disadvantages:
the VCU controls the motor controller through the calibrated torque parameters, and when the vehicle state changes due to aging, production inconsistency and the like, the calibrated torque control parameters may not well meet the control requirements; when an operator controls the vehicle to be started and stopped frequently, the VCU can misjudge the running state of the vehicle due to the delay of the EPB control system or the conflict of the electric control brake system and the VCU instruction in the pulling and releasing process; the VCU controls the driving motor to operate through a torque instruction, and has poor control precision and timeliness on the target speed and the motor rotating speed, so that the control effect is poor under the conditions of frequent start and stop, ramp remote control, deceleration strip passing and the like.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
To this end, a first object of the present invention is to propose a remote driving control method of a vehicle. The method can realize real-time and accurate control of the rotating speed of the driving motor, thereby improving the remote control driving experience.
A second object of the present invention is to provide a remote driving control system for a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, a first aspect of the present invention discloses a remote driving control method of a vehicle, comprising the steps of: entering remote control driving, and controlling a driving motor to enter a zero rotating speed control mode by a motor controller; when the brake system releases the brake, acquiring a zero rotating speed torque corresponding to the zero rotating speed control mode; obtaining a first torque limit and a second torque limit according to a target driving torque and the zero rotation speed torque, wherein the first torque limit is smaller than the second torque limit; and exiting the zero rotating speed control mode, and controlling the vehicle according to the actual output torque of the driving motor, the first torque limit value, the second torque limit value and the environment information.
According to the remote control driving control method of the vehicle, in the remote control driving process, the static requirement of the vehicle is realized through zero rotating speed control in the stop state of the remote control instruction, and the high-frequency control electronic brake pulling-up and releasing caused by frequent remote control starting and stopping and the like are prevented. When the remote control driving enables, the static control torque after the electronic brake is released is automatically calibrated through zero-speed control, so that the torque monitoring threshold value is intelligently corrected, the rotating speed of the driving motor can be controlled in real time and accurately when a ramp or a deceleration strip passes through, and the remote control driving experience is improved.
A second aspect of the present invention discloses a remote-control driving control system of a vehicle, including: the system comprises a whole vehicle controller and a motor controller, wherein the motor controller is used for controlling a driving motor to enter a zero rotating speed control mode when a vehicle enters remote control driving, and acquiring zero rotating speed torque corresponding to the zero rotating speed control mode after a brake system releases braking; the vehicle control unit is used for obtaining a first torque limit value and a second torque limit value according to a target driving torque and the zero rotating speed torque, and controlling a vehicle according to an actual output torque of the driving motor, the first torque limit value, the second torque limit value and environmental information, wherein the first torque limit value is smaller than the second torque limit value.
According to the remote control driving control system of the vehicle, in the remote control driving process, the static requirement of the vehicle is realized through zero rotating speed control in the stop state of the remote control instruction, and the high-frequency control electronic brake pulling-up and releasing caused by frequent remote control starting and stopping and the like are prevented. When the remote control driving enables, the static control torque after the electronic brake is released is automatically calibrated through zero-speed control, so that the torque monitoring threshold value is intelligently corrected, the rotating speed of the driving motor can be controlled in real time and accurately when a ramp or a deceleration strip passes through, and the remote control driving experience is improved.
A third aspect of the invention discloses a vehicle, comprising: the remote-control driving control system for a vehicle according to the second aspect described above. This vehicle is driving the in-process in the remote control, can realize carrying out real-time and accurate control to driving motor's rotational speed to promote remote control and drive and experience.
Drawings
Fig. 1 is a flowchart of a remote driving control method of a vehicle according to one embodiment of the present invention;
fig. 2 is a flowchart of a remote driving control method of a vehicle according to another embodiment of the present invention;
fig. 3 is a block diagram of a remote control driving control system of a vehicle according to an embodiment of the present invention;
fig. 4 is a block diagram of a vehicle according to an embodiment of the 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 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 are intended to be illustrative of the invention and should not be construed as limiting the invention.
The following describes a remote driving control method and system for a vehicle and the vehicle according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a remote driving control method of a vehicle according to one embodiment of the present invention.
As shown in fig. 1, a remote driving control method of a vehicle according to one embodiment of the present invention includes:
s101: and entering remote control driving, and controlling the driving motor to enter a zero rotating speed control mode by the motor controller.
The zero-rotation-speed control mode is a control mode for controlling the rotation speed of the driving motor to be zero, the zero-rotation-speed control is a control mode that the motor controller maintains or achieves the rotation speed of the driving motor to be zero by adjusting the output torque within the limit range of the achievable positive and negative torques, and at the moment, the actual output torque of the driving motor is not necessarily zero.
S102: and acquiring the zero-rotation-speed torque corresponding to the zero-rotation-speed control mode after the brake system releases the brake.
S103: a first torque limit and a second torque limit are obtained according to the target driving torque and the zero rotating speed torque, wherein the first torque limit is smaller than the second torque limit.
Wherein the target driving torque can be calculated according to the vehicle parameters and the gradient value. For example: vehicle parameters include, but are not limited to: the mass of the whole vehicle, the rolling resistance coefficient, the air resistance coefficient, the windward area, the transmission ratio, the system efficiency and the radius of the tire.
The target driving torque may be obtained according to the following formula:
wherein m is the vehicle mass, f is the rolling resistance coefficient, α is the climbing gradient, Cd is the air resistance coefficient, A is the windward area, g is the gravity, i is the transmission ratio, η is the system efficiency, and r is the tire radius.
Further, deriving the first torque limit and the second torque limit based on the target drive torque and the zero speed torque comprises: obtaining the first torque limit value according to the target driving torque and the zero rotating speed torque; the second torque limit is calculated as a function of the first torque limit.
For example: the VCU of the vehicle controller can calculate a motor torque limit value T0 (namely, a first torque limit value) during normal remote control running of the whole vehicle according to the motor zero rotating speed control torque (namely, zero rotating speed torque) and the target running torque (namely, the target driving torque), and can further determine the maximum over-deceleration-zone limit torque T1 (namely, a second torque limit value) according to real vehicle parameters on the basis of the motor torque limit value T0 during normal remote control running of the whole vehicle.
S104: and exiting the zero rotating speed control mode, and controlling the vehicle according to the actual output torque of the driving motor, the first torque limit value, the second torque limit value and the environment information.
For example: if the actual output torque of the driving motor is larger than the first torque limit value and smaller than the second torque limit value, judging whether an obstacle exists according to the environment information; if so, controlling the driving motor to enter a zero rotating speed control mode again, and controlling the braking system to park; if not, the remote control driving is continued.
Further, if the actual output torque of the driving motor is larger than the second torque limit value, the driving motor is controlled to enter the zero-rotation-speed control mode again, and meanwhile the braking system is controlled to park.
As a specific example, as shown in fig. 2, the method may be implemented by:
1. when a remote control function driving instruction is received, the VCU of the vehicle control unit firstly sends a remote control driving enabling instruction to the MCU, and the MCU automatically enters a zero rotating speed control mode;
2. after the motor controller MCU zero rotating speed control mode is enabled, the vehicle control unit VCU sends out a command to control the electronic brake system to release, after the electronic brake system is released, the motor controller MCU automatically determines a torque value for keeping the vehicle stationary after the electronic brake is released, and sends the torque value to the vehicle control unit VCU, and then the vehicle control unit VCU calculates a target driving torque value.
Wherein, the zero rotational speed control mode of motor controller MCU enables and indicates: the zero speed control mode is active, i.e.: zero rotation speed control is executed.
3. And the VCU of the vehicle controller sends a rotation speed control instruction and a target rotation speed value to the MCU according to the requirement of a remote control driving instruction, and monitors an actual output torque value sent by the MCU in real time.
4. During driving control, when the output torque of the motor controller MCU is greater than T0, the VCU of the vehicle controller judges whether the vehicle encounters an obstacle through vehicle radar information, and the method is divided into the following two conditions:
a. when an obstacle occurs, the VCU of the vehicle controller controls the vehicle controller to enter an abnormal stop logic, a zero-rotating-speed control instruction is sent to the MCU, the electronic brake system is controlled to be enabled at the same time, a remote control instruction is not responded, and the whole vehicle gives an acousto-optic alarm through the instrument, the double flashing lamps and the loudspeaker;
b. and if no obstacle information exists, the VCU of the vehicle control unit judges that the vehicle control unit is in the deceleration strip state, the rotating speed control of the MCU is not interfered, and the output torque value of the MCU is continuously monitored. When the output torque of the motor controller MCU exceeds a threshold value T1, the VCU of the whole vehicle controller controls to enter an abnormal stop logic, a zero-rotation-speed control instruction is sent to the motor controller MCU, an enabling electronic braking system is controlled at the same time, a remote control instruction is not responded, and the whole vehicle gives out sound and light alarm through an instrument, a double-flashing lamp and a loudspeaker.
Wherein, control enables electronic braking system and indicates: braking the electric brake system, for example: parking with mechanical braking is performed.
5. When the remote control driving instruction is finished, the VCU of the vehicle controller sends a zero rotating speed control instruction to the MCU, the MCU controls the vehicle to enter a static state, and after the vehicle is static, the VCU of the vehicle controller enters a remote control stop timing mode as follows:
a. when the timing does not reach the set value, receiving a remote control driving enabling instruction, emptying timing by a VCU of the vehicle controller, sending a rotating speed requirement instruction to a motor controller MCU, and entering a normal remote control driving control mode;
b. and when the timing does not reach the set value, the VCU of the vehicle controller sends a command to control the electronic braking system to be pulled up, and the vehicle controller exits from the remote control driving mode.
In the above description, the zero-rotation-speed control refers to a control mode in which the motor controller maintains the output torque or reaches the motor rotation speed zero by adjusting the output torque within the limit range of the positive and negative torques that can be achieved by the motor controller, and at this time, the actual output torque of the motor is not necessarily zero.
According to the remote control driving control method of the vehicle, in the remote control driving process, the static requirement of the vehicle is realized through zero rotating speed control in the state that the remote control instruction stops, and high-frequency control electronic brake pull-up and release caused by frequent remote control start-stop and the like are prevented. When the remote control driving enables, the static control torque after the electronic brake is released is automatically calibrated through zero rotating speed control, so that the torque monitoring threshold value is intelligently corrected, the rotating speed of the driving motor can be controlled in real time and accurately when a ramp or a deceleration strip passes through, and the remote control driving experience is improved.
Fig. 3 is a block diagram of a remote control driving control system of a vehicle according to an embodiment of the present invention. As shown in fig. 3, a remote driving control system 300 of a vehicle according to one embodiment of the present invention includes: a vehicle control unit 310 and a motor controller 320.
The motor controller 320 is configured to control the driving motor to enter a zero rotation speed control mode when the vehicle enters the remote control driving mode, and to obtain a zero rotation speed torque corresponding to the zero rotation speed control mode after the brake system releases the brake. The vehicle controller 310 is configured to obtain a first torque limit and a second torque limit according to a target driving torque and the zero rotation speed torque, and control the vehicle according to an actual output torque of the driving motor, the first torque limit, the second torque limit, and environmental information, where the first torque limit is smaller than the second torque limit.
In one embodiment of the present invention, the hybrid controller 310 is further configured to calculate the target driving torque according to vehicle parameters and grade values.
In an embodiment of the present invention, the vehicle control unit 310 is configured to: if the actual output torque of the driving motor is larger than the first torque limit value and smaller than the second torque limit value, judging whether an obstacle exists according to the environment information; if so, controlling the motor controller to enter a zero-rotation-speed control mode again, and controlling a braking system to park; if not, the remote control driving is continued.
Further, the vehicle control unit 310 is further configured to: and if the actual output torque of the driving motor is larger than the second torque limit value, controlling the motor controller to enter a zero-rotation-speed control mode again, and controlling a braking system to park.
According to the remote control driving control system of the vehicle, in the remote control driving process, the static requirement of the vehicle is realized through zero rotating speed control in the state that the remote control instruction stops, and high-frequency control electronic brake pull-up and release caused by frequent remote control start-stop and the like are prevented. When the remote control driving enables, the static control torque after the electronic brake is released is automatically calibrated through zero rotating speed control, so that the torque monitoring threshold value is intelligently corrected, the rotating speed of the driving motor can be controlled in real time and accurately when a ramp or a deceleration strip passes through, and the remote control driving experience is improved.
It should be noted that a specific implementation manner of the remote control driving control system of the vehicle according to the embodiment of the present invention is similar to a specific implementation manner of the remote control driving control method of the vehicle according to the embodiment of the present invention, and please refer to the description of the method portion specifically, which is not described herein again.
Further, as shown in fig. 4 in combination with fig. 3, an embodiment of the present invention discloses a vehicle 400, including: the remote-control driving control system 300 of the vehicle according to any one of the above embodiments. In the remote control driving process of the vehicle, the static requirement of the vehicle is realized through zero rotating speed control in a remote control instruction stop state, and the high-frequency control electronic brake pulling-up and releasing caused by frequent remote control starting and stopping and the like are prevented. When the remote control driving enables, the static control torque after the electronic brake is released is automatically calibrated through zero rotating speed control, so that the torque monitoring threshold value is intelligently corrected, the rotating speed of the driving motor can be controlled in real time and accurately when a ramp or a deceleration strip passes, and the remote control driving experience is improved.
In addition, other structures and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and will not be described herein.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
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 remote-control driving control method of a vehicle, characterized by comprising the steps of:
entering remote control driving, and controlling a driving motor to enter a zero rotating speed control mode by a motor controller;
when the brake system releases the brake, acquiring a zero rotating speed torque corresponding to the zero rotating speed control mode;
obtaining a first torque limit and a second torque limit according to a target driving torque and the zero rotating speed torque, wherein the first torque limit is smaller than the second torque limit;
and exiting the zero rotating speed control mode, and controlling the vehicle according to the actual output torque of the driving motor, the first torque limit value, the second torque limit value and the environment information.
2. The remote-control driving control method of a vehicle according to claim 1, characterized by further comprising:
the target drive torque is calculated from the vehicle parameter and the grade value.
3. The remote-controlled driving control method of a vehicle according to claim 1, wherein said deriving a first torque limit and a second torque limit from a target driving torque and the zero rotational speed torque comprises:
obtaining the first torque limit value according to the target driving torque and the zero rotating speed torque;
the second torque limit is calculated as a function of the first torque limit.
4. The remote-controlled driving control method of a vehicle according to claim 1, wherein the controlling the vehicle according to the actual output torque of the driving motor, the first torque limit, the second torque limit, and the environmental information includes:
if the actual output torque of the driving motor is larger than the first torque limit value and smaller than the second torque limit value, judging whether an obstacle exists according to the environment information;
if so, controlling the driving motor to enter a zero rotating speed control mode again, and controlling the braking system to park;
if not, the remote control driving is continued.
5. The remote-control driving control method of a vehicle according to claim 4, wherein the controlling the vehicle according to the actual output torque of the driving motor, the first torque limit, the second torque limit, and the environmental information further comprises:
and if the actual output torque of the driving motor is larger than the second torque limit value, controlling the driving motor to enter a zero rotating speed control mode again, and controlling a braking system to park.
6. A remote-control driving control system of a vehicle, characterized by comprising: a vehicle control unit and a motor controller, wherein,
the motor controller is used for controlling the driving motor to enter a zero rotating speed control mode when the vehicle enters remote control driving, and acquiring zero rotating speed torque corresponding to the zero rotating speed control mode after the brake system releases braking;
the vehicle control unit is used for obtaining a first torque limit value and a second torque limit value according to a target driving torque and the zero rotating speed torque, and controlling a vehicle according to the actual output torque of the driving motor, the first torque limit value, the second torque limit value and environmental information, wherein the first torque limit value is smaller than the second torque limit value.
7. The remote-controlled driving control system of a vehicle according to claim 6, wherein the vehicle controller is further configured to calculate the target driving torque based on a vehicle parameter and a gradient value.
8. The remote-control driving control system of a vehicle according to claim 6, wherein the vehicle control unit is configured to:
if the actual output torque of the driving motor is larger than the first torque limit value and smaller than the second torque limit value, judging whether an obstacle exists according to the environment information;
if so, controlling the motor controller to enter a zero rotating speed control mode again, and controlling a braking system to park;
if not, the remote control driving is continued.
9. The remote-control driving control system of the vehicle according to claim 8, wherein the vehicle control unit is further configured to:
and if the actual output torque of the driving motor is larger than the second torque limit value, controlling the motor controller to enter a zero rotating speed control mode again, and controlling a braking system to park.
10. A vehicle, characterized by comprising: the remote-controlled driving control system of a vehicle according to any one of claims 6 to 9.
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| CN201910698591.7A CN112389412B (en) | 2019-07-31 | 2019-07-31 | Remote control driving control method and system for vehicle and vehicle |
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| CN113602241A (en) * | 2021-07-30 | 2021-11-05 | 神龙汽车有限公司 | Remote control braking system of electric learner-driven vehicle |
| CN115139805A (en) * | 2021-03-31 | 2022-10-04 | 比亚迪股份有限公司 | Brake control method, brake control device, brake control medium, and electronic apparatus |
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| CN112389412B (en) | 2021-12-07 |
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