CN112677994A - Method for preventing automatic driving vehicle from sliding down slope - Google Patents
Method for preventing automatic driving vehicle from sliding down slope Download PDFInfo
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Abstract
The invention belongs to the technical field of automatic driving, in particular to a method for preventing an automatic driving vehicle from sliding down a slope.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a method for preventing an automatic driving vehicle from sliding down a slope.
Background
The conventional EPB (electronic parking brake system) is controlled by an electronic control, when the CAN bus receives an EPB execution command, the system directly indicates the EPB to automatically realize starting or parking, and feeds back an electronic parking result.
In the prior art, a motor or a parking system is controlled to prevent a slope from sliding, for example, a control method of an electric vehicle slope road anti-sliding auxiliary system disclosed in chinese patent CN110329084A includes: the motor controller detects the gear of the gear shifter, whether the vehicle is shifted or not and the rotating speed signal of the motor; if the vehicle is not subjected to gear switching and the current gear is the D gear, the motor controller assigns the D gear to the virtual gear in the slope road anti-slip control system; the motor controller judges whether the rotating speed of the motor is within a first rotating speed threshold range and whether the braking depth is smaller than a first depth threshold, and the rotating direction of the motor corresponding to the first rotating speed threshold is opposite to the direction of the vehicle; if yes, the motor controller starts a D-gear first slope anti-slip function, the vehicle enters a slope anti-slip mode, the motor enters a rotating speed control mode, in the rotating speed control mode, the target rotating speed of the motor is 0rpm, the motor controller calculates slope anti-slip torque in real time and controls the motor to execute the torque, and therefore the vehicle is enabled to be static.
Also, as disclosed in chinese patent CN111301180A, an anti-slide method and system for an electric vehicle includes the following steps: acquiring a gear signal, an accelerator signal, a brake signal, a hand brake signal and a current road slope value, and determining whether to send an initial hill-holding torque value instruction to a motor controller according to the gear signal, the accelerator signal, the brake signal, the hand brake signal and the current road slope value; after an initial hill-holding torque value instruction is sent to the motor controller, whether the rotating speed of the motor is negative or not is judged, if yes, torque compensation is carried out on the motor controller to control the vehicle to park on a slope, and if not, the vehicle is directly controlled to park on the slope.
As also disclosed in chinese patent CN109572448A, the present invention relates to a pure electric vehicle auxiliary control method and control system based on a GPS module, wherein the control system of the pure electric vehicle auxiliary control system of the GPS module includes a vehicle controller, a GPS module having an output end connected to a control end of the vehicle controller, a motor controller driven by the vehicle controller, and a control end of the motor controller electrically connected to a motor.
Still like the crashproof warning system when chinese patent CN110562134A discloses that a hydrogen energy car neutral gear swift current is sloping including vehicle control unit, neutral gear judgement device, gradient sensor, manual brake judgement system and alarm system, neutral gear judgement device gradient sensor manual brake judgement system alarm system with the power all with vehicle control unit connects, wherein, gradient sensor installs on the automobile body for detect the slope of ramp, and with judging information transmission to vehicle control unit, neutral gear judgement device sets up on the handle of shifting, and its gear position information that is used for judging the handle of shifting, and with judging information transmission to vehicle control unit, manual brake judgement system sets up on the manual brake pole, and it is used for detecting the manual brake state to will detect information transmission to vehicle control unit.
In the prior art, when the conventional electronic parking system EPB is abnormal, if no corresponding effective measure is available to complete the automatic parking action when the EPB command cannot be normally executed, the system abnormality may cause the vehicle to slide down the slope and cause an accident when the vehicle is at a position such as a slope.
The motor controller is adopted to control the motor to prevent the motor from slipping down the slope, the control strategy is complex, the torque of the motor needs to be accurately controlled, the control requirement is high, and the reliability is low.
Disclosure of Invention
The invention provides a method for preventing an automatic driving vehicle from sliding down a slope, which controls an electronic braking system by adding a new control strategy, thereby avoiding the phenomenon of sliding down the slope caused by the fact that an electronic parking system does not respond in the position of the slope, and ensuring the driving safety of the vehicle.
A method for preventing an automatically-driven vehicle from sliding down a slope adopts a device comprising an electronic parking system, an automatic driving controller, a GPS module, a motor controller and an electronic braking system, wherein the electronic parking system and the electronic braking system are both electrically connected with the automatic driving controller, and the GPS module and the motor controller are both electrically connected with the automatic driving controller; the method comprises the following steps: step 1, after an electronic parking system has no fault in fault self-detection, defaulting a vehicle to enter a manual driving mode after power-on; step 2: the vehicle enters an automatic driving mode after receiving an effective control instruction of an automatic driving controller; step 3, when the automatic driving controller detects the signals sent by the GPS module and the motor controller and judges that the vehicle is positioned at a ramp and prepares to park, the automatic driving controller sends an instruction to the electronic parking system to execute a parking action; step 4, the automatic driving controller receives a signal fed back by the electronic parking system and judges whether the electronic parking system is parked normally, if so, parking is finished; if not, entering step 5; and 5: the automatic driving controller sends an auxiliary braking instruction to the electronic braking system to stop the vehicle; step 6: and when the vehicle speed is zero, the vehicle receives an instruction of the automatic driving controller to exit the automatic driving mode and enter the manual driving mode.
The technical scheme of the invention is as follows: introducing a new control strategy, sending a parking command to an electronic parking system (EPB) by an automatic driving controller (ACU), executing a corresponding braking task of the EPB after the electronic parking system (EPB) receives a request command, judging whether an execution result of the electronic parking system (EPB) is normal or not by the automatic driving controller (ACU) through a signal fed back by the EPB, if the electronic parking system (EPB) does not respond and the vehicle speed is not zero in a specified time, sending a braking pressure command to an electronic braking system (EHB) by the automatic driving controller (ACU) through a whole vehicle CAN bus, sending a braking pressure signal to the CAN bus, and braking the vehicle by the electronic braking system (EHB), thereby avoiding the phenomenon of slope slipping caused by the fact that the electronic parking system (EPB) does not respond at the position of a slope and ensuring the driving safety of the vehicle.
Preferably, in the step 1, the method for self-checking the fault of the electronic parking system includes that the electronic parking system monitors a vehicle speed gear state signal, that is, vehicle speed and gear state information is obtained through communication with the motor controller, when the electronic parking system detects that a hard-line ON gear signal is awakened, the electronic parking system performs self-checking of the fault, if the electronic parking system has a self-checking fault, the electronic parking system enters a fault standby state and sends fault information to an automatic drive controller (ACU), and the vehicle is not powered ON; if the fault is not detected, the electronic parking system enters a normal working state, and the vehicle is powered on.
Preferably, in step 3, there are two situations of abnormal parking of the parking system, the first situation is that if the electronic parking system feeds back a signal that parking is not executed; in the second case, if the electronic parking system does not send a feedback signal within the specified time t and detects that the vehicle speed is not zero, the electronic parking system is determined to be in abnormal parking. The two judgment bases cover the scene of the parking failure of the automatic driving vehicle, so that the safety of the automatic driving vehicle parking system is higher.
Preferably, the predetermined time t is 20 ms. The process of swift current slope can be in as short as possible in the time, avoids backward swift current distance overlength, causes danger.
Preferably, in step 4, the autopilot controller sends the desired brake pressure P to the electronic braking system, which brakes the vehicle. The automatic controller calculates the braking pressure through the ramp and the vehicle speed information, optimizes the parameters of the electronic braking system and meets the parking requirement.
Preferably, the desired brake pressure P is 80 pa.
Preferably, the electronic parking system and the electronic brake system are both connected with the automatic driving controller through a CAN bus. The CAN bus has the advantages of high data transmission speed, high bandwidth and long data transmission distance, CAN meet the requirement of the communication instantaneity of the automobile, CAN meet the requirements of response speed and precision of the slope-sliding-prevention control strategy control, has strong anti-interference capability and good system operation stability, and CAN effectively ensure the operation safety of the automobile.
Preferably, the electronic parking system executes a braking command through a parking lock, and the electronic braking system executes the braking command through a hydraulic brake.
Preferably, the GPS module is configured to acquire positioning information of the vehicle, match the positioning information with a map calibrated in advance, and query and acquire gradient information of the current position. The method comprises the steps of inquiring road condition information by adopting a high-precision map, calibrating all attributes such as straight roads, curved roads, gradients and the like in the map according to the high-precision map built in the vehicle which is recorded by GPS positioning, and judging the gradients and the attributes by matching the gradient attributes marked in the high-precision map according to positioning information by a GPS module in the driving process. The GPS positioning and map query are adopted, the positioning precision is high, the structure is simple, the excessive arrangement of a ramp parameter sensor is avoided, the cost is low, and the control precision is good. The GPS can realize high-precision positioning by using a sensor with lower cost, thereby realizing high-precision map data acquisition with lower cost.
The invention has the beneficial effects that:
the invention adopts an algorithm strategy, namely an electronic parking system (when an EPB fault fails, a coping strategy is added, and an EHB (electronic brake system) is introduced).
The communication of each main part of the invention is transmitted by the bus, the transmission speed is high, the system operation stability is good, and the operation safety of the vehicle can be effectively ensured.
The road condition of the vehicle is judged through GPS positioning and high-precision map data, and high-precision positioning is achieved by using a sensor with lower cost.
Drawings
FIG. 1 is a flow chart illustrating the steps of a method of preventing a hill-slip in an autonomous vehicle according to the present invention.
Fig. 2 is a block diagram of the structure of the apparatus employed in the present invention.
Fig. 3 is a flowchart of the steps of embodiment 2 of the present invention.
In the figure: the system comprises a 1-electronic parking system, a 2-automatic driving controller, a 3-GPS module, a 4-motor controller and a 5-electronic braking system.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein the exemplary embodiments and descriptions are provided for illustration of the invention and not for limitation of the invention.
Example 1:
a method for preventing an automatic driving vehicle from sliding down a slope is disclosed, as shown in figure 2, the adopted device comprises an electronic parking system 1, an automatic driving controller 2, a GPS module 3, a motor controller 4 and an electronic braking system 5, wherein the electronic parking system 1 and the electronic braking system 5 are both electrically connected with the automatic driving controller 2, and the GPS module 3 and the motor controller 4 are both electrically connected with the automatic driving controller 2;
as shown in fig. 1, the method of the present embodiment includes the following steps:
step 1, after the electronic parking system 1 has no fault in fault self-detection, defaulting the vehicle to enter a manual driving mode after being electrified;
step 2: the vehicle enters an automatic driving mode after receiving an effective control instruction of the automatic driving controller 2;
and 5: the automatic driving controller 2 sends an auxiliary braking instruction to the electronic braking system 5 to stop the vehicle;
step 6: when the vehicle speed is zero, the vehicle receives an instruction of the automatic driving controller 2 to exit the automatic driving mode and enter the manual driving mode.
Example 2
As shown in fig. 2, a method for preventing an autonomous vehicle from slipping down a slope is based on the operation of a device comprising an electronic parking system 1(EPB), an autonomous driving controller 2(ACU), a GPS module 3, a motor controller 4) and an electronic brake system 5(EHB), wherein the electronic parking system 1 and the electronic brake system 5 are both electrically connected to the autonomous driving controller 2, and the GPS module 3 and the motor controller 4 are both electrically connected to the autonomous driving controller 2;
the electronic parking system 1(EPB) is used for executing a parking instruction by the EPB of the automatic driving controller 2(ACU), directly indicating the EPB to automatically realize starting or parking, and feeding back the result of electronic parking;
an automatic driving controller 2(ACU), in this embodiment, the model of the automatic driving controller 2(ACU) is LCZN-YK-003, and is used for calculating and judging whether the vehicle needs to be parked according to the vehicle speed obtained by the GPS module 3 and the motor controller 4, when the GPS module 3 detects that the inclination angle of the vehicle body is greater than 10 degrees, that is, the vehicle is detected to stay in a place with a slope, and when the gear switch is judged to be in a neutral state according to a signal of the motor controller 4 and the vehicle speed value is greater than 0, the electronic parking system 1(EPB) is controlled to execute a parking instruction. And the electronic brake system 5(EHB) is used for performing hydraulic brake to brake the vehicle after the electronic parking system 1(EPB) feeds back a parking failure signal, so that the vehicle is prevented from sliding down a slope due to no response of the EPB at the position of the slope, and the driving safety of the vehicle is ensured.
The GPS module 3 is installed on a vehicle body and used for detecting the gradient of a ramp, identifying the inclination condition of a road section where the vehicle is located and sending the judgment information to the automatic driving controller 2(ACU), in the embodiment, a high-precision map is recorded according to GPS positioning in advance, all attributes such as straight roads, curved roads, gradients and the like are calibrated in the map, namely specific parameters, in the driving process, the GPS module 3 judges the gradient and the attributes according to the gradient attributes marked in the high-precision map based on positioning data, such as the data of the straight roads, the curved roads, the gradients and the like, and judges whether the vehicle is on the ramp or not and obtains ramp parameters.
Motor controller 4(MCU), in this embodiment, the model of motor controller 4(MCU) is MC3336-9650, motor controller 4 detects the gear that the selector is located, whether the gear switches and the rotational speed signal of motor takes place for control vehicle motor, and obtain speed information and fender position information, speed information obtains through the indirect calculation of motor rotational speed, gives automatic drive controller 2(ACU) and electronic parking system 1(EPB) with fender position information and speed information transmission.
As shown in fig. 3, the method of the present embodiment includes the following steps: step 1, after the electronic parking system 1 has no fault in fault self-detection, defaulting the vehicle to enter a manual driving mode after being electrified;
step 2: the vehicle enters an automatic driving mode after receiving an effective control instruction of the automatic driving controller 2;
and 5: the automatic driving controller 2 sends an auxiliary braking instruction to the electronic braking system 5 to stop the vehicle;
step 6: when the vehicle speed is zero, the vehicle receives an instruction of the automatic driving controller 2 to exit the automatic driving mode and enter the manual driving mode.
In this embodiment, the method for fault self-checking of the electronic parking system 1 in step 1 is that the electronic parking system 1 monitors a vehicle speed gear state signal, vehicle speed gear information of a vehicle is acquired through a motor controller 4(MCU), the motor controller 4(MCU) controls a motor of the vehicle to execute an instruction, fault self-checking is performed after a hard-line ON gear signal is detected to be awakened, if the electronic parking system 1 has a fault, the electronic parking system 1 enters a fault standby state and sends fault information to an automatic drive controller 2(ACU), and the vehicle is not powered ON; if the fault is not detected, the electronic parking system 1 enters a normal working state, and the vehicle is powered on.
In this embodiment, the predetermined time t is 20 ms. The process of swift current slope can be in as short as possible in the time, avoids backward swift current distance overlength, causes danger.
In this embodiment, in step 4, the automatic driving controller 2 sends the expected braking pressure P to the electronic braking system 5, and the electronic braking system 5 brakes the vehicle. The automatic controller calculates the braking pressure through the ramp and the vehicle speed information, optimizes the parameters of the electronic braking system 5 and meets the parking requirement.
In the present embodiment, the desired brake pressure P is 80 pa.
In this embodiment, electronic parking system 1 and electronic brake system 5 all with autopilot controller 2 passes through CAN bus connection, transmit brake pressure request signal and braking state feedback signal between electronic brake system 5 and the ACU, transmit EPB parking command request signal and EPB speed reduction request feedback signal between electronic parking system 1 and the ACU, the CAN bus includes CAN high line and CAN low line. The CAN bus has the advantages of high data transmission speed, high bandwidth and long data transmission distance, CAN meet the requirement of the communication instantaneity of the automobile, CAN meet the requirements of response speed and precision of the slope-sliding-prevention control strategy control, has strong anti-interference capability and good system operation stability, and CAN effectively ensure the operation safety of the automobile.
In this embodiment, the electronic parking system 1 executes a braking command through a parking lock, and the electronic braking system 5 executes a braking command through a hydraulic brake.
The implementation also comprises a step of calibrating the map by the GPS module 3, wherein the step of calibrating is positioned before the step 1, and specifically comprises the step of obtaining the position information of the road mark based on the position information of the GPS 3; acquiring the curvature, gradient and inclination angle information of the road according to the image detected by the camera; based on the position signals and the curvature, gradient and inclination information of the road, a high-precision map is generated.
Claims (9)
1. A method for preventing an automatically-driven vehicle from sliding down a slope is characterized in that the adopted device comprises an electronic parking system (1), an automatically-driven controller (2), a GPS module (3), a motor controller (4) and an electronic brake system (5), wherein the electronic parking system (1) and the electronic brake system (5) are both electrically connected with the automatically-driven controller (2), and the GPS module (3) and the motor controller (4) are both electrically connected with the automatically-driven controller (2); the method comprises the following steps:
step 1, after the electronic parking system (1) has no fault in fault self-detection, defaulting that a vehicle enters a manual driving mode after being electrified;
step 2, the vehicle enters an automatic driving mode after receiving an effective control instruction of the automatic driving controller (2);
step 3, when the automatic driving controller (2) detects signals sent by the GPS module (3) and the motor controller (4) and judges that the vehicle is positioned at a ramp and prepares to park, the automatic driving controller (2) sends an instruction to the electronic parking system (1) to execute a parking action;
step 4, the automatic driving controller (2) receives a signal fed back by the electronic parking system (1) and judges whether the electronic parking system (1) is parked normally, if yes, parking is finished; if not, entering step 5;
step 5, the automatic driving controller (2) sends an auxiliary braking instruction to the electronic braking system (5) to stop the vehicle;
and 6, when the vehicle speed is zero, the vehicle receives an instruction of the automatic driving controller (2) to exit the automatic driving mode and enter the manual driving mode.
2. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 1, wherein: in the step 1, the fault self-checking method of the electronic parking system (1) is that the electronic parking system (1) monitors a vehicle speed gear state signal, the fault self-checking is carried out after the ON gear signal of a hard wire is detected to be awakened, if the electronic parking system (1) has a self-checking fault, the electronic parking system (1) enters a fault standby state and sends fault information to an automatic driving controller (2) (ACU), and a vehicle is not powered ON; if the fault is not detected, the electronic parking system (1) enters a normal working state, and the vehicle is powered on.
3. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 1, wherein: and 3, if the electronic parking system (1) does not execute parking or the electronic parking system (1) does not send a feedback signal within a preset time t and detects that the vehicle speed is not zero, determining that the electronic parking system (1) is in abnormal parking.
4. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 3, wherein: the predetermined time t is 20 ms.
5. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 1, wherein: in step 4, the automatic driving controller (2) sends the expected braking pressure P to the electronic braking system (5), and the electronic braking system (5) brakes the vehicle.
6. The method of preventing an autonomous vehicle from rolling downhill as in claim 5, wherein: the desired brake pressure P is 80 pa.
7. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 1, wherein: and the electronic parking system (1) and the electronic brake system (5) are connected with the automatic driving controller (2) through a CAN bus.
8. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 1, wherein: the electronic parking system (1) executes a braking instruction through a parking lock, and the electronic braking system (5) executes the braking instruction through a hydraulic brake.
9. A method of preventing an autonomous vehicle from rolling downhill as claimed in claim 1, wherein: the GPS module (3) is used for acquiring positioning information of the vehicle, matching the positioning information with a map calibrated in advance, and inquiring and acquiring gradient information of the current position.
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| CN114194212A (en) * | 2021-12-16 | 2022-03-18 | 广西汽车集团有限公司 | Fault diagnosis method, automatic driving domain controller and vehicle |
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| CN114475537A (en) * | 2022-01-18 | 2022-05-13 | 上汽通用五菱汽车股份有限公司 | Control method and device for preventing unmanned logistics vehicle from sliding down slope and readable storage medium |
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