CN113492861B - Vehicle control method and device - Google Patents

Vehicle control method and device Download PDF

Info

Publication number
CN113492861B
CN113492861B CN202110845445.XA CN202110845445A CN113492861B CN 113492861 B CN113492861 B CN 113492861B CN 202110845445 A CN202110845445 A CN 202110845445A CN 113492861 B CN113492861 B CN 113492861B
Authority
CN
China
Prior art keywords
wheel
acceleration
driving
terrain
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110845445.XA
Other languages
Chinese (zh)
Other versions
CN113492861A (en
Inventor
李丰军
周剑光
郑恩瑞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Automotive Innovation Co Ltd
Original Assignee
China Automotive Innovation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Automotive Innovation Co Ltd filed Critical China Automotive Innovation Co Ltd
Priority to CN202110845445.XA priority Critical patent/CN113492861B/en
Publication of CN113492861A publication Critical patent/CN113492861A/en
Application granted granted Critical
Publication of CN113492861B publication Critical patent/CN113492861B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present application relates to a vehicle control method and apparatus. According to the technical scheme of the application, the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle can be monitored; if the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle are monitored to meet initial preset conditions, acquiring driving parameters of the driving wheel; the driving parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of the driving wheel of the vehicle within a preset time period; obtaining the actual target terrain where the vehicle is currently located according to the driving parameters and the terrain mapping relation between the driving parameters and the terrain; and switching the control mode of the vehicle according to the actual target terrain. Therefore, the terrain where the vehicle is located is identified through the running parameters related to the wheel speeds during the acceleration of the vehicle, and the vehicle is controlled.

Description

Vehicle control method and device
Technical Field
The present application relates to the field of vehicle control technology, and more particularly to vehicle control according to terrain.
Background
The all-terrain adaptation mode is a novel vehicle control mode proposed in recent years, and can help people without driving experience to easily drive vehicles in various terrain modes. The All-Terrain System ATs (All Terrain System) mode generally includes a plurality of setting modes, such as a normal mode, a grass-gravel-snow mode, a mud and rut mode, a sand mode, and a rock mode; it is also possible to set only a small number of setting modes, for example only a rock mode and a road mode. The driver can select a corresponding terrain mode according to the current road condition of the vehicle, so as to realize the change of the driving mode of the vehicle, enhance the adaptability of the vehicle under different road conditions, or automatically recognize the terrain by a terrain recognition system to determine the current terrain of the vehicle, and once the driving mode is selected, each subsystem of the vehicle calls related control logic and parameters according to the selected driving mode. Accurate automatic recognition of terrain is particularly important for evasive terrain mode misuse, and can correct modes that are manually selected by the driver.
Disclosure of Invention
In view of the above technical problems, the present application provides a vehicle control method, device and vehicle.
According to an aspect of the present application, there is provided a vehicle control method including the steps of:
monitoring wheel acceleration a and a wheel acceleration change rate j of a driving wheel of a vehicle;
if the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle are monitored to meet the initial preset condition, acquiring the driving parameters of the driving wheel; the driving parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of the driving wheel of the vehicle in a preset time period;
obtaining the actual target terrain where the vehicle is currently located according to the driving parameters and the terrain mapping relation between the driving parameters and the terrain;
and switching the control mode of the vehicle according to the actual target terrain.
Further, the monitoring of the wheel acceleration a and the rate of change j of the wheel acceleration of the drive wheel of the vehicle includes: upon receiving an all-terrain recognition request for a vehicle, wheel acceleration a and a rate of change j in wheel acceleration of a drive wheel of the vehicle are monitored.
Further, the determining whether the initial preset condition is satisfied according to the wheel acceleration a and the wheel acceleration rate j of the driving wheel of the vehicle includes: and when the wheel acceleration a is greater than the initial acceleration threshold value and the wheel acceleration change rate j is greater than the initial acceleration change rate threshold value, determining that an initial preset condition is met.
Further, the driving parameters include a first driving parameter; and obtaining the actual target terrain where the vehicle is currently located according to the first running parameter and the first terrain mapping relation.
Further, the driving parameters comprise second driving parameters, the terrain mapping relation comprises a second terrain mapping relation, and the corrected target terrain is obtained according to the second driving parameters and the second terrain mapping relation; and if the terrain corresponding to the corrected target terrain is different from the terrain corresponding to the actual target terrain, acquiring grade attribute information of the terrain corresponding to the corrected target terrain and the terrain corresponding to the actual target terrain, and keeping the actual target terrain unchanged or updating the terrain corresponding to the actual target terrain into the terrain corresponding to the corrected target terrain according to the grade attribute information.
According to another aspect of the present application, there is provided a vehicle control apparatus including:
a monitoring module for monitoring the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle;
the driving parameter acquiring module is used for acquiring driving parameters of the driving wheel if the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle are monitored to meet initial preset conditions; the driving parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of the driving wheel of the vehicle within a preset time period;
the identification module is used for obtaining the actual target terrain where the vehicle is located at present according to the driving parameters and the terrain mapping relation between the driving parameters and the terrain;
and the switching module is used for switching the control mode of the vehicle according to the actual target terrain.
According to another aspect of the present application, there is provided a vehicle including the vehicle control apparatus of the above aspect.
The terrain where the vehicle is located is accurately identified through the running parameters related to the wheel speed in the vehicle acceleration process, and the vehicle is controlled according to the identified terrain.
Other features and aspects of the present application will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the application and, together with the description, serve to explain the principles of the application.
Fig. 1 shows a schematic diagram of a vehicle control method provided according to an embodiment of the present application.
Fig. 2 shows a schematic diagram of a vehicle control device according to an embodiment of the present application.
Detailed Description
Various exemplary embodiments, features and aspects of the present application will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
It should be noted that the following figures show a possible sequence of steps, and in fact do not limit the order that must be followed. Some steps may be performed in parallel without being dependent on each other.
The embodiment of the application provides a vehicle control method, which comprises the following steps:
step S201, a wheel acceleration a and a wheel acceleration rate j of a driving wheel of the vehicle are monitored.
Whether terrain recognition is carried out is judged by monitoring the wheel speed state of the wheels, and the terrain obtained through recognition is switched to a corresponding vehicle control mode. The vehicle itself is usually equipped with a wheel acceleration sensor that detects wheel acceleration, and the wheel acceleration change rate j can be obtained by calculating the change rate of the wheel acceleration with respect to time, i.e., by performing derivation calculation on the wheel acceleration with respect to time.
In the embodiment, whether terrain recognition is performed is judged by monitoring the wheel acceleration a and the wheel acceleration rate j of the driving wheel of the vehicle, and if the wheel acceleration a and the wheel acceleration rate j of the driving wheel of the vehicle meet the initial preset condition, the terrain recognition is judged; and if the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle do not meet the initial preset condition, not performing terrain recognition judgment, and continuously monitoring the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle.
Optionally, the wheel acceleration a and the rate of change of wheel acceleration j of the driven wheels of the vehicle are monitored upon receipt of an all terrain recognition request of the vehicle. For example, the vehicle automatically transmits an all-terrain recognition request, or the driver transmits an all-terrain recognition request, and when the all-terrain recognition request of the vehicle is received, the vehicle starts to enter the terrain recognition, thereby realizing the intelligent start of the terrain recognition process or the start of the terrain recognition process according to the subjective intention of the driver.
Alternatively, when the wheel acceleration a is greater than the initial acceleration threshold value and the wheel acceleration change rate j is greater than the initial acceleration change rate threshold value, it is determined that the wheel acceleration a and the wheel acceleration change rate j satisfy the initial preset condition. For terrain with general or normal adhesion, such as general road terrain, a vehicle traveling thereon is subjected to frictional force from the ground, and the wheel speed increases more slowly when accelerating; on the other hand, for the terrain with low adhesion performance such as snow, mud and the like, the friction force applied to the vehicle running on the terrain is small, the skidding phenomenon is easy to occur during acceleration, and the wheel speed is increased quickly. During the acceleration of the wheels, when the wheels have a high abnormal wheel acceleration a and an abnormal wheel acceleration change rate j, the vehicle may be in a low adhesion performance terrain. For example, when the wheel acceleration a is greater than a preset initial acceleration threshold value and the wheel acceleration change rate j is greater than a preset initial acceleration change rate threshold value, determining that the wheel acceleration a and the wheel acceleration change rate j meet an initial preset condition, and starting a terrain identification process when the vehicle may be in a terrain with low adhesion performance; the initial acceleration threshold and the initial acceleration change rate threshold can be preset according to empirical values, or real vehicle calibration is performed in advance, and calibration is performed based on historical data of the vehicle.
Step S202, if the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle are monitored to meet initial preset conditions, the driving parameters of the driving wheel are obtained; and the running parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of the driving wheel of the vehicle in a preset time period.
The present embodiment identifies the terrain in which the vehicle is located by the driving parameters associated with the wheel speeds during vehicle acceleration. Specifically, the terrain in which the vehicle is located is identified using the running parameters related to the wheel acceleration, the rate of change of the wheel acceleration, of the driving wheels of the vehicle during acceleration of the vehicle.
And S203, obtaining the actual target terrain where the vehicle is currently located according to the running parameters and the terrain mapping relation between the running parameters and the terrain.
For the terrain with low adhesion performance, the slip phenomenon is easy to occur when the vehicle accelerates, the wheel speed and the wheel acceleration of the wheel entering the slip state are greatly changed relative to the wheel entering the non-slip state, and the terrain where the vehicle is located is identified by comparing the wheel running parameters in the non-slip state with the wheel running parameters entering the slip state.
Specifically, if it is monitored that the wheel acceleration a and the wheel acceleration rate j of the driving wheel of the vehicle meet the initial preset condition, acquiring the driving parameters of the driving wheel of the vehicle, including:
taking the time corresponding to the wheel acceleration a and the wheel acceleration change rate j as reference time;
the driving parameters include a first driving parameter; the first driving parameter comprises a first wheel acceleration average value a in a first preset time period a1 The first wheel acceleration change rate variance value j v1 And a second wheel acceleration average a over a second predetermined time period a2 First vehicle wheel drive acceleration average value a t2 And a second wheel acceleration rate variance value j v2 (ii) a The ending time of the first preset time period is the initial time of the second preset time period, and the second preset time period comprises the reference time; the first preset time period is a preset time period before the moment when the acceleration a and the acceleration rate j of the wheel meet the initial preset condition, optionally, the first preset time period corresponds to a time period before the wheel enters the acceleration state, or at least one time period in the first preset time period is a time period before the wheel enters the acceleration state; the second preset time period is a preset time period including a time corresponding to the wheel acceleration a and the wheel acceleration change rate j meeting the initial preset condition, optionally, the second preset time period is a time period when the wheel enters the acceleration state, or at least one time period in the first preset time period is a time period after the wheel enters the acceleration stateA segment; optionally, the first preset time period and the second preset time period have the same duration; optionally, the ending time of the first preset time period, that is, the initial time of the second preset time period, corresponds to the time when the wheel enters the acceleration state, or a time difference threshold exists between the ending time of the first preset time period and the time when the wheel enters the acceleration state, and the time difference threshold is preset according to an empirical value or calibrated according to historical data.
Wherein the first wheel acceleration average value a a1 The first wheel acceleration change rate variance value j v1 The average value of the wheel acceleration and the variance value of the wheel acceleration change rate in the first preset time period are respectively. Second wheel acceleration average a a2 And a second wheel acceleration rate variance value j v2 The average value of the wheel acceleration and the variance value of the wheel acceleration change rate in the second preset time period are respectively.
First vehicle wheel drive acceleration average value a t2 And the average value of the driving torque of the driving wheel corresponding to the acceleration of the wheel in the second preset time period is obtained.
The acquiring of the running parameters of the driving wheels comprises the following steps:
acquiring a driving torque applied to the wheel within a second preset time period;
obtaining the driving acceleration of the wheel in a second preset time period according to the driving torque applied to the wheel in the second preset time period and the first mapping relation between the driving torque and the acceleration of the wheel;
obtaining the average value a of the driving acceleration of the first wheel in the second preset time period according to the driving acceleration of the wheel in the second preset time period t2 。
Where the vehicle is traveling on terrain having general or normal traction, such as common road terrain, the wheels are subject to a drive torque applied to the wheels and a frictional force against the ground, and the wheels will have different accelerations based on the particular drive torque applied to the wheels and the frictional force against the ground. The driving torque is from a vehicle engine, and the driving torque generated by the vehicle engine corresponds to the driving torque applied to wheels in a certain corresponding relationship due to factors such as vehicle composition, vehicle state and the like; the driving form, transmission efficiency, gear ratio, bearings, etc. of the vehicle affect the correspondence between the driving torque generated by the vehicle engine and the driving torque applied to the wheels, and the tires, temperature, specific topography, etc. affect the frictional force applied to the wheels by the ground. The map of the driving torque applied to the wheels with the wheel acceleration may be set empirically or calibrated, and set based on the history of the vehicle so that the map coincides with the actual state of the vehicle.
The terrain mapping relationship comprises a first terrain mapping relationship, and the first terrain mapping relationship is a mapping relationship between a first driving parameter and a terrain.
Obtaining the actual target terrain where the vehicle is currently located according to the first driving parameter and the first terrain mapping relation, wherein the obtaining of the actual target terrain comprises the following steps:
when the first running parameter satisfies A 1 <a a2 -a a1 <A 2 ，a a2 -a t2 >A 3 ，j v2 >J 1 ，J 2 <j v2 -j v1 <J 3 Then, the actual target terrain is a first terrain;
when the first running parameter satisfies a a2 -a a1 >A 4 ，j v2 >J 4 ，j v2 -j v1 >J 5 Then, the actual target terrain is a second terrain;
wherein A is 1 、A 2 、A 3 、A 4 A first acceleration difference, a second acceleration difference, a third acceleration difference, a fourth acceleration difference, J 1 、J 2 、J 3 、J 4 、J 5 Respectively a first acceleration rate threshold, a first acceleration rate difference, a second acceleration rate threshold, and a third acceleration rate difference; the above parameters may be preset empirically or calibrated and set based on historical data of the vehicle so that the settings of the parameters match the actual state of the vehicle.
The first topography and the second topography are both topography having a lower traction performance, the second topography having at least in part a lower traction performance relative to the first topography. For example, the first terrain is a sand, snow or mud land, and the second terrain is a rock terrain in which, when the wheels are in a suspended state, the ground exerts little or no friction on the wheels; the wheel speed in the acceleration state in the second terrain changes faster relative to the first terrain.
Further, the driving parameters comprise second driving parameters, the terrain mapping relation comprises a second terrain mapping relation, and the second terrain mapping relation is a mapping relation between the second driving parameters and the terrain; the second driving parameter comprises a third wheel acceleration average value a within a third preset time period a3 Second wheel-drive acceleration average value a t3 And a third wheel acceleration rate variance value j v3 . The third preset time period corresponds to a time period when the wheel is in the acceleration state, and at least includes a time period when the wheel is in the acceleration state, and optionally, the third preset time period is a preset time period when the wheel is in the acceleration state after the time when the acceleration a and the acceleration change rate j of the wheel meet the initial preset conditions.
The acquiring of the driving parameters of the driving wheel further comprises:
acquiring a driving torque applied to the wheel within a third preset time period;
obtaining the driving acceleration of the wheel in a third preset time period according to the driving torque applied to the wheel in the third preset time period and a second mapping relation between the driving torque and the acceleration of the wheel;
obtaining a second wheel driving acceleration average value a in a third preset time period according to the driving acceleration of the wheel in the third preset time period t3 。
Obtaining the actual target terrain where the vehicle is currently located according to the driving parameters and the terrain mapping relation, and further comprising the following steps:
obtaining a corrected target terrain according to the second driving parameter and the second terrain mapping relation, wherein the steps of:
when the second driving parameter satisfies A 5 <a a3 -a t3 <A 6 ，J 6 <j v3 <J 7 Correcting the target terrain to be a first terrain;
when the first running parameter satisfies a a3 -a t3 >A 7 ，j v2 >J 8 Correcting the target terrain into a second terrain; wherein A is 5 、A 6 、A 7 Respectively the fifth acceleration difference, the sixth acceleration difference, the seventh acceleration difference, J 6 、J 7 、J 8 Respectively a sixth acceleration change rate threshold value, a seventh acceleration change rate difference value and an eighth acceleration change rate difference value; the parameters can be preset or calibrated according to experience, and are set based on historical data of the vehicle, so that the setting of the parameters is consistent with the actual state of the vehicle;
if the terrain corresponding to the corrected target terrain is the same as the terrain corresponding to the actual target terrain, keeping the actual target terrain unchanged;
and if the terrain corresponding to the corrected target terrain is different from the terrain corresponding to the actual target terrain, acquiring grade attribute information of the terrain corresponding to the corrected target terrain and the terrain corresponding to the actual target terrain, and keeping the actual target terrain unchanged or updating the terrain corresponding to the actual target terrain into the terrain corresponding to the corrected target terrain according to the grade attribute information.
Because the second topography has lower adhesive property at least partially compared with the first topography, the second topography is worse than the first topography, the first topography and the second topography have different grade attribute information, the grade attribute information is the grade information of the topography, for example, the grade information of the second topography is set to be 2, the grade information of the first topography is 1, when the topography corresponding to the corrected target topography is different from the topography corresponding to the actual target topography, if the grade information of the topography corresponding to the corrected target topography is higher than the grade information of the topography corresponding to the actual target topography, the topography corresponding to the actual target topography is updated to be the topography corresponding to the corrected target topography, otherwise, the actual target topography is kept unchanged.
And step S204, switching the control mode of the vehicle according to the actual target terrain.
And switching the control mode of the vehicle based on the identified actual target terrain to control the vehicle according to the actual terrain, so as to enhance the adaptability of the vehicle.
In another aspect, the present application provides a vehicle control apparatus, comprising:
a monitoring module 10 that monitors a wheel acceleration a and a wheel acceleration change rate j of a drive wheel of the vehicle;
the driving parameter acquiring module 20 is configured to acquire driving parameters of a driving wheel of the vehicle if it is monitored that the wheel acceleration a and the wheel acceleration rate j of the driving wheel meet a starting preset condition; the driving parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of the driving wheel of the vehicle within a preset time period;
the identification module 30 is used for obtaining the actual target terrain where the vehicle is located currently according to the driving parameters and the terrain mapping relation between the driving parameters and the terrain;
and the switching module 40 switches the control mode of the vehicle according to the actual target terrain.
Those skilled in the art will appreciate that a particular device configuration may include additional components or modules, or combine certain components or modules, or have different arrangements of components or modules, to implement the control methods described herein.
In an exemplary embodiment, a vehicle is also provided, which includes the aforementioned vehicle control apparatus, or which implements the aforementioned vehicle control method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (9)

1. A vehicle control method characterized by comprising the steps of:
monitoring wheel acceleration a and a rate of change of wheel acceleration j of a drive wheel of the vehicle;
if the wheel acceleration a and the wheel acceleration change rate j of the driving wheel of the vehicle are monitored to meet initial preset conditions, acquiring driving parameters of the driving wheel; the driving parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of a driving wheel of the vehicle within a preset time period;
obtaining the actual target terrain where the vehicle is located at present according to the driving parameters and the terrain mapping relation between the driving parameters and the terrain;
switching the control mode of the vehicle according to the actual target terrain;
if the monitored wheel acceleration a and the monitored wheel acceleration change rate j of the driving wheel of the vehicle meet the initial preset condition, acquiring the driving parameters of the driving wheel, wherein the driving parameters comprise:
taking the time corresponding to the wheel acceleration a and the wheel acceleration change rate j as reference time;
the driving parameters comprise a first driving parameter;
the first driving parameter comprises a first wheel acceleration average value a in a first preset time period a1 The first wheel acceleration change rate variance value j v1 And a second wheel acceleration average a over a second predetermined time period a2 First vehicle wheel drive acceleration average value a t2 And a second wheel acceleration rate variance value j v2 (ii) a The ending time of the first preset time period is the initial time of the second preset time period, and the second preset time period comprises the reference time;
the first wheel acceleration average a a1 The first wheel acceleration change rate variance value j v1 Respectively an average value of the wheel acceleration and a variance value of the wheel acceleration change rate in a first preset time period;
the second wheel acceleration average a a2 And the second wheel acceleration change rate variance value j v2 Respectively obtaining the average value of the wheel acceleration and the variance value of the wheel acceleration change rate in a second preset time period;
the first vehicle wheel driving acceleration average value a t2 And the average value of the driving torque of the driving wheel corresponding to the acceleration of the wheel in the second preset time period is obtained.
2. A vehicle control method in accordance with claim 1, wherein said monitoring wheel acceleration a and a rate of change j of wheel acceleration of a drive wheel of said vehicle comprises:
upon receiving an all-terrain recognition request for the vehicle, wheel acceleration a and a rate of change of wheel acceleration j of a drive wheel of the vehicle are monitored.
3. A vehicle control method in accordance with claim 1, wherein said monitoring wheel acceleration a and a rate of change j of wheel acceleration of a drive wheel of said vehicle comprises:
and when the wheel acceleration a is greater than the initial acceleration threshold value and the wheel acceleration change rate j is greater than the initial acceleration change rate threshold value, determining that the wheel acceleration a and the wheel acceleration change rate j meet an initial preset condition.
4. A vehicle control method according to claim 1, wherein said acquiring a running parameter of the drive wheel includes:
acquiring a driving torque applied to the wheel within a second preset time period;
obtaining the driving acceleration of the wheel in a second preset time period according to the driving torque applied to the wheel in the second preset time period and the first mapping relation between the driving torque and the acceleration of the wheel;
obtaining the average value a of the driving acceleration of the first wheel in the second preset time period according to the driving acceleration of the wheel in the second preset time period t2 。
5. The vehicle control method according to claim 1 or 4, wherein the obtaining of the actual target terrain where the vehicle is currently located according to the driving parameters and the terrain mapping relationship between the driving parameters and the terrain comprises:
when the first running parameter satisfies A 1 <a a2 -a a1 <A 2 ，a a2 -a t2 >A 3 ，j v2 >J 1 ，J 2 <j v2 -j v1 <J 3 The actual purpose of the timeThe target terrain is a first terrain;
when the first running parameter satisfies a a2 -a a1 >A 4 ，j v2 >J 4 ，j v2 -j v1 >J 5 Then, the actual target terrain is a second terrain;
wherein A is 1 、A 2 、A 3 、A 4 A first acceleration difference, a second acceleration difference, a third acceleration difference, a fourth acceleration difference, J 1 、J 2 、J 3 、J 4 、J 5 Respectively, a first acceleration rate threshold, a first acceleration rate difference, a second acceleration rate threshold, and a third acceleration rate difference.
6. A vehicle control method according to claim 5, characterized in that the running parameter includes a second running parameter;
the second driving parameter comprises a third wheel acceleration average value a in a third preset time period a3 Second wheel-drive acceleration average value a t3 And a third wheel acceleration rate variance value j v3 。
7. The vehicle control method according to claim 6, wherein the acquiring of the running parameter of the drive wheel includes:
acquiring a driving torque applied to the wheel within a third preset time period;
obtaining the driving acceleration of the wheel in a third preset time period according to the driving torque applied to the wheel in the third preset time period and a second mapping relation between the driving torque and the acceleration of the wheel;
obtaining a second wheel driving acceleration average value a in a third preset time period according to the driving acceleration of the wheel in the third preset time period t3 。
8. The vehicle control method according to claim 6 or 7, wherein the obtaining of the actual target terrain where the vehicle is currently located according to the driving parameters and the terrain mapping relation comprises:
obtaining a corrected target terrain according to the second driving parameter and the corrected terrain mapping relation, wherein the steps of:
when the second driving parameter satisfies A 5 <a a3 -a t3 <A 6 ，J 6 <j v3 <J 7 Correcting the target terrain to be a first terrain;
when the first running parameter satisfies a a3 -a t3 >A 7 ，j v2 >J 8 Correcting the target terrain into a second terrain;
if the terrain corresponding to the corrected target terrain is the same as the terrain corresponding to the actual target terrain, keeping the actual target terrain unchanged;
if the terrain corresponding to the corrected target terrain is different from the terrain corresponding to the actual target terrain, acquiring grade attribute information of the terrain corresponding to the corrected target terrain and the terrain corresponding to the actual target terrain, and keeping the actual target terrain unchanged or updating the terrain corresponding to the actual target terrain into the terrain corresponding to the corrected target terrain according to the grade attribute information;
wherein A is 5 、A 6 、A 7 Respectively the fifth rate difference, the sixth acceleration difference, the seventh acceleration difference, J 6 、J 7 、J 8 Respectively a sixth acceleration change rate threshold, a seventh acceleration change rate difference, and an eighth acceleration change rate difference.
9. A vehicle control apparatus characterized by comprising:
a monitoring module that monitors a wheel acceleration a and a wheel acceleration change rate j of a drive wheel of the vehicle;
the driving parameter acquisition module is used for acquiring driving parameters of a driving wheel of the vehicle if the monitored wheel acceleration a and the wheel acceleration change rate j of the driving wheel meet initial preset conditions; the driving parameters are obtained according to the wheel acceleration and the wheel acceleration change rate of a driving wheel of the vehicle within a preset time period;
the identification module is used for obtaining the actual target terrain where the vehicle is located at present according to the driving parameters and the terrain mapping relation between the driving parameters and the terrain;
the switching module is used for switching the control mode of the vehicle according to the actual target terrain;
if the monitored wheel acceleration a and the monitored wheel acceleration change rate j of the driving wheel of the vehicle meet the initial preset condition, acquiring the driving parameters of the driving wheel, wherein the driving parameters comprise:
taking the time corresponding to the wheel acceleration a and the wheel acceleration change rate j as reference time;
the driving parameters comprise a first driving parameter;
the first driving parameter comprises a first wheel acceleration average value a in a first preset time period a1 The first wheel acceleration change rate variance value j v1 And a second wheel acceleration average a over a second predetermined time period a2 First vehicle wheel drive acceleration average value a t2 And a second wheel acceleration rate variance value j v2 (ii) a The ending time of the first preset time period is the initial time of the second preset time period, and the second preset time period comprises the reference time;
the first wheel acceleration average value a a1 The first wheel acceleration change rate variance value j v1 Respectively an average value of the wheel acceleration and a variance value of the wheel acceleration change rate in a first preset time period;
the second wheel acceleration average a a2 And the second wheel acceleration change rate variance value j v2 Respectively obtaining the average value of the wheel acceleration and the variance value of the wheel acceleration change rate in a second preset time period;
the first vehicle wheel driving acceleration average value a t2 And the average value of the driving torque of the driving wheel corresponding to the acceleration of the wheel in the second preset time period is obtained.
CN202110845445.XA 2021-07-26 2021-07-26 Vehicle control method and device Active CN113492861B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110845445.XA CN113492861B (en) 2021-07-26 2021-07-26 Vehicle control method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110845445.XA CN113492861B (en) 2021-07-26 2021-07-26 Vehicle control method and device

Publications (2)

Publication Number Publication Date
CN113492861A CN113492861A (en) 2021-10-12
CN113492861B true CN113492861B (en) 2022-12-16

Family

ID=77996568

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110845445.XA Active CN113492861B (en) 2021-07-26 2021-07-26 Vehicle control method and device

Country Status (1)

Country Link
CN (1) CN113492861B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114475617B (en) * 2022-04-15 2022-07-29 中汽创智科技有限公司 Road condition identification method, device, equipment and storage medium

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB201318706D0 (en) * 2013-10-23 2013-12-04 Jaguar Land Rover Ltd Improvements in vehicle speed control
GB2540748B (en) * 2015-07-17 2019-01-30 Jaguar Land Rover Ltd A system for use in a vehicle
GB2552030B (en) * 2016-07-08 2019-09-11 Jaguar Land Rover Ltd Vehicle launch control system
CN109727334B (en) * 2017-10-30 2021-03-26 长城汽车股份有限公司 Method and device for identifying terrain where vehicle is located and vehicle
CN109263643A (en) * 2018-08-17 2019-01-25 上海汽车集团股份有限公司 Vehicle snow orographic model automatic identifying method and device
CN110789527A (en) * 2019-01-29 2020-02-14 长城汽车股份有限公司 Vehicle all-terrain automatic control method and device

Also Published As

Publication number Publication date
CN113492861A (en) 2021-10-12

Similar Documents

Publication Publication Date Title
EP2867036B1 (en) Method, control device and system for determining a profile depth of a profile of a tyre
EP1495904B1 (en) Road-surface friction coefficient estimating device and road-surface friction coefficient estimating method
DE112010005534B4 (en) Vehicle control system
EP2858870B1 (en) Vehicle and method of control thereof
US9008903B2 (en) Wheel diameter variation-detecting device
US20150185036A1 (en) Method and device for ascertaining a source of danger on atravel route
CN113492861B (en) Vehicle control method and device
US20160305388A1 (en) Auto stop parameter threshold adjustment
US8821348B2 (en) Dynamic filtering for stop/start vehicle launch preparation
GB2492655A (en) Vehicle control system that evaluates driving condition indicator(s) to determine the most appropriate control mode
US8560186B2 (en) Method for identifying a driving resistance of a motor vehicle
US10539228B2 (en) Travel control device, and travel control method
EP2261072B1 (en) System and method for controlling traction in a two-wheeled vehicle
CN111086500A (en) Vehicle slip protection method and system and vehicle
US7369931B2 (en) Gear shift prevention
US10442256B2 (en) System for tire pressure monitoring for a utility vehicle
KR102255437B1 (en) Method and system for the adaptation of the driving of a vehicle on a roadway in association with taking a curve
CN108688466B (en) Method for operating a motor vehicle, control unit and motor vehicle
CN112937578A (en) Vehicle, and control method and control device thereof
SE1251432A1 (en) Procedure and system for controlling driver behavior when driving a vehicle
CN114248774A (en) Vehicle curve control method and device, computer equipment and storage medium
DE102018124808A1 (en) METHOD AND DEVICES FOR CONTROLLING AN ELECTRIC POWER STEERING MOTOR IN RESPONSE TO RECOGNIZING COMBUSTION ENGINE EMISSIONS WHEN RESTARTING AN AUTO STOP STARTING BURNER MOTOR
CN116635281A (en) Method for distributing a required torque for driving a vehicle having wheels
CN108340917B (en) Vehicle control method and device and vehicle
EP3774399A1 (en) Method for dynamically determining a tyre longitudinal force

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant