CN113968225B - Vehicle control system and control method - Google Patents
Vehicle control system and control method Download PDFInfo
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- 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
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- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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Abstract
The application provides a vehicle control system and a control method, comprising the following steps: the system comprises a gateway, an advanced driving assistance system ADAS, an environmental data acquisition device, an automatic gearbox control unit TCU and an engine electronic control unit ECU; the advanced driving assistance system receives the environmental data acquired by the environmental data acquisition device and obtains the current driving environmental information based on the environmental data analysis; transmitting driving environment information to the gateway through the first bus; an automatic gearbox control unit for determining an initial gear shifting strategy according to driving data sent by the engine electronic control unit; the automatic gearbox control unit receives driving environment information forwarded by the gateway through the second bus, corrects the initially set gear shift control strategy based on the driving environment information, and obtains the corrected gear shift control strategy; the first data transmission rate is greater than the second data transmission rate. The scheme of the application ensures the real-time performance and reliability of vehicle control.
Description
Technical Field
The present disclosure relates to vehicle technologies, and in particular, to a vehicle control system and a control method.
Background
With the development of vehicle intellectualization and networking, more and more vehicles are selectively equipped with control devices such as Advanced Driving Assistance Systems (ADAS) and Automated Mechanical Transmission (AMT). Based on the control equipment loaded by the vehicle, the intelligent control of the vehicle can be realized.
In a vehicle control strategy, on the basis of intelligent control based on information such as accelerator pedal opening, vehicle speed, engine torque, rotating speed, road gradient and the like, vehicle navigation information is integrated to optimize the control strategy, so that predictive control is realized. The vehicle control schemes described above often rely on wireless communication networks.
However, in some scenarios, for example, the wireless communication network has a large delay, or some road segments in remote areas may not have network signals, the above solution cannot realize real-time performance and reliability of vehicle control.
Disclosure of Invention
The application provides a vehicle control system and a control method, which are used for realizing real-time performance and reliability of vehicle control.
In a first aspect, the present application provides a vehicle control system comprising: the system comprises a gateway, an advanced driving assistance system ADAS, an environmental data acquisition device, an automatic gearbox control unit TCU and an engine electronic control unit ECU; the advanced driving assistance system is connected with the environment data acquisition device, and is used for receiving the environment data acquired by the environment data acquisition device and analyzing and obtaining current driving environment information based on the environment data; the advanced driving assistance system is connected to the gateway through a first bus and is used for sending the driving environment information to the gateway through the first bus; wherein the first bus has a first data transfer rate; the automatic gearbox control unit is connected with the engine electronic control unit through a second bus and is used for determining an initial gear shifting strategy according to driving data sent by the engine electronic control unit; the automatic gearbox control unit is connected to the gateway through a second bus, and is used for receiving the driving environment information forwarded by the gateway through the second bus, correcting an initially set gear shift control strategy based on the driving environment information and obtaining a corrected gear shift control strategy; wherein the second bus has a second data transfer rate, the first data transfer rate being greater than the second data transfer rate.
In one example, the environmental data collection device comprises an image collection device, and the advanced driving assistance system comprises a traffic sign recognition module; the traffic sign recognition module is connected with the image acquisition device and is used for recognizing traffic signs based on images acquired by the image acquisition device by utilizing an image recognition technology to obtain driving environment information, wherein the driving environment information comprises traffic sign information of a current road, and the traffic sign comprises at least one of the following components: speed limit sign, long uphill sign, long downhill sign.
In one example, the environmental data collection device comprises an image collection device, and the advanced driving assistance system comprises a traffic condition identification module; the traffic condition recognition module is connected with the image acquisition device and is used for carrying out road condition analysis based on the image acquired by the image acquisition device by utilizing an image recognition technology to obtain driving environment information, wherein the driving environment information comprises current road condition information, and the road condition information comprises at least one of the following: road congestion degree and driving speed.
In one example, the environmental data collection device comprises an image collection device, and the advanced driving assistance system comprises a weather identification module; the weather identification module is connected with the image acquisition device and is used for carrying out weather analysis based on the image acquired by the image acquisition device by utilizing an image identification technology to obtain driving environment information, wherein the driving environment information comprises current weather information.
In one example, the environmental data collection device includes an image collection device, and the advanced driving assistance system includes an obstacle recognition module; the obstacle recognition module is connected with the image acquisition device and is used for recognizing the obstacle based on the image acquired by the image acquisition device by utilizing an image recognition technology to obtain the driving environment information, wherein the driving environment information comprises a recognition result of the obstacle on the current road.
In one example, the environmental data collection device comprises an image collection device, and the advanced driving assistance system comprises a pedestrian recognition module; the pedestrian recognition module is connected with the image acquisition device and is used for recognizing pedestrians based on images acquired by the image acquisition device by utilizing an image recognition technology to obtain driving environment information, wherein the driving environment information comprises recognition results of pedestrians on the current road.
In one example, the environmental data collection device comprises a radar device, and the advanced driving assistance system comprises a road three-dimensional reconstruction module; the road three-dimensional reconstruction module is connected with the radar device and is used for three-dimensionally reconstructing the current road environment by utilizing radar point cloud information provided by the radar device to obtain driving environment information, and the driving environment information comprises at least one of the following: road grade, road length, and positional relationship with other vehicles.
In one example, the automatic transmission control unit includes: a basic control strategy module and a correction coefficient calculation module; the basic control strategy module is used for determining an initial gear shift control strategy according to driving data sent by the engine electronic control unit, wherein the driving data comprises at least one of the following components: accelerator pedal opening, vehicle speed, torque, current gear, vehicle weight and current working condition information; the correction coefficient calculation module is used for calculating a correction coefficient based on the driving environment information; the basic control strategy module is connected with the correction coefficient calculation module and is used for correcting the initial gear shift control strategy according to the correction coefficient to obtain a corrected gear shift control strategy.
In one example, the operating condition information includes at least one of: rapid acceleration, rapid deceleration, slow acceleration, slow deceleration and starting conditions.
In a second aspect, the present application provides a vehicle control method applied to a vehicle control system as described above, the method comprising: the advanced driving assistance system receives the environmental data acquired by the environmental data acquisition device and analyzes and obtains current driving environmental information based on the environmental data; the advanced driving assistance system sends the driving environment information to a gateway through a first bus; wherein the first bus has a first data transfer rate; the automatic gearbox control unit determines an initial gear shifting strategy according to driving data sent by the engine electronic control unit; the automatic gearbox control unit receives the driving environment information forwarded by the gateway through the second bus, corrects an initially set gear shift control strategy based on the driving environment information, and obtains a corrected gear shift control strategy; wherein the second bus has a second data transfer rate, the first data transfer rate being greater than the second data transfer rate.
In the vehicle control system and the control method, the advanced driving assistance system sends driving environment information to the gateway through the first bus at a first data transmission rate, the driving environment information is obtained based on environment data acquired by the environment data acquisition device, the automatic gearbox control unit receives the driving environment information through the second bus at a second data transmission rate, and a gear shift control strategy is obtained based on the driving environment information. In this scheme, in the bus network of automatic gearbox control unit and engine electronic control unit co-located second bus, advanced driving auxiliary system is located the bus network of first bus, and the data transmission rate of first bus is greater than the second bus, guarantees the timely transmission of driving environment information to guarantee the real-time of vehicle control, and driving environment data in this scheme is based on the environmental data acquisition of environmental data collection device acquisition, does not rely on wireless communication network, thereby realizes the reliability of vehicle control.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic diagram of a vehicle control system architecture;
fig. 2 is a schematic structural diagram of a vehicle control system according to a first embodiment of the present disclosure;
FIG. 3 is a schematic diagram of architecture and interaction of a vehicle control system according to a first embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a vehicle control system according to a second embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a vehicle control system according to a third embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a vehicle control system according to a fourth embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle control system according to a fifth embodiment of the present application;
fig. 8 is a schematic structural diagram of a vehicle control system according to a sixth embodiment of the present application;
fig. 9 is a schematic structural diagram of a vehicle control system according to a seventh embodiment of the present application;
fig. 10 is a schematic flow chart of a vehicle control method according to an eighth embodiment of the present application;
fig. 11 is a flowchart illustrating a data process.
Specific embodiments thereof have been shown by way of example in the drawings and will herein be described in more detail. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
The terms "comprising" and "having" in this application are used to mean that there may be additional elements/components/etc. in addition to the listed elements/components/etc.; the terms "first" and "second" and the like are used merely as labels, and are not intended to limit the number of their objects.
The technical terms appearing in the present application are explained below:
ADAS: the advanced driving auxiliary system utilizes sensors (millimeter wave radar, laser radar, single/double camera and satellite navigation) installed on the vehicle to sense surrounding environment at any time in the running process of the vehicle, collects data, performs identification, detection and tracking of static and dynamic objects, and combines navigation map data to perform operation and analysis of the system.
AMT: an electric control mechanical automatic transmission is an electromechanical-hydraulic integrated automatic transmission which is improved on the basis of a traditional manual gear type transmission and combines the advantages of both automatic and manual operation.
And (3) ECU: the electronic engine control unit is a controller which performs operation, processing and judgment according to signals input by the sensors and then outputs instructions to control the action of the actuator.
TCU: and the automatic gearbox control unit is used for realizing automatic speed change control, and the main functions comprise target gear decision, actuator control, fault diagnosis, fault treatment and the like.
CAN: the controller area network belongs to a bus type serial communication network and realizes the communication among all controllers of the whole vehicle.
The message comprises the following steps: data units are exchanged and transmitted in the network, the data comprising complete data information to be transmitted.
Gateway: the core control device of the vehicle network system is responsible for coordinating the protocol conversion, data interaction, fault diagnosis and other works among CAN bus networks with different structures and characteristics and other data networks.
And (3) image identification: techniques for processing, analyzing, and understanding images with a computer to identify targets and objects in various different modes.
Three-dimensional reconstruction: and recovering the three-dimensional scene information according to the point cloud and the image data acquired by the laser radar, the millimeter wave radar and the monocular and binocular camera.
With the development of vehicle intellectualization and networking, more and more vehicles are selectively equipped with control devices such as advanced driving assistance systems and electrically controlled mechanical automatic transmissions. Based on the control equipment loaded by the vehicle, the intelligent control of the vehicle can be realized.
In one type of vehicle control technology, there is a predictive control method based on vehicle navigation information, which requires acquiring the vehicle navigation information through a wireless communication network. As shown in fig. 1, fig. 1 is a schematic architecture diagram of a vehicle control system, which includes: a vehicle 1 and a remote device 2; the vehicle 1 obtains the vehicle-mounted navigation information provided by the remote device 2 through the wireless communication network, and makes a gear shift control strategy based on the vehicle-mounted navigation information to control the vehicle.
In some scenarios, the wireless communication network has a large delay, and in some remote areas, the road section has no network signal, and these factors affect the real-time performance and reliability of vehicle control.
Hereinafter, embodiments of the present application are exemplified to achieve real-time performance and reliability of vehicle control.
Example 1
Fig. 2 is a schematic structural diagram of a vehicle control system according to an embodiment of the present application. The vehicle control system is loadable into a vehicle, as shown in fig. 2, and includes:
a gateway 21, an advanced driving assistance system 22, an environmental data collection device 23, an automatic transmission control unit 24, and an engine electronic control unit 25; wherein,,
the advanced driving assistance system 22 is connected with the environmental data acquisition device 23, and is used for receiving the environmental data acquired by the environmental data acquisition device 23 and obtaining the current driving environmental information based on the environmental data analysis;
an advanced driving assistance system 22 connected to the gateway 21 through a first bus for transmitting driving environment information to the gateway 21 through the first bus; wherein the first bus has a first data transfer rate;
an automatic transmission control unit 24 connected to the engine electronic control unit 25 via a second bus for determining an initial shift strategy based on driving data transmitted from the engine electronic control unit 25;
an automatic gearbox control unit 24, connected to the gateway 21 through a second bus, for receiving driving environment information forwarded by the gateway 21 through the second bus, and correcting the initially set gear shift control strategy based on the driving environment information to obtain a corrected gear shift control strategy; wherein the second bus has a second data transfer rate, the first data transfer rate being greater than the second data transfer rate.
The TCU and the ECU are located in the CAN network of the second bus together, the ADAS is located in the CAN network of the first bus, and the data transmission rate of the first bus, namely the first data transmission rate, is larger than the data transmission rate of the second bus, namely the second data transmission rate. In one example, the first data transmission rate may be 250kbps and the second data transmission rate may be 500kbps.
The environment data acquisition device is used for acquiring environment data. Types of environmental data include, but are not limited to: image data, sound data, and the like. In one example, the environmental data collection device communicates with the advanced driving assistance system via a high-speed private CAN bus to ensure real-time transmission of environmental data.
In one example, the ADAS communicates with the TCU and ECU in messages through a gateway. In one example, the driving data includes at least one of: accelerator pedal opening, vehicle speed, torque, current gear, vehicle weight and current working condition information. Wherein, part of the data can be acquired by the ECU. In one example, the operating condition information may include, but is not limited to: at least one of the conditions of rapid acceleration, rapid deceleration, slow acceleration, slow deceleration and starting.
The description is illustrated in connection with the scenario: fig. 3 is a schematic diagram of architecture and interaction of a vehicle control system according to a first embodiment of the present application. In vehicle driving, an environmental data acquisition device (not shown in the figure) acquires environmental data and transmits the acquired environmental data to an ADAS through a high-speed private CAN bus; after the ADAS receives the environmental data, driving environment information is obtained based on the environmental data analysis, wherein the driving environment information comprises, but is not limited to, weather, road conditions, barrier information, traffic identification information and the like; then ADAS transmits the driving environment information obtained by analysis to a gateway through a first bus, and the gateway forwards the received driving environment information to the TCU through a second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after the driving environment information forwarded by the gateway through the second bus is received, the TCU corrects the initial gear shifting strategy based on the driving environment information, and as an example, the correction can be implemented by calculating a correction coefficient, so as to obtain a corrected gear shifting control strategy. Thus, the vehicle control is realized reliably in real time.
In one example, as shown in fig. 3, the automatic transmission control unit 24 includes: a basic control strategy module and a correction coefficient calculation module; the basic control strategy module is used for determining an initial gear shift control strategy according to driving data sent by the engine electronic control unit 25; the correction coefficient calculation module is used for calculating a correction coefficient based on the driving environment information; the basic control strategy module is connected with the correction coefficient calculation module and is used for correcting the initial gear shift control strategy according to the correction coefficient to obtain a corrected gear shift control strategy. Optionally, the driving data includes at least one of: accelerator pedal opening, vehicle speed, torque, current gear, vehicle weight and current working condition information.
And a gear shift control strategy is formulated based on the driving environment information and the driving data, so that compared with the vehicle navigation information acquired through a wireless communication network, the driving environment information is acquired based on the environment data acquired by the environment acquisition device, and the vehicle navigation system has timeliness and richness. For example, car navigation information can only provide road spectrum information (route plan, road name, road level) and event information (road congestion condition, traffic accident information, weather condition) before a certain time, but cannot analyze the condition of the road in real time. In the present embodiment, based on the environmental data, rich driving environment information may be obtained, including, for example, but not limited to, conditions of the road, such as gradient and length of the road, road traffic sign, current road congestion degree, average running speed of current traffic flow, etc., to achieve reliability, timeliness, and richness of vehicle control.
In the vehicle control system provided in this embodiment, the advanced driving assistance system transmits driving environment information to the gateway at a first data transmission rate through the first bus, the driving environment information is obtained based on the environmental data collected by the environmental data collection device, and the automatic transmission control unit receives the driving environment information at a second data transmission rate through the second bus, and obtains a shift control strategy based on the driving environment information. In this embodiment, in the bus network of the second bus where the automatic gearbox control unit and the engine electronic control unit are located, the advanced driving assistance system is located in the bus network of the first bus, and the data transmission rate of the first bus is greater than that of the second bus, so as to ensure timely transmission of driving environment information, thereby ensuring real-time performance of vehicle control, and the driving environment data in this scheme is obtained based on the environment data acquired by the environment data acquisition device, and does not depend on the wireless communication network, so as to realize reliability of vehicle control.
Example two
Fig. 4 is a schematic structural diagram of a vehicle control system according to a second embodiment of the present application, as shown in fig. 4, on the basis of any other embodiment, the environmental data acquisition device 23 includes an image acquisition device 31, and the advanced driving assistance system 22 includes a traffic sign recognition module 32;
the traffic sign recognition module 32 is connected with the image acquisition device 31, and is used for recognizing traffic signs based on the images acquired by the image acquisition device 31 by utilizing an image recognition technology, so as to obtain the driving environment information.
Wherein the driving environment information includes traffic sign information of a current road, the traffic sign including at least one of: speed limit sign, long uphill sign, long downhill sign.
In one example, the image acquisition device includes, but is not limited to: vehicle-mounted cameras, automobile data recorders and the like.
The description is illustrated in connection with the scenario: in the driving of the vehicle, the image acquisition device acquires images around the vehicle and transmits the acquired images to the ADAS through a high-speed private CAN bus; the traffic sign recognition module of the ADAS obtains traffic sign information of the current road based on the image analysis; then ADAS transmits the traffic sign information obtained by analysis to a gateway through a first bus, and the gateway forwards the received traffic sign information to the TCU through a second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after receiving the traffic sign information forwarded by the gateway through the second bus, the TCU corrects the initial shift strategy based on the traffic sign information, and as an example, the correction can be implemented by calculating a correction coefficient, so as to obtain a corrected shift control strategy. Thus, the vehicle control is realized reliably in real time.
In the vehicle control system provided by the embodiment, the advanced driving assistance system obtains traffic sign information of a current road based on the image acquired by the image acquisition device, and the automatic gearbox control unit obtains a gear shift control strategy based on the traffic sign information, so that real-time performance and reliability of vehicle control are realized, and richness of vehicle control is improved.
Example III
Fig. 5 is a schematic structural diagram of a vehicle control system according to a third embodiment of the present application, as shown in fig. 5, where, on the basis of any other embodiment, the environmental data acquisition device 23 includes an image acquisition device 51, and the advanced driving assistance system 22 includes a traffic condition recognition module 52;
the traffic condition recognition module 52 is connected with the image acquisition device 51, and is configured to perform road condition analysis based on the image acquired by the image acquisition device 51 by using an image recognition technology, so as to obtain driving environment information, where the driving environment information includes current road condition information, and the road condition information includes at least one of the following: road congestion degree and driving speed.
It should be noted that, in practical applications, components having similar functions in the embodiments may be implemented by the same components or different components. As an example, the image pickup device 51 may be the same as or different from the image pickup device in other embodiments. In one example, the image capture device 51 includes, but is not limited to: vehicle-mounted cameras, automobile data recorders and the like. Optionally, the types of cameras include, but are not limited to: monocular, binocular, multi-view cameras.
The description is illustrated in connection with the scenario: in the driving of the vehicle, the image acquisition device acquires images around the vehicle and transmits the acquired images to the ADAS through a high-speed private CAN bus; the traffic condition recognition module of the ADAS obtains the road condition information of the current road based on the image analysis; then ADAS transmits the road condition information obtained by analysis to a gateway through a first bus, and the gateway forwards the received road condition information to TCU through a second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after the road condition information forwarded by the gateway through the second bus is received, the TCU corrects the initial gear shifting strategy based on the road condition information, and as an example, the correction can be realized by calculating a correction coefficient, so that the corrected gear shifting control strategy is obtained. Thus, the vehicle control is realized reliably in real time.
In the vehicle control system provided by the embodiment, the advanced driving assistance system obtains the road condition information of the current road based on the image acquired by the image acquisition device, and the automatic gearbox control unit obtains the gear shift control strategy based on the road condition information, so that the real-time performance and the reliability of vehicle control are realized, and the richness of vehicle control is improved.
Example IV
Fig. 6 is a schematic structural diagram of a vehicle control system according to a fourth embodiment of the present application, as shown in fig. 6, in which, on the basis of any other embodiment, the environmental data collection device 23 includes an image collection device 71, and the advanced driving assistance system 22 includes a weather identification module 72;
and the weather identification module 72 is connected with the image acquisition device 71 and is used for carrying out weather analysis based on the image acquired by the image acquisition device 71 by utilizing an image identification technology to obtain the driving environment information, wherein the driving environment information comprises current weather information.
Likewise, the image pickup device 71 may be the same as or different from the image pickup device in other embodiments. In one example, image capture device 71 includes, but is not limited to: vehicle-mounted cameras, automobile data recorders and the like. Optionally, the types of cameras include, but are not limited to: monocular, binocular, multi-view cameras.
The description is illustrated in connection with the scenario: in the driving of the vehicle, the image acquisition device acquires images around the vehicle and transmits the acquired images to the ADAS through a high-speed private CAN bus; the weather identification module of the ADAS obtains current weather information based on the image analysis; then ADAS transmits the current weather information obtained by analysis to a gateway through a first bus, and the gateway forwards the received current weather information to the TCU through a second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after the weather information forwarded by the gateway through the second bus is received, the TCU corrects the initial shift strategy based on the current weather information, and as an example, the correction can be implemented by calculating a correction coefficient, so as to obtain a corrected shift control strategy. Thus, the vehicle control is realized reliably in real time.
In the vehicle control system provided by the embodiment, the advanced driving assistance system obtains the current weather information based on the image acquired by the image acquisition device, and the automatic gearbox control unit obtains the gear shift control strategy based on the current weather information, so that the real-time performance and the reliability of vehicle control are realized, and the richness of vehicle control is improved.
Example five
Fig. 7 is a schematic structural diagram of a vehicle control system according to a fifth embodiment of the present application, as shown in fig. 7, where, on the basis of any other embodiment, the environmental data acquisition device 23 includes an image acquisition device 91, and the advanced driving assistance system 22 includes an obstacle recognition module 92;
the obstacle recognition module 92 is connected to the image acquisition device 91, and is configured to perform obstacle recognition based on the image acquired by the image acquisition device 91 by using an image recognition technology, so as to obtain the driving environment information, where the driving environment information includes a recognition result of an obstacle on the current road.
Likewise, the image capturing device 91 may be the same as or different from the image capturing devices in other embodiments. In one example, the image acquisition device 91 includes, but is not limited to: vehicle-mounted cameras, automobile data recorders and the like. Optionally, the types of cameras include, but are not limited to: monocular, binocular, multi-view cameras.
The description is illustrated in connection with the scenario: in the driving of the vehicle, the image acquisition device acquires images around the vehicle and transmits the acquired images to the ADAS through a high-speed private CAN bus; the obstacle recognition module of the ADAS obtains the recognition result of the obstacle on the current road based on the image analysis; then ADAS transmits the recognition result of the obstacle obtained by analysis to the gateway through the first bus, and the gateway forwards the received recognition result of the obstacle to the TCU through the second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after receiving the recognition result of the obstacle forwarded by the gateway through the second bus, the TCU corrects the initial gear shift strategy based on the recognition result of the obstacle, and as an example, the correction can be implemented by calculating a correction coefficient, so as to obtain a corrected gear shift control strategy. Thus, the vehicle control is realized reliably in real time.
In the vehicle control system provided by the embodiment, the advanced driving assistance system obtains the recognition result of the obstacle based on the image acquired by the image acquisition device, and the automatic gearbox control unit obtains the gear shift control strategy based on the recognition result of the obstacle, so that the real-time performance and the reliability of the vehicle control are realized, and the richness of the vehicle control is improved.
Example six
Fig. 8 is a schematic structural diagram of a vehicle control system according to a sixth embodiment of the present application, as shown in fig. 8, in which, on the basis of any of the other embodiments, the environmental data collection device 23 includes an image collection device 81, and the advanced driving assistance system 22 includes a pedestrian recognition module 82;
the pedestrian recognition module 82 is connected with the image acquisition device 81 and is used for recognizing pedestrians based on the image acquired by the image acquisition device 81 by utilizing an image recognition technology, and obtaining driving environment information, wherein the driving environment information comprises the recognition result of pedestrians on the current road.
Likewise, the image pickup device 81 may be the same as or different from the image pickup device in other embodiments. In one example, image capture devices 81 include, but are not limited to: vehicle-mounted cameras, automobile data recorders and the like. Optionally, the types of cameras include, but are not limited to: monocular, binocular, multi-view cameras.
The description is illustrated in connection with the scenario: in the driving of the vehicle, the image acquisition device acquires images around the vehicle and transmits the acquired images to the ADAS through a high-speed private CAN bus; the pedestrian recognition module of the ADAS obtains a recognition result of the pedestrian on the current road based on the image analysis; then the ADAS transmits the pedestrian recognition result obtained by analysis to the gateway through the first bus, and the gateway forwards the received pedestrian recognition result to the TCU through the second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after receiving the pedestrian recognition result forwarded by the gateway through the second bus, the TCU corrects the initial shift strategy based on the pedestrian recognition result, and as an example, the correction can be implemented by calculating a correction coefficient, so as to obtain a corrected shift control strategy. Thus, the vehicle control is realized reliably in real time.
In the vehicle control system provided by the embodiment, the advanced driving assistance system obtains the recognition result of the pedestrian based on the image acquired by the image acquisition device, and the automatic gearbox control unit obtains the gear shift control strategy based on the recognition result of the pedestrian, so that the real-time performance and the reliability of the vehicle control are realized, and the richness of the vehicle control is improved.
Example seven
Fig. 9 is a schematic structural diagram of a vehicle control system according to a seventh embodiment of the present application, as shown in fig. 9, on the basis of any other embodiment, the environmental data acquisition device 23 includes a radar device 61, and the advanced driving assistance system 22 includes a road three-dimensional reconstruction module 62;
the road three-dimensional reconstruction module 62 is connected with the radar device 61, and is configured to perform three-dimensional reconstruction on a current road environment by using radar point cloud information provided by the radar device 61, so as to obtain driving environment information, where the driving environment information includes at least one of the following: road grade, road length, and positional relationship with other vehicles.
Alternatively, the types of radar devices include, but are not limited to: laser radar, millimeter wave radar.
The description is illustrated in connection with the scenario: in vehicle driving, the radar device extracts radar point cloud information of a road around a vehicle and transmits the radar point cloud information to an ADAS through a high-speed private CAN bus; the road three-dimensional reconstruction module of the ADAS obtains a three-dimensional reconstruction result of the current road environment based on the radar point cloud information analysis; then ADAS transmits the road three-dimensional reconstruction result obtained by analysis to a gateway through a first bus, and the gateway forwards the received road three-dimensional reconstruction result to the TCU through a second bus; in vehicle driving, the TCU acquires driving data of the ECU through a second bus, and an initial gear shifting strategy (basic control strategy in the figure) is formulated based on the driving data, wherein the ECU has a rotating speed control function and a torque control function and can acquire rotating speed and torque information; after the road three-dimensional reconstruction result forwarded by the gateway through the second bus is received, the TCU corrects the initial gear shifting strategy based on the road three-dimensional reconstruction result, and as an example, the gear shifting strategy after correction can be obtained by calculating a correction coefficient. Thus, the vehicle control is realized reliably in real time.
In the vehicle control system provided by the embodiment, the advanced driving assistance system obtains the gear shift control strategy based on the three-dimensional reconstruction result of the current road environment provided by the radar device, so that the real-time performance and reliability of vehicle control are realized, and the richness of vehicle control is improved.
Example eight
Fig. 10 is a schematic flow chart of a vehicle control method according to an eighth embodiment of the present application, where the method is applied to the vehicle control system according to any one of the foregoing embodiments, and as shown in fig. 10, the vehicle control method includes:
step 101: the advanced driving assistance system receives the environmental data acquired by the environmental data acquisition device and analyzes and obtains current driving environmental information based on the environmental data;
step 102: the advanced driving assistance system sends the driving environment information to a gateway through a first bus; wherein the first bus has a first data transfer rate;
step 103: the automatic gearbox control unit determines an initial gear shifting strategy according to driving data sent by the engine electronic control unit;
step 104: the automatic gearbox control unit receives the driving environment information forwarded by the gateway through the second bus, corrects the initially set gear shift control strategy based on the driving environment information, and obtains the corrected gear shift control strategy.
Wherein the second bus has a second data transfer rate, the first data transfer rate being greater than the second data transfer rate.
It should be noted that the vehicle control method provided in this embodiment is applied to the vehicle control system described in any of the foregoing embodiments, and the relevant content is similar to the foregoing. An example of the flow of data processing in the above process is described with reference to fig. 11, and fig. 11 is a diagram illustrating an example of the flow of data processing. Environmental data, such as images and point cloud data, collected by an environmental data collection device (not shown in the figure) are transmitted to an ADAS, which obtains driving environmental information, such as road gradient, road length, relative position information with other vehicles, traffic sign information, road congestion information, average speed of traffic, obstacle information, pedestrian information, weather information, etc., based on the analysis; calculating a correction coefficient based on the driving environment information to obtain the correction coefficient; determining a shift MAP based on, including but not limited to, accelerator pedal opening, vehicle speed, torque, current gear, vehicle weight, operating condition information, etc., in combination with a shift MAP selection strategy (including, but not limited to, dynamic and economical); and determining the final selected gear by combining the correction coefficients. Wherein the operating condition information includes, but is not limited to: rapid acceleration, rapid deceleration, slow acceleration, slow deceleration, starting conditions, and the like.
According to the vehicle control method provided by the embodiment, the advanced driving assistance system sends driving environment information to the gateway through the first bus at a first data transmission rate, the driving environment information is obtained based on environment data acquired by the environment data acquisition device, the automatic gearbox control unit receives the driving environment information through the second bus at a second data transmission rate, and a gear shift control strategy is obtained based on the driving environment information. In this embodiment, in the bus network of the second bus where the automatic gearbox control unit and the engine electronic control unit are located, the advanced driving assistance system is located in the bus network of the first bus, and the data transmission rate of the first bus is greater than that of the second bus, so as to ensure timely transmission of driving environment information, thereby ensuring real-time performance of vehicle control, and the driving environment data in this scheme is obtained based on the environment data acquired by the environment data acquisition device, and does not depend on the wireless communication network, so as to realize reliability of vehicle control.
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 application 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 application 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 is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A vehicle control system, characterized by comprising: the system comprises a gateway, an advanced driving assistance system ADAS, an environmental data acquisition device, an automatic gearbox control unit TCU and an engine electronic control unit ECU; wherein,,
the advanced driving assistance system is connected with the environment data acquisition device, and is used for receiving the environment data acquired by the environment data acquisition device and analyzing and obtaining current driving environment information based on the environment data;
the advanced driving assistance system is connected to the gateway through a first bus and is used for sending the driving environment information to the gateway through the first bus; wherein the first bus has a first data transfer rate;
the automatic gearbox control unit is connected with the engine electronic control unit through a second bus and is used for determining an initial gear shifting strategy according to driving data sent by the engine electronic control unit;
the automatic gearbox control unit is connected to the gateway through a second bus, and is used for receiving the driving environment information forwarded by the gateway through the second bus, correcting an initially set gear shift control strategy based on the driving environment information and obtaining a corrected gear shift control strategy; wherein the second bus has a second data transfer rate, the first data transfer rate being greater than the second data transfer rate.
2. The system of claim 1, wherein the environmental data collection device comprises an image collection device and the advanced driving assistance system comprises a traffic sign recognition module;
the traffic sign recognition module is connected with the image acquisition device and is used for recognizing traffic signs based on images acquired by the image acquisition device by utilizing an image recognition technology to obtain driving environment information, wherein the driving environment information comprises traffic sign information of a current road, and the traffic sign comprises at least one of the following components: speed limit sign, long uphill sign, long downhill sign.
3. The system of claim 1, wherein the environmental data collection device comprises an image collection device and the advanced driving assistance system comprises a traffic condition identification module;
the traffic condition recognition module is connected with the image acquisition device and is used for carrying out road condition analysis based on the image acquired by the image acquisition device by utilizing an image recognition technology to obtain driving environment information, wherein the driving environment information comprises current road condition information, and the road condition information comprises at least one of the following: road congestion degree and driving speed.
4. The system of claim 1, wherein the environmental data collection device comprises an image collection device and the advanced driving assistance system comprises a weather identification module;
the weather identification module is connected with the image acquisition device and is used for carrying out weather analysis based on the image acquired by the image acquisition device by utilizing an image identification technology to obtain driving environment information, wherein the driving environment information comprises current weather information.
5. The system of claim 1, wherein the environmental data acquisition device comprises an image acquisition device and the advanced driving assistance system comprises an obstacle recognition module;
the obstacle recognition module is connected with the image acquisition device and is used for recognizing the obstacle based on the image acquired by the image acquisition device by utilizing an image recognition technology to obtain the driving environment information, wherein the driving environment information comprises a recognition result of the obstacle on the current road.
6. The system of claim 1, wherein the environmental data collection device comprises an image collection device and the advanced driving assistance system comprises a pedestrian recognition module;
the pedestrian recognition module is connected with the image acquisition device and is used for recognizing pedestrians based on images acquired by the image acquisition device by utilizing an image recognition technology to obtain driving environment information, wherein the driving environment information comprises recognition results of pedestrians on the current road.
7. The system of claim 1, wherein the environmental data acquisition device comprises a radar device and the advanced driving assistance system comprises a road three-dimensional reconstruction module;
the road three-dimensional reconstruction module is connected with the radar device and is used for three-dimensionally reconstructing the current road environment by utilizing radar point cloud information provided by the radar device to obtain driving environment information, and the driving environment information comprises at least one of the following: road grade, road length, and positional relationship with other vehicles.
8. The system of claim 1, wherein the automatic transmission control unit comprises: a basic control strategy module and a correction coefficient calculation module;
the basic control strategy module is used for determining an initial gear shift control strategy according to driving data sent by the engine electronic control unit, wherein the driving data comprises at least one of the following components: accelerator pedal opening, vehicle speed, torque, current gear, vehicle weight and current working condition information;
the correction coefficient calculation module is used for calculating a correction coefficient based on the driving environment information;
the basic control strategy module is connected with the correction coefficient calculation module and is used for correcting the initial gear shift control strategy according to the correction coefficient to obtain a corrected gear shift control strategy.
9. The system of claim 1, wherein the operating condition information includes at least one of: rapid acceleration, rapid deceleration, slow acceleration, slow deceleration and starting conditions.
10. A vehicle control method, characterized by being applied to the vehicle control system according to any one of claims 1 to 9, the method comprising:
the advanced driving assistance system receives the environmental data acquired by the environmental data acquisition device and analyzes and obtains current driving environmental information based on the environmental data;
the advanced driving assistance system sends the driving environment information to a gateway through a first bus; wherein the first bus has a first data transfer rate;
the automatic gearbox control unit determines an initial gear shifting strategy according to driving data sent by the engine electronic control unit;
the automatic gearbox control unit receives the driving environment information forwarded by the gateway through the second bus, corrects an initially set gear shift control strategy based on the driving environment information, and obtains a corrected gear shift control strategy; wherein the second bus has a second data transfer rate, the first data transfer rate being greater than the second data transfer rate.
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| DE102013218812A1 (en) * | 2013-09-19 | 2015-03-19 | Robert Bosch Gmbh | Driver assistance system for a motor vehicle |
| CN107161146B (en) * | 2017-04-05 | 2019-09-24 | 吉利汽车研究院（宁波）有限公司 | A kind of highway auxiliary system |
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| CN110356415A (en) * | 2018-03-26 | 2019-10-22 | 长城汽车股份有限公司 | A kind of control method for vehicle and device |
| CN111210541A (en) * | 2018-11-22 | 2020-05-29 | 上海擎感智能科技有限公司 | Vehicle, vehicle equipment and intelligent speed limit information prompting method |
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