CN114194155B - Vehicle control method and apparatus, device, medium, and product - Google Patents
Vehicle control method and apparatus, device, medium, and product Download PDFInfo
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- CN114194155B CN114194155B CN202111635977.7A CN202111635977A CN114194155B CN 114194155 B CN114194155 B CN 114194155B CN 202111635977 A CN202111635977 A CN 202111635977A CN 114194155 B CN114194155 B CN 114194155B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/245—Longitudinal vehicle inclination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/10—Detection or estimation of road conditions
- B60T2210/12—Friction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2250/00—Monitoring, detecting, estimating vehicle conditions
- B60T2250/04—Vehicle reference speed; Vehicle body speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present disclosure provides a vehicle control method and apparatus, device, medium, and product, which relate to the field of artificial intelligence, and in particular to the technical field of information processing and intelligent transportation. The specific implementation scheme comprises the following steps: determining a first parking control parameter according to a ramp resistance parameter of a parking road surface; controlling a vehicle power system to execute a parking action according to the first parking control parameter; generating a second parking control parameter in response to the acquired parking feedback information in the parking action execution process; and controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence, and more particularly to the field of information processing and intelligent transportation technologies, which can be applied in a vehicle control scenario.
Background
Vehicle control is of great significance to ensure safe driving of the vehicle. For example, by issuing a reasonable braking force to the parking actuation structure by vehicle control, safe parking of the vehicle on a slope may be ensured. However, in some situations, the vehicle control has the phenomena of insufficient real-time performance and poor control effect.
Disclosure of Invention
The present disclosure provides a vehicle control method and apparatus, device, medium, and article.
According to an aspect of the present disclosure, there is provided a vehicle control method including: determining a first parking control parameter according to a ramp resistance parameter of a parking road surface; controlling a vehicle power system to execute a parking action according to the first parking control parameter; generating a second parking control parameter in response to the acquired parking feedback information in the parking action execution process; and controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter.
According to another aspect of the present disclosure, there is provided a vehicle control apparatus including: the first processing module is used for determining a first parking control parameter according to the ramp resistance parameter of the parking road surface; the second processing module is used for controlling a vehicle power system to execute parking actions according to the first parking control parameters; the third processing module is used for responding to the acquired parking feedback information in the parking action execution process and generating a second parking control parameter; and the fourth processing module is used for controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a vehicle control method according to an embodiment of the disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a vehicle control method according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements a vehicle control method according to an embodiment of the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 schematically illustrates a system architecture of vehicle controls and devices according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow chart of a vehicle control method according to an embodiment of the disclosure;
FIG. 3 schematically shows a schematic diagram of a vehicle control method according to another embodiment of the present disclosure;
FIG. 4 schematically illustrates a vehicle control process according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a block diagram of a vehicle control apparatus according to an embodiment of the present disclosure; and
fig. 6 schematically shows a block diagram of an electronic device for performing vehicle control according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B, and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.).
Embodiments of the present disclosure provide a vehicle control method. The vehicle control method includes: the method comprises the steps of determining a first parking control parameter according to a ramp resistance parameter of a parking road surface, controlling a vehicle power system to execute a parking action according to the first parking control parameter, responding to parking feedback information in the parking action execution process, generating a second parking control parameter, and controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter.
Fig. 1 schematically illustrates a system architecture of vehicle controls and devices according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
The system architecture 100 according to this embodiment may include data acquisition devices 101, 102, 103, a network 104, and a server 105. Network 104 is the medium used to provide communication links between data collection devices 101, 102, 103 and server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others. The server 105 may be an independent physical server, a server cluster or a distributed system including a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud computing, web services, and middleware services.
The data collection devices 101, 102, 103 may be various electronic devices for collecting vehicle travel related data, including but not limited to a lidar, a binocular camera, a speed sensor, a displacement sensor, an inclination sensor, an acceleration sensor, and the like. The server 105 may be a background processing server (for example only) that processes vehicle travel related data provided by the data collection devices 101, 102, 103. The background processing server may analyze the received vehicle travel related data and generate vehicle control instructions based on the analysis.
For example, the server 105 determines a first parking control parameter according to a hill-hold resistance parameter of a parking road surface, controls the vehicle powertrain to perform a parking action according to the first parking control parameter, generates a second parking control parameter in response to the acquired parking feedback information provided by the data collection device 101, 102, or 103 during the execution of the parking action, and controls the vehicle powertrain to perform an auxiliary braking operation based on the parking action according to the second parking control parameter.
It should be noted that the vehicle control method provided by the embodiment of the present disclosure may be executed by the server 105. Accordingly, the vehicle control apparatus provided by the embodiment of the present disclosure may be provided in the server 105. The vehicle control method provided by the embodiments of the present disclosure may also be performed by a server or server cluster that is different from the server 105 and is capable of communicating with the data acquisition devices 101, 102, 103 and/or the server 105. Correspondingly, the vehicle control apparatus provided in the embodiment of the present disclosure may also be disposed in a server or a server cluster that is different from the server 105 and is capable of communicating with the data acquisition devices 101, 102, 103 and/or the server 105.
It should be understood that the number of data collection devices, networks, and servers in FIG. 1 is merely illustrative. There may be any number of data collection devices, networks, and servers, as desired for implementation.
The embodiment of the present disclosure provides a vehicle control method, and a vehicle control method according to an exemplary embodiment of the present disclosure is described below with reference to fig. 2 to 4 in conjunction with the system architecture of fig. 1.
Fig. 2 schematically shows a flow chart of a vehicle control method according to an embodiment of the present disclosure.
As shown in fig. 2, the vehicle control method 200 of the embodiment of the present disclosure may include, for example, operations S210 to S240.
In operation S210, a first parking control parameter is determined according to a ramp resistance parameter of a parking road surface.
In operation S220, the vehicle powertrain is controlled to perform a parking action according to the first parking control parameter.
In operation S230, a second parking control parameter is generated in response to the acquired parking feedback information during the execution of the parking motion.
In operation S240, the vehicle powertrain is controlled to perform an auxiliary braking operation based on the parking action according to the second parking control parameter.
An example flow of each operation of the vehicle control method of the embodiment is explained below by way of example.
Illustratively, a first parking control parameter is determined based on a ramp resistance parameter of a parking road surface. The ramp resistance parameters of the parking surface may include, for example, a ramp grade parameter and a coefficient of friction parameter. The slope gradient parameters can be acquired by an inclination angle sensor, and can also be determined according to a high-precision map. The friction coefficient parameter may be determined according to the type of the parking surface, for example, and the friction coefficient parameter may be a static friction coefficient of the parking surface. The parking road surface type can comprise, for example, an ice and snow road surface, a cement road surface, an asphalt road surface and the like, and the corresponding static friction coefficient is preset for various parking road surface types.
The type of the slope to which the parking road surface belongs may be determined based on the slope gradient parameter. The ramp types may be classified into a gentle ramp and a steep ramp according to the ramp gradient size. For example, in the case where the gradient of the parking road surface is less than 4%, it is determined that the vehicle is not currently on a slope. And under the condition that the gradient of the parking road surface is 4% -8%, determining that the vehicle is currently in a gentle slope. In the case where the gradient of the parking road surface is greater than 8%, it is determined that the vehicle is currently on a steep slope. In the case where the vehicle is currently on a hill, parking control for the vehicle is performed to ensure safe parking of the vehicle in the hill.
When the first parking control parameter is determined according to the ramp resistance parameter of the parking road surface, the brake parameter matched with the ramp resistance parameter may be determined based on a preset mapping relationship to serve as the first parking control parameter. For example, the first parking control parameter may be offline calibration data matched with (θ, μ), θ representing a parking road gradient, μ representing a static friction coefficient of the parking road, and the offline calibration data may be a parking control empirical parameter obtained based on a history of hill-hold.
By way of example, the slope resistance may also be calculated based on a longitudinal dynamics equation based on the slope parameter of the parking surface. A gradient demand torque required to overcome the gradient resistance is determined as a first parking control parameter. And according to the first parking control parameter, sending a torque output command to a vehicle power system, and controlling the vehicle power system to output torque so as to execute a parking action.
For example, grade resistances F and J may be i 、R i 、T fij 、T bij 、ω ij 、F w M, μ, θ. Subscript i takes on values of 1 and 2 to respectively represent front and rear wheels, subscript J takes on values of 1 and 2 to respectively represent left and right wheels, and J i Representing the moment of inertia, R, of the wheel i Indicating wheel radius, T fij Representing the rolling moment of resistance, T, of the wheel bij Indicating wheel braking torque, omega ij Indicating angular velocity of wheel, F w Represents air resistance, m represents vehicle mass, μ represents longitudinal speed, and θ represents slope gradient.
During execution of the parking action, it is determined whether the vehicle is in a parking abnormal state. And acquiring the vehicle state parameters in the parking abnormal state as parking feedback information in response to the fact that the vehicle is in the parking abnormal state. For example, it may be determined whether the vehicle is in a rolling state during the execution of the parking action. And acquiring the vehicle state parameters in the rolling state as parking feedback information in response to the determination that the vehicle is in the rolling state.
As one example, gear state information and vehicle speed information of the vehicle may be acquired during execution of the parking action. And determining whether the vehicle is in the parking abnormal state or not according to the gear state information and the vehicle speed information.
For example, when the slope gradient of the parking road surface is greater than 0 °, if the gear state information indicates that the gear state of the vehicle is a forward gear state, and the vehicle speed information indicates that the current speed of the vehicle is less than 0, it is determined that the vehicle rolls backwards; and if the gear state of the vehicle is a reverse gear state and the current speed of the vehicle is greater than 0, determining that the vehicle rolls forward.
Under the condition that the slope of the parking road surface is less than 0 degree, if the gear state information indicates that the gear state of the vehicle is a forward gear state, the vehicle speed information indicates that the current speed of the vehicle is greater than 0, and forward vehicle sliding of the vehicle is determined; and if the gear state of the vehicle is a reverse gear state and the current speed of the vehicle is less than 0, determining that the vehicle rolls backwards. A slope of the ramp greater than 0 deg. indicates an uphill slope, and a slope of the ramp less than 0 deg. indicates an uphill slope.
As another example, the gear state information and the motor speed information of the vehicle may be acquired during the execution of the parking action. And determining whether the vehicle is in the parking abnormal state or not according to the gear state information and the motor rotating speed information. For example, in the case where the vehicle range state is the forward range state and the motor is rotated in the reverse direction, or the vehicle range state is the reverse range state and the motor is rotated in the forward direction, it is determined that the vehicle rolls during parking.
As another example, the hill hold demand torque and the longitudinal acceleration demand torque of the vehicle may be acquired during the execution of the parking action. The hill-hold demand torque is a torque required when the vehicle can be stationary parked on a hill, and the longitudinal acceleration torque is an acceleration torque along the vehicle running direction. It is determined whether a difference between the hill-hold demand torque and the longitudinal acceleration torque is greater than a preset torque threshold. In the case where the difference is greater than the preset torque threshold, it is determined that the vehicle may slip during parking, and an auxiliary braking operation needs to be performed during parking.
And generating a second parking control parameter in response to the acquired parking feedback information in the parking action executing process, and controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter. For example, the first parking control parameter may be adjusted according to the second parking control parameter to obtain an adjusted parking control parameter, and the vehicle power system may be controlled to perform a parking action including an auxiliary braking operation according to the adjusted parking control parameter.
For example, the first and second parking control parameters may be used to control the pedal opening. Vehicle pedals may include a clutch pedal, which may be used to adjust a clutch, a brake pedal, which may be used to adjust a vehicle braking system, and an accelerator pedal, which may be used to adjust throttle opening. For example, the opening degree of the brake pedal of the vehicle is controlled to be 3/4 according to the first parking control parameter and the second parking control parameter. In addition, the first and second parking control parameters may also be used to control a vehicle gear state, a steering wheel angle value, an engine control amount, a brake control amount, and the like.
According to the embodiment of the disclosure, a first parking control parameter is determined according to a ramp resistance parameter of a parking road surface, and a vehicle power system is controlled to execute a parking action according to the first parking control parameter. And generating a second parking control parameter in response to the acquired parking feedback information in the parking action executing process, and controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter.
According to the parking feedback information in the parking action executing process, the auxiliary braking parameters aiming at the first parking control parameters are generated, and based on the auxiliary braking parameters, the vehicle power system is controlled to execute the auxiliary braking operation based on the parking action, so that the safety of the vehicle in the parking ramp can be effectively ensured, and the parking efficiency of the vehicle in the parking ramp can be improved. The method is favorable for reducing the control cost consumption of vehicle ramp parking, and is favorable for realizing the automatic parking of the vehicle with strong real-time property, good reusability and high safety.
Fig. 3 schematically shows a schematic diagram of a vehicle control method according to another embodiment of the present disclosure.
As shown in fig. 3, operation S230 may include, for example, operations S310 to S320.
In operation S310, vehicle speed information and vehicle displacement information in the parking abnormal state are determined according to the acquired vehicle state parameters.
In operation S320, a second parking control parameter is generated according to the vehicle speed information and the vehicle displacement information.
An example flow of each operation of the vehicle control method of the embodiment is explained below by way of example.
For example, the vehicle state parameter may indicate speed information of the vehicle during parking, and the vehicle speed information in the parking abnormal state is determined according to the acquired vehicle state parameter. And determining the vehicle displacement information in the abnormal parking state according to the vehicle speed information and the corresponding time information. For example, after the vehicle is detected to start rolling, the absolute value of the current vehicle speed is taken as the rolling speed v slip Displacement of the carriage
t 0 Represents the starting time of the vehicle sliding, t represents the current time, and the vehicle sliding displacement s slip Forming the range of sliding.
And generating a first auxiliary braking parameter according to the vehicle speed information and the vehicle displacement information in the parking abnormal state. For example, the vehicle speed and the vehicle displacement in the parking abnormal state may be subjected to the dimensionless process. And determining a real-time suppression compensation coefficient according to the compensation coefficients respectively matched with the vehicle speed and the vehicle displacement so as to obtain a first auxiliary braking parameter. The compensation coefficients respectively matched to the vehicle speed and the vehicle displacement may be preset empirical values.
The first auxiliary brake parameter pedal may be calculated using equation (1) anti ，
Wherein v is slip Representing vehicle speed during rolling, x slip Indicating the displacement of the vehicle during a roll-over,
represents a linear compensation coefficient of the speed of the rolling stock,
represents the linear compensation coefficient of the rolling motion displacement,
may be a preset empirical value.
In one example, the first auxiliary brake parameter with a larger value may be used as the first auxiliary brake parameter for performing the parking auxiliary brake in the current period according to the first auxiliary brake parameter calculated based on the current period and the first auxiliary brake parameter calculated based on the previous adjacent period based on the preset time period. The length of the preset time period may be, for example, 0.1s.
And generating a second auxiliary braking parameter under the condition that the vehicle speed information and/or the vehicle displacement information meet the preset threshold value condition. For example, the second auxiliary braking parameter is generated in case the vehicle speed and/or the vehicle displacement in the parking abnormal state is larger than a preset threshold. The second auxiliary braking parameter may be, for example, a pre-configured fixed penalty parameter.
The first auxiliary brake parameter and the second auxiliary brake parameter constitute a second parking control parameter. The second parking control parameter may be calculated using equation (2), and may be, for example, a pedal compensation opening degree for suppressing the parking of the vehicle,
pedal compensate_slip ＝pedal anti +pedal punish (2)
wherein, the nodal line is anti Representing a real-time rejection compensation parameter, pedal, for coast speed and coast amplitude punish Indicating a penalty parameter when the speed and/or amplitude of the rolling is greater than a preset threshold.
And controlling the vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter. For example, the first parking control parameter may be adjusted according to the second parking control parameter to obtain an adjusted parking control parameter, and the vehicle power system may be controlled to perform a parking action including an auxiliary braking operation according to the adjusted parking control parameter. For example, a pressure holding control command may be sent to the electronic stability system ESP of the vehicle to control the opening of the deepened brake pedal according to the second parking control parameter.
In one example, in the case that the adjusted parking control parameter and the first parking control parameter satisfy the preset similarity condition, the adjusted parking control parameter is used as the brake parameter matched with the ramp resistance parameter. For example, a difference between the adjusted parking control parameter and the first parking control parameter is determined, and in the case where the difference is smaller than a preset threshold, the adjusted parking control parameter is taken as the effective parking control parameter. And replacing the first parking control parameter with the adjusted parking control parameter, wherein a mapping relation is formed between the adjusted parking control parameter and the corresponding ramp resistance parameter.
And under the condition that the preset similarity condition is not met between the adjusted parking control parameter and the first parking control parameter, determining that the vehicle possibly has a fault, such as a chassis fault, or the vehicle type to which the first parking control parameter is applicable has poor consistency with the current vehicle type. And under the condition that the similarity condition is not met between the adjusted parking control parameter and the first parking control parameter, the first parking control parameter in the online calibration table is reserved.
The online calibration table comprises a mapping relation between each ramp resistance parameter and the corresponding first parking control parameter. In the process of parking on the ramp, determining a first parking control parameter matched with the ramp resistance parameter according to the ramp resistance parameter of the parking road and a preset online calibration table. And controlling the vehicle power system to execute a parking action according to the first parking control parameter. And in the execution process of the parking action, determining whether the vehicle is in an abnormal parking state according to the acquired parking feedback information, for example, determining whether the vehicle rolls in the parking process.
And generating a second parking control parameter according to the parking feedback information in response to the vehicle being in the abnormal parking state. And taking the second parking control parameter as a compensation control parameter of the first parking control parameter. The first parking control parameter may be adjusted using the second parking control parameter to obtain an adjusted parking control parameter. And controlling the vehicle power system to execute a parking action comprising auxiliary brake operation according to the adjusted parking control parameter. Alternatively, the vehicle powertrain may be controlled to perform an auxiliary braking operation in accordance with the second parking control parameter, such that the vehicle is safely parked under dual braking of the parking action and the auxiliary braking operation.
And under the condition that the vehicle rolls over in the hill parking process and the rolling-over amplitude is smaller than a preset threshold value, updating the first parking control parameter by using the adjusted parking control parameter, or updating the first parking control parameter by using the second parking control parameter so as to update the online calibration table recorded with the first parking control parameter. The accuracy and the effectiveness of the online calibration table can be effectively improved by correcting and updating the online calibration table. Along with the improvement of online calibration table precision, ramp parking efficiency can be effectively improved, and the safety of ramp parking is improved.
Through carrying out swift current car compensation to the vehicle and restraining, can effectively reduce the vehicle risk of swift current car, guarantee the security and the stability of vehicle ramp parking. In addition, the parking efficiency of vehicle hill-hold is improved, and the control difficulty and the cost consumption of vehicle hill-hold are reduced.
FIG. 4 schematically shows a schematic diagram of a vehicle control process according to an embodiment of the present disclosure.
As shown in fig. 4, in a vehicle control process 400, a parking pedal opening 402 is determined according to a hill resistance parameter of a parking road and a preset parking pedal opening on-line calibration table 401, where the hill resistance parameter may include a hill gradient parameter and a friction coefficient parameter.
During the process of parking braking the autonomous vehicle 403 based on the parking pedal opening 402, the vehicle-slipping detection is performed for the autonomous vehicle 403, and the parking feedback information 404 is obtained. Parking feedback information 404 may include vehicle speed information and gear state information.
And determining the sliding compensation pedal opening 405 according to the parking feedback information 404 and the gradient parameter of the slope. The parking pedal opening 402 is adjusted by the coast compensation pedal opening 405 to suppress coast compensation and obtain a desired pedal opening. Based on the desired pedal opening, pedal opening control is performed for the autonomous vehicle 403 to control the autonomous vehicle 403 to park in a hill.
Further, the actual pedal opening of the autonomous vehicle 403 may be acquired through the rolling detection, and a pedal opening error between the actual pedal opening and the desired pedal opening may be determined. Chassis response compensation for the autonomous vehicle 403 is performed based on the pedal opening error using a PI (linear control) controller to further achieve creep compensation suppression.
Fig. 5 schematically shows a block diagram of a vehicle control device according to an embodiment of the present disclosure.
As shown in fig. 5, the vehicle control apparatus 500 of the embodiment of the present disclosure includes, for example, a first processing module 510, a second processing module 520, a third processing module 530, and a fourth processing module 540.
A first processing module 510, configured to determine a first parking control parameter according to a ramp resistance parameter of a parking road surface; the second processing module 520 is used for controlling a vehicle power system to execute a parking action according to the first parking control parameter; a third processing module 530, configured to generate a second parking control parameter in response to the acquired parking feedback information during the execution of the parking action; and a fourth processing module 540 for controlling the vehicle powertrain to perform a parking action-based auxiliary braking operation in accordance with the second parking control parameter.
According to the embodiment of the disclosure, a first parking control parameter is determined according to a ramp resistance parameter of a parking road surface, and a vehicle power system is controlled to execute a parking action according to the first parking control parameter. And generating a second parking control parameter in response to the acquired parking feedback information in the parking action execution process, and controlling a vehicle power system to execute auxiliary braking operation based on the parking action according to the second parking control parameter.
According to the parking feedback information in the parking action executing process, the auxiliary braking parameters aiming at the first parking control parameters are generated, and based on the auxiliary braking parameters, the vehicle power system is controlled to execute the auxiliary braking operation based on the parking action, so that the safety of the vehicle in the parking ramp can be effectively ensured, and the parking efficiency of the vehicle in the parking ramp can be improved. The method is favorable for reducing the control cost consumption of vehicle ramp parking, and is favorable for realizing the automatic parking of the vehicle with strong real-time property, good reusability and high safety.
According to an embodiment of the present disclosure, the apparatus further includes a fifth processing module, configured to: determining whether the vehicle is in a parking abnormal state or not during the execution of the parking action; and responding to the condition that the vehicle is in the parking abnormal state, and acquiring the vehicle state parameters in the parking abnormal state as parking feedback information.
According to an embodiment of the present disclosure, the third processing module includes: the first processing submodule is used for determining vehicle speed information and vehicle displacement information in an abnormal parking state according to the acquired vehicle state parameters; and the second processing submodule is used for generating a second parking control parameter according to the vehicle speed information and the vehicle displacement information.
According to an embodiment of the present disclosure, the second processing sub-module includes: the first processing unit is used for generating a first auxiliary braking parameter according to the vehicle speed information and the vehicle displacement information in the parking abnormal state; the second processing unit is used for generating a second auxiliary braking parameter under the condition that the vehicle speed information and/or the vehicle displacement information meet the preset threshold value condition; and a first auxiliary brake parameter and a second auxiliary brake parameter, constituting a second parking control parameter.
According to an embodiment of the present disclosure, the fourth processing module includes: the third processing submodule is used for adjusting the first parking control parameter according to the second parking control parameter to obtain an adjusted parking control parameter; and the fourth processing submodule is used for controlling the vehicle power system to execute a parking action comprising auxiliary braking operation according to the adjusted parking control parameter.
According to an embodiment of the present disclosure, the fourth processing module includes: the fifth processing submodule is used for determining a braking parameter matched with the ramp resistance parameter based on the preset mapping relation to serve as a first parking control parameter; the device still includes: and the sixth processing module is used for taking the adjusted parking control parameter as the braking parameter matched with the ramp resistance parameter under the condition that the adjusted parking control parameter and the first parking control parameter meet the preset similarity condition.
According to an embodiment of the present disclosure, the first parking control parameter and the second parking control parameter are used to control a pedal opening.
It should be noted that in the technical solutions of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the related information are all in accordance with the regulations of the related laws and regulations, and do not violate the customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
Fig. 6 schematically shows a block diagram of an electronic device for performing vehicle control according to an embodiment of the present disclosure.
FIG. 6 illustrates a schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. The electronic device 600 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The calculation unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, and the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 601 executes the respective methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the vehicle control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with an object, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to an object; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which objects can provide input to the computer. Other kinds of devices may also be used to provide for interaction with an object; for example, feedback provided to the subject can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the object may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., an object computer having a graphical object interface or a web browser through which objects can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (12)
1. A vehicle control method comprising:
determining a first parking control parameter according to a ramp resistance parameter of a parking road surface;
controlling a vehicle power system to execute a parking action according to the first parking control parameter;
generating a second parking control parameter in response to the acquired parking feedback information in the parking action execution process; and
controlling the vehicle powertrain to perform an auxiliary braking operation based on the parking action in accordance with the second parking control parameter,
the method further comprises the following steps:
determining whether the vehicle is in a parking abnormal state during the execution of the parking action,
responding to the condition that the vehicle is in the parking abnormal state, and acquiring vehicle state parameters in the parking abnormal state to serve as parking feedback information;
wherein the generating a second parking control parameter in response to the acquired parking feedback information in the parking action execution process includes:
determining vehicle speed information and vehicle displacement information in an abnormal parking state according to the acquired vehicle state parameters; and
generating the second parking control parameter according to the vehicle speed information and the vehicle displacement information,
the second parking control parameter comprises a first auxiliary braking parameter and a second auxiliary braking parameter, the first auxiliary braking parameter is a real-time inhibition compensation parameter, and the second auxiliary braking parameter is a fixed punishment parameter.
2. The method of claim 1, wherein the generating the second parking control parameter from the vehicle speed information and the vehicle displacement information comprises:
generating a first auxiliary braking parameter according to the vehicle speed information and the vehicle displacement information in the abnormal parking state;
generating a second auxiliary braking parameter under the condition that the vehicle speed information and/or the vehicle displacement information meet a preset threshold condition; and
the first auxiliary brake parameter and the second auxiliary brake parameter constitute the second parking control parameter.
3. The method of claim 1, wherein the controlling the vehicle powertrain system to perform the auxiliary braking operation based on the parking action according to the second parking control parameter comprises:
adjusting the first parking control parameter according to the second parking control parameter to obtain an adjusted parking control parameter; and
and controlling the vehicle power system to execute a parking action comprising the auxiliary braking operation according to the adjusted parking control parameter.
4. The method of claim 3, wherein,
the determining a first parking control parameter according to the ramp resistance parameter of the parking road surface comprises the following steps:
determining a braking parameter matched with the ramp resistance parameter based on a preset mapping relation to serve as the first parking control parameter;
the method further comprises the following steps:
and under the condition that the adjusted parking control parameter and the first parking control parameter meet the preset similarity condition, taking the adjusted parking control parameter as a braking parameter matched with the ramp resistance parameter.
5. The method according to any of claims 1-4, wherein the first and second parking control parameters are used for controlling a pedal opening.
6. A vehicle control apparatus comprising:
the first processing module is used for determining a first parking control parameter according to a ramp resistance parameter of a parking road surface;
the second processing module is used for controlling a vehicle power system to execute a parking action according to the first parking control parameter;
the third processing module is used for responding to the acquired parking feedback information in the parking action execution process and generating a second parking control parameter; and
a fourth processing module for controlling the vehicle powertrain to perform an auxiliary braking operation based on the parking action according to the second parking control parameter,
the apparatus further comprises a fifth processing module configured to:
determining whether the vehicle is in a parking abnormal state or not in the execution process of the parking action;
acquiring a vehicle state parameter in a parking abnormal state as the parking feedback information in response to the vehicle being in the parking abnormal state,
the third processing module comprises:
the first processing submodule is used for determining vehicle speed information and vehicle displacement information in an abnormal parking state according to the acquired vehicle state parameters; and
a second processing submodule for generating the second parking control parameter according to the vehicle speed information and the vehicle displacement information,
the second parking control parameters comprise a first auxiliary braking parameter and a second auxiliary braking parameter, the first auxiliary braking parameter is a real-time inhibition compensation parameter, and the second auxiliary braking parameter is a fixed penalty parameter.
7. The apparatus of claim 6, wherein the second processing submodule comprises:
the first processing unit is used for generating a first auxiliary braking parameter according to the vehicle speed information and the vehicle displacement information in the abnormal parking state;
the second processing unit is used for generating a second auxiliary braking parameter under the condition that the vehicle speed information and/or the vehicle displacement information meet a preset threshold value condition; and
the first auxiliary brake parameter and the second auxiliary brake parameter constitute the second parking control parameter.
8. The apparatus of claim 6, wherein the fourth processing module comprises:
the third processing submodule is used for adjusting the first parking control parameter according to the second parking control parameter to obtain an adjusted parking control parameter; and
and the fourth processing submodule is used for controlling the vehicle power system to execute a parking action comprising the auxiliary braking operation according to the adjusted parking control parameter.
9. The apparatus of claim 8, wherein the fourth processing module comprises:
the fifth processing submodule is used for determining a braking parameter matched with the ramp resistance parameter based on a preset mapping relation to serve as the first parking control parameter;
the device further comprises: a sixth processing module for
And under the condition that the adjusted parking control parameter and the first parking control parameter meet the preset similarity condition, taking the adjusted parking control parameter as a braking parameter matched with the ramp resistance parameter.
10. The apparatus according to any one of claims 6 to 9, wherein the first parking control parameter and the second parking control parameter are used to control a pedal opening degree.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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| CN117508111A (en) * | 2022-07-30 | 2024-02-06 | 华为技术有限公司 | Vehicle control method and device, vehicle and storage medium |
| CN115158278B (en) * | 2022-09-07 | 2022-12-16 | 万向钱潮股份公司 | Redundancy control method and redundancy control system for multi-brake system |
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