CN114771166B

CN114771166B - Vehicle control method, central controller and vehicle control system

Info

Publication number: CN114771166B
Application number: CN202210427349.8A
Authority: CN
Inventors: 申国栋; 欧炫峰; 陈子邮; 温伟峰; 李育方; 王善超; 蓝秋玲
Original assignee: Dongfeng Liuzhou Motor Co Ltd
Current assignee: Dongfeng Liuzhou Motor Co Ltd
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2023-07-07
Anticipated expiration: 2042-04-22
Also published as: CN114771166A

Abstract

The application discloses a vehicle control method, a central controller and a vehicle control system, wherein the method comprises the following steps: receiving tire state information, and judging whether the tire is in a safe state according to the tire state information; determining a driving intention according to running state information of the vehicle when the tire is in a safe state; based on different driving intents, corresponding optimization targets are determined according to road condition information so as to control the vehicle to run. According to the method, the tire pressure, temperature and acceleration detected by the tire module are utilized, the abrasion, load and road condition information of the tire are estimated, the more optimized vehicle target speed, tire slip rate, target slip angle and target yaw rate are obtained, the friction force between the tire and the road surface is fully utilized, the safety of the tire is higher, the performance of a vehicle power system is more optimized, the utilization rate of the attachment coefficient of the road surface is higher, and the acceleration performance, braking performance and steering stability of the vehicle are more excellent.

Description

Vehicle control method, central controller and vehicle control system

Technical Field

The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method, a central controller, and a vehicle control system.

Background

The tire is the only device of the vehicle contacting the road surface, the vehicle can obtain driving force, braking force and steering force through contacting the road surface, and the driving control, braking control and steering stability control of the vehicle are realized, and the pressure, temperature, deformation, abrasion state change and perceived road surface condition change of the tire can influence the performance of a vehicle control system.

At present, one common vehicle control method is to acquire state information and road surface condition information of a tire according to an intelligent tire to control, however, the method utilizes the road surface information acquired by the intelligent tire to optimize, and does not consider information such as abrasion, deformation, bearing load change and the like of the tire, so that the performance optimization of a vehicle control system cannot be effectively performed; the other is to perform driving control according to the use of a fixed slip rate or to perform analysis and control of steering stability of a vehicle by using a fixed cornering stiffness, however, when a tire is worn, a load to which the tire is subjected is changed, or a pressure and a temperature of the tire are changed, the slip rate and the cornering stiffness are inevitably changed, and thus, it is difficult to achieve the purpose of optimizing the control effect of the vehicle by using the fixed slip rate or the cornering stiffness.

Disclosure of Invention

The purpose of the application is to provide a vehicle control method, a central controller and a vehicle control system, so as to solve the problem that the performance of the vehicle control system cannot be effectively optimized in the prior art, and the optimal control effect of the vehicle is not ideal.

To achieve the above object, the present application provides a vehicle control method including:

receiving tire state information, and judging whether the tire is in a safe state according to the tire state information;

determining a driving intention according to running state information of the vehicle when the tire is in a safe state;

based on different driving intents, corresponding optimization targets are determined according to road condition information so as to control the vehicle to run.

Further, the tire condition information includes pressure, temperature, and acceleration of the tire;

the running state information of the vehicle comprises speed, acceleration and steering angle signals of the running of the vehicle;

the road condition information comprises road surface type, road surface gradient and road surface adhesion coefficient.

Further, the determining, based on different driving intents, a corresponding optimization target according to road condition information to control the vehicle to run includes:

when the driving intention is constant-speed driving, determining a target vehicle speed according to the road condition information, the tire state information, the surrounding environment information and the efficiency characteristic of a vehicle power system; the surrounding environment information comprises a vehicle speed limit, a traffic light limit and a front vehicle distance limit;

And optimizing the current speed by utilizing the target speed.

Further, the determining, based on different driving intents, a corresponding optimization target according to the road condition information to control the vehicle to run, further includes:

when the driving intention is variable speed driving, determining the optimal slip rate of the vehicle according to the road condition information, the tire state information and the running state information of the vehicle;

and optimizing the current slip rate of the vehicle by utilizing the optimal slip rate.

when the driving intention is steering driving, determining a target slip angle and a target yaw rate of the vehicle according to the road condition information, the tire state information and the running state information of the vehicle;

and optimizing the current slip angle and the yaw rate of the vehicle by utilizing the target slip angle and the target yaw rate.

Further, the vehicle control method further includes:

when the tire is in an unsafe state, an alarm is triggered.

The present application also provides a central controller comprising:

the safety state judging unit is used for receiving the tire state information and judging whether the tire is in a safety state or not according to the tire state information;

A driving intention judging unit for determining a driving intention according to running state information of the vehicle when the tire is in a safe state;

and the vehicle running control unit is used for determining a corresponding optimization target according to the road condition information based on different driving intents so as to control the vehicle to run.

Further, the vehicle running control unit is further configured to:

and optimizing the current speed by utilizing the target speed.

Further, the vehicle running control unit is further configured to:

Further, the central controller further comprises:

and the alarm unit is used for triggering an alarm when the tire is in an unsafe state.

The present application also provides a vehicle control system including the central controller as set forth in any one of the above, further including:

the device comprises a tire module, a brake control module, a steering control module and a driving control module;

the tire module is in wireless connection with the central controller;

the brake control module, the steering control module and the driving control module are all connected with the central controller through a CAN bus.

Further, the tire module includes:

the system comprises a first microcontroller, a sensor, a first memory, a battery, a wake-up circuit and a first radio frequency transceiver, wherein the sensor, the first memory, the battery, the wake-up circuit and the first radio frequency transceiver are respectively and electrically connected with the first microcontroller;

The first radio frequency transceiver is used for receiving wake-up pulse, tire ID information, vehicle ID information, measurement period information of tire pressure, temperature and acceleration transmitted by the central controller, and transmitting tire state measurement information to the first microcontroller;

the first microcontroller is used for judging whether the tire ID information and the vehicle ID information are all consistent with the tire module information in the first memory; if yes, the wake-up circuit is controlled to start; if not, the wake-up circuit is controlled not to be started;

the first microcontroller is also used for controlling the sensor to measure the tire pressure, the tire temperature and the tire acceleration according to the measurement period information of the tire pressure, the temperature and the acceleration.

Further, the central controller further includes:

the second microcontroller, input device, second memory, power, CAN transceiver and second radio frequency transceiver that are connected with second microcontroller electricity separately;

the second microcontroller is used for evaluating the load, abrasion, cornering stiffness and road condition information of the tire according to the tire pressure, temperature and acceleration information sent by the tire module, judging the safety state of the tire and modifying the measuring period of the tire pressure, temperature and acceleration on line;

The second memory is used for storing a plurality of pieces of evaluation result information, vehicle ID information, tire module ID information and tire state measurement information;

the CAN transceiver is used for respectively sending a braking control instruction, a driving control instruction and a steering control instruction to the braking control module, the driving control module and the steering control module;

the second radio frequency transceiver is used for sending wake-up pulse, tire ID information, vehicle ID information, measurement period information of tire pressure, temperature and acceleration.

Compared with the prior art, the beneficial effect of this application lies in:

the application discloses a vehicle control method, a central controller and a vehicle control system, wherein the method comprises the following steps: receiving tire state information, and judging whether the tire is in a safe state according to the tire state information; determining a driving intention according to running state information of the vehicle when the tire is in a safe state; based on different driving intents, corresponding optimization targets are determined according to road condition information so as to control the vehicle to run.

According to the method, the tire pressure, temperature and acceleration detected by the tire module are utilized, the abrasion, load and road condition information of the tire are estimated, the more optimized vehicle target speed, tire slip rate, target slip angle and target yaw rate are obtained, the friction force between the tire and the road surface is fully utilized, the safety of the tire is higher, the performance of a vehicle power system is more optimized, the utilization rate of the attachment coefficient of the road surface is higher, and the acceleration performance, braking performance and steering stability of the vehicle are more excellent.

Drawings

In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method of controlling a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a block flow diagram of steps of a vehicle control method provided by yet another embodiment of the present application;

FIG. 3 is a functional unit diagram of a central controller according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a vehicle control system according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a tire module provided in accordance with an embodiment of the present application;

fig. 6 is a schematic structural diagram of a central controller according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be understood that the step numbers used herein are for convenience of description only and are not limiting as to the order in which the steps are performed.

It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Referring to fig. 1, an embodiment of the present application provides a vehicle control method. As shown in fig. 1, the vehicle control method includes steps S10 to S30. The method comprises the following steps:

s10, receiving tire state information, and judging whether the tire is in a safe state according to the tire state information;

S20, determining driving intention according to running state information of the vehicle when the tire is in a safe state;

s30, based on different driving intents, determining a corresponding optimization target according to the road condition information so as to control the vehicle to run.

In this embodiment, the tire state information is preferentially acquired, whether the tire is in a safe state is determined, if so, the driving intention is determined according to the running state information of the vehicle, and based on different driving intentions, a corresponding optimization target is determined according to the road condition information to control the running of the vehicle. When in an unsafe state, an alarm is triggered.

In one embodiment, the tire condition information includes pressure, temperature, and acceleration of the tire;

In one embodiment, the step S30 further includes the following cases:

1) When the driving intention is constant-speed driving, determining a target vehicle speed according to the road condition information, the tire state information, the surrounding environment information and the efficiency characteristic of a vehicle power system; the surrounding environment information comprises a vehicle speed limit, a traffic light limit and a front vehicle distance limit;

And optimizing the current speed by utilizing the target speed.

2) When the driving intention is variable speed driving, determining the optimal slip rate of the vehicle according to the road condition information, the tire state information and the running state information of the vehicle;

3) When the driving intention is steering driving, determining a target slip angle and a target yaw rate of the vehicle according to the road condition information, the tire state information and the running state information of the vehicle;

According to the embodiment, the optimal control of the driving, braking and steering processes of the vehicle is carried out based on the tire state information, the friction force provided by the tire and the road surface is fully utilized, and the motion state of the vehicle is adjusted according to different driving intentions, so that the safety of the tire is higher, and the dynamic property, the economical efficiency and the stability of the vehicle are better.

Referring to fig. 2, in a specific embodiment, a program control block diagram of steps of the vehicle control method is provided, and as shown in fig. 2, the steps include:

Step 1, after judging that the vehicle starts, in the running process of the vehicle, a central controller in the vehicle acquires speed, acceleration and steering angle signals of the vehicle, a tire module acquires tire pressure, temperature and acceleration information and wirelessly transmits the tire pressure, temperature and acceleration information to the central controller, the central controller estimates tire wear, load, cornering stiffness and road condition information according to the received tire pressure, temperature and acceleration information, in addition, the road condition information can also be obtained through recognition of a vehicle-mounted image sensor, the safety of the tire is judged according to the obtained tire state information, if the tire is unsafe, the step 2 is entered, and if the tire is safe, the step 3 is entered;

step 2, a central controller in the vehicle sends alarm information to an alarm unit, status information of different tires is displayed through a liquid crystal screen, and specific alarm information is displayed through a nixie tube, for example: the method comprises the following steps of (1) carrying out timely treatment by flashing a diode, sending out alarm sound by an alarm horn to remind a driver of paying attention, and after the treatment is finished, eliminating alarm information, relieving tire danger and returning to the step (1), wherein the pressure is too high, the pressure is too low, the temperature is too high, the abrasion is serious, overload and the like;

Step 3, according to the vehicle brake pedal, the accelerator pedal and the steering wheel angle signals, combining the vehicle speed and the acceleration signals, carrying out vehicle driving intention recognition, if the vehicle is a constant-speed driving intention, entering step 4, and if the vehicle is not a constant-speed driving intention, entering step 5;

step 4, determining the relation between the tire friction and the speed according to the tire pressure, the temperature, the abrasion and load state information, the type of the road surface and the adhesion coefficient of the road surface, obtaining a vehicle power system efficiency characteristic curve, for a fuel vehicle, the efficiency characteristic of an engine, for an electric vehicle, the efficiency characteristic of a motor, for a hybrid vehicle, the efficiency characteristic of the engine and the efficiency characteristic of the motor, and the surrounding environment limit of the vehicle are combined, wherein the safety vehicle speed limit, the traffic light limit, the front vehicle distance limit and the like in the running process of the vehicle are combined, the optimized target vehicle speed is determined according to the optimal or economical efficiency of the vehicle according to the vehicle power characteristic curve, the road surface ramp resistance and the tire friction and the speed relation, the vehicle speed is measured according to the optimal or economical efficiency of the vehicle, the actual vehicle speed approaches the target vehicle speed by utilizing the driving control module to control the vehicle speed, and then the step 1 is returned;

Step 5, judging whether the driving intention of the vehicle is the accelerating driving intention, if so, entering step 6, and if not, entering step 7;

and 6, considering that the tire friction force is influenced by various factors such as tire pressure, temperature, abrasion, load, road surface type, road surface adhesion coefficient, tire slip rate, tire slip angle, vehicle speed and the like, establishing a relation between the tire friction force and various influencing factors through an experimental test method, constructing a tire friction force model, and establishing a deep learning network friction force model between the tire friction force and the tire pressure, temperature, abrasion, load, road surface type, road surface adhesion coefficient, slip rate, slip angle and vehicle speed through learning and training of experimental test data through an artificial intelligence method. According to the established tire friction model, the optimal slip rate of each tire under the conditions of the current pressure, temperature, abrasion, load, road surface type and road surface adhesion coefficient can be determined, according to the speed, the wheel speed and the acceleration, the acceleration control is realized by utilizing the driving control module, the slip rate of the tire approaches to the optimal slip rate, the utilization rate of the road surface adhesion coefficient of the tire tends to be optimal, and then the step 1 is returned;

Step 7, judging whether the driving intention of the vehicle is the deceleration driving intention, if so, entering step 8, and if not, entering step 9;

step 8, according to tire pressure, temperature, abrasion, load state information, road surface type and road surface adhesion coefficient information, determining the optimal slip rate of each tire according to the tire friction model established in the step 6, realizing deceleration control by utilizing a brake control module according to the speed, the wheel speed and the deceleration, enabling the actual slip rate to trend to the optimal slip rate, enabling the utilization rate of the road surface adhesion coefficient of the tire to trend to be optimal, and returning to the step 1;

step 9, judging whether the driving intention of the vehicle is steering driving intention, if so, entering step 10, and if not, returning to step 1;

and 10, determining the steering coefficient of the vehicle according to the tire pressure, temperature, abrasion, cornering stiffness and load, and determining the target cornering angle and the target yaw rate of the vehicle according to the stability requirement of the vehicle by combining the vehicle speed, the vehicle steering angle information, the road surface type and the road surface adhesion coefficient information. The vehicle steering control module and the brake control module are used to control the slip angle of the vehicle to trend toward the target slip angle, the yaw rate of the vehicle to trend toward the target yaw rate, and the vehicle steering process is kept stable according to the vehicle steering angle, the yaw rate and the slip angle, and then the step 1 is returned.

In one embodiment, in step 1, before the vehicle starts, the tire module is in a dormant state, after the vehicle starts, the central controller sends a wake-up signal containing the vehicle ID information and the tire ID information, the tire module receives the information sent by the central controller, determines whether the information corresponding to the vehicle ID information, the tire ID information and the tire module is consistent, if one of the information is inconsistent, the tire module wakes up, sends back confirmation information containing the vehicle ID information and the tire ID information, after the central controller receives the confirmation information containing the vehicle ID information and the tire ID information, sends a tire pressure measurement period, a tire temperature measurement period and a tire acceleration measurement period corresponding to the vehicle ID and the tire ID, and after the tire module receives the information sent by the central controller, the tire module measures the tire pressure according to the received tire pressure measurement period, measures the tire temperature according to the received tire temperature measurement period, measures the tire acceleration according to the received tire acceleration measurement period, and sends the measurement result to the central controller in a wireless mode.

Preferably, in step 1, when the tire module is replaced, the input of the tire ID information and the vehicle ID information and the modification of the corresponding position of the tire are performed through a keypad of the central controller, the central controller transmits wake-up information including the vehicle ID information and the tire ID information, and when the corresponding tire module receives the correct information, the information is returned for confirmation.

Preferably, in step 1, the central controller estimates the load, wear, cornering stiffness and road condition information of the tire after receiving the tire pressure, temperature and acceleration information, determines the safety state of the tire, and modifies the tire pressure measurement period, the tire temperature measurement period and the tire acceleration measurement period according to the changes of the tire wear degree, the load, the temperature and the pressure, thereby improving the safety of the tire state monitoring.

Preferably, in step 1, the tire module acquires tire pressure, temperature and acceleration information and sends the tire pressure, temperature and acceleration information to the central controller, and in the process of estimating tire load, wear, cornering stiffness and road shape information, the central controller can utilize measurement information acquired by the tire module and measurement information of other vehicle-mounted sensors to estimate and acquire the tire pressure, temperature and acceleration information according to the relation between the measurement information of different sensors and the tire state information, and road condition information can also be acquired through identification of other vehicle-mounted image sensors.

In a specific embodiment, in step 4, in the process of determining the optimized target vehicle speed according to the tire state information, the road surface condition and the efficiency characteristic of the vehicle power system, and in combination with the limit of the surrounding environment of the vehicle, the tire state information comprises the pressure, the temperature, the load and the wear condition of the tire, the road surface condition information comprises the type of the road surface, the gradient of the road surface and the adhesion coefficient condition of the road surface, the efficiency characteristic of the vehicle power system is determined according to the type of the vehicle, the efficiency characteristic of the engine is determined according to the type of the fuel vehicle, the efficiency characteristic of the motor is determined according to the electric vehicle, the efficiency characteristic of the motor is determined according to the hybrid vehicle, the efficiency characteristic of the engine and the efficiency characteristic of the motor is determined according to the limit conditions, the safety vehicle speed limit, the traffic light limit and the front vehicle distance limit are determined according to the limit conditions, and the optimal target vehicle speed is determined according to the optimal power performance or optimal economy of the vehicle power system.

In a specific embodiment, in step 6, in the process of determining the optimal slip rate of each tire according to the tire state information, road condition information and vehicle speed, the tire state information comprises tire pressure, temperature, abrasion and bearing load conditions, the road condition information comprises road surface type and road surface adhesion coefficient, a friction model of the connection between the tire friction and different influencing factors is established according to the tire state information, road condition information and vehicle speed through experimental test data, the maximum friction is selected as an objective function, and the optimal slip rate under different tire states, road conditions and vehicle speeds can be determined through an optimization method.

In a specific embodiment, in step 8, in the process of determining the optimal slip rate of each tire according to the tire state information, road condition information and vehicle speed, the tire state information comprises the tire pressure, temperature, abrasion and bearing load conditions, the road condition information comprises the road surface type and the road surface adhesion coefficient, a friction model of the connection between the tire friction and different influencing factors is established according to the tire state information, the road condition information and the vehicle speed through experimental test data, the maximum friction is selected as an objective function, and the optimal slip rate under different tire states, road conditions and vehicle speeds can be determined through an optimization method.

In a specific embodiment, in step 10, the steering coefficient of the vehicle is affected by the tire load and cornering stiffness, while the tire cornering stiffness is affected by the tire pressure, temperature, wear and load, the relationship between the tire cornering stiffness and the tire pressure, temperature, wear and load is established through an experimental test method, and a deep learning network model between the tire cornering stiffness and the tire pressure, temperature, wear and load is also established through learning and training of experimental test data through an artificial intelligence method. The steering coefficient of the vehicle is determined based on a correlation between the steering coefficient of the vehicle and the tire load distribution and cornering stiffness. And judging the stability of the vehicle according to the cornering stiffness of the tire, the road surface type, the road surface adhesion coefficient, the vehicle speed, the vehicle steering angle information and the vehicle steering coefficient, and determining a target cornering angle and a target yaw rate which meet the stability requirement. For example, the target yaw rate may be determined as

The target slip angle may be determined as +.>

Wherein the steering coefficient->

The vehicle speed is v _x The steering angle of the vehicle is delta, the distance between the front axle and the rear axle of the vehicle is L, the road adhesion coefficient is L, and the distance between the center of gravity of the vehicle and the front axle is L _f The distance between the center of gravity of the vehicle and the rear axle is L _r The vehicle mass is m, the gravity acceleration is g, the average cornering stiffness of the two front wheels is C _yf The average cornering stiffness of the two rear wheels is C _yr 。

Referring to the drawings, an embodiment of the present application further provides a central controller, including:

a safety state judging unit 01 for receiving tire state information and judging whether the tire is in a safety state according to the tire state information;

a driving intention judging unit 02 for determining a driving intention from running state information of the vehicle when the tire is in a safe state;

the vehicle running control unit 03 is configured to determine a corresponding optimization target according to the road condition information based on different driving intents to control the vehicle running.

As a specific embodiment, the vehicle travel control unit 03 is further configured to:

and optimizing the current speed by utilizing the target speed.

In one embodiment, the central controller further comprises:

It can be understood that the central controller provided in this embodiment is configured to execute the vehicle control method described in the foregoing embodiments, and this embodiment performs optimal control of the driving, braking and steering processes of the vehicle based on the tire status information, and makes full use of the friction force provided by the tire and the road surface, and adjusts the motion status of the vehicle according to different driving intentions, so that the safety of the tire is higher, and the dynamic performance, economy and stability of the vehicle are better.

Referring to fig. 4, an embodiment of the present application further provides a vehicle control system, including a central controller as set forth in any one of the above, wherein the vehicle control system further includes:

the tire module is in wireless connection with the central controller;

The tire module CAN receive the wake-up signal sent by the central controller, the ID information of the vehicle, the tire ID information and other tire module configuration information, measure the state information of the tire after wake-up, transmit the measured tire state information to the central controller in the vehicle in a wireless mode, and the central controller in the vehicle CAN receive the tire state information sent by the tire module, and the central controller in the vehicle, the vehicle brake control module, the vehicle steering control module and the vehicle driving control module are connected in a CAN bus mode and mutually transmit information through the CAN bus.

Preferably, the vehicle brake control module adopts a brake control system of the vehicle, receives a brake control instruction of the central controller through the CAN bus to complete the brake control of the vehicle, feeds back a control result to the central controller, and performs self-adaptive adjustment of the control instruction according to the control result to achieve a target control effect through continuous feedback adjustment.

Preferably, the vehicle driving control module adopts a driving control system of the vehicle, receives a driving control instruction of the central controller through the CAN bus to finish the acceleration and constant speed control process of the vehicle, simultaneously sends a control result to the central control model, and the central controller carries out self-adaptive adjustment of the control instruction according to the control result and achieves the target control effect through continuous feedback adjustment.

Preferably, the vehicle steering control module is a steering stability control system of the vehicle, receives steering and braking control instructions of the central controller through the CAN bus, completes steering and braking stability control processes of the vehicle, simultaneously sends control results to the central control model, and the central controller carries out self-adaptive adjustment of the control instructions according to the control results, and achieves target control effects through continuous feedback adjustment.

Referring to fig. 5, an embodiment of the present application further provides a schematic structural diagram of a tire module, including:

It should be noted that, in this embodiment, the tire module is composed of a tire pressure sensor, a tire temperature sensor, a tire acceleration sensor, a first microcontroller, a first memory, a battery, a wake-up circuit, a first radio frequency transceiver and an antenna, the tire pressure sensor measures the pressure change of the tire, the tire temperature sensor measures the temperature change of the tire, and the tire acceleration sensor measures the three-dimensional acceleration change of the tire;

The first memory stores vehicle ID information, tire module ID information, tire pressure sensor measurement information, tire temperature sensor measurement information, tire acceleration sensor measurement information, tire pressure measurement period, tire temperature measurement period, tire acceleration measurement period;

the first radio frequency transceiver receives wake-up pulses, tire module ID information, vehicle ID information, tire pressure measurement periods, tire temperature measurement periods and tire acceleration measurement periods transmitted by the central controller, and transmits tire state measurement information;

the battery is connected with the first microcontroller; the wake-up circuit is connected with the first microcontroller and generates a wake-up signal for waking up the first microcontroller under the action of a wake-up pulse sent by the central controller;

the antenna is connected with the first radio frequency transceiver;

the tire pressure sensor, the tire temperature sensor, the tire acceleration sensor, the radio frequency transceiver and the first memory are connected with an input-output interface of the first microcontroller, information received by the radio frequency transceiver, information stored in the first memory, tire pressure measured by the tire pressure sensor, tire temperature measured by the tire temperature sensor and acceleration measured by the tire acceleration sensor are transmitted to the first microcontroller through an input-output port of the first microcontroller, the first microcontroller transmits a storage or reading command to the first memory through the input-output port to store or take in information, transmits a receiving or transmitting command to the first radio frequency transceiver to control the working state of the first radio frequency transceiver to receive or transmit, and transmits a measurement and reading command to the tire pressure sensor, the tire temperature sensor and the tire acceleration sensor to measure and read the tire state.

Preferably, the tire pressure sensor and the tire temperature sensor in the embodiment adopt an integrated HIWAY800 sensor to measure the pressure and the temperature of the tire, and the tire acceleration sensor adopts an ADXL372 sensor to measure the three-dimensional acceleration change during the movement process of the tire. The microcontroller adopts a HIWAY800 integrated microcontroller, the memory adopts FLASH carried by the HIWAY800, and the radio frequency transceiver is nRF905.

Referring to fig. 6, an embodiment of the present application further provides a schematic structural diagram of a central controller, including:

In this embodiment, the central controller is typically installed in the vehicle cabin and is composed of a keypad, a second microcontroller, a second memory, an alarm unit, a power supply, a CAN transceiver, a second radio frequency transceiver, and an antenna. The small keyboard is used for inputting passwords and data, the second microcontroller is PIC16F877, the second memory is FLASH carried by the second microcontroller, and authority password information for modifying data, vehicle ID information, tire module ID information, tire state measurement information, tire wear estimation programs and estimation results, tire load estimation programs and estimation results, tire cornering stiffness estimation programs and estimation results, road condition estimation programs and estimation results, tire safety state judging programs, vehicle optimization target speed determining programs, tire optimization slip rate determining programs, vehicle target cornering angle and target yaw rate determining programs can be stored. The alarm unit comprises a liquid crystal screen, a nixie tube, a light emitting diode, a flash lamp, a loudspeaker, an alarm and the like, wherein the liquid crystal screen displays the pressure, the temperature, the abrasion, the load, the cornering stiffness and the safety state of the tire and road condition information, and the nixie tube and the light emitting diode display dangerous state signals such as the too high pressure, the too low pressure, the too high temperature, the serious abrasion, the overload and the like of the tire, and the flash lamp, the loudspeaker and the alarm give an alarm to remind a driver of paying attention. The CAN transceiver is SCM3425ASA, is connected with the second microcontroller and the vehicle driving control module, the vehicle braking control module and the vehicle steering control module, and transmits information to each other through the CAN bus, receives data of other control modules of the vehicle, transmits braking control instructions to the vehicle braking control module, transmits driving control instructions to the vehicle driving control module and transmits steering and braking control instructions to the vehicle steering control module. The power supply is connected with the second microcontroller and can be a battery or a vehicle power supply for supplying power to the central controller. The second radio frequency transceiver is nRF905, the working frequency is 433MHz, the antenna is connected with the second radio frequency transceiver, the second radio frequency transceiver and the antenna realize wireless information transmission between the central controller and the tire module, the second radio frequency transceiver receives the tire state information transmitted by the tire module, and transmits a wake-up pulse signal, vehicle ID information, tire module ID information, a tire pressure measurement period, a tire temperature measurement period and a tire acceleration measurement period to the tire module. The small keyboard, the second memory, the alarm unit, the CAN transceiver and the second radio frequency transceiver are respectively connected with the input and output interfaces of the second microcontroller, information input by the small keyboard, information stored in the second memory, information received by the CAN transceiver and information received by the second radio frequency transceiver are all transmitted to the second microcontroller through the input and output ports of the second microcontroller, the second microcontroller transmits a storage or reading command to the second memory through the input and output ports to store or fetch information, transmits an alarm displaying command and content to the alarm unit, transmits a receiving or transmitting command to the CAN transceiver to control the receiving or transmitting of CAN bus signals, and transmits a receiving or transmitting command to the second radio frequency transceiver to control the working state of the second radio frequency transceiver to receive or transmit. In a certain embodiment, the safety state determination unit 01, the driving intention determination unit 02 and the vehicle running control unit 03 are all provided in the second microcontroller.

In summary, the vehicle control method and the vehicle control system provided by the application realize the optimal control of the vehicle movement process by using the tire module in the intelligent tire, the central controller in the vehicle, the driving control module, the braking control module and the steering control module. The tire module measures the pressure, temperature and acceleration changes of the tire and sends the changes to the central controller, the central controller receives information sent by the tire module, and the tire module carries out tire load, abrasion, cornering stiffness, road surface type and road surface adhesion coefficient estimation by combining with other vehicle-mounted sensor measurement information of the vehicle, judges the safety state of the tire and adjusts the tire state measurement period. The central controller determines an optimized target vehicle speed according to the state of the tire and road condition information and the efficiency characteristic of the vehicle power system during constant-speed running, and controls the vehicle speed to approach the target vehicle speed through the driving control module. And during acceleration and braking, determining the optimal slip rate according to the tire state and road condition information, and controlling the slip rate of the tire to approach the optimal slip rate through the driving control module and the braking control module. When the vehicle turns, the target slip angle and the target yaw rate are determined according to the tire state and road condition information and by combining the vehicle turning angle and the vehicle speed information, the slip angle of the vehicle is controlled to approach the target slip angle through the vehicle braking module and the vehicle turning module, and the yaw rate approaches the target yaw rate.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and the division of the units is merely one logical function division, and there may be other ways of dividing the same in practical applications, for example, multiple units or page components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical, or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.

The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that the technical solutions described in the foregoing embodiments may be modified or some of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A vehicle control method characterized by comprising:

the tire state information includes pressure, temperature, and acceleration of the tire;

the road condition information comprises road surface type, road surface gradient and road surface adhesion coefficient;

based on different driving intents, determining corresponding optimization targets according to road condition information so as to control the vehicle to run;

Based on different driving intents, determining a corresponding optimization target according to road condition information to control the vehicle to run, including:

optimizing the current speed by utilizing the target speed;

based on different driving intents, determining a corresponding optimization target according to road condition information to control the vehicle to run, and further comprising:

2. The vehicle control method according to claim 1, wherein the determining a corresponding optimization target to control the vehicle running based on the different driving intents according to the road condition information, further comprises:

3. The vehicle control method according to claim 1, characterized by further comprising:

when the tire is in an unsafe state, an alarm is triggered.

4. A central controller, comprising:

the vehicle running control unit is used for determining a corresponding optimization target according to the road condition information based on different driving intents so as to control the running of the vehicle;

the vehicle travel control unit is further configured to:

Optimizing the current speed by utilizing the target speed;

the vehicle travel control unit is further configured to:

5. The central controller of claim 4, wherein the vehicle travel control unit is further configured to:

6. The central controller of claim 4, further comprising:

7. A vehicle control system comprising the central controller of any one of claims 4-6, further comprising:

The tire module is in wireless connection with the central controller;

8. The vehicle control system of claim 7, wherein the tire module comprises:

9. The vehicle control system of claim 8, wherein the central controller further comprises: