CN115503755A - Automobile power drive control method, automobile power drive control equipment, storage medium and automobile power drive control device - Google Patents

Abstract

The invention discloses an automobile power drive control method, equipment, a storage medium and a device, which judge whether to enter a manual driving mode or not through the current intelligent driving mode state of a target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal; when the target vehicle is in the intelligent driving mode, the ADU drive-by-wire gear request and the intelligent driving mode drive control strategy are forwarded by the gateway controller to drive the target vehicle; and when the target vehicle is in the manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and the manual driving mode driving control strategy. Because the direct unmanned intelligent driving mode and the manual driving mode switching are realized through the VCU, compared with the mode switching and the vehicle driving through the transfer controller in the prior art, the direct unmanned intelligent driving mode and the manual driving mode switching are realized, the aim of reducing development and maintenance costs by canceling the transfer controller is realized, and the vehicle is driven according to different driving mode strategies to meet more driving scenes.

Description

Automobile power drive control method, automobile power drive control equipment, storage medium and automobile power drive control device

Technical Field

The invention relates to the technical field of automobiles, in particular to an automobile power drive control method, equipment, a storage medium and a device.

Background

At present, the power drive of the new energy commercial vehicle adopts pure electric drive, hybrid drive, fuel cell drive and other drive modes, and when unmanned power drive is carried out, a transfer controller is often adopted to carry out functions of intelligent driving triggering, driving mode switching, signal acquisition, conversion and the like. For the existing new energy commercial vehicle, except for an automatic driving controller, parts of a transfer controller need to be added, and meanwhile, the parts need to be subjected to work such as function development, test verification, after-sale maintenance and the like, so that the development and maintenance cost and the test verification period are increased in the whole vehicle research and development process.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a method, equipment, a storage medium and a device for controlling automobile power drive, and aims to solve the technical problems that the driving mode in the prior art is high in development and maintenance cost and long in development and verification period.

In order to achieve the above object, the present invention provides a vehicle power drive control method, including the steps of:

judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal;

when the target vehicle is in the intelligent driving mode, the ADU drive-by-wire gear request and the intelligent driving mode drive control strategy are forwarded by the gateway controller to drive the target vehicle;

and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode driving control strategy.

Optionally, the step of forwarding the ADU shift by wire request and the smart driving mode drive control strategy to drive the target vehicle according to a gateway controller when the target vehicle is in the smart driving mode includes:

when the target vehicle is in the intelligent driving mode, calculating the speed of the target whole vehicle according to the ADU drive-by-wire gear request forwarded by the gateway controller and the speed signal acquired by the speed sensor;

calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gear of the gearbox and the speed ratio of a rear axle;

determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information;

and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

Optionally, before the step of determining whether to enter the manual driving mode according to the current driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal or the preset control switch signal, the method further includes:

requesting the high-voltage electrification of the whole vehicle according to a key switch, and generating an automatic driving request according to a trigger switch signal of an intelligent driving mode;

acquiring a current brake signal, a current accelerator signal, an auxiliary brake switch signal and an ADU communication signal according to the automatic driving request;

and judging whether to enter an intelligent driving mode according to the current braking signal, the current accelerator signal, the auxiliary braking switch signal and the ADU communication signal.

Optionally, the step of determining whether to enter the intelligent driving mode according to the current brake signal, the current accelerator signal, the auxiliary brake switch signal, and the ADU communication signal includes:

and when the current brake signal, the current accelerator signal, the auxiliary brake switch signal and the ADU communication signal all meet preset intelligent driving conditions, judging that an intelligent driving mode is entered.

Optionally, the preset control switch signal includes an auxiliary brake switch signal and an emergency stop switch signal; the step of judging whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal comprises the following steps of:

when the target vehicle is in the intelligent driving mode state, if any one of an accelerator pedal signal, a brake pedal signal, an auxiliary brake switch signal, an emergency stop switch signal or an ADU communication signal meets a preset effective condition, the target vehicle is judged to enter a manual driving mode.

Optionally, the step of driving the target vehicle according to the SCU shift handle gear request and the manual driving mode driving control strategy when the target vehicle is in the manual driving mode includes:

when the target vehicle is in a manual driving mode, calculating the speed of the target whole vehicle according to the SCU gear shifting handle gear request and a vehicle speed signal acquired by a vehicle speed sensor;

calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gearbox gear and the rear axle speed ratio;

determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information;

and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

Optionally, after the step of driving the target vehicle according to the SCU shift handle gear request and the manual driving mode driving control strategy when the target vehicle is in the manual driving mode, the method further includes:

and sending the intelligent driving mode state, the whole vehicle fault state and the whole vehicle working condition information to an IC instrument for state display.

In addition, in order to achieve the above object, the present invention also provides an automotive power drive control apparatus, which includes a memory, a processor and an automotive power drive control program stored on the memory and operable on the processor, the automotive power drive control program being configured to implement the steps of the automotive power drive control as described above.

In addition, in order to achieve the above object, the present invention further provides a storage medium having a vehicle power drive control program stored thereon, which when executed by a processor implements the steps of the vehicle power drive control method as described above.

In order to achieve the above object, the present invention also provides a vehicle power drive control device including:

the mode switching module is used for judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal;

the mode control module is used for forwarding an ADU (automatic data Unit) shift control request and an intelligent driving mode drive control strategy to drive the target vehicle according to a gateway controller when the target vehicle is in an intelligent driving mode;

and the mode control module is also used for driving the target vehicle according to the SCU gear shifting handle gear request and the manual driving mode driving control strategy when the target vehicle is in the manual driving mode.

Judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of a target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal; when the target vehicle is in the intelligent driving mode, the ADU drive-by-wire gear request and the intelligent driving mode drive control strategy are forwarded by the gateway controller to drive the target vehicle; and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode driving control strategy. Because the invention can carry out manual take-over through the brake pedal, the accelerator pedal and the auxiliary brake switch, the unmanned intelligent driving mode and the manual driving mode switching are realized, compared with the prior art that the vehicle driving and the mode switching are carried out through the transfer controller, the invention realizes the purpose of canceling the transfer controller to reduce the development and maintenance cost, and drives the vehicle according to different driving mode strategies to meet more driving scenes.

Drawings

Fig. 1 is a schematic structural diagram of a vehicle power drive control apparatus in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a first embodiment of the vehicle power-driven control method of the present invention;

FIG. 3 is a schematic control diagram illustrating a first embodiment of the power-driven control method of the present invention;

FIG. 4 is a flowchart illustrating a second embodiment of the method for controlling the power-driven vehicle according to the present invention;

FIG. 5 is a schematic diagram illustrating a mode switching process of a second embodiment of the method for controlling a vehicle power drive according to the present invention;

FIG. 6 is a flowchart illustrating a third exemplary embodiment of a method for controlling a power drive of a vehicle according to the present invention;

fig. 7 is a block diagram showing the configuration of the first embodiment of the power drive control apparatus for an automobile according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle power drive control device in a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the vehicle power drive control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), and the optional user interface 1003 may further include a standard wired interface and a wireless interface, and the wired interface for the user interface 1003 may be a USB interface in the present invention. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the automotive power drive control apparatus and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.

As shown in FIG. 1, memory 1005, identified as one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle power drive control program.

In the vehicle power drive control apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting user equipment; the vehicle power drive control apparatus calls a vehicle power drive control program stored in the memory 1005 through the processor 1001 and executes the vehicle power drive control method provided by the embodiment of the present invention.

Based on the hardware structure, the embodiment of the automobile power driving control method is provided.

Referring to fig. 2, fig. 2 is a flow chart illustrating a first embodiment of a vehicle power driving control method according to the present invention.

In this embodiment, the vehicle power drive control method includes the steps of:

step S10: and judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal.

It should be noted that the executing main body of the embodiment may be a Vehicle Control Unit (VCU) having a vehicle driving control function, where the vehicle control unit is connected to a gateway controller GW, an automatic driving controller ADU, a vehicle driving system, and each vehicle control switch, and in the embodiment and the following embodiments, the vehicle control unit is taken as an example to describe the vehicle power driving control method of the present invention.

It will be appreciated that the vehicle drive system includes a vehicle speed sensor, a TCU transmission, a rear axle BMS battery management system, a MCU motor controller, an EBS electronic brake system, an EHP steering control unit, and other interactive units. Vehicle control switches include, but are not limited to, key switches, smart drive trigger switches, and scram switches.

Further, the preset control switch signal comprises an auxiliary brake switch signal and an emergency stop switch signal; the step of judging whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal comprises the following steps of: when the target vehicle is in the intelligent driving mode state, if any one of an accelerator pedal signal, a brake pedal signal, an auxiliary brake switch signal, an emergency stop switch signal or an ADU communication signal meets a preset effective condition, the target vehicle is judged to enter a manual driving mode.

It should be noted that the preset effective condition may be a preset condition for judging that any one of the accelerator pedal signal, the brake pedal signal, the auxiliary brake switch signal, the emergency stop switch signal or the ADU communication signal is an effective signal.

In the specific implementation, when the target vehicle is in the intelligent driving mode, if any one of the accelerator pedal signal, the brake pedal signal, the auxiliary brake switch signal, the emergency stop switch signal or the ADU communication signal meets a preset effective condition, the target vehicle is judged to enter the manual driving mode.

Step S20: and when the target vehicle is in the intelligent driving mode, forwarding an ADU drive-by-wire gear request and an intelligent driving mode driving control strategy according to a gateway controller to drive the target vehicle.

It should be noted that, currently, a transit controller is adopted to collect an accelerator pedal signal to a VCU for accelerator control, an EBS is adopted to collect a brake pedal signal to the transit controller, and then the signal is transferred to the VCU for control by the transit controller, and a vehicle controller is adopted to directly collect the accelerator pedal signal for drive control according to the ADU shift-by-wire request forwarded by the gateway controller, so that the torque control is simpler than the accelerator control, less related controllers are used, and the reliability is higher.

It should be understood that a plurality of controllers are integrated on a single platform to achieve different control functions, the unmanned vehicle power drive control is mainly achieved, the original accelerator simulation signal is used for accelerator control, the VCU cannot participate in the intelligent driving mode, the accelerator simulation signal is all responsible for an intelligent driving system, influence is caused on the safety of the whole vehicle, torque control is adopted at present, VCU intelligent driving judgment logic and a torque algorithm are added, the safety of the vehicle is improved, meanwhile, the intelligent driving mode is added into a vehicle core algorithm, transplantation is facilitated, and the unmanned vehicle can be adapted to various torque-controlled unmanned vehicle types.

In specific implementation, the vehicle control unit responds to information such as an accelerator, torque, gear and the like requested by the ADU, so that vehicle driving is performed according to the information.

Step S30: and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode drive control strategy.

For further explanation, referring to the schematic control principle diagram of fig. 3, when the power driving control of the unmanned vehicle is performed, the VCU determines whether to enter the intelligent driving mode or the manual driving mode according to the intelligent driving mode state, signals of an accelerator pedal, a brake pedal, or other manual control switches of the driver, and the purpose of switching between manual take-over and intelligent driving is achieved. During automatic driving, the vehicle control unit responds to information such as an accelerator, torque, gears and the like requested by the ADU; in the manual mode, the vehicle controller responds to information such as the accelerator pedal operated by a driver, the opening degree of the brake pedal, the gear position and the like according to normal running, and drives the vehicle to move forwards or backwards. Meanwhile, in order to protect driving safety, in the process of automatic driving and manual driving control, the vehicle controller comprehensively takes small moment according to vehicle fault torque limit and other parts such as a motor MCU, a battery BMS and a rear axle, and driving safety is guaranteed.

In the concrete implementation, the gateway controller forwards SCU handle information in a manual mode or ADU drive-by-wire gears in an intelligent driving mode to the vehicle controller according to different driving mode controls, the VCU calculates the driving torque of the vehicle in a corresponding driving mode after receiving the gear information, and sends the calculated driving torque value to the MCU motor controller, and the motor responds to the driving torque, so that the unmanned driving power driving control function requirements are realized. And the VCU obtains five torque values according to the current vehicle state, compares the normal driving torque obtained by calculating the mode of the vehicle with the motor driving torque limit value obtained by calculating the BMS power, the maximum allowable driving/braking torque of the MCU motor, the allowable driving/anti-dragging torque of a rear axle and the current fault limiting torque of the whole vehicle, and then reduces the torque to obtain the driving torque finally output by the motor for requesting the motor to carry out vehicle driving control. The unmanned power drive control adds intelligent driving mode control on the basis of manual mode in the prior art, and adds unmanned torque for calculation and then gets the small value, and the same is for protecting other system parts. Meanwhile, the intelligent driving mode adopts the torque-by-wire control, and compared with the current unmanned accelerator control in the prior art, the intelligent driving mode has the advantages that the current transfer controller is adopted to collect accelerator pedal signals to carry out accelerator control on the VCU, the EBS is adopted to collect brake pedal signals to the transfer controller, and then the transfer controller transfers the signals to the VCU for control, and the torque-by-wire control adopts the whole vehicle controller to directly collect the accelerator pedal signals to carry out drive control, so that the control is simpler, the related controllers are fewer, and the reliability is higher.

The method comprises the steps of judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of a target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal; when the target vehicle is in the intelligent driving mode, forwarding an ADU drive-by-wire gear request and an intelligent driving mode driving control strategy according to a gateway controller to drive the target vehicle; and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode driving control strategy. Compared with the prior art in which vehicle driving and mode switching are performed through a transfer controller, the invention realizes the purpose of canceling the transfer controller to reduce development and maintenance costs, and drives the vehicle according to different driving mode strategies to meet more driving scenes.

Referring to fig. 4, fig. 4 is a flow chart illustrating a second embodiment of the method for controlling power driving of a vehicle according to the present invention, and the second embodiment of the method for controlling power driving of a vehicle according to the present invention is proposed based on the first embodiment shown in fig. 2.

In this embodiment, the step S20 includes:

step S201: and when the target vehicle is in the intelligent driving mode, calculating the speed of the target whole vehicle according to the ADU drive-by-wire gear request forwarded by the gateway controller and the speed signal acquired by the speed sensor.

When the vehicle is in the intelligent driving mode, the VCU controls the vehicle to drive through the ADU drive-by-wire gear request forwarded by the gateway controller, acquires the vehicle speed in real time through the vehicle speed sensor, and determines the target required vehicle speed according to the drive-by-wire gear request, so as to regulate and control the vehicle speed according to the target required vehicle speed until the vehicle speed acquired by the vehicle speed sensor reaches the target required vehicle speed.

Step S202: and calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gear of the gearbox and the speed ratio of a rear axle.

It should be noted that the current torque required by the normal driving of the whole vehicle is calculated according to the current gear state of the TCU gearbox, the speed ratio corresponding to the gearbox gear and the rear axle speed ratio, and the current torque required by the braking of the whole vehicle is calculated according to the current gear state of the TCU gearbox, the speed ratio corresponding to the gearbox gear and the rear axle speed ratio.

Step S203: and determining the target motor driving torque according to the BMS state information, the MCU state information and the target fault state information.

It should be noted that the BMS status information includes battery level SOC, battery charging peak power, and battery failure status information; the MCU state information comprises information such as the maximum allowable motor driving torque, the maximum allowable motor braking torque, the current motor rotating speed, the motor fault state, the motor driving torque, the motor braking torque, the motor IGBT enable and the motor control mode; the target fault state information may refer to fault state information corresponding to each module in the vehicle driving system, such as an ADU fault state, a battery fault state, a motor fault state, and the like.

In the concrete implementation, the current driving torque limit value of the MCU motor is calculated according to the whole vehicle working condition and the BMS power. And obtaining the maximum allowable driving/braking torque of the MCU motor under the current vehicle condition according to the external characteristics of the motor. And calculating a rear axle allowable input torque limit value according to the rear axle allowable driving/anti-dragging torque so as to protect the rear axle. And obtaining a fault limiting torque according to the current fault state of the whole vehicle. And determining the target motor driving torque according to the current MCU motor driving torque limit value, the MCU motor maximum allowable driving/braking torque, the rear axle allowable input torque limit value and the fault limiting torque.

Step S204: and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

The target vehicle is driven according to the torque required for normal driving and braking of the entire vehicle, the target motor driving torque, and the target entire vehicle speed.

Further, before the step S30, the method further includes: requesting high-voltage electrification of the whole vehicle according to a key switch, and generating an automatic driving request according to a trigger switch signal of an intelligent driving mode; acquiring a current brake signal, a current accelerator signal, an auxiliary brake switch signal and an ADU communication signal according to the automatic driving request; and judging whether to enter an intelligent driving mode according to the current braking signal, the current accelerator signal, the auxiliary braking switch signal and the ADU communication signal.

It should be noted that, whether to enter the intelligent driving mode is judged by acquiring a current brake signal, a current accelerator signal, an auxiliary brake switch signal and an ADU communication signal.

Further, the step of judging whether to enter the intelligent driving mode according to the current braking signal, the current throttle signal, the auxiliary braking switch signal and the ADU communication signal includes: and when the current brake signal, the current accelerator signal, the auxiliary brake switch signal and the ADU communication signal all meet preset intelligent driving conditions, judging that an intelligent driving mode is entered.

It should be noted that, as can be seen from the schematic diagram of the mode switching process shown in fig. 5, the VCU determines whether to allow entering the intelligent driving mode by integrating the current communication state of the vehicle automatic driving controller ADU according to the state of the intelligent driving trigger switch, the brake pedal opening, the accelerator pedal opening and the auxiliary brake switch when the driver operates the entire vehicle at high voltage; the VCU enters an intelligent driving mode when the current brake signal, the current accelerator signal, the auxiliary brake switch signal and the ADU communication signal all meet preset intelligent driving conditions, wherein the preset intelligent driving conditions can be preset conditions that the VCU enters the intelligent driving mode, and the VCU is judged to enter the intelligent driving mode under the conditions that the current brake signal, the current accelerator signal, the auxiliary brake switch are not pressed down and the ADU communication is not lost.

Whether the manual driving mode is entered or not is judged according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal; when the target vehicle is in the intelligent driving mode, calculating the speed of the target whole vehicle according to the ADU drive-by-wire gear request forwarded by the gateway controller and the speed signal acquired by the speed sensor; calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gear of the gearbox and the speed ratio of a rear axle; determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information; driving a target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed; and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode driving control strategy. Because the invention can carry out manual take-over through the brake pedal, the accelerator pedal and the auxiliary brake switch, the unmanned intelligent driving mode and the manual driving mode switching are realized, compared with the prior art that the vehicle driving and the mode switching are carried out through the transfer controller, the invention realizes the purpose of canceling the transfer controller to reduce the development and maintenance cost, and drives the vehicle according to different driving mode strategies to meet more driving scenes.

Referring to fig. 6, fig. 6 is a flowchart illustrating a second embodiment of the method for controlling vehicle power driving according to the present invention, and a third embodiment of the method for controlling vehicle power driving according to the present invention is proposed based on the first embodiment shown in fig. 2.

In this embodiment, the step S30 includes:

step S301: and when the target vehicle is in a manual driving mode, calculating the speed of the target whole vehicle according to the SCU gear shifting handle gear request and a vehicle speed signal acquired by a vehicle speed sensor.

When the target vehicle is in the manual driving mode, the VCU requests to control the vehicle driving through the SCU shift lever, acquires the vehicle speed in real time through the vehicle speed sensor, and determines the target required vehicle speed according to the drive-by-wire shift request, so as to regulate and control the vehicle speed according to the target required vehicle speed until the vehicle speed acquired by the vehicle speed sensor reaches the target required vehicle speed.

Step S302: and calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the speed ratio corresponding to the gear of the gearbox and the speed ratio of a rear axle.

In manual mode control, the VCU calculates and outputs driving torque in different states of the manual mode by judging whether the vehicle is in an acceleration state, a braking state, an auxiliary braking state, a high vehicle speed coasting state, a low vehicle speed crawling state, a parking state and the like according to the SCU gear position state, the accelerator pedal opening degree, the brake pedal opening degree and the auxiliary braking switch state operated by the driver.

It should be understood that the current torque required by the normal driving of the whole vehicle is calculated according to the current gear state of the TCU gearbox, the speed ratio corresponding to the gearbox gear and the rear axle speed ratio, and the current torque required by the braking of the whole vehicle is calculated according to the current gear state of the TCU gearbox, the speed ratio corresponding to the gearbox gear and the rear axle speed ratio.

Step S303: and determining the target motor driving torque according to the BMS state information, the MCU state information and the target fault state information.

It should be noted that the BMS status information includes battery level SOC, battery charging peak power, and battery failure status information; the MCU state information comprises information such as the maximum allowable driving torque of the motor, the maximum allowable braking torque of the motor, the current rotating speed of the motor, the fault state of the motor, the driving torque of the motor, the braking torque of the motor, the IGBT (insulated gate bipolar transistor) enabling of the motor, the control mode of the motor and the like; the target fault state information may refer to fault state information corresponding to each module in the vehicle driving system, such as an ADU fault state, a battery fault state, a motor fault state, and the like.

In the concrete implementation, the current driving torque limit value of the MCU motor is calculated according to the whole vehicle working condition and the BMS power. And obtaining the maximum allowable driving/braking torque of the MCU motor under the current vehicle condition according to the external characteristics of the motor. And calculating a rear axle allowable input torque limit value according to the rear axle allowable driving/anti-dragging torque so as to protect the rear axle. And obtaining a fault limiting torque according to the current fault state of the whole vehicle. And determining the target motor driving torque according to the current MCU motor driving torque limit value, the MCU motor maximum allowable driving/braking torque, the rear axle allowable input torque limit value and the fault limiting torque.

Step S304: and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

The target vehicle is driven according to the torque required for normal driving and braking of the entire vehicle, the target motor driving torque, and the target entire vehicle speed.

In the specific implementation, the VCU judges whether to allow the intelligent driving mode according to the high-voltage power-on state of the whole vehicle operated by a driver, the intelligent driving trigger switch state, the brake pedal opening degree, the accelerator pedal opening degree and the auxiliary brake switch state by integrating the communication state of an ADU (automatic drive controller) of the current vehicle; the VCU controls and switches between the intelligent driving mode and the manual mode according to whether the entering manual takeover condition is met; the gateway controller forwards SCU handle information in a manual mode or ADU drive-by-wire gears in an intelligent driving mode to the vehicle controller according to different driving mode controls, the VCU calculates the driving torque of the vehicle in a corresponding driving mode after receiving the gear information, the VCU sends the calculated driving torque value to the MCU motor controller, and the motor responds to the driving torque, so that the unmanned driving power driving control function requirements are met.

Further, after the step 30, the method further includes: and sending the intelligent driving mode state, the whole vehicle fault state and the whole vehicle working condition information to an IC instrument for state display.

In specific implementation, the VCU of the vehicle controller requests the high-voltage electrification of the running vehicle of the whole vehicle according to the key switch, and the MCU is enabled. The gateway controller sends an automatic driving request to an automatic driving controller ADU according to the intelligent driving trigger switch state and the scram switch state; the ADU judges whether to request the VCU to enter an intelligent driving mode according to the gateway request, the driving state of the VCU and the vehicle fault condition; and the VCU switches the intelligent driving mode and the manual mode according to the ADU intelligent driving mode request, the brake pedal opening, the accelerator pedal opening, the auxiliary brake switch state and the ADU fault state. The VCU returns the intelligent driving mode state to the automatic driving controller ADU and the gateway controller GW, and the gateway controller GW forwards interactive signals such as intelligent driving or manual driving related gear requests, steering requests and the like to other related controllers of the vehicle according to the mode state. The VCU judges whether to enter a manual mode or an intelligent driving mode according to the current driving mode state, sends driving torque to the motor controller and controls the whole vehicle power system to brake and accelerate. And the VCU calculates the speed of the whole vehicle according to the speed signal acquired by the speed sensor. And the VCU calculates the torque required by normal driving/braking of the current finished automobile according to the current gear state of the TCU gearbox, the speed ratio corresponding to the gear of the gearbox, the speed ratio of a rear axle and other finished automobile information. And the VCU calculates the allowable motor driving torque of the BMS output power according to the BMS related state information. And the VCU calculates the allowable driving/braking torque of the MCU according to the related state information of the MCU. And the VCU sends related information such as intelligent driving mode state, finished automobile fault state and the like to the IC instrument for state display.

Whether the manual driving mode is entered or not is judged according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal; when the target vehicle is in the intelligent driving mode, forwarding an ADU drive-by-wire gear request and an intelligent driving mode driving control strategy according to a gateway controller to drive the target vehicle; when the target vehicle is in a manual driving mode, calculating the speed of the target whole vehicle according to the SCU gear shifting handle gear request and a vehicle speed signal acquired by a vehicle speed sensor; calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gearbox gear and the rear axle speed ratio; determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information; and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed. Because the invention can carry out manual take-over through the brake pedal, the accelerator pedal and the auxiliary brake switch, the unmanned intelligent driving mode and the manual driving mode switching are realized, compared with the prior art that the vehicle driving and the mode switching are carried out through the transfer controller, the invention realizes the purpose of canceling the transfer controller to reduce the development and maintenance cost, and drives the vehicle according to different driving mode strategies to meet more driving scenes.

In addition, in order to achieve the above object, the present invention also provides an automotive power drive control apparatus including a memory, a processor, and an automotive power drive control program stored on the memory and operable on the processor, the automotive power drive control program being configured to implement the steps of the automotive power drive control as described above.

In addition, in order to achieve the above object, the present invention further provides a storage medium having a vehicle power drive control program stored thereon, which when executed by a processor implements the steps of the vehicle power drive control method as described above.

Referring to fig. 7, fig. 7 is a block diagram illustrating a first embodiment of the power drive control apparatus for a vehicle according to the present invention.

As shown in fig. 7, the power drive control device for a vehicle according to the embodiment of the present invention includes:

the mode switching module 10 is used for judging whether to enter a manual driving mode according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal;

the mode control module 20 is configured to forward an ADU shift-by-wire request and an intelligent driving mode drive control strategy to drive the target vehicle according to a gateway controller when the target vehicle is in the intelligent driving mode;

the mode control module 20 is further configured to drive the target vehicle according to the SCU shift handle gear request and the manual driving mode drive control strategy when the target vehicle is in the manual driving mode.

Whether the manual driving mode is entered or not is judged according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal; when the target vehicle is in the intelligent driving mode, the ADU drive-by-wire gear request and the intelligent driving mode drive control strategy are forwarded by the gateway controller to drive the target vehicle; and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode drive control strategy. Because the invention can carry out manual take-over through the brake pedal, the accelerator pedal and the auxiliary brake switch, the unmanned intelligent driving mode and the manual driving mode switching are realized, compared with the prior art that the vehicle driving and the mode switching are carried out through the transfer controller, the invention realizes the purpose of canceling the transfer controller to reduce the development and maintenance cost, and drives the vehicle according to different driving mode strategies to meet more driving scenes.

Further, the mode control module 20 is further configured to calculate a target entire vehicle speed according to a vehicle speed signal collected by a vehicle speed sensor and an ADU drive-by-wire shift request forwarded by the gateway controller when the target vehicle is in the intelligent driving mode; calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gear of the gearbox and the speed ratio of a rear axle; determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information; and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

Further, the mode switching module 10 is further configured to request the entire vehicle to be powered on at a high voltage according to a key switch, and generate an automatic driving request according to a trigger switch signal of the intelligent driving mode; acquiring a current brake signal, a current accelerator signal, an auxiliary brake switch signal and an ADU communication signal according to the automatic driving request; and judging whether to enter an intelligent driving mode according to the current braking signal, the current accelerator signal, the auxiliary braking switch signal and the ADU communication signal.

Further, the mode switching module 10 is further configured to determine to enter the smart driving mode when the current braking signal, the current accelerator signal, the auxiliary braking switch signal, and the ADU communication signal all satisfy a preset smart driving condition.

Further, the mode switching module 10 is further configured to determine to enter the manual driving mode when the target vehicle is in the intelligent driving mode and any one of the accelerator pedal signal, the brake pedal signal, the auxiliary brake switch signal, the emergency stop switch signal, or the ADU communication signal meets a preset effective condition.

Further, the mode control module 20 is further configured to calculate a target vehicle speed according to the gear request of the SCU shift lever and a vehicle speed signal collected by the vehicle speed sensor when the target vehicle is in the manual driving mode; calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gearbox gear and the rear axle speed ratio; determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information; and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

Further, the mode control module 20 is further configured to send the intelligent driving mode state, the vehicle fault state, and the vehicle operating condition information to the IC instrument for state display.

It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.

It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.

In addition, the technical details that are not elaborated in this embodiment can be referred to the vehicle power driving control method provided by any embodiment of the present invention, and are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order, but rather the words first, second, third, etc. are to be interpreted as names.

Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a Read Only Memory (ROM)/Random Access Memory (RAM), a magnetic disk, or an optical disk), and includes several instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An automobile power drive control method, characterized by comprising the steps of:

judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal;

when the target vehicle is in the intelligent driving mode, forwarding an ADU drive-by-wire gear request and an intelligent driving mode driving control strategy according to a gateway controller to drive the target vehicle;

and when the target vehicle is in a manual driving mode, driving the target vehicle according to the SCU gear shifting handle gear request and a manual driving mode driving control strategy.

2. The automotive power drive control method of claim 1, wherein the step of forwarding an ADU shift-by-wire request and a smart drive mode drive control strategy to drive the target vehicle in accordance with a gateway controller when the target vehicle is in a smart drive mode comprises:

when the target vehicle is in the intelligent driving mode, calculating the speed of the target whole vehicle according to the ADU drive-by-wire gear request forwarded by the gateway controller and the speed signal acquired by the speed sensor;

calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gear of the gearbox and the speed ratio of a rear axle;

determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information;

and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

3. The automotive power drive control method according to claim 2, wherein before the step of determining whether to enter the manual driving mode according to the current smart driving mode state of the target vehicle, the accelerator pedal signal, the brake pedal signal or the preset control switch signal, the method further comprises:

requesting the high-voltage electrification of the whole vehicle according to a key switch, and generating an automatic driving request according to a trigger switch signal of an intelligent driving mode;

acquiring a current brake signal, a current accelerator signal, an auxiliary brake switch signal and an ADU communication signal according to the automatic driving request;

and judging whether to enter an intelligent driving mode according to the current braking signal, the current accelerator signal, the auxiliary braking switch signal and the ADU communication signal.

4. The vehicle power drive control method of claim 3, wherein the step of determining whether to enter the smart driving mode based on the current brake signal, the current throttle signal, the auxiliary brake switch signal, and the ADU communication signal comprises:

and when the current brake signal, the current accelerator signal, the auxiliary brake switch signal and the ADU communication signal all meet preset intelligent driving conditions, judging that an intelligent driving mode is entered.

5. The vehicle power drive control method according to claim 1, wherein the preset control switch signal includes an auxiliary brake switch signal and an emergency stop switch signal; the step of judging whether to enter the manual driving mode according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal comprises the following steps of:

when the target vehicle is in the intelligent driving mode state, if any one of an accelerator pedal signal, a brake pedal signal, an auxiliary brake switch signal, an emergency stop switch signal or an ADU communication signal meets a preset effective condition, the target vehicle is judged to enter a manual driving mode.

6. The automotive power drive control method of claim 1 wherein said step of driving the target vehicle in accordance with the SCU shift handle gear request and the manual drive mode drive control strategy while the target vehicle is in the manual drive mode comprises:

when the target vehicle is in a manual driving mode, calculating the speed of the target whole vehicle according to the SCU gear shifting handle gear request and a vehicle speed signal acquired by a vehicle speed sensor;

calculating the torque required by normal driving and braking of the whole vehicle according to the current gear state of the TCU gearbox, the corresponding speed ratio of the gearbox gear and the rear axle speed ratio;

determining a target motor driving torque according to the BMS state information, the MCU state information and the target fault state information;

and driving the target vehicle according to the torque required by normal driving and braking of the whole vehicle, the target motor driving torque and the target whole vehicle speed.

7. The automotive power drive control method of claim 1, wherein the step of driving the target vehicle in accordance with the SCU shift handle gear request and the manual drive mode drive control strategy while the target vehicle is in the manual drive mode further comprises, after the step of:

and sending the intelligent driving mode state, the whole vehicle fault state and the whole vehicle working condition information to an IC instrument for state display.

8. An automotive power drive control apparatus characterized by comprising: a memory, a processor and a vehicle power drive control program stored on the memory and executable on the processor, the vehicle power drive control program when executed by the processor implementing the steps of the vehicle power drive control method according to any one of claims 1 to 7.

9. A storage medium characterized in that a vehicle power drive control program is stored thereon, which when executed by a processor implements the steps of the vehicle power drive control method according to any one of claims 1 to 7.

10. An automotive power drive control device characterized by comprising:

the mode switching module is used for judging whether to enter a manual driving mode or not according to the current intelligent driving mode state of the target vehicle, an accelerator pedal signal, a brake pedal signal or a preset control switch signal;

the mode control module is used for forwarding an ADU (automatic data Unit) shift control request and an intelligent driving mode drive control strategy to drive the target vehicle according to a gateway controller when the target vehicle is in an intelligent driving mode;

and the mode control module is also used for driving the target vehicle according to the SCU gear shifting handle gear request and the manual driving mode driving control strategy when the target vehicle is in the manual driving mode.

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