CN115743135A - L2-level automatic driving gear control method and system for shift-by-wire electric vehicle - Google Patents
L2-level automatic driving gear control method and system for shift-by-wire electric vehicle Download PDFInfo
- Publication number
- CN115743135A CN115743135A CN202211642989.7A CN202211642989A CN115743135A CN 115743135 A CN115743135 A CN 115743135A CN 202211642989 A CN202211642989 A CN 202211642989A CN 115743135 A CN115743135 A CN 115743135A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- gear
- scene
- state
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Control Of Transmission Device (AREA)
Abstract
The invention discloses an L2-level automatic driving gear control method of a line control gear electric vehicle, which comprises the steps of obtaining a state signal, radar data, positioning data and cloud data; judging the scene state according to the state signal, the radar data, the positioning data and the cloud data; the scene states comprise an automatic parking scene, an ACC self-adaptive cruise scene, an intelligent network connection traffic light intersection scene and a manual takeover scene; and switching the gears of the vehicle according to the scene state, the state signal, the radar data, the positioning data and the cloud data. The invention also discloses an L2-level automatic driving gear control system of the line control gear electric vehicle. The invention can realize the gear switching function in the L2 level automatic driving strategy; auxiliary fusion is made aiming at the automatic driving strategy and the vehicle-road cooperation scheme, and the method is suitable for various automatic driving scenes.
Description
Technical Field
The invention relates to the field of new energy automobiles, in particular to a method and a system for controlling an L2-level automatic driving gear of a drive-by-wire gear electric vehicle.
Background
With the rapid development of new energy automobiles in China and the continuous maturity of electric vehicle technology, nowadays, a wire control system is a standard configuration of high-order automatic driving, and the wire control system cancels part of heavy pneumatic, hydraulic and mechanical connections with low precision and replaces a sensor, a control unit and an electromagnetic actuating mechanism driven by electric signals, so that the wire control system has the advantages of compact structure, good controllability, high response speed and the like. The gear control in the present shift-by-wire system is generally logic considering gear shifting from the viewpoints of vehicle self-protection, driver safety and the like, such as an anti-false shift-in P gear function: in the running process of the vehicle, if a driver mistakenly operates a P gear button (parking gear button), the transmission automatically shifts into an N gear; when the vehicle speed is reduced to the allowable range, the gear P is shifted again to protect the safety of the transmission and a driver.
Existing control strategies for shift-by-wire are basically formulated based on factors such as vehicle state and driver's operation, but with the gradual expansion of the intelligent networked vehicle market and the gradual popularization of automatic/auxiliary driving functions of vehicles in the future, the shift control strategies also need to consider the requirements of different levels of automatic driving, and most of the scenarios in L2 level automatic driving require autonomous switching of the shift.
Disclosure of Invention
The invention aims to provide an L2-level automatic driving gear control method and system of a line control gear electric vehicle, which performs auxiliary fusion aiming at an automatic driving strategy and a vehicle-road cooperative scheme and is suitable for various automatic driving scenes;
in order to solve the technical problem, the invention provides an L2-level automatic driving gear control method of a line control gear electric vehicle, which comprises the following steps:
acquiring a state signal, radar data, positioning data and cloud data;
judging a scene state according to the state signal, the radar data, the positioning data and the cloud data;
and switching the gears of the vehicle according to the scene state, the state signal, the radar data, the positioning data and the cloud data.
Preferably, the scene states include an automatic parking scene, an ACC adaptive cruise scene, an intelligent internet traffic light intersection scene and a manual takeover scene.
Preferably, when the scene state is an automatic parking scene, the switching of the vehicle gear specifically includes the following steps: searching a proper parking space to park according to the positioning data and the cloud data, automatically driving the vehicle, and keeping a forward gear in a gear;
after the vehicle reaches the place near a proper parking space, the vehicle continues to keep the forward gear to drive forwards, and the angle is adjusted;
after the angle is adjusted, a reversing path is planned according to the positioning data and the radar data, and a reverse gear is switched to reverse;
in the process of backing, judging whether a backing path meets backing requirements or not according to the radar data;
if the reversing path does not meet the reversing requirement, the reversing path is re-planned to carry out reversing;
after backing, the vehicle enters a proper parking space; after the vehicle stops stably, the gear is switched from the reverse gear to the parking gear.
Preferably, when the scene state is an ACC adaptive cruise scene, the vehicle gear shift switching specifically includes the following steps:
the vehicle runs along with the front vehicle, and the gear keeps a forward gear;
according to the radar data, when the parking of the front vehicle is detected, the vehicle follows the parking;
when the parking time of the front vehicle does not exceed the time threshold, the gear keeps the forward gear; when the parking time of the front vehicle exceeds a time threshold value, the gear is switched from the forward gear to the parking gear, and when the restart of the front vehicle is detected according to radar data, the gear is switched from the parking gear to the forward gear.
Preferably, when the scene state is a traffic light intersection scene, the vehicle gear switching specifically comprises the following steps: when the vehicle enters the intelligent network connection traffic light intersection, judging whether the vehicle is the first vehicle in front of the stop line or not according to the radar data;
if the vehicle is not the first vehicle in front of the stop line, the vehicle runs along with the previous vehicle;
if the vehicle is the first vehicle in front of the stop line, judging the traffic light state according to the cloud data;
if the traffic light state is green, the gear keeps a forward gear, and the vehicle passes through the intersection;
if the traffic light state is a red light, the gear keeps a forward gear, the vehicle approaches the stop line, and whether the traffic light state changes from the red light to the green light in the process of the vehicle approaching the stop line is judged according to cloud data in the process of the vehicle approaching the stop line;
if the traffic light state changes from red light to green light in the process that the vehicle approaches the stop line, the gear keeps the forward gear, and the vehicle passes through the intersection;
if the traffic light state does not change from the red light to the green light in the process that the vehicle approaches the stop line, judging whether the remaining time of the red light is more than 1s or not according to cloud data when the vehicle reaches the stop line;
if the remaining time of the red light is less than or equal to 1s, the gear keeps a forward gear, and the vehicle passes through the intersection;
if the remaining time of the red light is more than 1s, the gear is switched from a forward gear to a parking gear; after the traffic light state changes to the green light, the gear is switched from the parking gear to the forward gear, and the vehicle passes through the intersection.
Preferably, when the scene state is a manual takeover scene, the vehicle gear switching specifically includes the following steps:
judging the vehicle state of the vehicle according to the state signal;
if the vehicle state is a driving state, judging whether the vehicle speed is greater than a speed threshold value;
if the vehicle speed is greater than the speed threshold value, the gear keeps a forward gear;
if the vehicle speed is less than or equal to the speed threshold, the gear is switched to a neutral gear; the subsequent gear switching follows manual operation;
if the vehicle state is a stop state, the gear is firstly switched to a parking gear, and the subsequent gear switching follows manual operation.
Preferably, the radar data includes ultrasonic radar data, millimeter wave radar data, and laser radar data.
Preferably, the status signal comprises base vehicle data; the basic vehicle data includes vehicle speed, gear, throttle depth and brake depth.
Preferably, the speed threshold is 5KM/H.
The invention also provides an L2-level automatic driving gear control system of the line control gear electric vehicle, which comprises the following components:
the acquisition module is used for acquiring the state signal, the radar data, the positioning data and the cloud data;
the vehicle-mounted automatic driving controller is used for judging the scene state according to the state signal, the radar data, the positioning data and the cloud data;
and the vehicle physical control unit is used for switching the gears of the vehicle according to the scene state, the state signal, the radar data, the positioning data and the cloud data.
Compared with the prior art, the invention has the following beneficial effects:
1. the gear switching function in the L2 level automatic driving strategy is realized;
2. auxiliary fusion can be made aiming at the automatic driving strategy and the vehicle-road cooperation scheme, and the method is suitable for various automatic driving scenes, so that the driving safety and the automation degree are improved;
3. the gear switching strategy of the invention can be matched with the decision of an automatic driving system, thereby improving the safety of automatic driving and improving the automation degree of automatic driving; and improve the automatic driving ability of the vehicle in various vehicle-road coordination schemes.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a framework of an L2-level automatic driving gear control system of a line control gear electric vehicle according to the invention;
FIG. 2 is a schematic flow chart of an L2-level automatic driving gear control method of a line-controlled gear electric vehicle according to the present invention;
FIG. 3 is a flow chart of automatic parking;
FIG. 4 is an adaptive cruise flow diagram;
FIG. 5 is a flow chart of an intelligent network connection port;
fig. 6 is a manual takeover flow diagram.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather construed as limited to the embodiments set forth herein.
The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. 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. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if," as used herein, may be interpreted as "at \8230; \8230when" or "when 8230; \823030when" or "in response to a determination," depending on the context.
The invention is described in further detail below with reference to figures 1-6:
as shown in fig. 2, the invention provides an L2-level automatic driving gear control method for a line-controlled gear electric vehicle, which comprises the following steps:
acquiring a state signal, radar data, positioning data and cloud data;
judging a scene state according to the state signal, the radar data, the positioning data and the cloud data;
and switching the gears of the vehicle according to the scene state, the state signal, the radar data, the positioning data and the cloud data.
In a preferred embodiment, the scene status includes an automatic parking scene, an ACC adaptive cruise scene, an intelligent internet traffic light intersection scene and an artificial takeover scene.
In a preferred embodiment, when the scene state is an automatic parking scene, the switching of the vehicle gear specifically includes the following steps:
searching a proper parking space to park according to the positioning data and the cloud data, automatically driving the vehicle, and keeping a forward gear in a gear;
after the vehicle reaches the place near a proper parking space, the vehicle continues to keep the forward gear to drive forwards, and the angle is adjusted;
after the angle is adjusted, a reversing path is planned according to the positioning data and the radar data, and a reverse gear is switched to reverse;
in the process of backing, judging whether a backing path meets backing requirements or not according to radar data;
if the reversing path does not meet the reversing requirement, the reversing path is re-planned to carry out reversing;
after backing up, the vehicle enters a parking space where the vehicle can be parked properly; after the vehicle stops stably, the gear is switched from the reverse gear to the parking gear.
In a preferred embodiment, when the scene state is an ACC adaptive cruise scene, the method for switching the vehicle gear specifically comprises the following steps:
the vehicle runs along with the front vehicle, and the gear keeps a forward gear;
according to the radar data, when the parking of the front vehicle is detected, the vehicle follows the parking;
when the parking time of the front vehicle does not exceed the time threshold, the gear keeps the forward gear; when the parking time of the front vehicle exceeds a time threshold value, the gear is switched from the forward gear to the parking gear, and when the restart of the front vehicle is detected according to radar data, the gear is switched from the parking gear to the forward gear.
In a preferred embodiment, when the scene state is a traffic light intersection scene, the step of switching the vehicle gear specifically comprises the following steps:
when the vehicle enters the intelligent network connection traffic light intersection, judging whether the vehicle is the first vehicle in front of the stop line or not according to the radar data;
if the vehicle is not the first vehicle in front of the stop line, the vehicle runs along with the previous vehicle;
if the vehicle is the first vehicle in front of the stop line, judging the traffic light state according to the cloud data;
if the traffic light state is green, the gear keeps the forward gear, and the vehicle passes through the intersection;
if the traffic light state is the red light, the gear keeps the forward gear, the vehicle approaches the stop line, and in the process that the vehicle approaches the stop line, whether the traffic light state changes from the red light to the green light in the process that the vehicle approaches the stop line is judged according to the cloud data;
if the traffic light state changes from red light to green light in the process that the vehicle approaches the stop line, the gear keeps the forward gear, and the vehicle passes through the intersection;
if the traffic light state does not change from the red light to the green light in the process that the vehicle approaches the stop line, judging whether the remaining time of the red light is more than 1s or not according to the cloud data when the vehicle reaches the stop line;
if the remaining time of the red light is less than or equal to 1s, the gear keeps a forward gear, and the vehicle passes through the intersection;
if the remaining time of the red light is more than 1s, the gear is switched from a forward gear to a parking gear; after the traffic light state changes to the green light, the gear is switched from the parking gear to the forward gear, and the vehicle passes through the intersection.
In a preferred embodiment, when the scene state is a manual takeover scene, the vehicle gear switching specifically includes the following steps:
judging the vehicle state of the vehicle according to the state signal;
if the vehicle state is a driving state, judging whether the vehicle speed is greater than a speed threshold value;
if the vehicle speed is greater than the speed threshold value, the gear keeps a forward gear;
if the speed of the vehicle is less than or equal to the speed threshold value, the gear is switched to a neutral gear; the subsequent gear switching follows manual operation;
if the vehicle state is a stop state, the gear is firstly switched to a parking gear, and the subsequent gear switching follows manual operation.
In a preferred embodiment, the radar data includes ultrasonic radar data, millimeter wave radar data, and laser radar data.
In a preferred embodiment, the status signal comprises base vehicle data; the base vehicle data includes vehicle speed, gear, throttle depth, and brake depth.
Preferably, the speed threshold is 5KM/H.
In the invention, the vehicle-mounted automatic driving controller sends a vehicle control signal to the VCU, and can also receive the whole vehicle state and feedback information from the VCU so as to finish interaction with the VCU. And data of the vehicle-mounted sensing equipment and the cloud are also sent to the vehicle-mounted automatic driving controller in real time, and the signals are also used as input of the automatic driving gear decision module model. And designing gear switching logic of each scene according to the data, outputting gear switching signals after calculation, and finally sending actual gear control signals to the VCU to realize gear control of automatic driving. As shown in system architecture diagram 1 and flowchart 2.
As shown in fig. 1, the present invention also provides an L2-level automatic driving range control system for a shift-by-wire electric vehicle, comprising:
the vehicle-mounted sensing equipment is used for acquiring radar data and sending the radar data to the vehicle-mounted automatic driving controller;
the vehicle-mounted positioning equipment is used for acquiring positioning data and sending the positioning data to the vehicle-mounted automatic driving controller;
the cloud end is used for storing cloud end data and sending the cloud end data to the vehicle-mounted automatic driving controller;
the vehicle-mounted automatic driving controller is used for obtaining a control signal according to the state signal, the radar data, the positioning data and the cloud data; the VCU is also used for sending a control signal to a vehicle controller VCU unit;
the VCU unit of the vehicle controller is used for generating a state signal according to the vehicle state information and sending the state signal to the vehicle-mounted automatic driving controller; the vehicle physical control unit is also used for generating an actual vehicle control signal according to the control signal and sending the actual vehicle control signal to the vehicle physical control unit;
the vehicle physical control unit is used for acquiring vehicle state information and sending the vehicle state information to a vehicle controller VCU unit; the system is also used for switching the gear of the vehicle according to the actual vehicle control signal;
the vehicle-mounted sensing device, the vehicle-mounted positioning device, the cloud end and the VCU unit of the vehicle controller are jointly used as an acquisition module for acquiring the state signal, the radar data, the positioning data and the cloud end data.
In order to better illustrate the technical effects of the invention, the invention provides the following specific examples to illustrate the technical process: an L2-level automatic driving gear control method of a line control gear electric vehicle comprises the following steps:
s1, acquiring a CAN signal by a vehicle-mounted automatic driving controller: firstly, a vehicle-mounted automatic driving controller receives a state signal (the state signal comprises basic vehicle data such as vehicle speed, gear, accelerator depth, brake depth and the like) from a vehicle CAN bus, and the vehicle-mounted automatic driving controller acquires positioning data from vehicle-mounted positioning equipment; secondly, sending radar data of the vehicle sensor to the vehicle sensor through a CAN (controller area network) protocol (the radar data comprises ultrasonic radar data, millimeter wave radar data and laser radar data); and then cloud data (including intersection sensing and traffic light data) of the cloud platform are also transmitted to the vehicle-mounted automatic driving controller in a V2X typical communication mode.
And S2, analyzing CAN bus signal data, namely analyzing the CAN signal acquired in the step S1 through an internal program of the vehicle-mounted automatic driving controller written in a vehicle-end signal protocol to be used as the input of an automatic driving system code.
S3, judging a Simulink simulation model scene: in the code, radar data, a state signal, cloud data and a positioning signal are used as input, a scene state is judged according to a scene condition, gear switching logic is determined, and a gear signal is output.
And S4, signal output vehicle response control: and the vehicle-mounted automatic driving controller outputs the gear signals to the vehicle control unit through the CAN bus to realize the gear switching of the vehicle.
In step S1, the data update frequency of the vehicle state and the perception radar device needs to reach a 20ms periodic transmission standard, so as to ensure the timeliness of signals and provide real-time data for the input of subsequent models.
In step S2, the vehicle end signal protocol is confirmed, the vehicle protocol confirmation includes the CAN ID of the signal message, the message length, the message name, the message period, the message data type, the maximum value, the minimum value, the offset, and the like, after the confirmation is completed, the protocol is implemented through the code, and after the signal is analyzed, the vehicle state of the vehicle CAN be logically determined by using the data which CAN be read and identified by the system as input.
In step S3, the scene state comprises an automatic parking scene, an ACC self-adaptive cruise scene, an intelligent network connection traffic light intersection scene and a manual takeover scene;
1. auto park scenario, as shown in fig. 3:
aiming at an automatic parking scene, a gear switching process comprises the following steps:
a) According to the positioning data and the cloud data (parking lot map data in the cloud data), a proper parking space can be searched for, the vehicle can automatically run, and the gear keeps a forward gear.
b) After a proper parking space is found, continuously keeping the forward gear to drive forwards to adjust the angle, planning a backing path according to the positioning data and the radar data, and preparing for backing;
c) After the angle adjustment is finished, switching the reverse gear, wherein in one case, the planned reverse path can be reversed to enter a parking space at one time; and in the other situation, once the radar data does not meet the sensing requirement (for example, if an obstacle is judged to exist near the vehicle by 10cm according to the radar data, the radar data does not meet the sensing requirement) in the process of backing, the vehicle needs to continuously adjust the direction, the forward gear is switched forwards, the backing path is planned for the second time, the angle is adjusted again, the vehicle is prepared to be backed, the vehicle enters the parking space once, and if the backing path does not meet the sensing requirement continuously, the angle is repeatedly adjusted, and the gear switching is repeatedly switched according to the rule until the vehicle completely enters the parking space.
d) The front sensor, the rear sensor, the left sensor, the right sensor and the front sensor meet requirements (namely radar data meet parking requirements), the vehicle is parked stably, and the gear is switched from a reverse gear to a parking gear.
2. ACC adaptive cruise scenario, as shown in FIG. 4:
for an ACC adaptive cruise scenario, the gear strategy for switching is as follows:
a) The vehicle runs along with the front vehicle;
b) And according to the radar data, after the front vehicle is detected to stop, if the front vehicle drives away within 3s, the front vehicle is automatically followed to start, and the forward gear is kept within 3 s.
c) According to the radar data, after the front vehicle is detected to stop, if the stop time of the vehicle following the front vehicle exceeds 3s, the gear is switched from a forward gear to a parking gear; and then the front vehicle starts, and the gear is switched from the parking gear to the forward gear.
3. An intelligent network connection traffic light intersection scene is shown in fig. 5:
a) Judging whether a vehicle exists in front or not through the radar data, and if the vehicle does not exist in front, judging that the vehicle is a first vehicle; if a vehicle exists in front, judging that the vehicle is not the first vehicle;
b) The vehicle as a first vehicle passes through the intelligent network connection traffic light intersection, the traffic light state is judged according to the cloud data, the traffic light state is a red light, the waiting time of the red light is longer than 1s after the vehicle reaches the stop line, the vehicle is switched from the forward gear to the parking gear, and otherwise, the vehicle keeps the forward gear.
c) The vehicle as a first vehicle passes through the intelligent internet traffic light intersection, the traffic light is in a red light state, the red light is changed into a green light in the process of approaching the stop line, and the vehicle keeps the forward gear.
d) The vehicle as the first vehicle passes through the intelligent internet traffic light intersection, the traffic light is in a green light state, the vehicle can directly pass through the intersection, and the vehicle keeps a forward gear.
e) The vehicle as the first vehicle passes through the intelligent network connection traffic light intersection, the traffic light state is changed from the green light to the red light in the process, and the red light state gear switching strategy is followed.
f) And when the vehicle is taken as a second vehicle or the nth vehicle is about to pass through the intelligent internet traffic light intersection, the gear switching strategy preferentially follows the ACC self-adaptive cruise scene, and after the vehicles in front all pass through the intersection stop line, the gear switching strategy which is taken as the first vehicle to pass through the intersection is followed.
4. The scenario is taken over manually, as shown in fig. 6;
aiming at the scene of manual taking over, the switching gear strategy is as follows:
a) And after the manual take-over is switched, if the vehicle is in a running state and the vehicle speed is more than 5KM/H, the gear keeps a forward gear, otherwise, the vehicle is switched to a neutral gear, and the subsequent gear follows manual operation.
b) After the manual take-over is switched, if the vehicle is in a stop state, the gear is switched to the parking gear first, and the subsequent gear switching follows manual operation.
c) And manual operation (gear error switching, other manual intervention and the like) can cause the automatic driving mode to be exited, and the gear switching logic is taken over manually.
The four scene states do not need to be automatically identified, and only how to control the gears in the several scenes needs to be determined. For example, the trigger of the automatic parking scene may be that the cloud data includes an automatic parking instruction, or that the positioning data determines that the automatic driving vehicle has arrived at a parking lot of the destination.
In step S4, the gear signal finally output by the logic is determined according to gears of different scenes, and is sent from the vehicle-mounted automatic driving controller, and is sent to the vehicle control unit VCU through the can bus, and the vehicle control unit then sends the gear signal to the actual gear control unit, so as to realize gear switching control.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules, modules or units is only one type of logical function division, and other division manners may be available in actual implementation, for example, multiple units, modules or components may be combined or integrated into another device, or some features may be omitted, or not executed.
The units may or may not be physically separate, and components displayed as units may be one physical unit or a plurality of physical units, that is, may be located in one place, or may be distributed to a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The computer program performs the above-described functions defined in the method of the present invention when executed by a Central Processing Unit (CPU). It should be noted that the computer readable medium of the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. An L2-level automatic driving gear control method of a line control gear electric vehicle is characterized by comprising the following steps:
acquiring a state signal, radar data, positioning data and cloud data;
judging the scene state according to the state signal, the radar data, the positioning data and the cloud data;
and switching the gears of the vehicle according to the scene state, the state signal, the radar data, the positioning data and the cloud data.
2. The L2-level automatic driving gear control method of the line control gear electric vehicle as recited in claim 1, wherein:
the scene states comprise an automatic parking scene, an ACC self-adaptive cruise scene, an intelligent network connection traffic light intersection scene and an artificial takeover scene.
3. The L2-level automatic driving gear control method for the line control gear electric vehicle as claimed in claim 2, wherein when the scene state is an automatic parking scene, the method for switching the gear of the vehicle specifically comprises the following steps:
a proper parking space capable of being parked is searched according to the positioning data and the cloud data, the vehicle automatically runs, and the gear keeps a forward gear;
after the vehicle reaches the place near a proper parking space, the vehicle continues to keep the forward gear to drive forwards, and the angle is adjusted;
after the angle is adjusted, a reversing path is planned according to the positioning data and the radar data, and a reverse gear is switched to reverse;
in the process of backing, judging whether a backing path meets backing requirements or not according to the radar data;
if the reversing path does not meet the reversing requirement, the reversing path is re-planned to carry out reversing;
after backing up, the vehicle enters a parking space where the vehicle can be parked properly; after the vehicle stops stably, the gear is switched from the reverse gear to the parking gear.
4. The L2-level automatic driving gear control method of the electric vehicle with the line-controlled gear according to claim 2, wherein when the scene state is an ACC adaptive cruise scene, the step of switching the gear of the vehicle specifically comprises the following steps:
the vehicle runs along with the front vehicle, and the gear keeps a forward gear;
according to the radar data, when the parking of the front vehicle is detected, the vehicle follows the parking;
when the parking time of the front vehicle does not exceed the time threshold, the gear keeps the forward gear; when the parking time of the front vehicle exceeds a time threshold value, the gear is switched from the forward gear to the parking gear, and when the restart of the front vehicle is detected according to radar data, the gear is switched from the parking gear to the forward gear.
5. The L2-level automatic driving gear control method of the line control gear electric vehicle as claimed in claim 2, wherein when the scene state is a traffic light intersection scene, the step of switching the gear of the vehicle specifically comprises the following steps:
when the vehicle enters the intelligent network connection traffic light intersection, judging whether the vehicle is the first vehicle in front of the stop line or not according to the radar data;
if the vehicle is not the first vehicle in front of the stop line, the vehicle runs along with the front vehicle;
if the vehicle is the first vehicle in front of the stop line, judging the traffic light state according to the cloud data;
if the traffic light state is green, the gear keeps the forward gear, and the vehicle passes through the intersection;
if the traffic light state is the red light, the gear keeps the forward gear, the vehicle approaches the stop line, and in the process that the vehicle approaches the stop line, whether the traffic light state changes from the red light to the green light in the process that the vehicle approaches the stop line is judged according to the cloud data;
if the traffic light state is changed from red light to green light in the process that the vehicle approaches the stop line, the gear keeps a forward gear, and the vehicle passes through the intersection;
if the traffic light state does not change from the red light to the green light in the process that the vehicle approaches the stop line, judging whether the remaining time of the red light is more than 1s or not according to the cloud data when the vehicle reaches the stop line;
if the remaining time of the red light is less than or equal to 1s, the gear keeps a forward gear, and the vehicle passes through the intersection;
if the remaining time of the red light is more than 1s, the gear is switched from a forward gear to a parking gear; after the traffic light state changes to the green light, the gear is switched from the parking gear to the forward gear, and the vehicle passes through the intersection.
6. The L2-level automatic driving gear control method of the line control gear electric vehicle as claimed in claim 2, wherein when the scene state is a manual takeover scene, the step of switching the gear of the vehicle specifically comprises the following steps:
judging the vehicle state of the vehicle according to the state signal;
if the vehicle state is a driving state, judging whether the vehicle speed is greater than a speed threshold value;
if the vehicle speed is greater than the speed threshold value, the gear keeps a forward gear;
if the vehicle speed is less than or equal to the speed threshold, the gear is switched to a neutral gear; the subsequent gear switching follows manual operation;
if the vehicle state is a stop state, the gear is firstly switched to a parking gear, and the subsequent gear switching follows manual operation.
7. The L2-level automatic driving gear control method of the line control gear electric vehicle as recited in claim 1, wherein:
the radar data includes ultrasonic radar data, millimeter wave radar data, and laser radar data.
8. The L2-level automatic driving gear control method of the line control gear electric vehicle as recited in claim 1, wherein:
the status signal includes base vehicle data; the base vehicle data includes vehicle speed, gear, throttle depth, and brake depth.
9. The L2-level automatic driving gear control method of the line control gear electric vehicle as recited in claim 6, wherein:
the speed threshold is 5KM/H.
10. An L2-level automatic driving range control system of a shift-by-wire electric vehicle using the L2-level automatic driving range control method of the shift-by-wire electric vehicle according to any one of claims 1 to 9, comprising:
the acquisition module is used for acquiring the state signal, the radar data, the positioning data and the cloud data;
the vehicle-mounted automatic driving controller is used for judging the scene state according to the state signal, the radar data, the positioning data and the cloud data;
and the vehicle physical control unit is used for switching the gear of the vehicle according to the scene state, the state signal, the radar data, the positioning data and the cloud data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211642989.7A CN115743135A (en) | 2022-12-20 | 2022-12-20 | L2-level automatic driving gear control method and system for shift-by-wire electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211642989.7A CN115743135A (en) | 2022-12-20 | 2022-12-20 | L2-level automatic driving gear control method and system for shift-by-wire electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115743135A true CN115743135A (en) | 2023-03-07 |
Family
ID=85346896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211642989.7A Pending CN115743135A (en) | 2022-12-20 | 2022-12-20 | L2-level automatic driving gear control method and system for shift-by-wire electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115743135A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116044990A (en) * | 2023-03-29 | 2023-05-02 | 北京集度科技有限公司 | Vehicle gear switching method, device, electronic equipment, medium and program product |
| CN116729336A (en) * | 2023-08-08 | 2023-09-12 | 知行汽车科技(苏州)股份有限公司 | Method, device, equipment and medium for determining braking time |
-
2022
- 2022-12-20 CN CN202211642989.7A patent/CN115743135A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116044990A (en) * | 2023-03-29 | 2023-05-02 | 北京集度科技有限公司 | Vehicle gear switching method, device, electronic equipment, medium and program product |
| CN116729336A (en) * | 2023-08-08 | 2023-09-12 | 知行汽车科技(苏州)股份有限公司 | Method, device, equipment and medium for determining braking time |
| CN116729336B (en) * | 2023-08-08 | 2023-11-28 | 知行汽车科技(苏州)股份有限公司 | Method, device, equipment and medium for determining braking time |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115743135A (en) | L2-level automatic driving gear control method and system for shift-by-wire electric vehicle | |
| CN111508254B (en) | Control method and control system for efficiently passing through traffic intersection | |
| CN109032132B (en) | Vehicle driving system and method | |
| JP2008123197A (en) | Automatic operation control apparatus and vehicle cruise system | |
| US10877474B2 (en) | Autonomous driving control apparatus, vehicle having the apparatus, and method of controlling the apparatus | |
| KR20180075568A (en) | Automatic control of vehicle at departure | |
| JP6580115B2 (en) | Driving control device for autonomous driving vehicle | |
| CN110356415A (en) | A kind of control method for vehicle and device | |
| CN110288847B (en) | Automatic driving decision method, device and system, storage medium and terminal | |
| JP2018098733A (en) | On-vehicle network system | |
| CN112622935B (en) | Automatic vehicle driving method and device, vehicle and storage medium | |
| US10967859B2 (en) | Vehicle control apparatus and vehicle control method | |
| CA2626351A1 (en) | Device and method for automatically controlling the speed of a vehicle | |
| US11747838B2 (en) | Vehicle control system | |
| AU2020289820A1 (en) | Vehicle control method, vehicle-mounted device and vehicle in automatic driving fleet | |
| JP2017144935A (en) | Travel control device and travel control method | |
| CN110091872A (en) | A kind of double-mode control method and automatic driving vehicle of automatic driving vehicle | |
| GB2570898A (en) | A controller and a method for managing vehicles | |
| CN113511203B (en) | Vehicle formation following driving control method, system, equipment and storage medium | |
| CN111688686A (en) | Car following control method, device and system for automatically driving motorcade and vehicle | |
| US20210070177A1 (en) | Shifting a road view based on a speed for a vehicle | |
| US20230406313A1 (en) | Vehicle Guidance System and Method for Automated Starting of a Vehicle | |
| JP5332993B2 (en) | Travel plan generator | |
| CN102606318A (en) | Intelligent remote accelerator switching controller based on CAN (controller area network) bus and control method | |
| SE540825C2 (en) | A method and a system for controlling a powertrain of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |