WO2021204177A1 - Procédé et dispositif de commande de véhicule - Google Patents

Procédé et dispositif de commande de véhicule Download PDF

Info

Publication number
WO2021204177A1
WO2021204177A1 PCT/CN2021/085881 CN2021085881W WO2021204177A1 WO 2021204177 A1 WO2021204177 A1 WO 2021204177A1 CN 2021085881 W CN2021085881 W CN 2021085881W WO 2021204177 A1 WO2021204177 A1 WO 2021204177A1
Authority
WO
WIPO (PCT)
Prior art keywords
mode
vehicle
signal
target
actuator
Prior art date
Application number
PCT/CN2021/085881
Other languages
English (en)
Chinese (zh)
Inventor
王星亮
贾具宾
刘天培
牛小锋
孙玉
张英富
徐波
祝朋飞
Original Assignee
长城汽车股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Publication of WO2021204177A1 publication Critical patent/WO2021204177A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling

Definitions

  • the present disclosure relates to the field of automobile technology, and in particular to a vehicle control method and device.
  • the functional demand layer communicates directly with the execution layer, which leads to the need for each function switch to send instructions and receive feedback, as well as to make logical judgments on the working status of the execution subsystems of the execution layer; at the same time, Each execution subsystem not only needs to receive instructions and feedback status, but also needs to make priority logic judgments on the input of each functional demand signal of the functional layer.
  • the aforesaid architecture is complicated and the amount of data is too large, causing the vehicle controller LAN to be overloaded, resulting in low system execution efficiency and poor reliability; at the same time, because the foregoing architecture requires all functional switches and execution subsystems to have sufficient signal processing Judgment ability, which will inevitably increase the cost of parts; in addition, the above-mentioned architecture will lead to a rapid increase in functional interfaces, which is inconvenient for platform-based design.
  • the present disclosure aims to provide a vehicle control method and device to solve the problem that the existing vehicle control method is likely to cause excessive load on the vehicle controller local area network, which in turn leads to low system execution efficiency and poor reliability.
  • a vehicle control method wherein the method includes:
  • an operation control instruction for the first target actuator in each of the actuators is generated, and the operation control instruction is sent to the first target actuator to control the execution of the first target
  • the mechanism executes the operation control operation corresponding to the operation control instruction.
  • Another object of the present disclosure is to provide a vehicle control device, wherein the device includes:
  • the advanced arbitration module is used to obtain the driving mode signal of the vehicle and the driving demand signal of the driver, and generate the mode adjustment command for each actuator according to the driving mode signal, and generate the mode adjustment command for each actuator according to the driving demand signal.
  • the control scheduling module is configured to send the mode adjustment instruction to each of the actuators to adjust each of the actuators to the driving mode corresponding to the mode adjustment instruction; and send the operation control instruction to the
  • the first target executing mechanism controls the first target executing mechanism to execute the operation control operation corresponding to the operation control instruction.
  • the vehicle control method and device described in the present disclosure have the following advantages:
  • the corresponding actuators are controlled by the above commands to execute. That is to say, perform unified judgment processing on each functional demand signal, and then convert it into a control instruction, and then send it to each actuator, avoiding direct communication and logical judgment processing between the functional demand layer and the actuator, and the functional demand layer only needs to complete the signal Sending, and the actuator only needs to complete the instruction reception, which makes the control structure clearer and has the advantage of centralized processing. It can not only reduce the data redundancy, but also avoid the lack of processing capacity of the functional demand layer and the subsystem control unit of the actuator.
  • the limited function development is also convenient for platform-based software design, and interfaces are reserved for subsequent added modes and functions, which solves the problem that the existing vehicle control methods may cause excessive load on the vehicle controller LAN, which will lead to system execution efficiency The problem of low and poor reliability.
  • FIG. 1 is a schematic flowchart of a vehicle control method proposed by an embodiment of the disclosure
  • Figure 2 is a table of correspondences between driving modes, actuators, and preset parameters proposed by the embodiments of the disclosure
  • FIG. 3 is a structural diagram of a control system corresponding to the vehicle control method proposed in an embodiment of the disclosure
  • FIG. 4 is a schematic diagram of the activation process of the off-road cruise function in an embodiment of the disclosure.
  • FIG. 5 is a schematic diagram of the working process of the off-road cruise function in an embodiment of the disclosure.
  • FIG. 6 is a schematic diagram of the exit process of the off-road cruise function in an embodiment of the disclosure.
  • FIG. 7 is a schematic structural diagram of a vehicle control device proposed in an embodiment of the disclosure.
  • FIG. 8 schematically shows a block diagram of a computing processing device for executing the method according to the present disclosure.
  • Fig. 9 schematically shows a storage unit for holding or carrying program codes for implementing the method according to the present disclosure.
  • FIG. 1 shows a schematic flowchart of a vehicle control method provided by an embodiment of the present disclosure, where the method includes steps S100 to S300.
  • the foregoing driving mode signal refers to a signal of a driving mode or function that the driver needs to enter the vehicle according to road conditions and driving requirements.
  • the above driving mode signal can be triggered by the driver selecting different driving modes or functions.
  • the various actuators of the vehicle have different working parameters in different driving modes to achieve different driving requirements and meet different terrain conditions.
  • the above driving mode signals include snow mode signals, mud mode signals, sand mode signals, 4L mode signals, economy mode signals, standard mode signals, sports mode signals, off-road cruise mode signals, and tank turning mode signals
  • the above driving mode signal is triggered by receiving the driver's selection operation of snow mode, mud mode, sand mode, 4L mode, economy mode, standard mode, sports mode, off-road cruise mode and tank turning mode in turn.
  • the economic mode can improve the fuel economy of vehicles and is suitable for flat and hard roads such as urban roads and paved roads;
  • the standard mode integrates vehicle dynamics and economy, and is suitable for various road surfaces;
  • the sports mode can improve the dynamics of vehicles, with Come to a higher level of response speed and driving experience.
  • snow mode is suitable for hard but smooth roads, including snow, ice, grass, gravel roads, etc.
  • mud mode is suitable for muddy and uneven surfaces with a smooth surface Shallow mud or rut roads
  • sand mode is suitable for Gobi and the edge of the desert where the surface layer is hard sand
  • 4L mode can be understood as off-road mode, suitable for worse outdoor road conditions
  • off-road cruise mode is off-road mode Entering the state of speed cruising can reduce the driver's driving operation, and only need the driver to control the driving direction through the steering wheel
  • the tank turning mode is a mode that can realize the tank turning function.
  • the driving demand signal refers to the actual driving operation signal of the driver when driving the vehicle, which can be specifically expressed as an accelerator pedal signal, a steering wheel signal, and a brake signal.
  • the above-mentioned driving demand signal can be generated by receiving the driver's control operation of the accelerator pedal, steering wheel and brake in sequence.
  • the above-mentioned driving mode signal and driving demand signal indicating functional requirements are obtained from the functional layer through a special control device, so that subsequent unified judgment processing and conversion into control instructions can be performed, thereby reducing the functional demand layer and The amount of data transfer between execution layers and their respective data processing loads.
  • Step S200 Generate a mode adjustment instruction for each actuator according to the driving mode signal, and send the mode adjustment instruction to each of the actuators, so as to adjust each of the actuators to the corresponding mode adjustment instruction.
  • Driving mode Generate a mode adjustment instruction for each actuator according to the driving mode signal, and send the mode adjustment instruction to each of the actuators, so as to adjust each of the actuators to the corresponding mode adjustment instruction.
  • each actuator needs to be adjusted when a specific driving mode signal is received, so that each actuator can drive accordingly. Mode to work. Therefore, it is necessary for the above-mentioned special control device to generate a mode adjustment instruction for each actuator according to the acquired driving mode signal, and send the mode adjustment instruction to each of the actuators, so that each actuator can be based on the above The mode adjustment command adjusts its working mode to the driving mode corresponding to the mode adjustment command.
  • the above-mentioned actuators include steering system (Electronic Power Stability, EPS), braking system (Electronic Stability Program, ESP), powertrain, transmission, four-wheel drive control system, differential lock and active suspension system,
  • EPS Electronic Power Stability
  • ESP Electronic Stability Program
  • the vehicle enters the driving mode corresponding to the driving mode signal, so as to better adapt to the current road conditions and the driving needs of the driver.
  • the differential lock includes a front differential lock and a rear differential lock
  • the active suspension system includes a continuous damping control system (Continuous Damping Control, CDC), air springs, and active stabilizer bars.
  • control device is not only used to adjust the steering system, braking system, powertrain, transmission, and four-wheel drive control system according to the mode adjustment command, but also to adjust the active suspension and differential lock.
  • the control device is not only used to adjust the steering system, braking system, powertrain, transmission, and four-wheel drive control system according to the mode adjustment command, but also to adjust the active suspension and differential lock.
  • the differential lock state and the active suspension system with different parameters, that is, adjusting the different combinations of the vehicle's ground clearance, suspension damping, and stabilizer bar connection state, so as to change the vehicle's suspension It is controlled to the optimal state that adapts to different terrain conditions, so that it can further improve the off-road capability of the vehicle under the restricted conditions such as the torque output of the vehicle and the four-wheel drive ratio, and at the same time enhance the off-road intelligent operation.
  • Step S300 Generate an operation control instruction for the first target actuator in each actuator according to the driving demand signal, and send the operation control instruction to the first target actuator to control the first target actuator.
  • a target executing agency executes the operation control operation corresponding to the operation control instruction.
  • the special control device also generates an operation control instruction for the first target actuator in each actuator according to the driving demand signal, and the above control device sends the operation control instruction to the first target
  • the actuator is used to control the first target actuator to execute the operation control operation corresponding to the above-mentioned operation control instruction, so as to realize the driving demand of the driver.
  • the vehicle control method described in the present disclosure has the following advantages:
  • the corresponding actuators are controlled by the above commands to execute. That is to say, perform unified judgment processing on each functional demand signal, and then convert it into a control instruction, and then uniformly send it to each actuator, avoiding direct communication and logical judgment processing between the functional demand layer and the actuator, and the functional demand layer only needs to be completed Signal transmission, and the execution layer only needs to complete the instruction reception, which makes the control structure clearer and has the advantages of centralized processing. It can not only reduce the data redundancy, but also avoid the limited function development caused by the insufficient processing capacity of the individual subsystem control unit. Circumstances, it is also convenient to carry out platform-based software design, and reserve interfaces for subsequent added modes and functions, thus solving the problem that the existing vehicle control methods may cause excessive load on the vehicle controller area network, resulting in low system execution efficiency and poor reliability. problem.
  • step S200 specifically includes steps S201 to S203:
  • Step S201 Determine a corresponding target driving mode according to the mode adjustment signal.
  • step S201 that is, when the mode adjustment signal is acquired, it is determined which driving mode the vehicle needs to be adjusted to.
  • Step S202 Obtain target preset parameters corresponding to each of the actuators according to the driving mode and the corresponding relationship.
  • step S202 that is, according to the target driving mode determined in step S201, and the corresponding relationship between the driving mode, the actuator and the preset parameters stored in the vehicle, the target preset parameters corresponding to each actuator can be determined.
  • Step S203 Send the target preset parameters to a corresponding second target executing agency, so that the second target executing agency can adjust working parameters according to the target preset parameters.
  • each target preset parameter obtained in step S203 is correspondingly sent to the second target actuator.
  • the second target actuator After receiving the target preset parameter, the second target actuator will adjust its working parameters to Target preset parameters, that is, realize the adjustment of each actuator to the target driving mode state.
  • preset parameters are set for each actuator in different driving modes in advance, and then when the mode adjustment command is detected, the corresponding target driving mode is determined, and then the preset parameters of each actuator in the target driving mode are determined , And then send each preset parameter to the corresponding actuator. After the actuator receives the above preset parameter, it will adjust its working parameters to the above preset Adjust to the target driving mode state.
  • Fig. 2 shows a table of correspondences between driving modes, actuators and preset parameters.
  • the vehicle control method provided by the embodiment of the invention further includes step S2001 after step S200, and further includes step S3001 after step S300:
  • Step S2001 monitor the first feedback information for the mode adjustment instruction to determine the mode adjustment result of each actuator
  • step S3001 the second feedback information for the operation control instruction is monitored to determine the operation control state of each actuator.
  • step S2001 that is, after issuing a mode adjustment instruction to each actuator, the actuator will feed back the execution result, and generate first feedback information for the mode adjustment instruction, and obtain the first feedback information. Know the mode adjustment results of each actuator, so that the system knows the current state of each actuator, and then can determine whether each actuator has a failure.
  • step S3001 that is, after issuing the operation control instruction to the first target actuator, the first target actuator will feed back the operation control result, and generate the second feedback information for the operation control instruction, and obtain the first target actuator.
  • feedback information that is, the operation control result of the second target actuator can be known, so that the system can know whether the second target actuator has executed the operation control instruction, and then can determine whether the first target actuator has a fault.
  • the system can know the current state of each actuator, and at the same time can determine each Whether the actuator has malfunctioned.
  • step S200 in the embodiment of the present disclosure includes steps S211 to S214:
  • step S211 only when the vehicle is currently in the 4L mode and the brakes in the braking system have been released, will the mode adjustment commands for controlling the various actuators to enter the off-road cruise mode state be generated, and the mode will be adjusted Instructions are sent to each of the actuators, so that each actuator can adjust its working mode to the off-road cycle mode.
  • the mode adjustment commands for each actuator include off-road cruise control execution commands, rear differential lock lock commands, shock absorber mode switching commands, The highest air spring adjustment command and the active stabilizer bar disconnect command.
  • the off-road cruise control execution command is used to control the steering system, braking system, powertrain, transmission and four-wheel drive control system into 4L mode
  • the rear differential lock lock command is used to control the rear differential lock lock
  • vibration reduction The mode switching command is used to control the damping control system to enter the off-road cruise mode, specifically to adjust the compression damping and tensile damping of the shock absorber to the value state corresponding to the off-road cruise mode
  • the highest air spring adjustment command is used to control the air spring Adjust to the highest state, which corresponds to the off-road cruise mode
  • the active stabilizer bar disconnect command is used to control the active stabilizer bar to disconnect to enter the off-road cruise mode.
  • step S212 reference may be made to the detailed description of step S2001, which will not be repeated here.
  • the foregoing preset conditions are preset activation conditions for activating the off-road cruise function.
  • step S213 it is determined whether the vehicle currently meets the activation condition of the off-road cruise function according to the first feedback information.
  • the first feedback information meets the preset condition, it indicates that the current state of the vehicle meets the conditions for activating the off-road cruise function.
  • Control the off-road cruise function of the vehicle to be turned on, even if the off-road cruise function of the vehicle is in an active state. In practical applications, after the off-road cruise function of the vehicle is activated, the off-road cruise control switch indicator light is on.
  • the aforementioned preset conditions include that the steering system, braking system, powertrain, transmission, and four-wheel drive control system are all in the 4L mode state, regardless of whether the active suspension and the differential lock are in the off-road cycle mode state. Taking into account whether the active suspension and differential lock enter the off-road cycle mode, the driving safety is less affected.
  • the control device only sends mode adjustment commands to the active suspension and differential lock, but does not perform state feedback judgments to avoid active suspension.
  • the execution status of the frame and the differential lock affects the activation of the off-road cruise function.
  • step S214 because if the 4L mode of the vehicle is not activated or the brake in the braking system is not released, the vehicle cannot perform cruising at this time, so the driving mode signal is ignored, that is, the vehicle is not controlled to enter the off-road cruise mode.
  • the step S300 includes steps S301 to S303:
  • step S301 the target vehicle speed is set by the driver as needed, and the current vehicle speed can be determined by the wheel speed signal fed back by the brake system in real time.
  • the vehicle speed control command is generated based on the target vehicle speed and the current vehicle speed obtained in real time to control the operation of the powertrain and the braking system, and the vehicle speed has been adjusted to a value less than the preset threshold value from the target vehicle speed. So as to realize the cruise state.
  • the method further includes steps S401 to S402:
  • step S401 the engine water temperature, the transmission temperature, and the four-wheel drive system temperature are obtained in real time through the temperature sensor, so as to determine whether the engine, the transmission, and the four-wheel drive system are overheated.
  • S402 Determine whether there is an overheating condition according to the engine water temperature, the transmission temperature and the four-wheel drive system temperature, and when there is an overheating condition, control the off-road cruise function of the vehicle to exit the active state.
  • step S402 that is, the engine water temperature, the transmission temperature and the four-wheel drive system temperature obtained through the above step S401, correspondingly determine whether the engine, transmission, and four-wheel drive system are overheated.
  • the off-road cruise function is no longer activated, and the operation control command is stopped to be sent to the first target actuator such as the engine, transmission, and four-wheel drive system, so as to avoid the first target actuator from being continuously overheated and causing damage.
  • the control system architecture in the embodiment of the present disclosure includes a functional layer 10, an off-road domain control system 20 and an execution layer 30.
  • the functional layer 10 includes driver requirements, all-terrain control system, driving mode system, off-road cruise function, tank turning function; off-road domain control system 20 includes advanced arbitration module 21 and control scheduling module 22; executive layer 30 includes steering system, Actuating mechanisms such as brake systems, powertrains, and four-wheel drive systems, as well as air springs, active stabilizers and shock absorbers in differential locks and active suspensions.
  • the all-terrain control system can select snow mode, mud mode, sand mode, 4L mode, and accordingly generate snow mode signals, mud mode signals, sand mode signals, 4L mode signals, and input as functional requirements
  • the driving mode system can select economy mode, standard mode, and sports mode number, and accordingly generate economy mode signals, standard mode signals, and sports mode signals, and input them into the off-road domain control system as functional requirements
  • the off-road cruise function and the tank turning function are selected, the off-road cruise mode signal and the tank turning mode signal are output accordingly, and input into the off-road domain control system as a functional requirement.
  • the advanced arbitration module 21 obtains the input of each function requirement in the functional layer, and performs unified judgment processing on each function requirement input, and then sends the arbitration result to the control scheduling module 22, and the control scheduling module 22 converts the arbitration result into control Instructions are sent to all implementing agencies in a unified manner.
  • each actuator After receiving the control instruction, each actuator will execute the corresponding operation according to the control instruction.
  • the braking system Electric Stability Program, ESP
  • the anti-lock braking system Anti-lock Braking System, ABS
  • traction control system Traction Control System, TCS.
  • VDC Vehicle dynamics Control
  • ECM Engine Control Module
  • EPS Engine Control Module
  • EPS Vehicle Power Steering
  • the shock absorber is The compression damping and extension damping will be adjusted to the state of the driving mode corresponding to the mode adjustment command; the air spring will adjust its height to the state of the driving mode corresponding to the mode adjustment command; the active stabilizer bar will be connected to the full state. Switch and adjust between connection, transition connection, and full disconnection
  • the executing agencies in the execution layer will feed back the execution results to the control scheduling module 22, and the control scheduling module 22 will feed back the execution results to the advanced arbitration module 21 for analysis and processing.
  • the main control unit of the above-mentioned off-road domain control system can be an independent electronic control unit (ECU) or share a component ECU with sufficient signal processing and logic judgment capabilities such as ECM, TCU, EPS, ESP Specifically, the OEM can independently carry out the design and development of the module software according to the requirements of the functional mode, and is no longer restricted by the development of ESP components.
  • ECU electronice control unit
  • EPS EPS
  • ESP e.g., ESP
  • the OEM can independently carry out the design and development of the module software according to the requirements of the functional mode, and is no longer restricted by the development of ESP components.
  • Figure 4 shows a schematic diagram of the activation process of the off-road cruise function.
  • first turn on the off-road cruise control switch which will trigger the off-road cruise control activation instruction.
  • the advanced arbitration module receives the activation instruction, it will judge the activation conditions of each node in the function layer to determine whether the brake is released, all terrain Whether 4L mode is selected in the control system;
  • the advanced arbitration module sends the off-road cruise control execution command, the rear differential lock lock command, the shock absorber 4Lmap switching command, and the highest adjustment of the air spring to the control dispatch module Commands, active stabilizer bar disconnect commands;
  • the control scheduling module sends execution requests to various actuators according to the above commands and judges the status feedback of the predetermined actuators, where the predetermined actuators include the steering system, the brake system, the powertrain, and the transmission And four-wheel drive control system, through state feedback to determine whether the above-mentioned preset actuators are in 4L mode, the control dispatch module only sends execution commands to the active suspension and differential lock, but does not perform state feedback judgment, that is, active suspension and The execution state of the differential lock does not affect the activation of the off-road cruise control function;
  • control scheduling module After the control scheduling module judges that the steering system, braking system, powertrain, transmission and four-wheel drive control system are all switched to 4L mode according to the status feedback of the actuator, it feeds back to the advanced arbitration module the signal that the executive layer meets the activation conditions, advanced After receiving the above signal, the arbitration module sends an activation instruction to the off-road cruise control switch after comprehensive judgment, and then the off-road cruise function switch indicator lights up, and the off-road cruise function enters the active state.
  • Figure 5 shows a schematic diagram of the working process of the off-road cruise function.
  • the advanced arbitration module real-time monitors whether the system is currently in the off-road cruise control function active state, and then monitors the driver demand signal, analyzes and judges the driver demand signal, and then converts it into an off-road cruise operation control command and sends it to the control Dispatch module, the above-mentioned cross-country cruise operation control commands include cruise speed increase and decrease commands, brake deceleration commands, refueling speed increase commands, etc.;
  • the control scheduling module receives the above-mentioned off-road cruise operation control command and makes a judgment, and then sends a speed increase execution command or a deceleration execution command to the powertrain, which is specifically expressed as an engine torque up/down request, and a deceleration execution command to the brake system ;
  • the engine After the engine receives the up/down torque request, it will operate the up/down torque operation, and feedback the execution result to the control scheduling module; and after receiving the deceleration command, the ESP responds to the braking down speed request and feeds back the wheel speed signal to the control scheduling module in real time Module
  • the control scheduling module receives the wheel speed signal fed back by the ESP in real time to determine whether the execution command sent by the advanced arbitration module is reached, and compares the wheel speed signal with the driver's target speed to determine whether the difference between the target speed and the actual speed exceeds Threshold; when the difference between the target vehicle speed and the actual vehicle speed exceeds the preset threshold value, the engine will send a corresponding increase/decrease torque request and an HDC activation request to the ESP to adjust the vehicle speed until the target speed and the actual vehicle speed The difference is less than the preset threshold;
  • control scheduling module will monitor the engine water temperature signal, the transmission temperature signal, and the four-wheel drive system temperature signal in real time, and determine whether there is overheating, and send the execution layer temperature signals to the advanced arbitration module, and the advanced arbitration module will determine the execution instructions Whether to continue sending and whether the off-road cruise control function continues to be in an active state is specifically represented by controlling the off-road cruise function of the vehicle to be in a closed state when it is determined that there is an overheating condition based on the above temperature signal.
  • Figure 6 shows a schematic diagram of the exit process of the off-road cruise function.
  • the off-road cruise control close command is sent through the off-road cruise control switch.
  • the advanced arbitration module receives the above-mentioned close command, it immediately stops sending the off-road cruise control execution command to the control dispatch module, and at the same time sends the post differential to the control dispatch module Lock open command, air spring 4L adjustment command, shock absorber 4Lmap switching command, active stabilizer bar connection command to turn off the off-road cruise control function;
  • the control dispatch module sends the differential lock open request after the differential lock according to the above command, and Send air spring 4L adjustment request, shock absorber 4Lmap switching request to the air suspension, and connection request to the active stabilizer bar;
  • the advanced arbitration module monitors driver demand signals such as accelerator intervention signals and brake intervention signals in real time, and analyzes and judges the above driver demand signals, and then according to the analysis and judgment results, whether the driver demand execution is indeed sent to the control dispatch module Instruction, the control scheduling module generates operation control instructions according to the driver's needs to execute the instructions, and sends the operation control instructions to the corresponding actuators for execution, so as to realize the driver's driving needs.
  • driver demand signals such as accelerator intervention signals and brake intervention signals in real time
  • the control scheduling module generates operation control instructions according to the driver's needs to execute the instructions, and sends the operation control instructions to the corresponding actuators for execution, so as to realize the driver's driving needs.
  • FIG. 7 shows a schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure.
  • the device includes:
  • the advanced arbitration module 71 is used to obtain the driving mode signal of the vehicle and the driving demand signal of the driver, and generate the mode adjustment instruction for each actuator according to the driving mode signal, and generate the mode adjustment command for each actuator according to the driving demand signal.
  • the control scheduling module 72 is configured to send the mode adjustment instruction to each of the actuators so as to adjust each of the actuators to the driving mode corresponding to the mode adjustment instruction; and send the operation control instruction to all
  • the first target execution mechanism is used to control the first target execution mechanism to execute the operation control operation corresponding to the operation control instruction.
  • the driving mode signal of the vehicle and the driving demand signal of the driver are obtained through the advanced arbitration module 71, and the corresponding mode adjustment instructions and operation control instructions are generated, and then the control scheduling module 72 converts the above instructions Sent to the corresponding actuator, and then the corresponding actuator is controlled by the above instructions to execute. That is to say, perform unified judgment processing on each functional demand signal, and then convert it into a control instruction, and then send it to each actuator, avoiding direct communication and logical judgment processing between the functional demand layer and the actuator, and the functional demand layer only needs to complete the signal Sending, and the actuator only needs to complete the instruction reception, which makes the control structure clearer and has the advantage of centralized processing.
  • control scheduling module 72 is further configured to monitor the first feedback information for the mode adjustment instruction to determine the mode adjustment results of the respective actuators; and The second feedback information for the operation control instruction is monitored to determine the operation control state of each actuator.
  • the actuator includes at least one of a steering system, a braking system, a powertrain, a transmission, a four-wheel drive control system, a differential lock, and an active suspension system.
  • the driving mode signal includes a snow mode signal, a mud mode signal, a sand mode signal, a 4L mode signal, an economy mode signal, a standard mode signal, a sports mode signal, and off-road mode signals.
  • Cruise mode signal and tank turning mode signal includes a snow mode signal, a mud mode signal, a sand mode signal, a 4L mode signal, an economy mode signal, a standard mode signal, a sports mode signal, and off-road mode signals.
  • Cruise mode signal and tank turning mode signal is included in the vehicle control device.
  • the corresponding relationship between the driving mode, the actuator and the preset parameters is stored in the vehicle;
  • the advanced arbitration module 71 includes:
  • a driving mode determining unit configured to determine a corresponding target driving mode according to the mode adjustment signal
  • a preset parameter obtaining unit configured to obtain target preset parameters corresponding to each of the actuators according to the target driving mode and the corresponding relationship;
  • the control scheduling module 72 is specifically configured to send the target preset parameters to a corresponding second target executing agency, so that the second target executing agency can adjust working parameters according to the target preset parameters.
  • the driving demand signal includes an accelerator pedal signal, a steering wheel signal, and a brake signal.
  • the advanced arbitration module 71 is specifically configured to: if the vehicle is currently in the 4L mode and the brakes have been released, perform according to the driving mode signal.
  • the mode signal generates a mode adjustment command for each actuator, and when the received first feedback information for the mode adjustment command meets a preset condition, the off-road cruise function of the vehicle is controlled to be active, and if the vehicle is currently If it is not in the 4L mode and/or the brake is not released, the driving mode signal is ignored;
  • the control scheduling module 72 is specifically configured to send the mode adjustment instruction to each of the execution agencies, and receive first feedback information for the mode adjustment instruction.
  • the vehicle control device when the off-road cruise function of the vehicle is activated,
  • the advanced arbitration module 71 is specifically configured to determine the target vehicle speed of the vehicle according to the driving demand signal; and generate operation control for the powertrain and braking system according to the target vehicle and the current vehicle speed of the vehicle Instruction, and send the operation control instruction to the powertrain and braking system via the control scheduling module, so as to adjust the vehicle speed of the vehicle so that the difference between the target vehicle speed and the target vehicle speed is less than a preset threshold ;
  • the control scheduling module 72 is specifically configured to obtain the current speed of the vehicle, and send the operation control instruction to the powertrain and braking system via the control scheduling module;
  • control scheduling module 72 when the off-road cruise function of the vehicle is activated, the control scheduling module 72 is also used to obtain engine water temperature, transmission temperature, and four-wheel drive system temperature;
  • the advanced arbitration module 71 is also used to determine whether there is overheating according to the engine water temperature, the transmission temperature and the four-wheel drive system temperature, and when there is overheating, control the off-road cruise function of the vehicle to be in Disabled.
  • Another object of the present disclosure is to provide a vehicle, wherein the vehicle includes the above-mentioned vehicle control configuration.
  • the vehicle control device and the vehicle have the same advantages as the aforementioned vehicle control method over the prior art, and will not be repeated here.
  • the vehicle control method and device obtain the driving mode signal of the vehicle and the driving demand signal of the driver, and generate corresponding mode adjustment commands and operation control commands, and then the corresponding execution is controlled by the above commands.
  • Agency execution That is to say, perform unified judgment processing on each functional demand signal, and then convert it into a control instruction, and then send it to each actuator, avoiding direct communication and logical judgment processing between the functional demand layer and the actuator, and the functional demand layer only needs to complete the signal Sending, and the actuator only needs to complete the instruction reception, which makes the control structure clearer and has the advantage of centralized processing. It can not only reduce the data redundancy, but also avoid the lack of processing capacity of the functional demand layer and the subsystem control unit of the actuator.
  • the limited function development is also convenient for platform-based software design, and interfaces are reserved for subsequent added modes and functions, which solves the problem that the existing vehicle control methods may cause excessive load on the vehicle controller LAN, which will lead to system execution efficiency The problem of low and poor reliability.
  • the device embodiments described above are merely illustrative.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units.
  • Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • the various component embodiments of the present disclosure may be implemented by hardware, or by software modules running on one or more processors, or by a combination of them.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present disclosure.
  • DSP digital signal processor
  • the present disclosure can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present disclosure may be stored on a computer-readable medium, or may have the form of one or more signals.
  • Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
  • FIG. 8 shows a computing processing device that can implement the method according to the present disclosure.
  • the computing processing device traditionally includes a processor 1010 and a computer program product in the form of a memory 1020 or a computer readable medium.
  • the memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM.
  • the memory 1020 has a storage space 1030 for executing program codes 1031 of any method steps in the above methods.
  • the storage space 1030 for program codes may include various program codes 1031 respectively used to implement various steps in the above method. These program codes can be read from or written into one or more computer program products.
  • Such computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards, or floppy disks.
  • Such a computer program product is usually a portable or fixed storage unit as described with reference to FIG. 9.
  • the storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 8.
  • the program code can be compressed in an appropriate form, for example.
  • the storage unit includes computer-readable code 1031', that is, code that can be read by a processor such as 1010, which, when run by a computing processing device, causes the computing processing device to execute the method described above. The various steps.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Un procédé de commande de véhicule est divulgué, comprenant : l'acquisition d'un signal de mode de conduite d'un véhicule et d'un signal d'exigence de conduite d'un conducteur (S100) ; en fonction du signal de mode de conduite, la génération d'une instruction de réglage de mode pour des actionneurs, et l'envoi de l'instruction de réglage de mode aux actionneurs, de façon à régler les actionneurs à un mode de conduite correspondant à l'instruction de réglage de mode (S200) ; et en fonction du signal d'exigence de conduite, la génération d'une instruction de commande de fonctionnement pour un premier actionneur cible parmi les actionneurs, et l'envoi de l'instruction de commande de fonctionnement au premier actionneur cible, de façon à commander le premier actionneur cible pour exécuter une opération de commande de fonctionnement correspondant à l'instruction de commande de fonctionnement (S300). L'invention concerne également un dispositif de commande de véhicule. La réalisation d'un traitement de détermination uniforme sur des signaux d'exigence fonctionnels, et ainsi la conversion de ceux-ci en instructions de commande, puis leur envoi à un actionneur évitent une communication directe et un traitement de détermination logique entre une couche fonctionnelle et l'actionneur.
PCT/CN2021/085881 2020-04-08 2021-04-08 Procédé et dispositif de commande de véhicule WO2021204177A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010270732.8A CN111559385A (zh) 2020-04-08 2020-04-08 一种车辆控制方法及装置
CN202010270732.8 2020-04-08

Publications (1)

Publication Number Publication Date
WO2021204177A1 true WO2021204177A1 (fr) 2021-10-14

Family

ID=72070505

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/085881 WO2021204177A1 (fr) 2020-04-08 2021-04-08 Procédé et dispositif de commande de véhicule

Country Status (2)

Country Link
CN (1) CN111559385A (fr)
WO (1) WO2021204177A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114148369A (zh) * 2021-12-22 2022-03-08 中国铁道科学研究院集团有限公司 列车控制系统及方法
CN114368288A (zh) * 2022-01-05 2022-04-19 一汽解放汽车有限公司 车载终端的显控方法、装置、计算机设备、存储介质
CN114426028A (zh) * 2022-03-03 2022-05-03 一汽解放汽车有限公司 智能驾驶控制方法、装置、计算机设备和存储介质
CN114919595A (zh) * 2022-06-13 2022-08-19 阿维塔科技(重庆)有限公司 一种驾驶模式控制方法、装置及汽车
CN114954641A (zh) * 2022-07-04 2022-08-30 浙江极氪智能科技有限公司 车辆转向同步的调节方法、装置、设备及存储介质
CN115214597A (zh) * 2022-03-16 2022-10-21 广州汽车集团股份有限公司 车辆的控制方法、装置、介质及系统

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111559385A (zh) * 2020-04-08 2020-08-21 长城汽车股份有限公司 一种车辆控制方法及装置
CN112477881B (zh) * 2020-12-09 2023-06-16 北京罗克维尔斯科技有限公司 车辆控制指令的生成方法和装置
CN113386735B (zh) * 2021-06-17 2022-10-21 岚图汽车科技有限公司 一种车辆控制方法及装置
CN113844392A (zh) * 2021-10-12 2021-12-28 北京汽车集团越野车有限公司 一种车辆综合控制系统、控制方法和车辆
CN113911098B (zh) * 2021-11-25 2024-01-23 中国重汽集团济南动力有限公司 一种结合巡航控制的hdc高精度车速控制方法及系统
CN114162128A (zh) * 2021-12-06 2022-03-11 一汽奔腾轿车有限公司 一种智能驾驶整车联动及个性化功能实现方法
CN114987432A (zh) * 2022-07-07 2022-09-02 上海洛轲智能科技有限公司 一种轮间差速锁的控制方法、装置、电子设备及存储介质

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040133326A1 (en) * 2003-01-03 2004-07-08 Ghoneim Youssef Ahmed Method and apparatus for vehicle integrated chassis control system
WO2012088635A1 (fr) * 2010-12-30 2012-07-05 中国科学院自动化研究所 Système et procédé de commande de croisière adaptative pour véhicule
CN104736408A (zh) * 2012-09-06 2015-06-24 捷豹路虎有限公司 车辆控制系统和方法
EP3145773A1 (fr) * 2014-05-22 2017-03-29 Jaguar Land Rover Limited Système et procédé de commande permettant une optimisation en maximisant la vitesse de croisière régulée lors d'un virage sur terrains à faible frottement
CN108791293A (zh) * 2017-04-28 2018-11-13 长城汽车股份有限公司 车辆驾驶模式的控制方法、系统及车辆
CN210062670U (zh) * 2019-04-22 2020-02-14 广州汽车集团股份有限公司 四驱系统及车辆
CN111559385A (zh) * 2020-04-08 2020-08-21 长城汽车股份有限公司 一种车辆控制方法及装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2534174B (en) * 2015-01-15 2017-12-20 Jaguar Land Rover Ltd Vehicle control system and method
CN107487323B (zh) * 2016-11-10 2020-08-18 宝沃汽车（中国）有限公司 一种电动车辆巡航系统的控制方法
CN107628108B (zh) * 2017-09-11 2020-01-03 清华大学 一种车辆全电传操纵系统
CN109334656B (zh) * 2017-12-27 2020-07-28 长城汽车股份有限公司 一种车辆控制方法及装置
CN110356415A (zh) * 2018-03-26 2019-10-22 长城汽车股份有限公司 一种车辆控制方法及装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040133326A1 (en) * 2003-01-03 2004-07-08 Ghoneim Youssef Ahmed Method and apparatus for vehicle integrated chassis control system
WO2012088635A1 (fr) * 2010-12-30 2012-07-05 中国科学院自动化研究所 Système et procédé de commande de croisière adaptative pour véhicule
CN104736408A (zh) * 2012-09-06 2015-06-24 捷豹路虎有限公司 车辆控制系统和方法
EP3145773A1 (fr) * 2014-05-22 2017-03-29 Jaguar Land Rover Limited Système et procédé de commande permettant une optimisation en maximisant la vitesse de croisière régulée lors d'un virage sur terrains à faible frottement
CN108791293A (zh) * 2017-04-28 2018-11-13 长城汽车股份有限公司 车辆驾驶模式的控制方法、系统及车辆
CN210062670U (zh) * 2019-04-22 2020-02-14 广州汽车集团股份有限公司 四驱系统及车辆
CN111559385A (zh) * 2020-04-08 2020-08-21 长城汽车股份有限公司 一种车辆控制方法及装置

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114148369A (zh) * 2021-12-22 2022-03-08 中国铁道科学研究院集团有限公司 列车控制系统及方法
CN114148369B (zh) * 2021-12-22 2023-11-24 中国铁道科学研究院集团有限公司 列车控制系统及方法
CN114368288A (zh) * 2022-01-05 2022-04-19 一汽解放汽车有限公司 车载终端的显控方法、装置、计算机设备、存储介质
CN114368288B (zh) * 2022-01-05 2023-09-12 一汽解放汽车有限公司 车载终端的显控方法、装置、计算机设备、存储介质
CN114426028A (zh) * 2022-03-03 2022-05-03 一汽解放汽车有限公司 智能驾驶控制方法、装置、计算机设备和存储介质
CN114426028B (zh) * 2022-03-03 2023-12-22 一汽解放汽车有限公司 智能驾驶控制方法、装置、计算机设备和存储介质
CN115214597A (zh) * 2022-03-16 2022-10-21 广州汽车集团股份有限公司 车辆的控制方法、装置、介质及系统
CN115214597B (zh) * 2022-03-16 2023-09-01 广州汽车集团股份有限公司 车辆的控制方法、装置、介质及系统
CN114919595A (zh) * 2022-06-13 2022-08-19 阿维塔科技(重庆)有限公司 一种驾驶模式控制方法、装置及汽车
CN114954641A (zh) * 2022-07-04 2022-08-30 浙江极氪智能科技有限公司 车辆转向同步的调节方法、装置、设备及存储介质

Also Published As

Publication number Publication date
CN111559385A (zh) 2020-08-21

Similar Documents

Publication Publication Date Title
WO2021204177A1 (fr) Procédé et dispositif de commande de véhicule
RU2724916C1 (ru) Устройство управления для управления тормозом транспортного средства
CN102826087B (zh) 一种汽车四驱系统的扭矩控制方法
KR20210018390A (ko) 정보 처리 장치
CN100475580C (zh) 车辆控制装置和车辆控制方法
CN109017747B (zh) 新能源四驱车辆的前后轴扭矩分配方法、系统及相关组件
US11305646B2 (en) Automobile chassis integration control method and system
JP6411240B2 (ja) 可変乗車高システムおよび方法
KR102197473B1 (ko) 차량 브레이크 시스템의 하나 이상의 전기 주차 브레이크용 제어 장치, 그리고 브레이크 부스터 및 전기 주차 브레이크를 포함하는 차량 브레이크 시스템의 작동 방법
JP6937256B2 (ja) 車両制御装置、車両制御方法及び車両制御システム
US9050950B2 (en) Methods and systems for controlling braking of a vehicle when the vehicle is stationary
US9914444B2 (en) Method and control device for operating a road-coupled hybrid vehicle
CN104428182A (zh) 动力传动系控制系统和方法
US20100292894A1 (en) Method and apparatus for controlling an active vehicle subsystem
CN104755304A (zh) 用于运行汽车的动力传动系的方法和系统
JP2012500742A (ja) 車両用速度制御システム
US20060041360A1 (en) Cooperative vehicle control system
CN109398097A (zh) 车轮制动力矩控制方法、装置及制动能量回收控制系统
KR101484213B1 (ko) 모터 토크 제어장치 및 제어방법
US9242563B2 (en) Method and apparatus for controlling drive motor
US9789864B2 (en) Devices and methods for distributing an overall target torque specification
JP4940803B2 (ja) 車両の制動力制御装置
CN106515717B (zh) 基于所请求车辆减速的计算来增大混合动力车辆中的再生的方法
CN111301423B (zh) 一种控制方法、底盘域控制系统及适时四轮驱动式汽车
CN112158188B (zh) 一种智能驾驶车辆行车制动系统、方法及汽车

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21784958

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21784958

Country of ref document: EP

Kind code of ref document: A1