CN110356415A - A kind of control method for vehicle and device - Google Patents
A kind of control method for vehicle and device Download PDFInfo
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- CN110356415A CN110356415A CN201810252218.4A CN201810252218A CN110356415A CN 110356415 A CN110356415 A CN 110356415A CN 201810252218 A CN201810252218 A CN 201810252218A CN 110356415 A CN110356415 A CN 110356415A
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- 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
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
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- 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
- B60W2050/0062—Adapting control system settings
- B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
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- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/16—Ratio selector position
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/1005—Transmission ratio engaged
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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- 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
The present invention provides a kind of control method for vehicle and devices, vehicle includes automated driving system, human-computer interaction module, automatic control module, the described method includes: obtaining current driving speed, current driving gear and the current context information of the vehicle if the automated driving system of the vehicle is in the open state；According to the current driving speed of the vehicle, current driving gear and the current context information, user is prompted to input driving pattern information；The driving pattern information for the vehicle that user is inputted by the human-computer interaction module is received, and determines that the target travel speed of the vehicle and target drive gear according to the driving pattern information；The current driving gear of the vehicle is adjusted to the target by automatic control module and drives gear, and the current driving speed is adjusted to the target drive speed.Target travel data cannot be calculated automatically according to external environment by solving existing automatic Pilot technology, lead to the problem that user experience is low.
Description
Technical field
The present invention relates to automotive fields, including a kind of control method for vehicle and device.
Background technique
Main Trends of The Development of the autonomous driving vehicle as future transportation industry, it will greatly change people it is daily go out
Row habit, currently, the technology in terms of automatic Pilot apply mostly using certain device by driver's cabin control device (such as: change
Frequency modulator, gas pedal, brake pedal and steering wheel etc.) it integrates, then unify the instruction for receiving driver, thus greatly
The big work for reducing driver, and achieve the purpose that semi-automatically, or automatically to drive.
However, although above-mentioned automatic Pilot technology can be good at solution driver must coordinate to control in driving procedure
The problems such as selector processed, gas pedal, brake pedal and steering wheel, but do not have and speed change is calculated according to external environment automatically
The ability of device gear and engine output power reduces the user experience of automatic Pilot.
Summary of the invention
In view of this, due to only coordinated control selector, gas pedal, brake pedal and steering wheel in the prior art,
The ability of transmission gear and engine output power cannot be calculated automatically according to external environment, reduce asking for automatic Pilot experience
Topic.To solve the above problems, the technical scheme of the present invention is realized as follows:
A kind of control method for vehicle, the vehicle include automated driving system, human-computer interaction module, automatic control module,
The described method includes: obtaining the current driving speed of the vehicle if the automated driving system of the vehicle is in the open state
Degree, current driving gear and current context information；According to the current driving speed of the vehicle, current drive gear and described work as
Preceding environmental information prompts user to input driving pattern information；Receive the vehicle that user is inputted by the human-computer interaction module
Driving pattern information, and according to the driving pattern information determine the vehicle target travel speed and target drive shelves
Position；The current driving gear of the vehicle is adjusted to the target by automatic control module and drives gear, and is worked as by described in
Preceding travel speed is adjusted to the target drive speed.
Further, the current context information include the vehicle at a distance from barrier, it is described apart from its change rate
And traffic direction sign.
Further, the driving pattern information includes automatic mode, motor pattern and economic model.
Further, described to determine that the target travel speed of the vehicle and target drive according to the driving pattern information
The step of gear, comprising: according to the target travel speed and the current driving speed, obtain aimed acceleration；According to institute
It states aimed acceleration and obtains target driving gear and engine target output torque revolving speed.
Further, current driving gear, the current driving speed that the vehicle is controlled by automatic control module
The step of driving gear and target drive speed to the target, comprising: judge the current driving gear and the current line
Sail whether speed meets target driving gear and target travel speed；If not meeting, by the automatic control module according to
The target drives gear and engine target output torque revolving speed, adjusts the current driving gear of the vehicle to the target
Gear is driven, and adjusts engine current output torque revolving speed to engine target output torque revolving speed, it is described current to adjust
Travel speed is to the target drive speed.
Compared with the existing technology, if control method for vehicle of the present invention has the advantage that the automatic of the vehicle
Control loop is in the open state, then obtains current driving speed, current driving gear and the current context information of the vehicle；
According to the current driving speed of the vehicle, current driving gear and the current context information, prompts user to input and drive mould
Formula information；The driving pattern information for the vehicle that user is inputted by the human-computer interaction module is received, and is driven according to described
It sails pattern information and determines that the target travel speed of the vehicle and target drive gear；By automatic control module by the vehicle
Current driving gear be adjusted to the target and drive gear, and the current driving speed is adjusted to the target and drives speed
Degree；The target of the main calculating vehicle that this system input information is realized using Context awareness system and man-machine interactive system drives letter
Breath, the adjustment of target velocity is realized according to this driving information, so that the driving condition for controlling vehicle that control is more intelligent, mentions
The high user experience of Vehicular automatic driving function.
Another object of the present invention is to propose that a kind of controller of vehicle, the vehicle include automated driving system, people
Machine interactive module, automatic control module, described device include: that current driving information obtains module, if for the vehicle from
Dynamic control loop is in the open state, then obtains current driving speed, current driving gear and the current environment letter of the vehicle
Breath；Cue module, for mentioning according to the current driving speed of the vehicle, current driving gear and the current context information
Show that user inputs driving pattern information；Target driving information obtains module, passes through the human-computer interaction module for receiving user
The driving pattern information of the vehicle of input, and determine according to the driving pattern information target travel speed of the vehicle
Gear is driven with target；Module is adjusted, for the current driving gear of the vehicle to be adjusted to institute by automatic control module
It states target and drives gear, and the current driving speed is adjusted to the target drive speed.
Further, the current context information include the vehicle at a distance from barrier, it is described apart from its change rate
And traffic direction sign.
Further, the driving pattern information includes automatic mode, motor pattern and economic model.
Further, the target driving information obtains module, comprising: aimed acceleration acquisition submodule is used for basis
The target travel speed and the current driving speed obtain aimed acceleration；Target driving information acquisition submodule, is used for
Target, which is obtained, according to the aimed acceleration drives gear and engine target output torque revolving speed.
Further, the adjustment module, comprising: judging submodule, for judging the current driving gear and described
Whether current driving speed, which meets target, drives gear and target travel speed；Adjusting submodule, if passing through for not meeting
The automatic control module drives gear and engine target output torque revolving speed according to the target, adjusts working as the vehicle
Preceding driving gear to the target drives gear, and adjusts engine current output torque revolving speed to engine target output torque
Revolving speed, to adjust the current driving speed to the target drive speed.
A kind of controller of vehicle and a kind of above-mentioned control method for vehicle compared with the existing technology possessed by advantage
Identical, details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of control method for vehicle described in the embodiment of the present invention one；
Fig. 2 is full-vehicle control block process schematic diagram in the embodiment of the present invention one；
Fig. 3 is a kind of flow chart of control method for vehicle described in the embodiment of the present invention two；
Fig. 4 is each module interaction schematic diagram of full-vehicle control in one；
Fig. 5 is a kind of structural block diagram of controller of vehicle described in the embodiment of the present invention three；
Fig. 6 is a kind of structural block diagram of controller of vehicle described in the embodiment of the present invention three.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
Explanation of nouns:
EMS:Engine Management System engine management system
TCU:Transmission Control Unite control system of speed variator
ESP:Electronic Stability Program electronic stabilizing control system
VCU:Vehicle Control Unite entire car controller
HMI:Human Machine Interface man-machine interactive system
Autonomous driving vehicle (Autonomous vehicles；Self-piloting automobile) it is also known as nobody and drives
Automobile, computer driving or wheeled mobile robot are sailed, is a kind of unpiloted intelligence vapour to be realized by computer system
Vehicle.Current unmanned technology passes through coordinated control selector, gas pedal, brake pedal and direction in driving procedure
Disk, to assist driver to drive vehicle.
Driving mode: it is exported by the engine speed and torque that control vehicle, embodies the different driving performances of vehicle, lead to
It often include automatic mode, motor pattern and economic model, for example, car can be automatic under 2000 speed conditions in the normal mode
Upshift, and it can then be increased to 3000 turns in the sport mode, it is therefore an objective to so that car is maintained enough torques, motor pattern issues
Motivation sound is big, and speed-raising is fast, and revolving speed is high, and oil consumption is big.And under automatic mode, autonomous driving vehicle can according to preset data into
Every trade is sailed, or starts to obtain vehicle operation data, is travelled further according to driver's driving intention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Embodiment one
It referring to Fig.1, is a kind of flow chart of control method for vehicle described in the embodiment of the present invention, the vehicle includes automatic
Control loop, human-computer interaction module, automatic control module, the method can specifically include following steps:
Step 101, if the automated driving system of the vehicle is in the open state, the current driving of the vehicle is obtained
Speed, current driving gear and current context information.
In the embodiment of the present invention, when user switches driving mode automatic driving mode again, i.e. the automatic Pilot system of vehicle
When uniting in the open state, the current driving data of vehicle are detected by module each in vehicle, for example, passing through VCU (Vehicle
Control Unite entire car controller) connection engine management system EMS, control system of speed variator TCU etc., obtain vehicle
Engine speed and current gear information, then the camera by being arranged on vehicle, sensing element acquisition vehicle are current
Environmental information, for example, the driving-environment informations such as gradient that the distance between peripheral obstacle and vehicle are presently in.
In practical applications, when a vehicle is started, the unlatching that full-vehicle control module passes through detection cross-country road cruise function
Whether in the open state signal further detects automated driving system.Wherein, when driver operates drive mode switch,
Switch module sends drive mode switch signal (DrivingMode) by LIN bus to car body control module BCM (body
Control module), BCM converts mode signal (DrvMod) for drive mode switch signal (DrivingMode) and forwards
To CAN bus, mode signal (DrvMod) is then forwarded to full-vehicle control module by CAN bus.Full-vehicle control module is to each
Subsystem sending mode request signal (VCU_DrvMod) obtains data of each subsystem about vehicle drive, each subsystem root
After correctly responding according to the mode request signal of entire car controller, respective status signal is fed back into full-vehicle control module, at this time
Main control module sending mode displays signal on IP, waits the further operating of driver.
Step 102, it according to the current driving speed of the vehicle, current driving gear and the current context information, mentions
Show that user inputs driving pattern information.
In the embodiment of the present invention, after obtaining the driving information and driving-environment information of vehicle by step 101, prompt
User selects vehicle driving model, and usually general mode, economic model and motor pattern, user can be according in vehicle touch-controls
It shows the mode of screen display, user is prompted to carry out the selection of driving mode.
Step 103, the driving pattern information for the vehicle that user is inputted by the human-computer interaction module, and root are received
Determine that the target travel speed of the vehicle and target drive gear according to the driving pattern information.
In the embodiment of the present invention, user is obtained when passing through HMI (Human Machine Interface man-machine interactive system)
After the driving mode of input, according to driving for the current driving information and driving-environment information and user obtained in a step 101
It sails intention (selected driving mode), determines and be suitble to the current target drive speed for driving the number of changing and user's needs and drive
Sail gear.
In practical applications, when the switch of automated driving system is pressed, switching signal is sent to by LIN line
The signal is forwarded to CAN bus by BCM, BCM, after entire car controller receives this signal, and obtains the driving condition information of vehicle,
For example, full-vehicle control module obtains vehicle current tilt angle by angle judgment module, and judgement vehicle is carried out according to the angle
The gradient of current driving road conditions.After obtaining a driving information in need and environmental information, prompts user to input driving and asks
It asks.
Wherein, the open command of automated driving system function can be generated by triggering the functional switch, open automatic Pilot system
The instruction of system function can be triggered by preset automated driving system functional switch, which, which can be, is arranged in vehicle control
Physical button on panel is also possible to the touch controlled key being arranged on car running computer Touch Screen, and the embodiment of the present invention is to this
It is without restriction.
Similarly, user inputs driving mode by HMI, can be through physical button or car running computer touch screen
Touch controlled key on curtain, the embodiments of the present invention are not limited thereto.
Step 104, the current driving gear of the vehicle is adjusted to by the target by automatic control module and drives gear
Position, and the current driving speed is adjusted to the target drive speed.
In the embodiment of the present invention, after the driving mode selected by user determines target velocity and target gear, VCU is pressed
Coordinate each subsystem according to upward slope control model, for example, by the driving mode of current vehicle (for example, the corresponding movement mould of cross-country road conditions
Formula) control signal be sent to engine management module EMS, transmission control module TCU, 4 wheel driven control module, vehicle suspension shape
State, electronic stability control module etc. control car speed and gear to target velocity and target gear.
As shown in Figure 2, automatic control module can connect Context awareness system and man-machine interactive system, receives environment and knows
The vehicle drive environment information that other system is sent, and the driving pattern information of user's selection in man-machine interactive system is received, and
After being handled using the logic of internal preset input information, by automatic gear shifting system to engine management system controller
Control instruction is issued with control system of speed variator controller, so that engine and speed changer be made to work according to system requirements.
In embodiments of the present invention, in the open state in the automated driving system of the vehicle, obtain the vehicle
Current driving speed, current driving gear and current context information, and according to the current driving speed of the vehicle, current driving
Gear and the current context information prompt user to input driving pattern information, determine vehicle according to the driving pattern information
After target travel speed and target drive gear, the current driving gear for adjusting vehicle is adjusted to target and drives gear, and by institute
It states current driving speed and is adjusted to the target drive speed.Realize the driving according to current driving-environment information and driver
It is intended to, control vehicle changes driving condition, in a manner of the more intelligent automatic Pilot of realization, improves the driving experience of user.
Embodiment two
It is a kind of flow chart of control method for vehicle described in the embodiment of the present invention referring to Fig. 3, the vehicle includes automatic
Control loop, human-computer interaction module, automatic control module, the method can specifically include following steps:
Step 201, if the automated driving system of the vehicle is in the open state, the current driving of the vehicle is obtained
Speed, current driving gear and current context information；
This step is identical as step 101, and this will not be detailed here.
Preferably, the current context information include the vehicle at a distance from barrier, it is described apart from its change rate with
And traffic direction sign.
In the embodiment of the present invention, the environmental information of vehicle is obtained by the camera and sensing element that have been arranged on vehicle,
For example, the traffic information detected by vehicle distances sensing element are as follows: there is the obstacle being closer on front, left side, right side
Object rear clear simultaneously, and obtain after current vehicle speed is these information such as zero；Or pass through camera detection to front
Traffic lights when being identified as red light, enter step 202.
Step 202, it according to the current driving speed of the vehicle, current driving gear and the current context information, mentions
Show that user inputs driving pattern information；
This step is identical as step 102, and this will not be detailed here.
Preferably, the driving pattern information includes automatic mode, motor pattern and economic model.
In the embodiment of the present invention, when received human-machine interactive information is economic model or automatic Pilot, front, left side, the right side
There are the barrier being closer while rear clear in side, and current vehicle speed is automatic shifting system after zero these equal information
System can be exported according to current state computation, low engine speed low torque, and speed changer hangs reverse gear, and it is slow to control vehicle backing
Starting is moved backward.Or when received human-machine interactive information is economic model, there is red light in front, then automatic shifting system
It can be exported according to current state computation, low engine speed low torque, speed changer change into lower gear simultaneously controls brake pedal and depresses,
According to front obstacle distance or 'STOP' line ahead, control vehicle slowly stops.
Certainly, in practical applications, user can carry out pro-active intervention to automated driving system at any time, such as according to vehicle
Current context information and driving mode and the driving intention of user is not met, then using after automated driving system selection is reversed gear
Family can be intervened by way of stopping Function for Automatic Pilot.The mode embodiment of the present invention of user's pro-active intervention is not added
With limitation.
Step 203, the driving pattern information for the vehicle that user is inputted by the human-computer interaction module, and root are received
According to the target travel speed and the current driving speed, aimed acceleration is obtained.
In the embodiment of the present invention, as shown in Figure 4, the traffic information and driver that current system receives input information,
The rotating speed of target of vehicle is calculated, meanwhile, this system can be according to wheel rotation speed signals, engine current rotating speed and the change received
The information such as fast device current gear, are calculated the actual speed of vehicle, and then, system is according to vehicle target speed and present speed
The aimed acceleration of vehicle is calculated, this value reflects extraneous and driver to the needs of vehicle dynamical system.
Step 204, target is obtained according to the aimed acceleration and drives gear and engine target output torque revolving speed.
In the embodiment of the present invention, as shown in figure 4, and system different transmission gear can be calculated according to Different Strategies
With the combination (combined principle mainly considers driving mode and safety etc.) of engine output revolving speed torque, add to meet target
The demand of speed, and the combination of transmission gear and engine output revolving speed torque is respectively sent to control system of speed variator,
And send machine management system.
Step 205, judge the current driving gear and the current driving speed whether meet target drive gear and
Target travel speed.
In the embodiment of the present invention, when control system of speed variator and machine management system is sent, is respectively received speed changer target
After gear and target travel speed, judge whether current driving gear and current travel speed are matched.
Step 206, if not meeting, gear and engine mesh are driven according to the target by the automatic control module
Output torque revolving speed is marked, current driving gear to the target for adjusting the vehicle drives gear, and it is current to adjust engine
Output torque revolving speed drives speed to engine target output torque revolving speed to adjust the current driving speed to the target
Degree.
In the embodiment of the present invention, when target drive speed and current drive speed mismatch, such as current drive speed exists
50, target drive speed 70, then target drive speed is just sent to engine management system, it is currently defeated to adjust engine
Torque revolving speed is to engine target output torque revolving speed out.Similarly, gear is driven if currently driving gear and not meeting target, it will
Target drives gear information and is sent to control system of speed variator, and the current gear that drives is adjusted to target driving gear.Wherein, it is
System can choose optimal gear and engine speed torque combinations, and issue gear to control system of speed variator controller respectively and refer to
It enables, the instruction of revolving speed and torque is issued to engine management system controller.
In practical applications, the driving status for adjusting vehicle by gearbox controller and engine incessantly, may be used also
To assist adjustment engine available torque according to accelerator pedal aperture by entire car controller.If vehicle is in starting state,
Then can also according to the current driving condition of vehicle, i.e., entire car controller according to four-wheel wheel speed signal, vehicle yaw rate signal,
Parking brake working signal, braking modulating signal, identification state of motion of vehicle and wheel slip etc., engine needs when calculating vehicle start
The power overcome, and adjust to vehicle's current condition to target driving condition.
For example, entire car controller can calculate present engine demand pull power, and then obtain demand under automatic driving mode
Torque, and control each system and coordinated as follows:
EMS system: the torque request that response entire car controller is sent exports reality constant or in certain fluctuation range
Border torque；
TCU system: response entire car controller send gear control, while according to engine speed, gas pedal depth,
Vehicle speed information controls vehicle current gear and target gear；
Four-wheel drive system: the driving instruction of entire car controller is responded, while vehicle enters low speed 4 wheel driven mode, center differential
Locking, vehicle enter full-time four-wheel drive；
Suspension: highest is risen to
ESP system: detection wheel condition, control wheel slip in a certain range, prevent wheel-slip from excessively causing
Power loss.
HMI system: having indicator light and automatic Pilot state be shown in instrument, the environmental information of current vehicle and
Driving information, such as the display gradient and going up a slope or descending and system default safe speed range.
Under automatic driving mode, each subsystem is cooperated by response accordingly, makes vehicle in different driving rings
Accelerator open degree, engine speed, transmission gear, braking and direction are automatically controlled under border keeps driving at a constant speed for vehicle, intelligence
Auxiliary driver controls vehicle and meets target travel status safety traveling.
In embodiments of the present invention, system inputs information according to the traffic information received and driver, and vehicle is calculated
Rotating speed of target；Meanwhile this system can be according to wheel rotation speed signals, engine current rotating speed and the current shelves of speed changer received
The information such as position, are calculated the actual speed of vehicle；Then, vehicle is calculated according to vehicle target speed and present speed in system
Aimed acceleration, this value reflects extraneous and driver to the needs of vehicle dynamical system.System can be according to different plans
Approximation calculates the combination of different transmission gear and engine output revolving speed torque, and (combined principle mainly considers driving mode
With safety etc.), to meet the needs of aimed acceleration；Finally, system can choose optimal gear and engine speed torque
Combination, and gear instruction is issued to control system of speed variator controller respectively, revolving speed is issued to engine management system controller
With the instruction of torque；In addition, system can acquire whole vehicle state information (mainly speed etc.) in time also to verify speed changer and hair
Whether motivation realizes closed-loop control according to instruction works, and then realizes more accurate and intelligence automatic under automatic driving mode
Function is driven, the driving experience of user is provided.
Embodiment three
It is a kind of structural block diagram of controller of vehicle described in the embodiment of the present invention referring to Fig. 5, the vehicle includes certainly
Dynamic control loop, human-computer interaction module, automatic control module, described device are specifically included with lower module,
Current driving information obtains module 301, cue module 302, downhill control module target driving information and obtains module
303, module 304 is adjusted.
The interactive relation between the function and each module of each module is described in detail below referring to 6.
Current driving information obtains module 301 and obtains if the automated driving system for the vehicle is in the open state
Take current driving speed, current driving gear and the current context information of the vehicle；
Preferably, the current context information include the vehicle at a distance from barrier, it is described apart from its change rate with
And traffic direction sign.
Cue module 302, for according to the current driving speed of the vehicle, current driving gear and the current environment
Information prompts user to input driving pattern information；
Preferably, the driving pattern information includes automatic mode, motor pattern and economic model.
Target driving information obtains module 303, the vehicle inputted for receiving user by the human-computer interaction module
Driving pattern information, and according to the driving pattern information determine the vehicle target travel speed and target drive shelves
Position；
Preferably, the target driving information obtains module 303, comprising:
Aimed acceleration acquisition submodule 3031 is used for according to the target travel speed and the current driving speed,
Obtain aimed acceleration；
Target driving information acquisition submodule 3032 drives gear and hair for obtaining target according to the aimed acceleration
Motivation target output torque revolving speed.
Module 304 is adjusted, for the current driving gear of the vehicle to be adjusted to the mesh by automatic control module
Mark drives gear, and the current driving speed is adjusted to the target drive speed.
Preferably, the adjustment module 304, comprising:
Judging submodule 3041, for judging whether the current driving gear and the current driving speed meet target
Drive gear and target travel speed；
Adjusting submodule 3042, if driving shelves according to the target by the automatic control module for not meeting
Position and engine target output torque revolving speed, current driving gear to the target for adjusting the vehicle drives gear, and adjusts
Motivation of haircuting current output torque revolving speed is to engine target output torque revolving speed, to adjust the current driving speed to described
Target drive speed.
In embodiments of the present invention, system inputs information according to the traffic information received and driver, and vehicle is calculated
Rotating speed of target；Meanwhile this system can be according to wheel rotation speed signals, engine current rotating speed and the current shelves of speed changer received
The information such as position, are calculated the actual speed of vehicle；Then, vehicle is calculated according to vehicle target speed and present speed in system
Aimed acceleration, this value reflects extraneous and driver to the needs of vehicle dynamical system.System can be according to different plans
Approximation calculates the combination of different transmission gear and engine output revolving speed torque, and (combined principle mainly considers driving mode
With safety etc.), to meet the needs of aimed acceleration；Finally, system can choose optimal gear and engine speed torque
Combination, and gear instruction is issued to control system of speed variator controller respectively, revolving speed is issued to engine management system controller
With the instruction of torque；In addition, system can acquire whole vehicle state information (mainly speed etc.) in time also to verify speed changer and hair
Whether motivation realizes closed-loop control according to instruction works, and then realizes more accurate and intelligence automatic under automatic driving mode
Function is driven, the driving experience of user is provided.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that the vehicle includes automated driving system, human-computer interaction module, automatic
Control module, which comprises
If the automated driving system of the vehicle is in the open state, obtains the current driving speed of the vehicle, currently drives
Sail gear and current context information；
According to the current driving speed of the vehicle, current driving gear and the current context information, user's input is prompted to drive
Sail pattern information；
The driving pattern information for the vehicle that user is inputted by the human-computer interaction module is received, and according to the driving mould
Formula information determines that the target travel speed of the vehicle and target drive gear；
The current driving gear of the vehicle is adjusted to the target by automatic control module and drives gear, and is worked as by described in
Preceding travel speed is adjusted to the target drive speed.
2. control method for vehicle according to claim 1, which is characterized in that the current context information includes the vehicle
With at a distance from barrier, it is described apart from its change rate and traffic direction sign.
3. control method for vehicle according to claim 1, which is characterized in that the driving pattern information includes automatic mold
Formula, motor pattern and economic model.
4. control method for vehicle according to claim 1, described to determine the vehicle according to the driving pattern information
The step of target travel speed and target drive gear, comprising:
According to the target travel speed and the current driving speed, aimed acceleration is obtained；
Target, which is obtained, according to the aimed acceleration drives gear and engine target output torque revolving speed.
5. control method for vehicle according to claim 4, which is characterized in that it is described controlled by automatic control module described in
The step of current driving gear of vehicle, current driving speed to the target drive gear and target drive speed, comprising:
Judge whether the current driving gear and the current driving speed meet target and drive gear and target travel speed；
If not meeting, gear is driven according to the target by the automatic control module and engine target output torque turns
Speed, current driving gear to the target for adjusting the vehicle drives gear, and adjusts engine current output torque revolving speed
To engine target output torque revolving speed, to adjust the current driving speed to the target drive speed.
6. a kind of controller of vehicle, which is characterized in that the vehicle includes automated driving system, human-computer interaction module, automatic
Control module, described device include:
Current driving information obtains module, if the automated driving system for the vehicle is in the open state, described in acquisition
The current driving speed of vehicle, current driving gear and current context information；
Cue module, for mentioning according to the current driving speed of the vehicle, current driving gear and the current context information
Show that user inputs driving pattern information；
Target driving information obtains module, for receiving the driving for the vehicle that user is inputted by the human-computer interaction module
Pattern information, and determine that the target travel speed of the vehicle and target drive gear according to the driving pattern information；
Module is adjusted, drives gear for the current driving gear of the vehicle to be adjusted to the target by automatic control module
Position, and the current driving speed is adjusted to the target drive speed.
7. controller of vehicle according to claim 6, which is characterized in that the current context information includes the vehicle
With at a distance from barrier, it is described apart from its change rate and traffic direction sign.
8. controller of vehicle according to claim 6, which is characterized in that the driving pattern information includes automatic mold
Formula, motor pattern and economic model.
9. controller of vehicle according to claim 6, which is characterized in that the target driving information obtains module, packet
It includes:
Aimed acceleration acquisition submodule, for obtaining target according to the target travel speed and the current driving speed
Acceleration；
Target driving information acquisition submodule drives gear and engine target for obtaining target according to the aimed acceleration
Output torque revolving speed.
10. controller of vehicle according to claim 9, which is characterized in that the adjustment module, comprising:
Judging submodule drives gear for judging whether the current driving gear and the current driving speed meet target
With target travel speed；
Adjusting submodule, if driving gear for not meeting according to the target by the automatic control module and starting
Machine target output torque revolving speed, current driving gear to the target for adjusting the vehicle drives gear, and adjusts engine
Current output torque revolving speed is driven to engine target output torque revolving speed with adjusting the current driving speed to the target
Speed.
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| CN201810252218.4A CN110356415A (en) | 2018-03-26 | 2018-03-26 | A kind of control method for vehicle and device |
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| CN201810252218.4A CN110356415A (en) | 2018-03-26 | 2018-03-26 | A kind of control method for vehicle and device |
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| CN201810252218.4A Pending CN110356415A (en) | 2018-03-26 | 2018-03-26 | A kind of control method for vehicle and device |
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| CN112141111A (en) * | 2020-09-02 | 2020-12-29 | 新石器慧义知行智驰(北京)科技有限公司 | Unmanned vehicle driving control method and device and unmanned vehicle |
| CN112356842A (en) * | 2020-11-20 | 2021-02-12 | 苏州智加科技有限公司 | Gear adjusting method, gear adjusting device, gear adjusting equipment and storage medium of automatic driving vehicle |
| CN112937590A (en) * | 2021-02-04 | 2021-06-11 | 厦门金龙联合汽车工业有限公司 | Intelligent vehicle dynamic man-machine interaction system and method |
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| CN112141111B (en) * | 2020-09-02 | 2022-01-11 | 新石器慧义知行智驰(北京)科技有限公司 | Unmanned vehicle driving control method and device and unmanned vehicle |
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| CN114312815A (en) * | 2020-09-30 | 2022-04-12 | 比亚迪股份有限公司 | Driving prompting method and device and automobile |
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| CN114571999A (en) * | 2021-03-25 | 2022-06-03 | 长城汽车股份有限公司 | Vehicle state prompting method and device, readable storage medium and vehicle |
| CN113002546A (en) * | 2021-03-30 | 2021-06-22 | 恒大新能源汽车投资控股集团有限公司 | Vehicle control method and system and vehicle |
| CN113511210A (en) * | 2021-06-01 | 2021-10-19 | 北京汽车集团越野车有限公司 | Vehicle control method, vehicle control device and vehicle |
| CN113511210B (en) * | 2021-06-01 | 2024-01-19 | 北京汽车集团越野车有限公司 | Vehicle control method, vehicle control device and vehicle |
| CN113606329A (en) * | 2021-06-25 | 2021-11-05 | 东风汽车集团股份有限公司 | Vehicle, determination method and determination system of driving mode of vehicle and TCU |
| CN113650610A (en) * | 2021-08-02 | 2021-11-16 | 中寰卫星导航通信有限公司 | Vehicle driving method and device |
| CN113968225A (en) * | 2021-12-08 | 2022-01-25 | 潍柴动力股份有限公司 | Vehicle control system and control method |
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