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CN108944909B - Vehicle control method and device - Google Patents

Vehicle control method and device Download PDF

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Publication number
CN108944909B
CN108944909B CN201710386659.9A CN201710386659A CN108944909B CN 108944909 B CN108944909 B CN 108944909B CN 201710386659 A CN201710386659 A CN 201710386659A CN 108944909 B CN108944909 B CN 108944909B
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vehicle
gradient information
filtering
straight
parameter
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CN108944909A (en
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周申光
刘天培
牛小锋
孔凡茂
戚一超
贾具宾
曾迁
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction

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

Abstract

The invention provides a vehicle control method and a vehicle control device, wherein the vehicle control method comprises the following steps: acquiring gradient information and a straight-line running identifier, wherein the gradient information is used for indicating the angle of a slope where a vehicle is located currently, and the straight-line running identifier is used for indicating whether the vehicle is in a straight-line running state or not; judging whether the vehicle meets a preset state according to the gradient information and the straight-line running identifier, wherein the preset state is a state that a trigger threshold value of a vehicle auxiliary system needs to be adjusted; and when the vehicle meets the preset state, adjusting a trigger threshold value of the vehicle auxiliary system. According to the vehicle control method, whether the vehicle auxiliary system is triggered by mistake in the driving process of the vehicle is judged according to the gradient information and the straight-line driving identification, the triggering threshold value corresponding to the vehicle auxiliary system can be adjusted in real time according to the current road where the vehicle is located, the vehicle auxiliary system can be prevented from being triggered by mistake in the driving process of the vehicle, and the safety of the vehicle in the driving process can be improved.

Description

Vehicle control method and device
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device.
Background
ESP (Electronic Stability Program) analyzes the current driving state of a vehicle by acquiring vehicle driving state information collected by a plurality of sensors of the vehicle, and then sends a deviation correction command to maintain the dynamic balance of the vehicle. Therefore, in order to avoid safety problems during the running of the vehicle, the running state of the vehicle can be subjected to auxiliary control according to the ESP of the vehicle.
In the related art, the ESP can generally acquire and determine whether to perform auxiliary control on the vehicle according to a yaw rate and a lateral acceleration corresponding to the turning of the vehicle. Specifically, the ESP may acquire a yaw rate and a lateral acceleration of the vehicle, and after analysis, determine that a difference between an actual yaw rate and an ideal yaw rate of the vehicle is greater than a yaw rate threshold value, and a difference between an actual lateral acceleration and an ideal lateral acceleration is greater than a lateral acceleration threshold value, so as to trigger the ESP to control the rotation speed of each wheel of the vehicle, thereby completing the auxiliary control of the vehicle.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems:
when a vehicle runs on a side slope, as shown in fig. 1, the steering angle of the vehicle is usually required to be adjusted to prevent the vehicle from sliding down the slope during running, and at this time, the ESP auxiliary control vehicle may be triggered by mistake to drive the vehicle over the slope, so that a safety accident is caused.
Disclosure of Invention
In view of the above, the present invention is directed to a vehicle control method and device, so as to solve the problem that when a vehicle travels on a side slope, an ESP auxiliary control vehicle may be triggered by mistake, resulting in a safety accident.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle control method, comprising:
acquiring gradient information and a straight-line running identifier, wherein the gradient information is used for indicating the angle of a slope where a vehicle is located currently, and the straight-line running identifier is used for indicating whether the vehicle is in a straight-line running state or not;
judging whether the vehicle meets a preset state according to the gradient information and the straight-line running identifier, wherein the preset state is a state that a trigger threshold value of a vehicle auxiliary system needs to be adjusted;
and when the vehicle meets the preset state, adjusting a trigger threshold value of the vehicle auxiliary system.
Further, the determining whether the vehicle satisfies a preset condition includes:
judging whether the angle of the current ramp of the vehicle is larger than a preset angle or not according to the gradient information;
judging whether the vehicle is in a straight line driving state at present or not according to the straight line driving identification;
and when the angle of the current ramp of the vehicle is larger than the preset angle and the vehicle is in a straight-line driving state, determining that the vehicle meets the preset state.
Further, the triggering threshold of the vehicle assistance system includes: a yaw rate threshold and/or a lateral acceleration threshold;
the adjusting a trigger threshold of the vehicle assistance system includes:
adjusting the lateral acceleration threshold according to the gradient information;
adjusting the yaw-rate threshold based on the yaw-rate.
Further, after the obtaining of the gradient information and the straight-driving flag, the vehicle control method further includes:
filtering the gradient information according to a preset gradient information filtering relation to obtain filtered gradient information;
according to the slope information and the straight line running identification, whether the vehicle meets a preset state or not is judged, and the method comprises the following steps:
and judging whether the vehicle meets a preset state or not according to the filtered gradient information and the straight-line running identifier.
Further, the filtering the gradient information according to a preset gradient information filtering relationship to obtain filtered gradient information includes:
according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, the first gain parameter and the first moment control parameter, combining the gradient information filtering relation to obtain the gradient information after filtering at the second moment;
obtaining a second moment control parameter by combining the gradient information filtering relation according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, a second gain parameter and the first moment control parameter;
the second moment is the sum of the first moment and the cycle length, and the cycle length is a cycle for acquiring gradient information.
Further, the gradient information filtered at the second time is a sum of the first product, the second product and the third product; the first product is a product of the gradient information filtered at the first time and a first difference value, wherein the first difference value is a difference value between a value 1 and a product of the cycle length and the first gain parameter; the second product is the product of the period length, the first gain parameter and the gradient information before filtering at the first moment; the third product is the product of the cycle length and the first time control parameter;
the second time control parameter is a sum value between the first time control parameter and a fourth product; the fourth product is a product of the cycle length, a second difference value and the second gain parameter, and the second difference value is a difference value between the gradient information before filtering at the first time and the gradient information after filtering at the first time.
Compared with the prior art, the vehicle control method has the following advantages:
(1) according to the vehicle control method, the slope information and the straight-line running identification are obtained, whether the vehicle meets the preset state or not is judged according to the slope information and the straight-line running identification, and when the vehicle meets the preset state, the trigger threshold value of the vehicle auxiliary system is adjusted. Whether the vehicle auxiliary system is triggered by mistake in the running process of the vehicle is judged according to the gradient information and the straight-line running identification, and the triggering threshold corresponding to the vehicle auxiliary system can be adjusted in real time according to the current road of the vehicle, so that the triggering threshold corresponding to the vehicle auxiliary system can be matched with the running environment of the vehicle in real time, the vehicle auxiliary system can be prevented from being triggered by mistake in the running process of the vehicle, and the safety of the vehicle in the running process can be improved.
(2) According to the vehicle control method, the filtered gradient information is obtained by filtering the gradient information, so that the interference on judging whether the vehicle meets the preset state is reduced, and the accuracy of determining whether the vehicle meets the preset state is improved.
(3) According to the vehicle control method, the trigger threshold corresponding to the vehicle auxiliary system is adjusted according to the current gradient information of the vehicle and the actual yaw rate of the vehicle, so that the vehicle auxiliary system can be prevented from being triggered by mistake in the running process of the vehicle, and the safety of the vehicle in the running process can be improved.
Another objective of the present invention is to provide a vehicle control device to solve the problem of safety accident caused by the possibility of false triggering of the ESP auxiliary control vehicle when the vehicle is running on a side slope.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle control apparatus, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring gradient information and a straight-line driving identifier, the gradient information is used for indicating the angle of a slope where a vehicle is located currently, and the straight-line driving identifier is used for indicating whether the vehicle is in a straight-line driving state or not;
the judging module is used for judging whether the vehicle meets a preset state according to the gradient information and the straight-line running identifier, wherein the preset state is a state that a trigger threshold value of a vehicle auxiliary system needs to be adjusted;
and the adjusting module is used for adjusting the trigger threshold of the vehicle auxiliary system when the vehicle meets the preset state.
Further, the judging module includes:
the angle judgment submodule is used for judging whether the angle of the current ramp of the vehicle is larger than a preset angle or not according to the gradient information;
the identification judgment submodule is used for judging whether the vehicle is in a straight line running state currently or not according to the straight line running identification;
and the state determining submodule is used for determining that the vehicle meets the preset state when the angle of the current ramp of the vehicle is larger than the preset angle and the vehicle is in the straight driving state currently.
Further, the triggering threshold of the vehicle assistance system includes: a yaw rate threshold and/or a lateral acceleration threshold;
the adjustment module includes:
the first adjusting submodule is used for adjusting the lateral acceleration threshold value according to the gradient information;
and the second adjusting submodule is used for adjusting the yaw rate threshold according to the yaw rate.
Further, the vehicle control apparatus further includes:
the filtering module is used for filtering the gradient information according to a preset gradient information filtering relation to obtain filtered gradient information;
the judging module comprises:
and the judgment submodule is used for judging whether the vehicle meets a preset state or not according to the filtered gradient information and the straight-line running identifier.
Further, the filtering module includes:
the gradient information determining submodule is used for obtaining gradient information after filtering at a second moment by combining the gradient information filtering relation according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, the first gain parameter and the first moment control parameter;
the control parameter determining submodule is used for obtaining a second moment control parameter by combining the gradient information filtering relation according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, a second gain parameter and the first moment control parameter;
the second moment is the sum of the first moment and the cycle length, and the cycle length is a cycle for acquiring gradient information.
Further, the gradient information filtered at the second time is a sum of the first product, the second product and the third product; the first product is a product of the gradient information filtered at the first time and a first difference value, wherein the first difference value is a difference value between a value 1 and a product of the cycle length and the first gain parameter; the second product is the product of the period length, the first gain parameter and the gradient information before filtering at the first moment; the third product is the product of the cycle length and the first time control parameter;
the second time control parameter is a sum value between the first time control parameter and a fourth product; the fourth product is a product of the cycle length, a second difference value and the second gain parameter, and the second difference value is a difference value between the gradient information before filtering at the first time and the gradient information after filtering at the first time.
The vehicle control device and the vehicle control method have the same advantages compared with the prior art, and are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of a driving environment of a vehicle according to an embodiment of the present invention;
FIG. 2 is an exemplary block diagram of a vehicle control system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps of a method for controlling a vehicle according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating steps of another vehicle control method according to an embodiment of the present invention;
fig. 5 is an exemplary configuration diagram of a vehicle control apparatus according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 2, which shows an exemplary configuration diagram of a vehicle control system according to an embodiment of the present invention, as shown in fig. 2, the vehicle control system may include: the vehicle gradient information optimization system includes a gradient information acquisition module 10, a gradient information optimization module 20, a vehicle driving state acquisition module 30, and a control module 40.
The gradient information optimizing module 20 is connected to the gradient information acquiring module 10 and the control module 40, respectively, and the vehicle driving state acquiring module 30 is also connected to the control module 40. The vehicle running state acquisition module 30 may include: the control module 40 may be a CPU (central processing Unit) or other components having an arithmetic processing function, and the embodiment of the present invention does not specifically limit at least one of the sensor and the processing module.
Specifically, the gradient information acquisition module 10 may acquire gradient information and transmit the acquired gradient information to the gradient information optimization module 20. Wherein the grade information is used to indicate the angle of the slope on which the vehicle is currently located.
The slope information optimization module 20 may optimize the received slope information, remove interference signals such as burrs in the slope information by filtering, and send the optimized slope information to the control module 40.
The vehicle driving state acquisition module 30 may acquire a straight-driving flag indicating whether the vehicle is in a straight-driving state and transmit the straight-driving flag to the control module 40.
Alternatively, the vehicle driving state obtaining module 30 may obtain at least one driving state parameter value of at least four wheel speeds, a yaw rate differential, and a steering angle of a steering wheel, determine whether each driving state parameter value of the at least one driving state parameter value satisfies a preset condition corresponding to the driving state parameter value, and finally determine whether the vehicle is in a straight-driving state according to the determination result.
The control module 40 may receive and determine whether the vehicle satisfies a preset condition according to the gradient information and the straight-line driving identifier, and may adjust a trigger threshold of the vehicle assistance system when the vehicle satisfies the preset condition, so as to control the vehicle.
The preset state may be a state in which a trigger threshold of the vehicle auxiliary system needs to be adjusted, the vehicle auxiliary system may be an ESP, or may also be another vehicle auxiliary system, and a trigger condition corresponding to the trigger threshold of the other vehicle auxiliary system is associated with at least one parameter of a related parameter of vehicle steering, a yaw rate, and a lateral acceleration, which is not limited in the embodiment of the present invention.
An embodiment of the present invention provides a vehicle control method, as shown in fig. 3, which may include the following steps:
and 301, acquiring gradient information and a straight-line running identifier.
The slope information is used for indicating the angle of a slope where the vehicle is located at present, and the straight-driving mark is used for indicating whether the vehicle is in a straight-driving state or not. For example, the straight-driving flag may include "0" and "1", where "0" indicates that the vehicle is not currently in the straight-driving state, and "1" indicates that the vehicle is currently in the straight-driving state.
In controlling a vehicle, it is necessary to determine a manner of controlling the vehicle according to a real-time running condition of the vehicle. Therefore, gradient information and a straight-line driving identifier of the road need to be acquired, so that in the subsequent steps, the inclination angle of the road where the current vehicle is located can be determined according to the gradient information, and whether the vehicle is in a straight-line driving state can be judged according to the straight-line driving identifier.
It should be noted that the gradient information may be obtained in various manners, for example, a gradient value of the vehicle running may be calculated through a dynamic equation according to various parameters of the vehicle running, which are collected by a sensor of the vehicle, where the various parameters collected by the sensor may include a vehicle speed, a longitudinal acceleration of the vehicle, a slope acceleration of the vehicle, an engine speed, a torque, a vehicle mass, and the like. Of course, a plurality of parameter values of the vehicle may also be used as input data of the gradient model, so as to obtain the gradient information according to the output data of the gradient model.
In addition, the straight-line driving mark can be acquired in various ways, for example, steering data of the vehicle can be acquired through a steering angle sensor, and whether the vehicle is in a straight-line driving state or not can be judged according to the acquired steering data. Of course, a plurality of parameter values in the vehicle driving process may also be acquired, and whether each acquired parameter value meets a corresponding condition is determined, so as to determine whether the vehicle is in a straight-line driving state according to a plurality of determination results.
And step 302, judging whether the vehicle meets a preset state or not according to the gradient information and the straight-line running identifier.
Wherein the preset state is a state in which a triggering threshold of the vehicle auxiliary system needs to be adjusted.
Moreover, the triggering threshold of the vehicle assistance system may include: a yaw rate threshold and/or a lateral acceleration threshold. Further, the triggering condition for triggering the vehicle assistance system according to the triggering threshold may include: the difference between the actual yaw rate and the desired yaw rate of the vehicle is greater than the yaw rate threshold and the difference between the actual lateral acceleration and the desired lateral acceleration of the vehicle is greater than the lateral acceleration threshold. Therefore, adjusting the trigger threshold of the vehicle assistance system is adjusting the trigger condition of the vehicle assistance system.
Since the vehicle assist system controls the rotation speed of each wheel of the vehicle when the vehicle turns, and the vehicle is prevented from being under-steered or over-steered, in order to avoid that the vehicle erroneously triggers the vehicle assist system to control the rotation speed of each wheel during the running of the vehicle on a lateral slope as shown in fig. 1, the triggering threshold for triggering the vehicle assist system needs to be adjusted.
Therefore, after the slope information and the straight-line running identifier corresponding to the vehicle at present are obtained, whether the vehicle meets the preset state or not can be judged according to the slope information and the straight-line running identifier, and whether the trigger threshold value of the vehicle auxiliary system needs to be adjusted or not can be judged.
Optionally, whether the angle of the current ramp on which the vehicle is located is greater than a preset angle or not may be determined according to the gradient information, that is, whether the gradient value indicated by the gradient information is greater than the preset angle or not may be determined, and if the gradient value is not greater than the preset angle, it is determined that the current road is relatively flat, and the trigger threshold of the vehicle auxiliary system does not need to be adjusted.
However, if the gradient value is greater than the preset angle, it may be possible to trigger the vehicle assistance system by mistake when the vehicle travels on the lateral slope corresponding to the gradient value, and therefore it is necessary to determine whether the vehicle is currently in a straight-line travel state according to the straight-line travel identifier. If the vehicle is not in a straight-line running state at present, the triggering threshold value of the vehicle auxiliary system is not adjusted, so that safety accidents are avoided; however, if the vehicle is currently in a straight-driving state, the triggering threshold of the vehicle assistance system needs to be adjusted to avoid false triggering of the vehicle assistance system, so that the vehicle drives upward along a slope (the side with the higher vertical distance).
In summary, when the angle of the current slope of the vehicle is greater than the preset angle and the vehicle is currently in the straight-driving state, it may be determined that the vehicle satisfies the preset state and the trigger threshold of the vehicle assistance system needs to be adjusted.
It should be noted that, in the process of determining according to the slope information and the straight-line driving identifier, the determination may be performed according to the slope information and then according to the straight-line driving identifier, or may be performed according to the straight-line driving identifier and then according to the slope information, or may be performed according to the slope information and the straight-line driving identifier at the same time, which is not limited in the embodiment of the present invention.
And step 303, when the vehicle meets the preset state, adjusting a trigger threshold value of the vehicle auxiliary system.
Upon determining that the vehicle satisfies the preset condition, a trigger threshold of the vehicle assistance system may be adjusted based on the grade information of the vehicle and travel data sent by other sensors of the vehicle. Correspondingly, the parameter value of the trigger threshold value to be increased can be determined according to the gradient value of the current gradient of the vehicle and the actual yaw velocity of the vehicle, so that a new trigger threshold value is obtained, the adjustment of the trigger threshold value of the vehicle auxiliary system is completed, and the control of the vehicle is realized.
In summary, the vehicle control method provided in the embodiment of the present invention determines whether the vehicle satisfies the preset state by obtaining the gradient information and the straight-line driving identifier, and adjusts the trigger threshold of the vehicle auxiliary system when the vehicle satisfies the preset state. Whether the vehicle auxiliary system is triggered by mistake in the running process of the vehicle is judged according to the gradient information and the straight-line running identification, and the triggering threshold corresponding to the vehicle auxiliary system can be adjusted in real time according to the current road of the vehicle, so that the triggering threshold corresponding to the vehicle auxiliary system can be matched with the running environment of the vehicle in real time, the vehicle auxiliary system can be prevented from being triggered by mistake in the running process of the vehicle, and the safety of the vehicle in the running process can be improved.
On the basis of fig. 3, another vehicle control method is provided in the embodiments of the present invention, and as shown in fig. 4, the vehicle control method may include the following steps:
and step 401, obtaining gradient information and a straight-line running identifier.
This step 401 is similar to step 301, and is not described herein again.
And step 402, filtering the gradient information according to a preset gradient information filtering relation to obtain filtered gradient information.
Because interference signals such as burrs exist in the acquired gradient information and influence the judgment result of the subsequent step, the acquired gradient information can be filtered according to the preset gradient information filtering relation, so that the interference signals such as burrs are removed, and the filtered gradient information is obtained.
The gradient information filtering relationship can be used for obtaining gradient information and a second time control parameter which are filtered at a second time, wherein the second time is the sum of the first time and a period length, and the period length is the period for collecting the gradient information by the vehicle.
Specifically, the gradient information filtered at the second time may be obtained by combining the gradient information filtering relationship according to the gradient information before filtering at the first time, the gradient information filtered at the first time, the cycle length, the first gain parameter, and the first time control parameter.
And the second time control parameter can be obtained by combining the gradient information filtering relation according to the gradient information before the first time filtering, the gradient information after the first time filtering, the cycle length, the second gain parameter and the first time control parameter.
Optionally, the gradient information filtering relationship may include:
the gradient information filtered at the second moment is the sum of the first product, the second product and the third product; the first product is the product of the gradient information filtered at the first time and a first difference value, wherein the first difference value is the difference value between the value 1 and the product of the period length and the first gain parameter; the second product is the product of the period length, the first gain parameter and the gradient information before filtering at the first moment; the third product is the product of the cycle length and the control parameter at the first time.
That is, the gradient information filtering relationship may include a first filtering formula, and the first filtering formula may be:
Figure BDA0001306539130000111
wherein,
Figure BDA0001306539130000112
for the filtered gradient information at the second moment, αkIs the gradient information before filtering at the first moment, T is the period for obtaining the gradient information,
Figure BDA0001306539130000113
gradient information g filtered for the first time1Is a first gain parameter, ukControlling parameters for a first time, the second time being the first time and the cycle lengthAnd a value.
Optionally, the gradient information filtering relationship may further include:
the second time control parameter is the sum of the first time control parameter and the fourth product; the fourth product is a product of the period length, a second difference value and a second gain parameter, wherein the second difference value is a difference value between the gradient information before filtering at the first time and the gradient information after filtering at the first time.
That is, the gradient information filtering relationship may include a second filtering formula, and the second filtering formula may be:
Figure BDA0001306539130000114
wherein u isk+1For controlling the parameter at the second moment, ukFor controlling the parameter at a first moment of time, αkIs the gradient information before filtering at the first moment, T is the period for obtaining the gradient information,
Figure BDA0001306539130000115
gradient information, g, filtered at a first time2Is a second gain parameter, and the second time is the sum of the first time and the period length.
And step 403, judging whether the vehicle meets a preset state or not according to the filtered gradient information and the straight-line running identifier.
This step 403 is similar to step 302 and will not be described herein again.
And step 404, when the vehicle meets the preset state, adjusting a trigger threshold value of the vehicle auxiliary system.
When the vehicle is determined to meet the preset state, the lateral acceleration threshold value can be adjusted according to the gradient information; and adjusting the yaw-rate threshold value according to the yaw-rate. Wherein the yaw rate can be acquired from a yaw rate sensor of the vehicle.
Specifically, the parameter value to be added to the original yaw rate threshold may be determined according to a yaw rate adjustment formula, where the yaw rate adjustment formula may be:
Figure BDA0001306539130000121
wherein,
Figure BDA0001306539130000122
value of parameter, V, requiring an increase in yaw-rate thresholdxFor reference vehicle speed, L is vehicle wheelbase, KuIs a steering gradient, and the steering gradient may be constant.
Moreover, the parameter value that the original lateral acceleration threshold value needs to be increased can be determined according to a lateral acceleration adjusting formula, which can be:
αe＝g*sin(bank_angle_flt) (4)
wherein, aeThe value of the parameter that needs to be increased for the lateral acceleration threshold, g is the gravitational acceleration, and bank _ angle _ flt is the grade information.
For example, the original lateral acceleration threshold value of the vehicle assistance system is a, the yaw rate threshold value is b, after calculation, if it is determined that the lateral acceleration threshold value needs to be increased by c and the yaw rate threshold value needs to be increased by d, the obtained new lateral acceleration threshold value is a + c, and the new yaw rate threshold value is b + d.
In summary, the vehicle control method provided in the embodiment of the present invention obtains the gradient information and the straight-line driving identifier, filters the gradient information, and finally determines whether the vehicle satisfies the preset state according to the filtered gradient information and the straight-line driving identifier, and when the vehicle satisfies the preset state, adjusts the trigger threshold of the vehicle auxiliary system according to the gradient information and the actual yaw acceleration of the vehicle. By filtering the gradient information and judging whether the vehicle can trigger the vehicle auxiliary system by mistake in the running process according to the filtered gradient information and the straight running identifier, the trigger threshold corresponding to the vehicle auxiliary system can be adjusted according to the current road and running condition of the vehicle, namely according to the current gradient information of the vehicle and the actual yaw velocity of the vehicle, the vehicle auxiliary system can be prevented from being triggered by mistake in the running process, and the safety of the vehicle in the running process can be improved.
An embodiment of the present invention provides a vehicle control apparatus, which may include the following modules as shown in fig. 5:
the acquiring module 501 is configured to acquire gradient information and a straight-line driving identifier, where the gradient information is used to indicate an angle of a slope where a vehicle is currently located, and the straight-line driving identifier is used to indicate whether the vehicle is in a straight-line driving state;
a determining module 502, configured to determine whether the vehicle meets a preset state according to the gradient information and the straight-line driving identifier, where the preset state is a state in which a trigger threshold of the vehicle auxiliary system needs to be adjusted;
an adjusting module 503, configured to adjust the trigger threshold of the vehicle assistance system when the vehicle satisfies the preset condition.
In summary, the vehicle control apparatus provided in the embodiment of the present invention determines whether the vehicle satisfies the preset state by obtaining the gradient information and the straight-line driving identifier, and adjusts the trigger threshold of the vehicle auxiliary system when the vehicle satisfies the preset state. Whether the vehicle auxiliary system is triggered by mistake in the running process of the vehicle is judged according to the gradient information and the straight-line running identification, and the triggering threshold corresponding to the vehicle auxiliary system can be adjusted in real time according to the current road of the vehicle, so that the triggering threshold corresponding to the vehicle auxiliary system can be matched with the running environment of the vehicle in real time, the vehicle auxiliary system can be prevented from being triggered by mistake in the running process of the vehicle, and the safety of the vehicle in the running process can be improved.
Further, the determining module 502 includes:
the angle judgment submodule is used for judging whether the angle of the current ramp of the vehicle is larger than a preset angle or not according to the gradient information;
the identification judgment submodule is used for judging whether the vehicle is in a straight line running state currently or not according to the straight line running identification;
and the state determining submodule is used for determining that the vehicle meets the preset state when the angle of the current ramp of the vehicle is larger than the preset angle and the vehicle is in the straight driving state.
Further, the triggering threshold of the vehicle assistance system includes: a yaw rate threshold and/or a lateral acceleration threshold;
the adjusting module 503 includes:
the first adjusting submodule is used for adjusting the lateral acceleration threshold value according to the gradient information;
and a second adjusting submodule for adjusting the yaw-rate threshold value in accordance with the yaw-rate.
Further, the vehicle control apparatus further includes:
the filtering module is used for filtering the gradient information according to a preset gradient information filtering relation to obtain filtered gradient information;
the determining module 502 includes:
and the judgment submodule is used for judging whether the vehicle meets the preset state or not according to the filtered gradient information and the straight line running identifier.
Further, the filtering module includes:
the gradient information determining submodule is used for obtaining gradient information after filtering at a second moment by combining the gradient information filtering relation according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, the first gain parameter and the first moment control parameter;
the control parameter determining submodule is used for obtaining a second moment control parameter by combining the gradient information filtering relation according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, the second gain parameter and the first moment control parameter;
the second time is the sum of the first time and the cycle length, and the cycle length is the period for acquiring gradient information.
Further, the gradient information filtered at the second time is a sum of the first product, the second product and the third product; the first product is the product of the gradient information filtered at the first time and a first difference value, wherein the first difference value is the difference value between the value 1 and the product of the period length and the first gain parameter; the second product is the product of the period length, the first gain parameter and the gradient information before filtering at the first moment; the third product is the product of the cycle length and the control parameter at the first moment;
the second time control parameter is the sum of the first time control parameter and the fourth product; the fourth product is a product of the period length, a second difference value and a second gain parameter, wherein the second difference value is a difference value between the gradient information before filtering at the first time and the gradient information after filtering at the first time.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. A vehicle control method characterized by comprising:
acquiring gradient information and a straight-line running identifier of a lateral ramp, wherein the gradient information is used for indicating the angle of the ramp where a vehicle is located currently, and the straight-line running identifier is used for indicating whether the vehicle is in a straight-line running state or not;
judging whether the vehicle meets a preset state according to the gradient information and the straight-line running identifier, wherein the preset state is a state that a trigger threshold value of a vehicle auxiliary system needs to be adjusted;
when the vehicle meets the preset state, adjusting a trigger threshold of the vehicle auxiliary system;
wherein after the obtaining of the gradient information and the straight-line travel flag, the vehicle control method further includes:
filtering the gradient information according to a preset gradient information filtering relation to obtain filtered gradient information;
according to the slope information and the straight line running identification, whether the vehicle meets a preset state or not is judged, and the method comprises the following steps:
judging whether the vehicle meets a preset state or not according to the filtered gradient information and the straight-line running identifier;
wherein the gradient information filtering relationship comprises a first filtering formula, and the first filtering formula is as follows:
Figure FDA0002601296910000011
wherein,
Figure FDA0002601296910000012
for the filtered gradient information at the second moment, αkIs the gradient information before filtering at the first moment, T is the cycle length for obtaining the gradient information,
Figure FDA0002601296910000013
gradient information g filtered for the first time1Is a first gain parameter, ukControlling a parameter for a first time, wherein the second time is the sum of the first time and the cycle length;
the triggering threshold of the vehicle assistance system comprises: a yaw rate threshold and/or a lateral acceleration threshold;
the adjusting a trigger threshold of the vehicle assistance system includes:
adjusting the lateral acceleration threshold value according to the filtered gradient information;
adjusting the yaw rate threshold according to the yaw rate;
determining a parameter value to which the yaw rate threshold value needs to be increased according to a yaw rate adjustment formula, wherein the yaw rate adjustment formula is as follows:
Figure FDA0002601296910000021
wherein,
Figure FDA0002601296910000022
value of parameter, V, requiring an increase in yaw-rate thresholdxFor reference vehicle speed, L is vehicle wheelbase, KuIs a steering gradient, and the steering gradient may be constant;
determining a parameter value to be increased of the lateral acceleration threshold according to a lateral acceleration adjustment formula, wherein the lateral acceleration adjustment formula is as follows:
αe＝g*sin(bank_angle_flt) (4)
wherein, aeThe value of the parameter that needs to be increased for the lateral acceleration threshold, g is the gravitational acceleration, and bank _ angle _ flt is the grade information.
2. The vehicle control method according to claim 1, wherein the determining whether the vehicle satisfies a preset condition includes:
judging whether the angle of the current ramp of the vehicle is larger than a preset angle or not according to the filtered gradient information;
judging whether the vehicle is in a straight line driving state at present or not according to the straight line driving identification;
and when the angle of the current ramp of the vehicle is larger than the preset angle and the vehicle is in a straight-line driving state, determining that the vehicle meets the preset state.
3. The vehicle control method according to claim 1, wherein the filtering the gradient information according to a preset gradient information filtering relationship to obtain filtered gradient information comprises:
according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, the first gain parameter and the first moment control parameter, combining the gradient information filtering relation to obtain the gradient information after filtering at the second moment;
obtaining a second moment control parameter by combining the gradient information filtering relation according to the gradient information before filtering at the first moment, the gradient information after filtering at the first moment, the cycle length, a second gain parameter and the first moment control parameter;
the second moment is the sum of the first moment and the cycle length, and the cycle length is a cycle for acquiring gradient information.
4. The vehicle control method according to claim 3, characterized in that the second time-filtered gradient information is a sum of a first product, a second product, and a third product; the first product is a product of the gradient information filtered at the first time and a first difference value, wherein the first difference value is a difference value between a value 1 and a product of the cycle length and the first gain parameter; the second product is the product of the period length, the first gain parameter and the gradient information before filtering at the first moment; the third product is the product of the cycle length and the first time control parameter;
the second time control parameter is a sum value between the first time control parameter and a fourth product; the fourth product is a product of the cycle length, a second difference value and the second gain parameter, and the second difference value is a difference value between the gradient information before filtering at the first time and the gradient information after filtering at the first time.
5. A vehicle control apparatus, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring gradient information and a straight-line driving identifier, the gradient information is used for indicating the angle of a slope where a vehicle is located currently, and the straight-line driving identifier is used for indicating whether the vehicle is in a straight-line driving state or not;
the judging module is used for judging whether the vehicle meets a preset state according to the gradient information and the straight-line running identifier, wherein the preset state is a state that a trigger threshold value of a vehicle auxiliary system needs to be adjusted;
the adjusting module is used for adjusting the trigger threshold of the vehicle auxiliary system when the vehicle meets the preset state;
wherein the vehicle control apparatus further includes:
the filtering module is used for filtering the gradient information according to a preset gradient information filtering relation to obtain filtered gradient information;
the judging module comprises:
the judgment submodule is used for judging whether the vehicle meets a preset state or not according to the filtered gradient information and the straight-line running identifier;
wherein the gradient information filtering relationship comprises a first filtering formula, and the first filtering formula is as follows:
Figure FDA0002601296910000041
wherein,
Figure FDA0002601296910000042
for the filtered gradient information at the second moment, αkIs the gradient information before filtering at the first moment, T is the cycle length for obtaining the gradient information,
Figure FDA0002601296910000043
gradient information g filtered for the first time1Is a first gain parameter, ukControlling a parameter for a first time, wherein the second time is the sum of the first time and the cycle length;
the triggering threshold of the vehicle assistance system comprises: a yaw rate threshold and/or a lateral acceleration threshold;
the adjustment module includes:
the first adjusting submodule is used for adjusting the lateral acceleration threshold value according to the filtered gradient information;
the second adjusting submodule is used for adjusting the yaw rate threshold according to the yaw rate;
determining a parameter value to which the yaw rate threshold value needs to be increased according to a yaw rate adjustment formula, wherein the yaw rate adjustment formula is as follows:
Figure FDA0002601296910000044
wherein,
Figure FDA0002601296910000045
value of parameter, V, requiring an increase in yaw-rate thresholdxFor reference vehicle speed, L is vehicle wheelbase, KuIs a steering gradient, and the steering gradient may be constant;
determining a parameter value to be increased of the lateral acceleration threshold according to a lateral acceleration adjustment formula, wherein the lateral acceleration adjustment formula is as follows:
αe＝g*sin(bank_angle_flt) (4)
wherein, aeThe value of the parameter that needs to be increased for the lateral acceleration threshold, g is the gravitational acceleration, and bank _ angle _ flt is the grade information.
6. The vehicle control apparatus according to claim 5, characterized in that the determination module includes:
the angle judgment submodule is used for judging whether the angle of the current ramp of the vehicle is larger than a preset angle or not according to the filtered gradient information;
the identification judgment submodule is used for judging whether the vehicle is in a straight line running state currently or not according to the straight line running identification;
and the state determining submodule is used for determining that the vehicle meets the preset state when the angle of the current ramp of the vehicle is larger than the preset angle and the vehicle is in the straight driving state currently.
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