CN114407917B - Driving mode switching method and device, vehicle and readable storage medium - Google Patents
Driving mode switching method and device, vehicle and readable storage medium Download PDFInfo
- Publication number
- CN114407917B CN114407917B CN202111592091.9A CN202111592091A CN114407917B CN 114407917 B CN114407917 B CN 114407917B CN 202111592091 A CN202111592091 A CN 202111592091A CN 114407917 B CN114407917 B CN 114407917B
- Authority
- CN
- China
- Prior art keywords
- torque
- control unit
- target
- current
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims description 39
- 230000015654 memory Effects 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 15
- 230000003247 decreasing effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 9
- 230000006870 function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000007704 transition Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- 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
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a driving mode switching method, a driving mode switching device, a vehicle and a readable storage medium, wherein the switching method comprises the following steps: determining a target torque to be output by the motor according to the operation of the power pedal; controlling the driving torque output by the motor to be converted into target torque from the current torque; and controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque. According to the technical scheme, the vehicle can be smoothly switched from the automatic driving mode to the manual driving mode based on the operation of the power pedal, so that the convenience of the switching process is improved, and the user experience is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a driving mode switching method and device, a vehicle, and a readable storage medium.
Background
At present, when the vehicle is switched from an automatic driving mode to a manual driving mode, the operation of the driver on the vehicle is complicated, and the convenience and the user experience of the switching process are reduced.
Disclosure of Invention
The embodiment of the application provides a driving mode switching method, a driving mode switching device, a vehicle and a readable storage medium, so as to solve the problems of the related technologies, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for switching a driving mode, including:
determining a target torque to be output by the motor according to the operation of the power pedal;
controlling the driving torque output by the motor to be converted into target torque from the current torque;
and controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
In a second aspect, an embodiment of the present application provides a switching device for driving modes, including:
the determining module is used for determining target torque to be output by the motor according to the operation of the power pedal;
the first control module is used for controlling the driving torque output by the motor to be converted from the current torque to the target torque;
and the second control module is used for controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
In a third aspect, embodiments of the present application provide a vehicle, including:
a power control unit for determining a target torque to be output by the motor according to an operation of the power pedal;
and the longitudinal motion control unit is used for controlling the driving torque output by the motor to be converted into the target torque from the current torque, and entering a manual driving mode under the condition that the driving torque reaches the target torque.
In a fourth aspect, embodiments of the present application provide an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of switching driving modes.
In a fifth aspect, embodiments of the present application provide a computer-readable storage medium storing computer instructions that, when executed on a computer, perform a method according to any one of the above-described embodiments.
The advantages or beneficial effects in the technical scheme at least comprise: the target torque to be output by the motor is determined through the operation of the power pedal, the driving torque output by the motor is automatically controlled to be gradually converted into the target torque from the current torque, and the vehicle is controlled to enter the manual driving mode under the condition that the driving torque reaches the target torque, so that the vehicle can be automatically and smoothly switched from the automatic driving mode to the manual driving mode based on the operation of the power pedal, the convenience of the switching process is improved, and the user experience is improved.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
FIG. 1 is a schematic diagram of a driving mode switching method according to an embodiment of the present application;
FIG. 2 is a flow chart of step S120 according to an embodiment of the present application;
FIG. 3A is a schematic illustration of a torque curve according to one embodiment of the present application;
FIG. 3B is another schematic illustration of a torque curve according to an embodiment of the present application;
FIG. 4 is a flowchart of step S210 according to an embodiment of the present application;
fig. 5 is a schematic view of a switching device of driving modes according to another embodiment of the present application;
FIG. 6A is a structural frame of a vehicle according to yet another embodiment of the present application;
FIG. 6B is a schematic illustration of an interaction flow between the control units of the vehicle of FIG. 6A;
fig. 7 is a block diagram of an electronic device for implementing a switching method of driving modes of an embodiment of the present application.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
Fig. 1 shows a flowchart of a switching method of driving modes according to an embodiment of the present application. As shown in fig. 1, the handover method may include:
step S110, determining target torque to be output by the motor according to the operation of the power pedal;
step S120, controlling the driving torque output by the motor to be changed from the current torque to the target torque;
and step S130, controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
For example, the operation of the power pedal may be that the driver steps on the power pedal, and by monitoring the opening degree of the power pedal, the monitoring of the operation of the power pedal may be achieved; the opening of the power pedal is the opening of the power pedal for controlling the throttle valve to be positioned. Step S110 may include: determining torque corresponding to the opening degree of the power pedal according to the opening degree of the power pedal; and taking the torque corresponding to the opening degree of the power pedal as the target torque to be output by the motor.
The target torque may be indicative of the torque that the driver desires to be achieved by stepping on the motor of the vehicle. The current torque is the torque of the vehicle at the current moment in the automatic driving mode. Step S120 may include: controlling the driving torque output by the motor to gradually approach to the target torque from the current torque; and determining that the current torque is converted into the target torque under the condition that the torque difference between the driving torque and the target torque is smaller than a preset difference. The preset difference value may be 0n·m, or may be other values greater than 0, and the preset difference value may be selected and adjusted according to actual needs, which is not limited in the embodiment of the present application. By controlling the transition of the driving torque output by the motor from the current torque to the target torque, a smooth transition of the driving torque from the current torque to the target torque can be achieved, so that the driving torque gradually transitions to the torque desired by the driver to be output by the motor.
According to the switching method, the target torque to be output by the motor is determined through the operation of the power pedal, the driving torque output by the motor is automatically controlled to be gradually converted from the current torque to the target torque, and the vehicle is controlled to enter the manual driving mode under the condition that the driving torque reaches the target torque, so that the vehicle can be automatically and smoothly switched from the automatic driving mode to the manual driving mode based on the operation of the power pedal, the convenience of the switching process is improved, and the user experience is improved.
In practical application, the switching method is suitable for switching control of switching the vehicle from the automatic driving mode to the manual driving mode. The automatic driving mode of the vehicle includes, but is not limited to, an automatic parking mode, an automatic driving mode (i.e., an automatic driving mode), and an automatic braking mode (i.e., an automatic deceleration mode) of the vehicle. For example, in the related art, switching from the automatic Parking mode to the manual driving mode requires the driver to sequentially perform operations such as exiting the automatic Parking mode, releasing the electronic Parking brake system (Electrical Park Brake, abbreviated as EPB), and cutting out the P (park) gear on the vehicle, which has a complicated operation process, and reduces convenience of switching and user experience. According to the scheme, based on the operation of the power pedal, the vehicle can be smoothly switched from the automatic parking mode to the manual driving mode, so that a driver smoothly takes over the control of the vehicle in a parking scene. Especially under the automatic parking scene, the driver switches the vehicle from the automatic parking mode to the manual driving mode by stepping on the power pedal, so that the control of the vehicle is directly taken over, the vehicle does not need to wait for ending the automatic parking, the vehicle is conveniently controlled to directly drive away from a parking space, and the take-over speed is favorably improved.
In one embodiment, as shown in fig. 2, controlling the driving torque output by the motor to be changed from the current torque to the target torque may include:
step S210, generating a torque curve according to the current torque and the target torque; the torque curve links the current torque and the target torque;
and S220, controlling the motor to output corresponding driving torque according to the torque curve.
Illustratively, as shown in fig. 3A and 3B, step S210 may include: and according To the current torque Mo and the target torque Md, automatically generating a torque curve which smoothly connects the current torque Mo and the target torque Md, wherein the torque curve is a curve between the current time To and the target time Td. Further, in step S220, the motor is controlled to output the corresponding driving torque M according to the torque curve, so that the driving torque M output by the motor can be smoothly transited from the current torque Mo to the target torque Md.
In one embodiment, as shown in FIG. 4, generating a torque curve from the current torque and the target torque includes:
step S410, determining a torque increment according to a torque difference between the target torque and the current torque;
step S420, a torque curve is generated according to the current torque, the target torque and the torque increment.
The torque increment is an increment of torque in unit time, for example, the torque increment is 1 N.m per second. The torque increment can be selected and adjusted according to actual needs, and is not limited by the embodiment of the application.
In one example, in the case where the torque difference is greater than the torque threshold, the change rule of the torque increment from the current time of the current torque to the target time of the target torque is first gradual and then gradual. The target time may be a time later than the current time by a preset time, for example, the target time is a time 6s later than the current time. The following describes, for example, the law of variation of the torque increment.
As shown in fig. 3A, the abscissa represents time t and the ordinate represents driving torque M. The current torque Mo is negative torque, the target torque Md is positive torque, the torque difference between the target torque Md and the current torque Mo is larger than the torque threshold, the change rule of the torque increment from the current moment To the middle moment Tm is set To be gradually reduced, and the change rule from the middle moment Tm To the target moment Td is set To be gradually increased. For example, when the current torque Mo is-1 n·m, the torque increment from the current time To the intermediate time Tm is 2n·m, 1.5n·m, and 1.3n·m in this order, the driving torque at time to+1 is 1n·m, the driving torque at time to+2 is 2.5n·m, and the driving torque Mm at time Tm is 3.8n·m. The torque increases from the intermediate time Tm to the target time Td are 1n·m, 1.1n·m, and 1.2n·m in this order, the driving torque at the time tm+1 is 4.8n·m, the driving torque at the time tm+2 is 5.9n·m, and the driving torque Md at the time Td is 7.1n·m. Therefore, the generated torque curve is steeper, and when the motor is controlled to output the driving torque according to the torque curve, the driving torque can be smoothly transited from the current torque Mo to the target torque Md rapidly, so that the control efficiency is improved. Furthermore, the driving torque can rapidly transit from the negative torque to the positive torque, and is suitable for a switching scenario in which the vehicle is switched from the braking driving mode to the manual driving mode.
In another example, in the case where the torque difference is less than or equal to the torque threshold, the law of change of the torque increment from the current time of the current torque to the target time of the target torque is gradual increase and gradual decrease. For example, as shown in fig. 3B, when the current torque Mo and the target torque Md are both positive torques and the torque difference between the target torque Md and the current torque Mo is less than or equal To the torque threshold, the change rule of the torque increment from the current time To the intermediate time Tm is set To be gradual, and the change rule from the intermediate time Tm To the target time Td is set To be gradual. The change rule of the torque increment can be deduced by referring to the above example, and is not described here. Therefore, the generated torque curve is relatively flat, and when the motor is controlled to output the driving torque according to the torque curve, the driving torque can be smoothly transited from the current torque Mo to the target torque Md, so that the user experience is improved. Further, the drive torque smoothly transitions from a smaller positive torque to a larger positive torque, and is suitable for a switching scenario in which the vehicle is switched from the drive driving mode to the manual driving mode.
Fig. 5 shows a schematic structural diagram of a switching device of driving modes according to another embodiment of the present application. As shown in fig. 5, the driving mode switching device 500 may include:
a determining module 510 for determining a target torque to be output by the motor according to an operation of the power pedal;
a first control module 520 for controlling the driving torque output from the motor to be converted from the current torque to the target torque;
the second control module 530 is configured to control the vehicle to enter a manual driving mode when the driving torque reaches the target torque.
In one embodiment, the first control module 520 may include:
the generating submodule is used for generating a torque curve according to the current torque and the target torque; the torque curve links the current torque and the target torque;
and the control sub-module is used for controlling the motor to output corresponding driving torque according to the torque curve.
In one embodiment, the generating sub-module may include:
a determining unit for determining a torque increment according to a torque difference between the target torque and the current torque;
and the generating unit is used for generating a torque curve according to the current torque, the target torque and the torque increment.
In one embodiment, the generating sub-module may further include:
and the first setting unit is used for setting the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque to be gradually reduced and then gradually increased under the condition that the torque difference value is larger than the torque threshold value.
In one embodiment, the generating sub-module may further include:
and the second setting unit is used for setting the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque to be gradually increased and then gradually decreased under the condition that the torque difference value is smaller than or equal to the torque threshold value.
The functions of each module in each apparatus of the embodiments of the present application may be referred to the corresponding descriptions in the above methods, which are not described herein again.
Fig. 6A shows a schematic structural view of a vehicle according to a further embodiment of the present application. Fig. 6B shows a schematic diagram of an interaction flow between the control units in fig. 6A. As shown in fig. 6A and 6B, the vehicle 600 may include:
a power control unit 610 for determining a target torque to be output by the motor according to an operation of the power pedal;
and a longitudinal movement control unit 620 for controlling the driving torque output from the motor to be converted from the current torque to the target torque, and entering the manual driving mode in case that the driving torque reaches the target torque.
For example, the operation of the power pedal may be that the driver steps on the power pedal, and by monitoring the opening degree of the power pedal, the monitoring of the operation of the power pedal may be achieved; the opening of the power pedal is the opening of the power pedal for controlling the throttle valve to be positioned. The power control unit 610 may determine a torque corresponding to the opening degree of the power pedal by obtaining the opening degree of the power pedal; and a torque corresponding to the opening degree of the power pedal is taken as a target torque to be output by the motor.
The control manner in which the longitudinal movement control unit 620 controls the driving torque output from the motor to be changed from the current torque to the target torque may be referred to the above-described example, and will not be described herein. In the case where the driving torque reaches the target torque, the longitudinal movement control unit 620 enters the manual driving mode, so that the longitudinal movement control unit 620 exits the control of the motor.
According to the vehicle 600 of the embodiment of the present application, the power control unit 610 determines the target torque to be output by the motor through the operation of the power pedal, so that the longitudinal motion control unit 620 automatically controls the driving torque output by the motor to gradually transition from the current torque to the target torque, and controls to enter the manual driving mode in the case where the driving torque reaches the target torque. In this way, the longitudinal movement control unit 620 may smoothly switch from the automatic driving mode to the manual driving mode automatically based on the operation of the power pedal, improving convenience of the switching process and improving user experience.
In one embodiment, the power control unit 610 is configured to generate a switching request according to an operation of the power pedal;
the longitudinal motion control unit 620 is configured to generate a corresponding torque acquisition request in the case of receiving the switching request;
the power control unit 610 is also configured to send a target torque to the longitudinal movement control unit 620 upon receiving a torque acquisition request.
Illustratively, the power control unit 610 generates a switching request according to an operation of the power pedal and transmits the switching request to the longitudinal movement control unit 620, and the longitudinal movement control unit 620 generates a corresponding torque acquisition request and transmits the corresponding torque acquisition request to the power control unit 610 upon receiving the switching request, so that the power control unit 610 transmits the target torque to the longitudinal movement control unit 620 upon receiving the torque acquisition request. In this manner, the longitudinal movement control unit 620 can achieve the acquisition of the target torque.
In one embodiment, the power control unit 610 is configured to generate the switching request in a case where the opening degree of the power pedal reaches the opening degree threshold value within a preset time. For example, the power control unit 610 generates a switching request in the case where the opening degree of the power pedal reaches 60% within 3.5 s. The preset time and the opening threshold value can be selected and adjusted according to actual needs, and the embodiment of the application does not limit the preset time and the opening threshold value. Therefore, the mode switching can be prevented from being triggered by misoperation of the power pedal, and the safety of switching is improved.
In one embodiment, the power control unit 610 is configured to determine a torque corresponding to an opening degree according to the opening degree of the power pedal; and in the case where the torque corresponding to the opening degree is smaller than the torque threshold value, the torque corresponding to the opening degree is taken as the target torque. In this embodiment, in the case where the torque corresponding to the opening degree of the power pedal is smaller than the torque threshold, the power control unit 610 takes the torque corresponding to the opening degree as the target torque, so that the target torque is suitable for the manipulation requirement of the driver, and the user experience is improved.
In one embodiment, the power control unit 610 is further configured to set the torque threshold value as the target torque in a case where the torque corresponding to the opening degree is greater than or equal to the torque threshold value. In this embodiment, when the torque corresponding to the opening of the power pedal is greater than or equal to the torque threshold, the power control unit 610 uses the torque threshold as the target torque, and can limit the target torque when the driver steps on the power pedal by mistake, thereby avoiding the motor from outputting a larger driving torque in a short time and improving the safety of the manual driving mode to take over the automatic driving mode.
In one embodiment, as shown in fig. 6A and 6B, the vehicle 600 may further include:
the parking control unit 630 is configured to send a switching request to the longitudinal movement control unit 620 in case the switching request is successfully acknowledged.
Illustratively, when the power control unit 610 generates the switch request, the power control unit 610 first sends the switch request to the park control unit 630. Upon receiving the switching request, the parking control unit 630 confirms the switching request and, in the case of successful confirmation, transmits the switching request to the longitudinal movement control unit 620. By confirming the switching request by the parking control unit 630 and transmitting the switching request to the longitudinal movement control unit 620 only when the switching situation is confirmed successfully, erroneous switching caused by communication errors can be avoided, and switching reliability is improved.
In one embodiment, the parking control unit 630 is further configured to generate automatic driving data of the vehicle 600 according to an environment in which the vehicle 600 is located in the automatic driving mode;
the longitudinal movement control unit 620 is also configured to control the vehicle 600 to travel according to the automatic travel data in the case where the automatic travel data is received.
In one example, the automatic travel data includes a driving travel direction, a first distance, and a first speed, and the longitudinal movement control unit 620, upon receiving the driving travel direction, the first distance, and the first speed transmitted by the parking control unit 630, controls the vehicle 600 to accelerate the travel a first distance toward the driving travel direction at a travel speed less than the first speed. In this manner, the longitudinal movement control unit 620 and the parking control unit 630 may cooperatively realize drive control of the vehicle 600.
In another example, the automatic travel data includes a braking travel direction, a second distance, and a second speed, and the longitudinal movement control unit 620, upon receiving the driving braking travel direction, the second distance, and the second speed transmitted from the parking control unit 630, controls the vehicle 600 to decelerate at a travel speed less than the second speed toward the braking travel direction for the second distance. Wherein the second speed is less than the first speed. In this manner, the longitudinal movement control unit 620 and the parking control unit 630 may cooperatively implement braking control of the vehicle 600.
In the present embodiment, in the automatic parking mode, the longitudinal movement control unit 620 and the parking control unit 630 cooperatively drive and brake the vehicle 600, and also contribute to an improvement in parking control accuracy and parking comfort, thereby improving user experience.
In one embodiment, the longitudinal movement control unit 620 is connected to the parking control unit 630, and the longitudinal movement control unit 620 is configured to control the motor to output a safety torque to enter the safety mode in case that the failure of the operation of the parking control unit 630 is monitored in the automatic driving mode. The safety torque may be 0n·m, or may be other values greater than 0, and the safety torque may be selected and adjusted according to actual needs, which is not limited in the embodiment of the present application. The longitudinal movement control unit 620 facilitates reducing the traveling speed of the vehicle 600 in the event of failure of the parking control unit 630 by controlling the motor to output a safety torque, ensuring safe braking and parking of the vehicle 600, thereby entering a safety mode.
In one embodiment, the longitudinal motion control unit 620 is connected to the power control unit 610 and the parking control unit 630, respectively, and the longitudinal motion control unit 620 is configured to send a mode feedback instruction to the power control unit 610 and the parking control unit 630, respectively, when entering the manual driving mode, so that the power control unit 610 and the parking control unit 630 enter the manual driving mode, respectively. For example, the longitudinal movement control unit 620 and the parking control unit 630 stop the operation in the case of entering the manual driving mode; in the case of entering the manual driving mode, the power control unit 610 may control the motor to output a corresponding torque based on the operation of the driver's stepping on the power pedal. It should be noted that, the data interaction between the power control unit 610, the longitudinal movement control unit 620 and the parking control unit 630 in the automatic driving mode is different from the data interaction between the power control unit 610 and the parking control unit 630 in the manual driving mode, and the longitudinal movement control unit 620 may adapt the operation states of the power control unit 610 and the parking control unit 630 to the longitudinal movement control unit 620 by making the power control unit 610 and the parking control unit 630 enter the manual driving mode, so as to ensure the accuracy of the data interaction.
Fig. 7 shows a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 7, the electronic device includes: memory 710 and processor 720, the memory 710 having instructions executable on the processor 720 stored therein. The processor 720, when executing the instruction, implements the driving mode switching method in the above-described embodiment. The number of memories 710 and processors 720 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the application described and/or claimed herein.
The electronic device may also include a communication interface 730 for communicating with external devices for interactive data transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 720 may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input/output device, such as a display device coupled to an interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). The bus may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 710, the processor 720, and the communication interface 730 are integrated on a chip, the memory 710, the processor 720, and the communication interface 730 may communicate with each other through internal interfaces.
It should be appreciated that the processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an advanced reduced instruction set machine (Advanced RISC Machines, ARM) architecture.
The present embodiments provide a computer-readable storage medium (such as the memory 710 described above) storing computer instructions that when executed by a processor implement the methods provided in the embodiments of the present application.
Alternatively, the memory 710 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the electronic device for implementing the switching method of the driving mode, and the like. In addition, memory 710 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 710 may optionally include memory remotely located relative to processor 720, which may be connected via a network to an electronic device for implementing a switching method of driving modes. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method description in a flowchart or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps of the process. And the scope of the preferred embodiments of the present application includes additional implementations in which functions may be performed in a substantially simultaneous manner or in an opposite order from that shown or discussed, including in accordance with the functions that are involved.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the methods of the embodiments described above may be performed by a program that, when executed, comprises one or a combination of the steps of the method embodiments, instructs the associated hardware to perform the method.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules described above, if implemented in the form of software functional modules and sold or used as a stand-alone product, may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. A method of switching a driving mode, comprising:
determining a target torque to be output by the motor according to the operation of the power pedal;
determining a torque increment according to a torque difference between the target torque and the current torque;
generating a torque curve according to the current torque, the target torque and the torque increment; the torque curve links the current torque and the target torque;
controlling the motor to output corresponding driving torque according to the torque curve;
controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque;
when the torque difference value is larger than a torque threshold value, the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque is that the torque increment is gradually decreased and then gradually increased; and under the condition that the torque difference value is smaller than or equal to a torque threshold value, the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque is gradually increased and then gradually decreased.
2. A switching device of a driving mode, characterized by comprising:
the determining module is used for determining target torque to be output by the motor according to the operation of the power pedal;
the first control module is used for determining a torque increment according to a torque difference value between the target torque and the current torque; generating a torque curve according to the current torque, the target torque and the torque increment; the torque curve links the current torque and the target torque; controlling the motor to output corresponding driving torque according to the torque curve; when the torque difference value is larger than a torque threshold value, the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque is that the torque increment is gradually decreased and then gradually increased; when the torque difference value is smaller than or equal to a torque threshold value, the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque is gradually increased and then gradually decreased;
and the second control module is used for controlling the vehicle to enter a manual driving mode under the condition that the driving torque reaches the target torque.
3. A vehicle, characterized by comprising:
a power control unit for determining a target torque to be output by the motor according to an operation of the power pedal;
a longitudinal movement control unit for determining a torque increment according to a torque difference between the target torque and the current torque; generating a torque curve according to the current torque, the target torque and the torque increment; the torque curve links the current torque and the target torque; controlling the motor to output corresponding driving torque according to the torque curve, and entering a manual driving mode under the condition that the driving torque reaches the target torque;
when the torque difference value is larger than a torque threshold value, the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque is that the torque increment is gradually decreased and then gradually increased; and under the condition that the torque difference value is smaller than or equal to a torque threshold value, the change rule of the torque increment from the current moment of the current torque to the target moment of the target torque is gradually increased and then gradually decreased.
4. A vehicle according to claim 3, wherein the power control unit is configured to generate a switching request according to an operation of the power pedal;
the longitudinal movement control unit is used for generating a corresponding torque acquisition request under the condition that the switching request is received;
the power control unit is further configured to send the target torque to the longitudinal movement control unit upon receiving the torque acquisition request.
5. The vehicle according to claim 4, characterized in that the power control unit is configured to generate the switching request in a case where the opening degree of the power pedal reaches an opening degree threshold value within a preset time.
6. A vehicle according to claim 3, wherein the power control unit is configured to determine a torque corresponding to an opening degree of the power pedal according to the opening degree of the power pedal; and in the case where the torque corresponding to the opening degree is smaller than a torque threshold value, taking the torque corresponding to the opening degree as the target torque.
7. The vehicle according to claim 6, characterized in that the power control unit is further configured to take the torque threshold value as the target torque in a case where a torque corresponding to the opening degree is greater than or equal to the torque threshold value.
8. The vehicle of claim 4, further comprising:
and the parking control unit is used for sending the switching request to the longitudinal movement control unit under the condition that the switching request is successfully confirmed.
9. The vehicle according to claim 8, wherein the parking control unit is further configured to generate automatic travel data of the vehicle according to an environment in which the vehicle is located in an automatic driving mode;
the longitudinal movement control unit is also used for controlling the vehicle to run according to the automatic running data under the condition that the automatic running data are received.
10. The vehicle of claim 8, wherein the longitudinal motion control unit is coupled to the park control unit and is configured to control the motor to output a safe torque to enter a safe mode in the event of a detection of a failure of the park control unit in the autopilot mode.
11. The vehicle according to claim 8, wherein the longitudinal movement control unit is connected to the power control unit and the parking control unit, respectively, and the longitudinal movement control unit is configured to send a mode feedback instruction to the power control unit and the parking control unit, respectively, when entering a manual driving mode, so as to cause the power control unit and the parking control unit to enter the manual driving mode, respectively.
12. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of claim 1.
13. A computer readable storage medium having stored therein computer instructions which when executed by a processor implement the method of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111592091.9A CN114407917B (en) | 2021-12-23 | 2021-12-23 | Driving mode switching method and device, vehicle and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111592091.9A CN114407917B (en) | 2021-12-23 | 2021-12-23 | Driving mode switching method and device, vehicle and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114407917A CN114407917A (en) | 2022-04-29 |
| CN114407917B true CN114407917B (en) | 2023-06-02 |
Family
ID=81266729
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111592091.9A Active CN114407917B (en) | 2021-12-23 | 2021-12-23 | Driving mode switching method and device, vehicle and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114407917B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115320599A (en) * | 2022-07-22 | 2022-11-11 | 江铃汽车股份有限公司 | Driving mode switching method, system, computer and storage medium |
| CN118514716A (en) * | 2024-05-23 | 2024-08-20 | 中国第一汽车股份有限公司 | Control method and control device for intelligent driving of vehicle, vehicle and medium |
| CN119117005B (en) * | 2024-09-24 | 2025-05-02 | 阿维塔科技(重庆)有限公司 | Vehicle control method and device based on torque adjustment and driving controller |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007159171A (en) * | 2005-11-30 | 2007-06-21 | Toyota Motor Corp | Vehicle and control method thereof |
| CN101265845A (en) * | 2007-03-13 | 2008-09-17 | 通用汽车环球科技运作公司 | Accelerator/brake pedal management for torque-based engine control |
| JP2008247265A (en) * | 2007-03-30 | 2008-10-16 | Toyota Motor Corp | Vehicle and control method thereof |
| JP2013123308A (en) * | 2011-12-09 | 2013-06-20 | Toyota Motor Corp | Vehicle |
| CN104554245A (en) * | 2013-10-21 | 2015-04-29 | 上海华召机电科技有限公司 | Acceleration control method for hybrid car |
| CN104853952A (en) * | 2012-12-12 | 2015-08-19 | 日产自动车株式会社 | Vehicle driving-torque control device |
| JP2017067002A (en) * | 2015-09-30 | 2017-04-06 | マツダ株式会社 | Control device of engine |
| CN108561546A (en) * | 2018-04-25 | 2018-09-21 | 浙江吉利汽车研究院有限公司 | A kind of control system and method for improving the change of engaged gears direction and causing impact |
| CN110094496A (en) * | 2018-01-31 | 2019-08-06 | 长城汽车股份有限公司 | A kind of torque control method, device and vehicle |
| CN111605553A (en) * | 2019-02-26 | 2020-09-01 | 郑州宇通客车股份有限公司 | Torque segmentation gradient filtering control method and device for new energy automobile |
| CN111942175A (en) * | 2020-08-12 | 2020-11-17 | 华人运通(江苏)技术有限公司 | Torque control method, torque control device, vehicle, electronic device, and storage medium |
| CN112848915A (en) * | 2019-11-12 | 2021-05-28 | 罗伯特·博世有限公司 | Driving torque controller, control method, automobile and computer storage medium |
| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113492690A (en) * | 2020-04-01 | 2021-10-12 | 北京新能源汽车股份有限公司 | Motor torque control method, device and equipment and automobile |
| CN113580957A (en) * | 2021-09-10 | 2021-11-02 | 宜宾凯翼汽车有限公司 | Mode switching torque control method for electric vehicle |
| CN113799618A (en) * | 2021-09-17 | 2021-12-17 | 华人运通(江苏)技术有限公司 | Wheel driving state monitoring method and device of vehicle and vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8448731B2 (en) * | 2007-11-05 | 2013-05-28 | GM Global Technology Operations LLC | Method and apparatus for determination of fast actuating engine torque for a hybrid powertrain system |
-
2021
- 2021-12-23 CN CN202111592091.9A patent/CN114407917B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007159171A (en) * | 2005-11-30 | 2007-06-21 | Toyota Motor Corp | Vehicle and control method thereof |
| CN101265845A (en) * | 2007-03-13 | 2008-09-17 | 通用汽车环球科技运作公司 | Accelerator/brake pedal management for torque-based engine control |
| JP2008247265A (en) * | 2007-03-30 | 2008-10-16 | Toyota Motor Corp | Vehicle and control method thereof |
| JP2013123308A (en) * | 2011-12-09 | 2013-06-20 | Toyota Motor Corp | Vehicle |
| CN104853952A (en) * | 2012-12-12 | 2015-08-19 | 日产自动车株式会社 | Vehicle driving-torque control device |
| CN104554245A (en) * | 2013-10-21 | 2015-04-29 | 上海华召机电科技有限公司 | Acceleration control method for hybrid car |
| JP2017067002A (en) * | 2015-09-30 | 2017-04-06 | マツダ株式会社 | Control device of engine |
| CN110094496A (en) * | 2018-01-31 | 2019-08-06 | 长城汽车股份有限公司 | A kind of torque control method, device and vehicle |
| CN108561546A (en) * | 2018-04-25 | 2018-09-21 | 浙江吉利汽车研究院有限公司 | A kind of control system and method for improving the change of engaged gears direction and causing impact |
| CN111605553A (en) * | 2019-02-26 | 2020-09-01 | 郑州宇通客车股份有限公司 | Torque segmentation gradient filtering control method and device for new energy automobile |
| CN112848915A (en) * | 2019-11-12 | 2021-05-28 | 罗伯特·博世有限公司 | Driving torque controller, control method, automobile and computer storage medium |
| CN113492690A (en) * | 2020-04-01 | 2021-10-12 | 北京新能源汽车股份有限公司 | Motor torque control method, device and equipment and automobile |
| CN111942175A (en) * | 2020-08-12 | 2020-11-17 | 华人运通(江苏)技术有限公司 | Torque control method, torque control device, vehicle, electronic device, and storage medium |
| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113580957A (en) * | 2021-09-10 | 2021-11-02 | 宜宾凯翼汽车有限公司 | Mode switching torque control method for electric vehicle |
| CN113799618A (en) * | 2021-09-17 | 2021-12-17 | 华人运通(江苏)技术有限公司 | Wheel driving state monitoring method and device of vehicle and vehicle |
Non-Patent Citations (3)
| Title |
|---|
| Automatically fine-tuned speed control system for fuel and travel-time efficiency: A microscopic simulation case study;Iakovos T. Michailidis;《2017 25th Mediterranean Conference on Control and Automation (MED)》;全文 * |
| 一种电动汽车驱动扭矩控制系统及控制方法研究;杨志超;《汽车电器》;全文 * |
| 强混合动力汽车驱动模式切换扭矩协调控制策略;杨阳;杨文辉;秦大同;段志辉;;重庆大学学报(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114407917A (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114407917B (en) | Driving mode switching method and device, vehicle and readable storage medium | |
| CN112004730A (en) | Vehicle control device | |
| JP2016207215A (en) | Control system and method | |
| CN114104097B (en) | Steering control method, device and system and readable storage medium | |
| US20240123971A1 (en) | Vehicle control device | |
| CN111942175B (en) | Torque control method, torque control device, vehicle, electronic device, and storage medium | |
| CN112092824A (en) | An automatic driving control method, system, device and storage medium | |
| CN106184227B (en) | The control method and device of cruise | |
| CN114162068B (en) | Method and device for managing intelligent driving function of vehicle and vehicle | |
| CN114715142A (en) | A kind of intelligent driving vehicle emergency collision avoidance control method and system | |
| US11780500B2 (en) | Control device, manager, method, non-transitory storage medium, and vehicle | |
| CN114865984A (en) | Control method and device for upper-mounted motor and operating machine | |
| CN115476837A (en) | Vehicle speed control method and system and vehicle | |
| CN113954877A (en) | Smart car security arbitration and control method and device based on security sandbox | |
| CN116176553A (en) | Intelligent driving method, intelligent driving device, and computer-readable storage medium | |
| US11870379B2 (en) | Control device for rotating electrical machine | |
| CN115230653A (en) | Parking control method and device | |
| CN112837682B (en) | Speech interface for selecting vehicle operation mode | |
| CN111873988B (en) | Parking control method and device, vehicle and storage medium | |
| JP2016088242A (en) | In-vehicle device control system | |
| CN118124668A (en) | EPS system, operation method and vehicle | |
| CN115524958A (en) | Data transmission method and device for central domain controller, electronic equipment and vehicle | |
| CN115416667A (en) | Vehicle control method and device, intelligent driving control system and storage medium | |
| CN117842066A (en) | Control method and device for unmanned delivery vehicle and terminal equipment | |
| CN115525012A (en) | Vehicle control method, vehicle control device, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20240222 Granted publication date: 20230602 |
|
| PP01 | Preservation of patent right |