CN115257914A - A kind of vehicle control method based on assisted driving system - Google Patents

Abstract

The application provides a vehicle control method based on a driving assistance system, which is applied to a steer-by-wire system comprising an upper steering controller and a lower steering controller, and the method can comprise the following steps: the lower steering controller generates an upper steering controller failure signal under the condition that the upper steering controller is determined to be abnormal; the lower steering controller sends the failure signal of the upper steering controller to the auxiliary driving system so as to activate the auxiliary driving function of the auxiliary driving system and enable the auxiliary driving system to take over the vehicle; the lower steering controller controls the vehicle to steer in response to a steering request issued by the driver assistance system in the process of taking over the vehicle. According to the technical scheme, when the upper steering controller of the online control steering system is abnormal, the auxiliary driving function of the auxiliary driving system is activated, so that the auxiliary driving system takes over the vehicle, the vehicle is safely parked or limped home, and the driving safety of the vehicle is improved.

Description

A vehicle control method based on an auxiliary driving system

technical field

One or more embodiments of the present application relate to the technical field of vehicle control, and in particular to a vehicle control method based on an assisted driving system.

Background technique

In recent years, as users have higher and higher requirements on the steering system, the Steering-By-Wire System (SBW) has emerged as the times require. The steering-by-wire system cancels the mechanical connection between the steering wheel and the steering wheel, and completely realizes the information transmission and control of the steering by electrical signals. Since there is no need to consider the layout of mechanical connections, the steer-by-wire system can save vehicle space and make the vehicle lighter. In addition, users can freely design force transfer characteristics and angular transfer characteristics according to needs and preferences, which enriches the driving experience.

The steer-by-wire system includes an upper steering controller (Hand Wheel Actuator, HWA) and a lower steering controller (Road Wheel Actuator, RWA). Among them, the steering torque of the steer-by-wire system depends on the output of the lower steering controller, and the magnitude and direction of the output force of the lower steering controller depend on the output signal of the upper steering controller. This also means that when an abnormality occurs in the upper steering controller, the steering-by-wire system will fail, and the steering cannot be realized, which will easily lead to the loss of control of the vehicle and cause great hidden dangers to the safety of users.

Contents of the invention

The present application provides a vehicle control method based on an assisted driving system to solve the deficiencies in related technologies.

According to a first aspect of one or more embodiments of the present application, there is provided a vehicle control method based on an assisted driving system, the method is applied to a steer-by-wire system, and the steer-by-wire system includes an upper steering controller and a lower steering control device, the method includes:

The lower steering controller generates an upper steering controller failure signal when it is determined that the upper steering controller is abnormal;

The lower steering controller sends the upper steering controller failure signal to the assisted driving system to activate the assisted driving function of the assisted driving system, so that the assisted driving system takes over the vehicle;

The lower steering controller controls the steering of the vehicle in response to a steering request issued by the assisted driving system during the process of taking over the vehicle.

Optionally, the lower steering controller receives a takeover request from the assisted driving system, and the takeover request is sent by the assisted driving system when an abnormality occurs in the upper steering controller;

The lower steering controller returns a confirmation message to the assisted driving system for the takeover request, so that the assisted driving system takes over the vehicle.

Optionally, the lower steering controller generates an upper steering controller restoration signal when determining that the upper steering controller is restored to normal;

The lower steering controller sends the upper steering controller a resume signal to the assisted driving system, so as to terminate the takeover of the vehicle by the assisted driving system.

Optionally, when the upper steering controller determines that the lower steering controller is abnormal, it generates a lower steering controller failure signal;

The upper steering controller sends the lower steering controller failure signal to the vehicle body electronic stability system to activate the vehicle body electronic stability system, so that the vehicle body electronic stability system responds to the steering request sent by the upper steering controller , to control the steering of the vehicle.

According to a second aspect of one or more embodiments of the present application, a vehicle control method based on an assisted driving system is provided, the method is applied to the assisted driving system, including:

receiving an upper steering controller failure signal sent by a lower steering controller of the steer-by-wire system, wherein the upper steering controller failure signal indicates that an abnormality occurs in the upper steering controller of the steer-by-wire system;

activate the assisted driving function of the assisted driving system to take over the vehicle;

During the process of taking over the vehicle, a steering request is sent to the lower steering controller of the steer-by-wire system to control the steering of the vehicle.

According to a third aspect of one or more embodiments of the present application, there is provided a vehicle control device based on an assisted driving system, which is applied to a steer-by-wire system, and the steer-by-wire system includes an upper steering controller and a lower steering controller, The unit includes:

A generating unit, configured to make the lower steering controller generate an upper steering controller failure signal when it is determined that the upper steering controller of the steer-by-wire system is abnormal;

The sending signal unit is used to make the lower steering controller send the failure signal of the upper steering controller to the assisted driving system, so as to activate the assisted driving function of the assisted driving system, so that the assisted driving system takes over the vehicle ;

The response unit is used to make the lower steering controller control the steering of the vehicle in response to the steering request issued by the auxiliary driving system during the process of taking over the vehicle.

According to a fourth aspect of one or more embodiments of the present application, there is provided a vehicle control device based on an assisted driving system, which is applied to an assisted driving system, and the device includes:

The receiving unit is configured to receive an upper steering controller failure signal sent by the lower steering controller of the steer-by-wire system, and the upper steering controller failure signal indicates that an abnormality occurs in the upper steering controller of the steer-by-wire system;

a first activation unit, configured to activate the assisted driving function of the assisted driving system to take over the vehicle;

The sending request unit is configured to send a steering request to the lower steering controller of the steer-by-wire system during the process of taking over the vehicle, so as to control the steering of the vehicle.

According to a fifth aspect of one or more embodiments of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned first aspect and/or second aspect are implemented. Steps of the methods described in the examples.

According to a sixth aspect of one or more embodiments of the present application, there is provided a vehicle, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the program is executed by the processor, the above-mentioned The steps of the methods described in the embodiments of the first aspect and/or the second aspect.

According to a seventh aspect of one or more embodiments of the present application, a vehicle control system based on an assisted driving system is provided, and the system includes: a steering-by-wire system and an assisted driving system. The steer-by-wire system includes an upper steering controller and a lower steering controller, wherein:

The upper steering controller is configured to send a steering request to the lower steering controller when no abnormality occurs;

The lower steering controller is configured to receive and respond to a steering request issued by the upper steering controller or the assisted driving system to control the steering of the vehicle; and, when it is determined that the upper steering controller is abnormal, generating an upper steering controller failure signal, and sending the upper steering controller failure signal to the assisted driving system;

The assisted driving system is configured to activate the assisted driving function to take over the vehicle when receiving the failure signal of the upper steering controller sent by the lower steering controller, and to turn to the lower steering during the process of taking over the vehicle The controller sends a steering request.

It can be seen from the above technical solutions that in one or more embodiments of the present application, when the upper steering controller of the steer-by-wire system is abnormal, the assisted driving function of the assisted driving system is activated, so that the assisted driving system takes over the vehicle, thereby achieving vehicle safety. Parking or limping home increases the safety of vehicle driving.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

Fig. 1 is a schematic diagram of a system architecture provided according to an exemplary embodiment of the present application.

Fig. 2 is a flow chart of a vehicle control method based on an assisted driving system according to an exemplary embodiment of the present application.

Fig. 3 is a flow chart of a vehicle control method based on an assisted driving system according to another exemplary embodiment of the present application.

Fig. 4 is a schematic diagram of a vehicle control method based on an assisted driving system according to an exemplary embodiment of the present application.

Fig. 5 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.

Fig. 6 is a block diagram of a vehicle control device based on an assisted driving system according to an exemplary embodiment of the present application.

Fig. 7 is a block diagram of a vehicle control device based on a driving assistance system according to another exemplary embodiment of the present application.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. Implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of the present application. Rather, they are merely examples of apparatuses and methods consistent with aspects of one or more embodiments of the present application as recited in the appended claims.

It should be noted that in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described in this application. In some other embodiments, the method may include more or fewer steps than those described in this application. In addition, a single step described in this application may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this application may also be combined into a single step in other embodiments describe.

The steering-by-wire system eliminates the mechanical connection between the steering wheel and the steering wheel, completely gets rid of the limitations of the mechanical firmware, and completely realizes the information transmission and control of the steering by electrical signals, which can significantly reduce the weight of the car and reduce the parts of the car. Cost of production. On the other hand, due to the cancellation of the mechanical structure, all control depends on electrical signals. Therefore, when the upper steering controller of the steering-by-wire system is abnormal, the steering-by-wire system will fail, and the steering cannot be realized, which will easily lead to serious accidents. driving accident.

The present application provides a vehicle control method based on the assisted driving system. When the upper steering controller of the steer-by-wire system is abnormal, the assisted driving system can take over the vehicle, so that the vehicle can stop safely or limp home.

FIG. 1 is a schematic diagram of a system architecture of the present application provided by an exemplary embodiment. The interactive entities involved in the solution of the present application include: a steer-by-wire system 100 and a driving assistance system 200 . Wherein, the steer-by-wire system 100 includes an upper steering controller 101 and a lower steering controller 102 . The lower steering controller 102 includes an angle sensor 103 , a steering angle controller 104 and a fault processor 105 .

When the vehicle is powered on, the steer-by-wire system 100 is active. During the running of the vehicle, the upper steering controller 101 can convert the steering intention input by the driver through the steering wheel into a digital signal, and combine the digital signal with the vehicle speed signal, yaw rate signal, lateral acceleration signal and other vehicle driving related information together to the control unit. Based on the received vehicle driving information, the control unit calculates the corresponding front wheel angle signal according to the set algorithm, and transmits the front wheel angle signal to the angle controller 104 of the lower steering controller 102 . The steering angle controller 104 controls the vehicle to steer according to the target front wheel angle according to the received front wheel angle signal. On the other hand, during the driving process of the vehicle, the angle sensor 103 of the lower steering controller 102 is used to collect the wheel angle information, and send the collected wheel angle information to the control unit. The control unit sends corresponding torque commands to the upper steering controller 101 according to the wheel angle information and combined with the state information of the vehicle. The upper steering controller 101 simulates road surface feedback information based on the torque command, thereby providing real-time road feeling feedback to the driver.

During the running of the vehicle, the fault processor 105 is used to detect the working state of the upper steering controller 101 to determine whether it is operating normally or abnormal. There may be various types of abnormalities in the upper steering controller, for example, a control failure may occur in the upper steering controller, or a communication interruption between the lower steering controller and the upper steering controller may occur. When the fault processor 105 detects the above-mentioned abnormal situation of the upper steering controller 101, it can take corresponding processing measures according to the set program to ensure that the driver can find the fault and maintain safe driving.

The driving assistance system 200 refers to a system including various auxiliary safety driving functions such as lane keeping, braking assistance, driving assistance, etc., which can provide auxiliary support for the driver in the process of driving the vehicle and ensure driving safety. The assisted driving system 200 in this application can be the driving automation level of L2 and above as defined in the "Automotive Driving Automation Classification" standard, so that it can meet the vehicle takeover requirements in this application, so as to reduce the abnormality of the upper steering controller 101. resulting security risks. For example, systems such as adaptive cruise control (Adaptive Cruise Control, ACC), automatic emergency braking system (Autonomous Emergency Braking, AEB), lane departure warning system (Lane Departure Warning System, LDWS) and other systems are usually combined in related technologies Hereinafter, it is also referred to as a driving assistance system (Driving Assistant System, DAS) or an advanced driving assistance system (Advanced Driving Assistant System, ADAS). The DAS system or ADAS system can be used as the driving assistance system 200 in this application. Assisted driving system 200 is usually equipped with various sensors, such as monocular or binocular camera + millimeter wave radar, laser radar + millimeter wave radar, camera + laser radar + millimeter wave radar, etc. Sense the surrounding environment and collect data. Furthermore, the image/distance data collected by the above sensors can be processed by algorithms to identify environmental objects such as roads, pedestrians, and vehicles, as well as relative positional relationships such as distances and angles between itself and these environmental objects, or other required information. any data that can be used to control the vehicle for automated or partially automated driving.

When the failure processor 105 determines that the upper steering controller 101 of the steer-by-wire system 100 is abnormal, an upper steering controller failure signal may be generated. The lower steering controller 102 sends the upper steering controller failure signal to the assisted driving system 200 to activate the assisted driving function of the assisted driving system 200, so that the assisted driving system 200 takes over the vehicle, so that the vehicle can stop safely or limp home.

Fig. 2 is a flow chart of a vehicle control method based on an assisted driving system provided by an exemplary embodiment based on the above-mentioned system architecture, which is applied to a steer-by-wire system, and the steer-by-wire system includes an upper steering controller and a lower steering control device, the method performs the following steps:

S201. The lower steering controller generates an upper steering controller failure signal when determining that an abnormality occurs in the upper steering controller.

The lower steering controller can monitor the status of the upper steering controller in any way to determine whether it is operating normally or abnormal. For example, the lower steering controller may include a failure processor, and specifically the failure processor detects whether an abnormality occurs in the upper steering controller, and the failure processor generates an upper steering controller failure after detecting the abnormality of the upper steering controller Signal.

There may be multiple types of abnormalities in the upper steering controller; correspondingly, there may be multiple ways for the lower steering controller to detect the abnormality of the upper steering controller. E.g:

In an embodiment, the upper steering controller may have a control failure, for example, the steering wheel rotation angle cannot be detected or the angle detected by the upper steering controller is obviously abnormal. At this time, the upper steering controller will generate a fault signal and send it to the lower steering controller; correspondingly, if the lower steering controller receives the above-mentioned fault signal sent by the upper steering controller, it can determine the fault signal of the upper steering controller based on the signal. An exception has occurred. Therefore, if the lower steering controller includes the above-mentioned failure processor, the failure processor can generate the above-mentioned upper steering controller failure signal when receiving the above-mentioned failure signal sent by the upper steering controller, and the upper steering failure signal It is used to indicate that an abnormality has occurred in the upper steering controller.

In another embodiment, communication interruption occurs between the lower steering controller and the upper steering controller. For example, the communication between the lower steering controller and the upper steering controller can be maintained through heartbeat packets. For example, if the upper steering controller periodically sends heartbeat packets to the lower steering controller, then the current steering controller is When the heartbeat packet sent by the upper steering controller is not received within a certain period of time, the lower steering controller can determine that a communication interruption occurs between itself and the upper steering controller. Therefore, if the lower steering controller includes the above-mentioned failure processor, the failure processor can generate an upper steering controller failure signal according to the detected communication interruption state, and the upper steering failure signal is used to indicate that an abnormality occurs in the upper steering controller .

Of course, the state monitoring of the upper steering controller of the steer-by-wire system can also be performed by the assisted driving system. When the vehicle is powered on, the assisted driving system and the steering-by-wire system are activated. At this time, the assisted driving system can actively monitor whether the upper steering controller is operating normally or abnormal. When the assisted driving system detects an abnormality in the upper steering controller, it can quickly generate a request to take over the vehicle, and send the takeover request to the lower steering controller of the steer-by-wire system. After receiving the takeover request from the assisted driving system, the lower steering controller may return a confirmation message to the assisted driving system for the takeover request, so that the assisted driving system takes over the vehicle. By actively monitoring the state of the upper steering controller by the assisted driving system, the assisted driving system can detect the abnormal state of the upper steering controller in time when the lower steering controller cannot send the upper steering controller failure signal to the assisted driving system in time. And take the initiative to take over the vehicle to avoid safety accidents.

The assisted driving system can also monitor the status of the upper steering controller in any way to determine whether it is operating normally or abnormal. For example, the assisted driving system may include a monitoring module, and the monitoring module specifically detects whether the upper steering controller is abnormal, and the monitoring module generates a takeover request after detecting the abnormality of the upper steering controller.

In an embodiment, the above-mentioned control failure may occur in the upper steering controller, and at this time, the upper steering controller will generate a failure signal. When the monitoring module of the assisted driving system detects the existence of the fault signal, it can be determined based on the signal that an abnormality has occurred in the upper steering controller, thereby generating a takeover request, and sending the takeover request to the lower steering controller.

In another embodiment, communication interruption occurs between the lower steering controller and the upper steering controller. As mentioned above, the communication between the lower steering controller and the upper steering controller can be maintained through heartbeat packets. For example, the upper steering controller periodically sends heartbeat packets to the lower steering controller. When the module does not detect the heartbeat packet sent by the upper steering controller within a preset period of time, the monitoring module can determine that a communication interruption has occurred between the lower steering controller and the upper steering controller. Therefore, the monitoring module can generate a takeover request based on the detected communication interruption status, and send the takeover request to the lower steering controller.

S202. The lower steering controller sends an upper steering controller failure signal to the assisted driving system, so as to activate the assisted driving function of the assisted driving system, so that the assisted driving system takes over the vehicle.

After the upper steering controller failure signal is generated, the lower steering controller will send the upper steering controller failure signal to the assisted driving system, indicating to the assisted driving system that the upper steering controller of the current steer-by-wire system is abnormal, causing the steer-by-wire The steering system cannot control the steering of the vehicle. Correspondingly, after receiving the above-mentioned upper steering controller failure signal, if the assisted driving system determines that the upper steering controller is abnormal, the assisted driving system can activate its own assisted driving function, so that the assisted driving system takes over the vehicle and controls The vehicle turns.

In an embodiment, in addition to sending the failure signal of the upper steering controller to the auxiliary driving system, the lower steering controller may also send the failure signal of the upper steering controller to a human machine interface (Human Machine Interface, HMI) system. Human-machine interface system, also known as user interface system or user interface system, is a medium and dialogue interface for transmitting and exchanging information between humans and computers. After receiving the failure signal of the upper steering controller, the man-machine interface system can feed back the abnormality information of the upper steering controller to the vehicle user through the display device, so that the vehicle user can know the abnormal situation of the upper steering controller in time, so as to remind the driver The staff should take corresponding measures to ensure the driving safety of the vehicle to the greatest extent.

The man-machine interface system can feed back the abnormal information of the upper steering controller to the vehicle user in various ways, which is not limited in this manual. For example, the above-mentioned display device may include a warning light set on the instrument panel of the vehicle to indicate that the upper steering controller is abnormal. An exception has occurred in the device. Of course, for an instrument panel that uses a display screen such as a liquid crystal screen, it can also be controlled to display a preset warning icon on the screen that is used to represent an abnormality in the upper steering controller, thereby reducing the abnormality of the upper steering controller. Feedback to vehicle users.

Certainly, in addition to realizing information feedback based on visual forms through the above-mentioned display device, the man-machine interface system can also feed back the abnormality information of the upper steering controller to the vehicle user through any other means, which is not limited in this specification. For example, methods such as vibration of the steering wheel (that is, the tactile form), and the sound of the vehicle's alarm (that is, the auditory form) can also be used, and details will not be repeated here.

S203, the lower steering controller controls the steering of the vehicle in response to the steering request issued by the driving assistance system during the process of taking over the vehicle.

As mentioned above, the upper steering controller sends a corresponding steering request according to the driver's rotation of the steering wheel, so that the lower steering controller can control the steering of the vehicle accordingly, so as to meet the driver's vehicle steering driving needs.

The assisted driving system can independently decide the current vehicle control scheme that needs to be implemented by processing the data collected by the camera, radar, etc. as mentioned above, including the steering control of the vehicle. Therefore, without the need for the driver to turn the steering wheel, the assisted driving system can actively send the corresponding steering request to the down steering controller based on the above-mentioned autonomous decision-making vehicle control scheme, so that the down steering controller can control the steering of the vehicle accordingly, thus making the vehicle Drive according to the vehicle control scheme determined by the assisted driving system.

Specifically, the steering angle controller of the lower steering controller is used to receive a steering request from the driving assistance system, and the angle sensor is used to receive an instruction to collect wheel angle information from the driving assistance system. The assisted driving system sends the wheel information collection command to the angle sensor, and processes the collected current wheel angle information together with other data collected by the camera, radar, etc. as mentioned above, and can independently decide the current required implementation The vehicle control scheme, including the steering control of the vehicle. Based on the above vehicle control scheme, the assisted driving system sends a steering request to the steering angle controller. Based on the received steering request, the steering angle controller makes corresponding steering control operations, so that the vehicle can safely pull over or limp home.

After the assisted driving system takes over the vehicle and controls the vehicle to pull over safely, the driver can check the specific cause of the abnormality of the upper steering controller so that the upper steering controller can return to normal. The driver can check the cause of the abnormality of the upper steering controller in any way. For example, the driver can check the cause of the abnormality of the upper steering controller by himself, or the driver can request remote assistance, and the remote technician will complete the investigation online. In addition, the driver can also ask nearby vehicle repair personnel for help, and complete the troubleshooting of the abnormal cause of the upper steering controller with the help of the vehicle repair personnel.

There are many reasons for the abnormality of the upper steering controller, such as the short circuit/open circuit fault of the angle sensor of the upper steering controller, the short circuit of the motor winding of the road induction motor, etc.; there may also be a failure of the communication bus, which leads to the failure of the upper steering controller and the lower steering controller. A communication interruption occurred between the controllers. If the faulty part is a hardware part, the upper steering controller can be restored to normal by replacing the original device with a spare device, wherein the spare device can realize the same function as the original device. If there is a failure at the software level, the upper steering controller can be restored to normal by adjusting the algorithm and other methods. The present application does not make a limitation on the method of troubleshooting the cause of the abnormality of the upper steering controller and the specific method of restoring the upper steering controller to normal.

When the lower steering controller detects that the upper steering controller returns to normal, an upper steering controller recovery signal may be generated. According to the foregoing, the lower steering controller may contain a fault processor, which can be used to detect whether the upper steering controller is back to normal, and the fault processor generates an upper steering controller after detecting an abnormal condition of the upper steering controller. The controller recovers the signal, and sends the upper steering controller recovery signal to the assisted driving system, so as to stop the assisted driving system from taking over the vehicle, so that the steer-by-wire system takes over the vehicle again and controls the steering of the vehicle.

The above is when the upper steering controller of the steer-by-wire system is abnormal, by activating the assisted driving function of the assisted driving system, the assisted driving system takes over the vehicle and realizes the safe parking of the vehicle. Similarly, when the lower steering controller of the steer-by-wire system is abnormal, the upper steering controller can generate a lower steering controller failure signal, and send the lower steering controller failure signal to the electronic stability system (Electronic Stability Program, ESP ) to activate the vehicle body electronic stability system, so that the vehicle body electronic stability system controls the steering of the vehicle in response to the steering request sent by the upper steering controller.

Specifically, the upper steering controller can monitor the state of the lower steering controller in any way to determine whether it is running normally or abnormal. For example, the upper steering controller may include a fault processor, and specifically the fault processor detects whether an abnormality occurs in the lower steering controller, and the fault processor generates a failure of the lower steering controller after detecting the abnormality of the lower steering controller Signal.

There may be many types of abnormalities in the lower steering controller, for example, the angle sensor of the lower steering controller fails, the wheel angle information cannot be collected, the upper steering controller cannot provide road feeling feedback, or the steering motor of the lower steering controller fails , unable to drive the wheels to turn through the corresponding angle. Therefore, if the upper steering controller includes the above fault processor, the fault processor can generate a lower steering controller failure signal according to the detected abnormal state of the lower steering controller, and send the lower steering controller failure signal to the vehicle body electronics Stability system, to activate the electronic body stability system.

Body electronic stability system usually consists of control unit, steering sensor, wheel speed sensor, lateral acceleration sensor, sideslip sensor and so on. These sensors can collect the state of the vehicle body and transmit the collected data to the control unit. The control unit controls the actuators of the vehicle body electronic stability system to work based on the received vehicle body state data, so as to ensure the stable running of the vehicle.

In an embodiment, after the vehicle body electronic stability system is activated by the failure signal of the lower steering controller, the vehicle body electronic stability system can control the steering of the vehicle in response to the steering request sent by the upper steering controller. Usually, the upper steering controller can convert the steering intention input by the driver through the steering wheel into a digital signal, and transmit this digital signal together with the body state data collected by the sensor of the body electronic stability system to the control unit of the body electronic stability system . The control unit controls the actuators to work based on all the information received. For example, when the upper steering controller sends out a steering request signal, the vehicle body electronic stability system compares the steering request signal with the vehicle body state data collected by the sensor, and finds that the vehicle has a tendency to understeer. Braking force is applied to the inner rear wheel, increasing the longitudinal force of the rear wheel, which in turn creates a moment for the vehicle body to assist steering. When it is found that the vehicle tends to oversteer, the body electronic stability system can apply braking force to the front wheel on the outer side of the turn, increase the longitudinal force of the front wheel, and then generate a moment of resistance to steering on the body, thereby ensuring the safe driving of the vehicle.

Fig. 3 is a flow chart of a vehicle control method based on an assisted driving system provided by an exemplary embodiment based on the system architecture described in Fig. 1, which is applied to an assisted driving system, and the method performs the following steps:

S301. Receive an upper steering controller failure signal sent by a lower steering controller of the steer-by-wire system, where the upper steering controller failure signal indicates that an abnormality occurs in the upper steering controller of the steer-by-wire system.

As mentioned above, the abnormality of the upper steering controller includes: failure of the upper steering controller, or communication interruption between the lower steering controller and the upper steering controller.

S302. Activate the driving assistance function of the driving assistance system to take over the vehicle.

The assisted driving system determines that the upper steering controller of the steer-by-wire system is abnormal according to the received upper steering controller failure signal, then the assisted driving system can activate its own assisted driving function, so that the assisted driving system takes over the vehicle and controls the steering of the vehicle .

As mentioned earlier, the ADAS system can be used as an auxiliary driving system. During the driving process of the vehicle, the ADAS system can use various sensors installed on the vehicle to sense the surrounding environment at any time, collect data, identify, detect and track static and dynamic objects, and combine navigator map data , to carry out systematic calculation and analysis, so that the driver can avoid the dangers that may be encountered in the driving process in advance.

In an embodiment, the man-machine interface system can also be used to monitor whether the driving assistance function of the driving assistance system is activated. When it is monitored that the assisted driving function of the assisted driving system is activated, the man-machine interface system can feed back the information that the assisted driving function has been activated to the vehicle user through the display device. For a specific feedback manner, reference may be made to S202 in the above-mentioned embodiment, which will not be repeated here.

S303. During the process of taking over the vehicle, send a steering request to the lower steering controller of the steer-by-wire system to control the steering of the vehicle;

The assisted driving system sends a vehicle steering request to the angle sensor of the lower steering controller according to the perceived surrounding environment of the vehicle, so as to control the safe steering of the vehicle. The steering request sent by the assisted driving system includes, but is not limited to, three requests of the vehicle steering direction, steering angle and steering torque.

Fig. 4 is a schematic diagram of a vehicle control method based on an assisted driving system according to an embodiment. During a vehicle control process, the subjects involved include: steering-by-wire system, ADAS system, and human-machine interface system. The steer-by-wire system includes an upper steering controller and a lower steering controller, wherein the lower steering controller further includes an angle sensor, a rotation angle controller and a fault processor.

As shown in the figure, ① indicates that when the vehicle is running normally, the upper steering controller and the lower steering controller of the steer-by-wire system work together to control the steering of the vehicle.

Specifically, when the vehicle is powered on, the steering-by-wire system and the ADAS system are activated. As mentioned above, during the normal running of the vehicle, the upper steering controller can convert the steering request received by the steering wheel into a digital signal and transmit it to the control unit. The control unit calculates the corresponding front wheel angle signal of the mathematical signal according to the algorithm, and sends the front wheel angle signal to the angle controller of the lower steering controller. The steering angle controller controls the steering of the vehicle according to the received front wheel angle signal. The angle sensor is used to collect wheel angle information, and send the collected wheel angle information to the control unit. The control unit sends corresponding torque commands to the upper steering controller according to the wheel angle information and combined with the vehicle status information. The upper steering controller simulates the information of road surface feedback based on the torque command, so as to provide real-time road feeling feedback to the driver. At the same time, the fault processor in the lower steering controller is used to detect the working status of the upper steering controller to determine whether it is operating normally or abnormal.

As shown in the figure, ② indicates that when the upper steering controller is abnormal, the lower steering controller sends an upper steering controller failure signal to the ADAS system and the human-machine interface system to activate the assisted driving function of the ADAS system, so that the ADAS system can take over the vehicle.

Specifically, in this embodiment, when the upper steering controller cannot receive the steering wheel rotation angle request, the upper steering controller will send a fault signal to the fault processor of the lower steering controller. The fault processor determines that an abnormality occurs in the upper steering controller based on the received fault signal, and generates a failure signal of the upper steering controller. The lower steering controller sends the failure signal of the upper steering controller to the ADAS system and the man-machine interface system. Based on the received failure signal of the upper steering controller, the man-machine interface system feeds back the information that the upper steering controller is in an abnormal state to the vehicle user, so as to remind the vehicle user that the steer-by-wire system is faulty.

As shown in the figure, ③ indicates that after receiving the failure signal of the upper steering controller, the ADAS system determines that the current steer-by-wire system has failed, and then activates the assisted driving function, and starts to take over the vehicle to make the vehicle stop safely.

The ADAS system can independently decide the current vehicle control scheme that needs to be implemented, including the steering control of the vehicle, based on the driving state of the vehicle when the upper steering controller is abnormal and the surrounding environment data collected by various sensors as mentioned above. Based on the above-mentioned autonomous decision-making vehicle control scheme, the ADAS system sends a steering request to the steering angle controller of the downward steering controller. The steering angle controller makes a corresponding steering operation based on the received steering request to control the steering of the vehicle so that the vehicle can pull over in a safe area nearby.

Corresponding to the foregoing method embodiments, the present application also provides an apparatus embodiment.

Fig. 5 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application. Referring to FIG. 5 , at the hardware level, the electronic device includes a processor 502 , an internal bus 504 , a network interface 506 , a memory 508 and a non-volatile memory 510 , and of course may also include hardware required by other services. The processor 502 reads the corresponding computer program from the non-volatile memory 510 into the memory 508 and executes it. Of course, in addition to the software implementation, this application does not exclude other implementations, such as logic devices or the combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or logic device.

Fig. 6 is a block diagram of a vehicle control device based on an assisted driving system according to an exemplary embodiment of the present application, the device is applied to a steer-by-wire system, and the steer-by-wire system includes an upper steering controller and a lower steering controller. Referring to FIG. 6, the device includes a generation unit 602, a signal sending unit 604, and a response unit 606, wherein:

The generating unit 602 is configured to make the lower steering controller generate an upper steering controller failure signal when it is determined that the upper steering controller is abnormal.

The sending signal unit 604 is configured to make the lower steering controller send the failure signal of the upper steering controller to the assisted driving system, so as to activate the assisted driving function of the assisted driving system, so that the assisted driving system Take over the vehicle.

The response unit 606 is configured to make the lower steering controller control the steering of the vehicle in response to the steering request issued by the auxiliary driving system during the process of taking over the vehicle.

Optionally, the device also includes:

The receiving request unit 608 is configured to enable the lower steering controller to receive a takeover request issued by the assisted driving system, and the takeover request is monitored by the assisted driving system when an abnormality occurs in the upper steering controller. issue.

The confirmation request unit 610 is configured to make the lower steering controller return a confirmation message to the assisted driving system for the takeover request, so that the assisted driving system takes over the vehicle.

Optionally, the device also includes:

The restoration signal generation unit 612 is configured to make the lower steering controller generate an upper steering controller restoration signal when it is determined that the upper steering controller is restored to normal.

The recovery signal sending unit 614 is configured to make the lower steering controller send the upper steering controller recovery signal to the assisted driving system, so as to terminate the takeover of the vehicle by the assisted driving system.

Optionally, the device also includes:

The failure signal generation unit 616 is configured to make the upper steering controller generate a lower steering controller failure signal when it is determined that the lower steering controller is abnormal.

The second activation unit 618 is configured to make the upper steering controller send the lower steering controller failure signal to the vehicle body electronic stability system, so as to activate the vehicle body electronic stability system, so that the vehicle body electronic stability system responds to The steering request sent by the upper steering controller controls the steering of the vehicle.

Fig. 7 is a block diagram of a vehicle control device based on an assisted driving system according to an exemplary embodiment of the present application, and the device is applied to the assisted driving system. Referring to FIG. 7, the device includes a receiving unit 702, a first activation unit 704, and a sending request unit 706, wherein:

The receiving unit 702 is configured to receive an upper steering controller failure signal sent by the lower steering controller of the steer-by-wire system, and the upper steering controller failure signal indicates that an abnormality occurs in the upper steering controller of the steer-by-wire system.

The first activation unit 704 is configured to activate the driving assistance function of the driving assistance system to take over the vehicle.

The sending request unit 706 is configured to send a steering request to the lower steering controller of the steer-by-wire system during the process of taking over the vehicle, so as to control the steering of the vehicle.

For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.

The devices or units described in the above embodiments may specifically be implemented by computer chips or entities, or by products with certain functions. A typical implementing device is a computer, which may take the form of a personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, navigation device, e-mail device, game control device, etc. desktops, tablets, wearables, or any combination of these.

In a typical configuration, a computer includes one or more processors (CPUs), input/output interfaces, network interfaces and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by computing devices. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

The above is only a preferred embodiment of the application, and is not intended to limit the application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the application should be included in the application. within the scope of protection.

Claims (10)

1. A vehicle control method based on an assisted driving system, wherein the method is applied to a steering-by-wire system, and the steering-by-wire system includes an upper steering controller and a lower steering controller, and the method includes: The lower steering controller generates an upper steering controller failure signal when it is determined that the upper steering controller is abnormal; The lower steering controller sends the upper steering controller failure signal to the assisted driving system to activate the assisted driving function of the assisted driving system, so that the assisted driving system takes over the vehicle; The lower steering controller controls the steering of the vehicle in response to a steering request issued by the assisted driving system during the process of taking over the vehicle. 2. The method according to claim 1, further comprising: The lower steering controller receives a takeover request from the assisted driving system, and the takeover request is sent by the assisted driving system when the upper steering controller is monitored to be abnormal; The lower steering controller returns a confirmation message to the assisted driving system for the takeover request, so that the assisted driving system takes over the vehicle. 3. The method according to claim 1, further comprising: When the lower steering controller determines that the upper steering controller returns to normal, it generates an upper steering controller recovery signal; The lower steering controller sends the upper steering controller a resume signal to the assisted driving system, so as to terminate the takeover of the vehicle by the assisted driving system. 4. The method according to claim 1, further comprising: The upper steering controller generates a failure signal of the lower steering controller when it is determined that the lower steering controller is abnormal; The upper steering controller sends the lower steering controller failure signal to the vehicle body electronic stability system to activate the vehicle body electronic stability system, so that the vehicle body electronic stability system responds to the steering request sent by the upper steering controller , to control the steering of the vehicle. 5. A vehicle control method based on an assisted driving system, wherein the method is applied to an assisted driving system, comprising: receiving an upper steering controller failure signal sent by a lower steering controller of the steer-by-wire system, wherein the upper steering controller failure signal indicates that an abnormality occurs in the upper steering controller of the steer-by-wire system; activate the assisted driving function of the assisted driving system to take over the vehicle; During the process of taking over the vehicle, a steering request is sent to the lower steering controller of the steer-by-wire system to control the steering of the vehicle. 6. A vehicle control device based on an assisted driving system, wherein the device is applied to a steering-by-wire system, and the steering-by-wire system includes an upper steering controller and a lower steering controller, and the device includes: A generating unit, configured to make the lower steering controller generate an upper steering controller failure signal when it is determined that the upper steering controller is abnormal; The sending signal unit is used to make the lower steering controller send the failure signal of the upper steering controller to the assisted driving system, so as to activate the assisted driving function of the assisted driving system, so that the assisted driving system takes over the vehicle ; The response unit is used to make the lower steering controller control the steering of the vehicle in response to the steering request issued by the auxiliary driving system during the process of taking over the vehicle. 7. A vehicle control device based on an assisted driving system, wherein the device is applied to an assisted driving system, and the device includes: The receiving unit is configured to receive an upper steering controller failure signal sent by the lower steering controller of the steer-by-wire system, and the upper steering controller failure signal indicates that an abnormality occurs in the upper steering controller of the steer-by-wire system; a first activation unit, configured to activate the assisted driving function of the assisted driving system to take over the vehicle; The sending request unit is configured to send a steering request to the lower steering controller of the steer-by-wire system during the process of taking over the vehicle, so as to control the steering of the vehicle. 8. A computer-readable storage medium, on which a computer program is stored, wherein, when the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented. 9. A vehicle, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, characterized in that, when the processor executes the program, any one of claims 1 to 5 is realized. The steps of the method. 10. A vehicle control system based on an auxiliary driving system, characterized in that the system includes a steering-by-wire system and an auxiliary driving system, and the steering-by-wire system includes an upper steering controller and a lower steering controller; The upper steering controller is configured to send a steering request to the lower steering controller when no abnormality occurs; The lower steering controller is configured to receive and respond to a steering request issued by the upper steering controller or the assisted driving system to control the steering of the vehicle; and, when it is determined that the upper steering controller is abnormal, generating an upper steering controller failure signal, and sending the upper steering controller failure signal to the assisted driving system; The assisted driving system is configured to activate the assisted driving function to take over the vehicle when receiving the failure signal of the upper steering controller sent by the lower steering controller, and to turn to the lower steering during the process of taking over the vehicle The controller sends a steering request.

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