WO2019129091A1 - 一种车辆控制方法及装置 - Google Patents
一种车辆控制方法及装置 Download PDFInfo
- Publication number
- WO2019129091A1 WO2019129091A1 PCT/CN2018/123993 CN2018123993W WO2019129091A1 WO 2019129091 A1 WO2019129091 A1 WO 2019129091A1 CN 2018123993 W CN2018123993 W CN 2018123993W WO 2019129091 A1 WO2019129091 A1 WO 2019129091A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- driving
- state
- control
- module
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000011217 control strategy Methods 0.000 claims description 16
- 239000000725 suspension Substances 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 7
- 230000002452 interceptive effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 description 56
- 230000001133 acceleration Effects 0.000 description 8
- 230000009194 climbing Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000011499 joint compound Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 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
- 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
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
-
- 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
- B60W30/14—Adaptive cruise control
-
- 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
-
- 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
- B60W30/18009—Propelling the vehicle related to particular drive situations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2710/06—Combustion engines, Gas turbines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
-
- 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
- B60W2710/18—Braking system
-
- 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
- B60W2710/22—Suspension systems
-
- 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
- B60W2710/30—Auxiliary equipments
Definitions
- the present invention relates to the field of automobiles, and includes a vehicle control method and apparatus.
- many vehicles are equipped with driving modes for off-road conditions, such as snow, sand, mud, rocks and other road conditions, by controlling the vehicle's power system. , four-wheel drive system, body stability system to optimize the driving performance of the vehicle under the above-mentioned off-road conditions.
- the off-road driving mode assembled on the vehicle is in the corresponding off-road condition, after the driver turns on the corresponding function, the main controller controls each system to switch to the corresponding mode, and then uses the pre-tuned performance parameter to upgrade the vehicle.
- Off-road performance helps experienced drivers to drive vehicles with reasonable accelerator pedals, brake pedals, and steering inputs for easy cross-country road conditions. As shown in Table 1 below.
- the Automatic Parking Module (AVH) and the Hill Start Function Module (HHC) help the driver to start smoothly only at the beginning of the climb.
- the vehicle When the vehicle starts, it exits the work, so the precise control during the climbing process cannot be achieved.
- the vehicle Under relatively flat road conditions, the vehicle cannot automatically adapt to the current off-road conditions.
- the cruise control/adaptive cruise module (CC/ACC) can achieve automatic control of the vehicle speed, it only relies on the driver in off-road conditions.
- the speed setting directly uses the cruise function, which may present certain dangers, causing damage to people and vehicles.
- a vehicle control method includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, and the method may include: detecting an off-road when the vehicle is traveling in an off-road driving function open state The open state of the road cruising function; if it is detected that the off-road pavement cruise function is in an open state, the angle determining module determines the driving gradient state of the vehicle; if the vehicle is in a downhill driving state, the vehicle control The module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module; and if the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the ramp starting module; If the vehicle is in a non-ramp driving state, the vehicle driving state is controlled according to a preset control strategy corresponding to the off-road driving function.
- the method may further include: if it is detected that the off-road road cruising function is in an unopened state, controlling a driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function.
- the step of the vehicle control module controlling the vehicle traveling speed to be within the first preset threshold by the steep slope descent control module may include: if the vehicle is in a downhill driving state, passing the vehicle control The module acquires a current traveling speed of the vehicle; if the traveling speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current The traveling speed is less than the first predetermined threshold.
- the step of controlling, by the vehicle control module, the driving state of the vehicle by the ramp starting module may include: acquiring the vehicle by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state Driving state and engine available torque; the vehicle driving information may include at least one or more of an accelerator pedal opening signal, an engine fault signal, a net torque signal, an engine speed signal, and a gear position signal; The control module controls the engine traction according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.
- the step of controlling the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function may include: if the vehicle is on a non-ramp driving a state, according to the corresponding mode of the off-road driving function, acquiring preset parameters of the vehicle engine management system, the transmission control system, the four-wheel drive system, the suspension, the electronic stability control system, and the human-machine interaction system; The preset parameters of each system of the vehicle are used to control the driving state of the vehicle.
- the vehicle control method of the present invention has at least the following advantages: when the current off-road mode control system is turned on, the angle judgment module determines the driving gradient state of the vehicle, and if the vehicle is traveling downhill In the state, the vehicle control module controls the vehicle traveling speed to be within the first preset threshold by the steep slope descent control module HDC. If the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the hill starting module HHC. It integrates the existing HDC and HHC functions to control the vehicle downhill, newly developed a continuous control strategy for climbing to improve the safety of the uphill slope, and newly developed a speed cruising control function for normal off-road conditions to achieve vehicle speed control.
- Another object of the present invention is to provide a vehicle control device including an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, and the device may include: a detection module, configured to When the vehicle is driving in the off-road driving function, detecting the open state of the off-road pavement cruise function; the slope state determining module is configured to determine, by the angle determining module, the vehicle by the angle determining module if the off-road pavement cruise function is detected to be in an open state a running slope state; a downhill control module, configured to: if the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module; a control module, configured to: when the vehicle is in an uphill driving state, the vehicle control module controls a driving state of the vehicle by using the ramp starting module; and the non-ramp driving module is configured to: if the vehicle is in a non-ramp In the driving state, the driving state of the vehicle is controlled
- the device may further include: an off-road driving control module, configured to control the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function if the off-road driving function is detected to be in an unopened state.
- an off-road driving control module configured to control the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function if the off-road driving function is detected to be in an unopened state.
- the downslope control module may include: a vehicle speed acquisition submodule, configured to acquire, by the vehicle control module, a current traveling speed of the vehicle if the vehicle is in a downhill running state; the vehicle speed control submodule And if the traveling speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current traveling speed is less than the first Preset threshold.
- a vehicle speed acquisition submodule configured to acquire, by the vehicle control module, a current traveling speed of the vehicle if the vehicle is in a downhill running state
- the vehicle speed control submodule And if the traveling speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current traveling speed is less than the first Preset threshold.
- the uphill control module may include: a driving state acquisition submodule, configured to acquire a driving state of the vehicle and an engine by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state
- the available vehicle torque information includes at least one or more of an accelerator pedal opening signal, an engine fault signal, a net torque signal, an engine speed signal, and a gear position signal; and a control submodule for the vehicle
- the control module controls the engine traction according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.
- the non-slope running module may include: a driving parameter acquiring sub-module, configured to acquire, according to the corresponding mode that the off-road driving function is turned on, if the vehicle is in a non-ramp driving state Vehicle engine management system, transmission control system, four-wheel drive system, suspension, electronic stability control system, preset parameters of human-computer interaction system; vehicle control sub-module for controlling according to preset parameters of each vehicle system The driving state of the vehicle.
- a driving parameter acquiring sub-module configured to acquire, according to the corresponding mode that the off-road driving function is turned on, if the vehicle is in a non-ramp driving state
- Vehicle engine management system transmission control system, four-wheel drive system, suspension, electronic stability control system, preset parameters of human-computer interaction system
- vehicle control sub-module for controlling according to preset parameters of each vehicle system The driving state of the vehicle.
- FIG. 1 is a flowchart of a vehicle control method according to Embodiment 1 of the present invention.
- FIG. 2 is a schematic flowchart of determining an OCC open state in a vehicle control module according to Embodiment 1 of the present invention
- FIG. 3 is a schematic view showing the force applied to the automobile in the first embodiment of the present invention.
- FIG. 4 is a structural diagram of a vehicle control structure according to an embodiment of the present invention.
- FIG. 5 is a flowchart of a vehicle control method according to Embodiment 2 of the present invention.
- FIG. 6 is a structural block diagram of a vehicle control device according to Embodiment 3 of the present invention.
- FIG. 7 is a structural block diagram of a vehicle control apparatus according to Embodiment 3 of the present invention.
- Figure 8 is a schematic block diagram showing an electronic device for performing the method according to the present invention.
- Fig. 9 schematically shows a storage unit for holding or carrying program code implementing the method according to the invention.
- TCU Transmission Control Unit Transmission Control System
- TCS Traction Control System traction control system (ESP sub-function)
- OCC Off-road Cruise Control Off-Road Cruise System
- CC/ACC Cruise Control/adaptive cruise control cruise control / adaptive cruise
- VCU Vehicle Control Unit vehicle controller
- ABM Airbag Module Airbag Controller
- HMI Human Machine Interface Human Machine Interaction System
- Off-road driving mode In order to improve the passing and handling of vehicles under off-road conditions, many OEMs have developed driving modes for off-road conditions to optimize vehicle power system, four-wheel drive system, and vehicle stability system performance. The driver is driving outdoors and getting out of trouble. At present, typical driving modes in off-road conditions include snow, sand, mud, and rock modes.
- the vehicle power system, four-wheel drive system, and vehicle stability system performance can be described as follows: each driving mode is controlled by a rotary switch or multiple The buttons are independently controlled. When the driver turns on the corresponding driving mode in the off-road condition, the main controller controls each system to switch to the corresponding mode, and uses the pre-tuned performance parameters to improve the off-road performance of the vehicle. The experienced driver has a reasonable accelerator pedal. Driving the vehicle with the brake pedal and steering input can easily pass complex off-road conditions, as shown in Table 1:
- the vehicle includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, which may specifically include the following steps. :
- Step 101 When the vehicle is driving in the off-road driving function, the on-state cruise function is turned on.
- the off-road cruise control is developed based on the current off-road mode control system, which integrates the existing HDC and HHC functions to control the vehicle downhill.
- the vehicle control module detects whether the off-road pavement cruise function is turned on by detecting the opening signal of the off-road pavement cruise function.
- the switch module when the driver operates the driving mode switch, the switch module sends a driving mode switch signal (DrivingMode) through a Local Interconnect Network (LIN) bus to a body control module (BCM), and the body control module will drive
- the mode switch signal (DrivingMode) is converted to a mode signal (DrvMod) and forwarded to the CAN (Controller Area Network) bus, and then the mode signal (DrvMod) is forwarded by the CAN bus to the vehicle control module.
- the vehicle control module sends a mode request signal (VCU_DrvMod) to each subsystem. After each subsystem responds correctly according to the mode request signal of the vehicle controller, the respective status signals are fed back to the vehicle control module, and the main control module sends the signal.
- VCU_DrvMod mode request signal
- the mode displays the signal to the Instrument Panel (IP).
- IP Instrument Panel
- the vehicle travels in a certain driving mode.
- the off-road cruise switch signal (OffRoad_CC) is sent to the body control module BCM via the LIN line, and the body control module BCM will cross-country cruise switch.
- the signal (OffRoad_CC) is converted to an off-road cruise signal (OffRoad_CC_Req) forwarded to the CAN bus, and the vehicle control module receives this signal to determine the driver's cross-country cruise request.
- the opening command of the off-road road cruising function can be generated by the triggering off-road road cruising function switch, and the command to start the off-road road cruising function can be triggered by a preset off-road road cruising function switch, which can be set on the vehicle control panel.
- the physical button may also be a touch button disposed on the touch screen of the driving computer, which is not limited by the embodiment of the present invention.
- Step 102 If it is detected that the off-road pavement cruise function is in an open state, the angle determining module determines the driving gradient state of the vehicle.
- the vehicle control module obtains the current tilt angle of the vehicle through the angle judgment module, and according to the angle Determine the slope of the current driving condition of the vehicle.
- the vehicle when the vehicle is driving on the road, it is necessary to overcome the rolling resistance F f of the ground and the air resistance F w from the air; when the car is traveling uphill on the slope, the slope resistance F i needs to be overcome; when the vehicle accelerates, it needs to be Overcome the acceleration resistance F j , as shown in Figure 3,
- Air resistance can be calculated by air resistance coefficient Cd, vehicle windward area A, air density ⁇ , and relative speed u r . This resistance can be calculated using the formula in actual development. This design does not reflect this resistance in subsequent calculations.
- F i —— ramp resistance the component of vehicle gravity along the slope is the slope resistance of the car
- G the gravity acting on the car
- G mg
- m the mass of the car
- g the acceleration of gravity
- ⁇ the slope
- F j Accelelerating resistance, when the car accelerates, it needs to overcome the inertial force when its mass accelerates.
- the present invention aims to control the vehicle to travel at a constant speed (or a small acceleration) uphill, so the acceleration resistance is not calculated in the tilt angle judging module, and this resistance is considered in the cross-country cruise module.
- the preset threshold ranges, for example, to 0 ⁇ 5%.
- Step 103 If the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module.
- the vehicle controller VCU coordinates the subsystems according to the downhill control mode, for example, the driving mode of the current vehicle (for example, The off-road condition corresponds to the driving mode) the control signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the preset strategy for executing the corresponding mode (as described in Table 1) ).
- the vehicle can be controlled in accordance with the steep slope descent function.
- the mode at this time can be independent of the current vehicle driving mode.
- the steep slope descent function will work when the vehicle is detected to be downhill.
- Step 104 If the vehicle is in an uphill driving state, the vehicle control module controls the driving state of the vehicle through the hill starting module.
- the vehicle controller VCU coordinates the subsystems according to the uphill control mode, for example, the driving mode of the current vehicle (for example, The off-road condition corresponds to the driving mode) the control signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the preset strategy for executing the corresponding mode (as described in Table 1) ).
- the uphill control mode for example, the driving mode of the current vehicle (for example, The off-road condition corresponds to the driving mode)
- the control signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the preset strategy for executing the corresponding mode (as described in Table 1) ).
- Step 105 If the vehicle is in a non-ramp running state, control the driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function.
- the angle determining module detects that the vehicle is in a non-ramp condition, it determines that the driver has a cross-country cruise request, and the vehicle controller VCU coordinates the subsystems according to the off-road cruise mode.
- the driving mode of the current vehicle for example, the off-road condition corresponding to the driving mode
- the driving mode signal is sent to the engine management module EMS, the transmission control module TCU, the four-wheel drive control module, the vehicle suspension state, the electronic stability control module, and the corresponding mode is executed.
- Preset strategy (as described in Table 1).
- the off-road cruise mode is a mode that is parallel to the driving mode. As shown in FIG. 2, when the cross-country cruise request is activated, the driving mode signal is not activated.
- the off-state pavement cruise function when the vehicle is driving in the off-road driving function, the off-state pavement cruise function is turned on; if the off-road pavement cruise function is in the on state, the angle judging module determines the driving of the vehicle. a slope state; if the vehicle is in a downhill driving state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module; and if the vehicle is in an uphill driving state, passes the ramp
- the starting module controls the running state of the vehicle; if the vehicle is in the non-ramp driving state, the driving state of the vehicle is controlled according to a preset control strategy corresponding to the off-road driving function. In the off-road condition, the vehicle speed control is realized, and the power output is kept stable.
- the vehicle includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, which may specifically include the following steps:
- Step 201 When the vehicle is driving in the off-road driving function, the on-state cruise function is turned on.
- This step is the same as step 101 and will not be described in detail herein.
- Step 202 If it is detected that the off-road pavement cruise function is in an open state, the angle determining module determines the driving gradient state of the vehicle.
- step 102 This step is the same as step 102 and will not be described in detail herein.
- Step 203 If the vehicle is in a downhill running state, obtain the current traveling speed of the vehicle by using the vehicle control module.
- the measured current traveling speed is acquired by an inductive element mounted on the current vehicle.
- Step 204 if the current driving speed exceeds a first preset threshold, triggering the steep slope descent control module, and calling the electronic stability control system ESP to brake the vehicle until the current traveling speed is less than the first A preset threshold.
- the HDC function of the steep slope descent control module is triggered, and the brake pressure is applied through the ESP system to control the vehicle speed within a certain range, for example, 8 ⁇ 1kph.
- a certain threshold such as 8kph
- this function will be turned off. If it is needed, you need to press the corresponding switch button of the steep slope descent control module to turn on the function.
- Step 205 If the vehicle is in an uphill running state, obtain driving state of the vehicle and an available torque of the engine by detecting vehicle driving information of the vehicle; the driving information of the vehicle includes at least an accelerator opening signal and an engine. One or more of a fault signal, a net torque signal, an engine speed signal, and a gear position signal.
- the angle judging module judges that the vehicle is in an uphill state, at this time, to ensure that the vehicle does not slip, is stable, and starts with a certain acceleration:
- the vehicle controller determines the driver's intention and the current engine available torque according to the accelerator pedal opening signal, the engine net torque signal, the engine speed signal, and the gear position signal; in an embodiment, the engine has a characteristic characteristic at a certain speed
- the current engine torque can be obtained with a certain accelerator pedal opening degree, and then the above data can be obtained according to the measured engine efficiency and mechanical loss. And the above signals already exist in the CAN network, so they can be easily obtained.
- the vehicle controller according to the four wheel speed signal, the vehicle yaw rate YawRate signal, the hand brake or EPB working signal, the brake light signal, the identification of the vehicle motion state and the wheel slip ratio;
- the vehicle At the moment of vehicle start, the vehicle generates a certain acceleration a, and the vehicle controller setting a is within a certain range (such as 0.2-0.3g). At this time, the engine needs to provide traction force as shown in formula (7), the vehicle controller Automatically control engine speed and target gear to ensure engine traction.
- Step 206 The vehicle control module controls the engine traction force according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.
- the vehicle runs at a constant speed at a constant speed, and the speed range can be set by the developer.
- the engine needs to provide the traction force as mgsin ⁇ + ⁇ mgcos ⁇ , and the vehicle controller automatically controls.
- the engine speed and the target gear position to ensure the engine traction, and thus control the vehicle running state tends to be stable.
- Step 207 if the vehicle is in a non-ramp running state, acquiring an engine management system, a transmission control system, a four-wheel drive system, a suspension, and an electronic stability of the vehicle according to a corresponding mode in which the off-road driving function is turned on.
- Control system preset parameters of human-computer interaction system.
- the slope determination module determines that the current vehicle inclination angle is within a certain range or has no inclination angle, it is determined that the vehicle is on a flat road surface, and if the OCC switch is still pressed at this time, the driver is considered to request the off-road cruise function. .
- the vehicle controller can calculate the current engine demand traction according to formula (1), and then obtain the demand torque, and control each system to coordinate as follows:
- the actual torque In response to a torque request sent by the vehicle controller, the actual torque is output at a constant or within a certain range of fluctuations; in one embodiment, the actual torque can be collected directly from the CAN network.
- TCU system responding to the gear position control sent by the vehicle controller, and controlling the current gear position and the target gear position according to the engine speed, the accelerator pedal depth and the vehicle speed information;
- Four-wheel drive system In response to the drive command of the vehicle controller, the vehicle enters the low-speed four-wheel drive mode, the central differential is locked, and the vehicle enters the full-time four-wheel drive;
- ESP system detects the state of the wheel, controls the wheel slip rate within a certain range, and prevents the power from being lost due to excessive wheel slip.
- a certain range here is, for example, 10%-18%, but it can also be obtained by a developer setting or a look-up table, which can be changed according to the vehicle speed and the vehicle deceleration.
- the overall principle is to ensure the maximum longitudinal force of the tire in contact with the ground, shorten the braking distance, and ensure a certain steering ability.
- V is the vehicle speed
- r is the rolling radius of the tire
- ⁇ is the wheel speed
- the vehicle slip rate can be expressed as:
- HMI system There will be indicators on the meter to indicate the status of the off-road process, display the slope and is going uphill or downhill, and display the current driver set speed, and the system default safe speed range.
- each subsystem works in concert with the corresponding response, so that the vehicle automatically controls the throttle opening and the brake to maintain the uniform speed of the vehicle on different off-road surfaces, and the driver is only responsible for grasping the direction.
- Step 208 Control a driving state of the vehicle according to preset parameters of each system of the vehicle.
- each system such as an EMS system, a TCU system, a four-wheel drive system, a suspension, an ESP system, an HMI system, etc.
- the preset mode here may be a non-slope road surface in which the vehicle is in the off-road mode.
- the torque control is performed according to the vehicle speed selected by the driver, and the control process is the slope traction torque calculation process.
- the corresponding parameter is the actually calculated torque parameter.
- Step 209 If it is detected that the off-road road cruising function is in an unopened state, the vehicle driving state is controlled according to a preset control strategy corresponding to the off-road driving function.
- various systems such as EMS system, TCU system, four-wheel drive system, suspension, ESP system, HMI system, etc.
- the vehicle state is determined by calculating the vehicle tilt angle by using the existing vehicle on-board sensor and the CAN bus signal.
- the vehicle controller calculates the climbing torque at the start, and after the start.
- the traction torque during steady driving further controls the smooth climb of the vehicle; when detecting that the vehicle is in a downhill state, the vehicle controller detects the vehicle speed information, and controls the brake actuator through the ESP to ensure the downhill speed; when detecting that the vehicle is on a flat road surface and When the driver has a cross-country cruise request, the vehicle controller controls each power system and the vehicle's four-wheel drive hardware to enter the off-road mode, and reduces the vehicle slip through the ESP system, thereby achieving more accurate vehicle cruise control under off-road conditions.
- the vehicle includes an angle determination module, a vehicle control module, a ramp start module, and a steep slope descent control module, and specifically includes the following modules.
- the detection module 301 the gradient state determination module 302, the downhill control module 303, the uphill control module 304, and the non-ramp travel module 305.
- the detecting module 301 is configured to detect an open state of the off-road pavement cruise function when the vehicle runs under the off-road driving function.
- the slope state determining module 302 is configured to determine, by the angle determining module, the driving gradient state of the vehicle if the off-road pavement cruise function is detected to be in an open state;
- a downslope control module 303 configured to: when the vehicle is in a downhill running state, the vehicle control module controls the vehicle traveling speed to be within a first preset threshold by the steep slope descent control module;
- the uphill control module 304 is configured to control, by the ramp start module, a driving state of the vehicle if the vehicle is in an uphill running state;
- the non-ramp driving module 305 is configured to control the driving state of the vehicle according to a preset control strategy corresponding to the off-road driving function if the vehicle is in a non-ramp driving state.
- the downslope control module 303 includes:
- a vehicle speed acquisition submodule configured to acquire, by the vehicle control module, a current traveling speed of the vehicle if the vehicle is in a downhill running state
- a vehicle speed control submodule configured to trigger the steep slope descent control module if the driving speed exceeds a first preset threshold, and call the electronic stability control system ESP to brake the vehicle until the current driving speed is less than The first preset threshold.
- the uphill control module 304 includes:
- a driving state acquisition submodule configured to acquire a driving state of the vehicle and an available torque of the engine by detecting vehicle driving information of the vehicle if the vehicle is in an uphill driving state;
- the driving information of the vehicle includes at least an accelerator pedal One or more of an opening signal, an engine failure signal, a net torque signal, an engine speed signal, and a gear position signal;
- a control submodule for controlling, by the vehicle control module, the engine traction force according to the driving state of the vehicle and the available torque of the engine to control the running state of the vehicle.
- the non-ramp running module 305 includes:
- a driving parameter acquisition submodule configured to acquire an engine management system, a transmission control system, a four-wheel drive system, and a vehicle according to a corresponding mode in which the off-road driving function is turned on, if the vehicle is in a non-ramp driving state; Suspension, electronic stability control system, preset parameters of human-computer interaction system;
- the vehicle control sub-module is configured to control a driving state of the vehicle according to preset parameters of each system of the vehicle.
- the vehicle control device further includes:
- the off-road driving control module 306 is configured to control the driving state of the vehicle according to the preset control strategy corresponding to the off-road driving function if it is detected that the off-road driving function is in an unopened state.
- the vehicle state is determined by calculating the vehicle tilt angle by using the existing vehicle on-board sensor and the CAN bus signal.
- the vehicle controller calculates the climbing torque at the start, and after the start.
- the traction torque during steady driving further controls the smooth climb of the vehicle; when detecting that the vehicle is in a downhill state, the vehicle controller detects the vehicle speed information, and controls the brake actuator through the ESP to ensure the downhill speed; when detecting that the vehicle is on a flat road surface and When the driver has a cross-country cruise request, the vehicle controller controls each power system and the vehicle's four-wheel drive hardware to enter the off-road mode, and reduces the vehicle slip through the ESP system, thereby achieving more accurate vehicle cruise control under off-road conditions.
- the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without deliberate labor.
- the various component embodiments of the present invention may be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof.
- a microprocessor or digital signal processor may be used in practice to implement some or all of the functionality of some or all of the components of an electronic device in accordance with embodiments of the present invention.
- the invention can also be implemented as a device or device program (e.g., a computer program and a computer program product) for performing some or all of the methods described herein.
- a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such signals may be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.
- FIG. 8 illustrates an electronic device, such as an onboard computer, that can implement the vehicle control method in accordance with the present invention.
- the electronic device conventionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020.
- the memory 1020 may be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), an EPROM, a hard disk, or a ROM.
- the memory 1020 has a memory space 1030 for executing program code 1031 of any of the above method steps.
- storage space 1030 for program code may include various program code 1031 for implementing various steps in the above methods, respectively.
- the program code can be read from or written to one or more computer program products.
- Such computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks.
- Such a computer program product is typically a portable or fixed storage unit as described with reference to FIG.
- the storage unit may have a storage section, a storage space, and the like arranged similarly to the storage 1020 in the electronic device of FIG.
- the program code can be compressed, for example, in an appropriate form.
- the storage unit includes computer readable code 1031', ie, code that can be read by, for example, a processor such as 1010, which when executed by an electronic device causes the electronic device to perform each of the methods described above step.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (12)
- 一种车辆控制方法,其特征在于,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述方法包括:当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;若所述车辆处于下坡行驶状态,则由所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;若所述车辆处于上坡行驶状态,则由所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
- 根据权利要求1所述的车辆控制方法,其特征在于,还包括:若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
- 根据权利要求1所述的车辆控制方法,其特征在于,所述若所述车辆处于下坡行驶状态,整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内的步骤,包括:若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;若所述当前行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
- 根据权利要求1所述的车辆控制方法,其特征在于,所述若所述车辆处于上坡行驶状态,整车控制模块通过所述坡道起步模块控制车辆行驶状态的步骤,包括:若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括:加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;由所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭矩,控制发动机牵引力,以控制车辆行驶状态。
- 根据权利要求4所述的车辆控制方法,其特征在于,所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态的步骤,包 括:若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
- 一种车辆控制装置,其特征在于,所述车辆包括角度判断模块、整车控制模块、坡道起步模块和陡坡缓降控制模块,所述装置包括:检测模块,用于当车辆在越野驾驶功能开启状态下行驶时,检测越野路面巡航功能的开启状态;坡度状态判断模块,用于若检测到所述越野路面巡航功能处于开启状态,则通过角度判断模块判断所述车辆的行驶坡度状态;下坡控制模块,用于若所述车辆处于下坡行驶状态,则由所述整车控制模块通过所述陡坡缓降控制模块控制车辆行驶速度在第一预设阈值内;上坡控制模块,用于若所述车辆处于上坡行驶状态,则由所述整车控制模块通过所述坡道起步模块控制车辆行驶状态;非坡道行驶模块,用于若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
- 根据权利要求6所述的车辆控制装置,其特征在于,还包括:越野行驶控制模块,用于若检测到所述越野路面巡航功能处于未开启状态,则根据所述越野驾驶功能对应的预设控制策略控制车辆行驶状态。
- 根据权利要求6所述的车辆控制装置,其特征在于,所述下坡控制模块,包括:车速获取子模块,用于若所述车辆处于下坡行驶状态,通过所述整车控制模块获取所述车辆的当前行驶速度;车速控制子模块,用于若所述行驶速度超过第一预设阈值,则触发所述陡坡缓降控制模块,调用电子稳定控制系统对所述车辆进行制动,直至所述当前行驶速度小于所述第一预设阈值。
- 根据权利要求6所述的车辆控制装置,其特征在于,所述上坡控制模块,包括:驾驶状态获取子模块,用于若所述车辆处于上坡行驶状态,通过检测所述车辆的车辆行驶信息,获取所述车辆的驾驶状态以及发动机可用扭矩;所述车辆行驶信息至少包括:加速踏板开度信号、发动机故障信号、净扭矩信号、发动机转速信号、档位信号中的一项或多项;控制子模块,用于由所述整车控制模块根据所述车辆的驾驶状态以及发动机可用扭 矩,控制发动机牵引力,以控制车辆行驶状态。
- 根据权利要求9所述的车辆控制装置,其特征在于,所述非坡道行驶模块,包括:行驶参数获取子模块,用于所述若所述车辆处于非坡道行驶状态,则根据所述越野驾驶功能开启的对应模式,获取所述车辆的发动机管理系统、变速器控制系统、四驱系统、悬架、电子稳定控制系统、人机交互系统的预设参数;车辆控制子模块,用于根据所述车辆各系统的预设参数,控制所述车辆的行驶状态。
- 一种计算机程序,包括计算机可读代码,当所述计算机可读代码在电子装置上运行时,导致所述电子装置执行根据权利要求1-5中的任一个所述的车辆控制方法。
- 一种计算机可读介质,其中存储了如权利要求11所述的计算机程序。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2018395066A AU2018395066B2 (en) | 2017-12-27 | 2018-12-26 | Method and device for controlling vehicle |
RU2020124421A RU2742445C1 (ru) | 2017-12-27 | 2018-12-26 | Способ и устройство управления автомобилем |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711448130.1A CN109334656B (zh) | 2017-12-27 | 2017-12-27 | 一种车辆控制方法及装置 |
CN201711448130.1 | 2017-12-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019129091A1 true WO2019129091A1 (zh) | 2019-07-04 |
Family
ID=65291248
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2018/123993 WO2019129091A1 (zh) | 2017-12-27 | 2018-12-26 | 一种车辆控制方法及装置 |
Country Status (4)
Country | Link |
---|---|
CN (1) | CN109334656B (zh) |
AU (1) | AU2018395066B2 (zh) |
RU (1) | RU2742445C1 (zh) |
WO (1) | WO2019129091A1 (zh) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111332292A (zh) * | 2020-02-28 | 2020-06-26 | 吉利汽车研究院(宁波)有限公司 | 一种自适应巡航低速跟车控制方法、装置及车辆 |
CN112092812A (zh) * | 2020-08-18 | 2020-12-18 | 江苏大学 | 一种自适应巡航控制系统下车辆上坡自动限速的方法 |
CN112113774A (zh) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | 坡道检测方法、检测终端及存储介质 |
CN113050610A (zh) * | 2021-03-31 | 2021-06-29 | 上海拿森汽车电子有限公司 | 一种状态检测装置及车辆 |
CN113183963A (zh) * | 2021-06-10 | 2021-07-30 | 嘉兴鲁棒实特车辆智能科技有限公司 | 车辆起步控制方法、装置、车辆控制器、车辆及存储介质 |
CN113511210A (zh) * | 2021-06-01 | 2021-10-19 | 北京汽车集团越野车有限公司 | 一种车辆控制方法、车辆控制装置及车辆 |
CN113581143A (zh) * | 2020-04-30 | 2021-11-02 | 比亚迪股份有限公司 | 自动驻车的控制方法、装置、存储介质及车辆 |
CN113619555A (zh) * | 2021-07-28 | 2021-11-09 | 中汽创智科技有限公司 | 车辆驱动控制方法、装置、系统、存储介质和终端设备 |
CN114044000A (zh) * | 2021-11-05 | 2022-02-15 | 东风汽车集团股份有限公司 | 一种自动驾驶车辆hmi人机交互的安全冗余系统 |
CN114383858A (zh) * | 2021-11-30 | 2022-04-22 | 江铃汽车股份有限公司 | 动力系统耐久性测试验证规范等效方法及系统 |
CN114715123A (zh) * | 2021-01-06 | 2022-07-08 | 长城汽车股份有限公司 | 一种车辆控制方法及装置 |
CN114954331A (zh) * | 2021-07-20 | 2022-08-30 | 长城汽车股份有限公司 | 安全气囊控制方法、装置、介质及电子设备 |
CN115556738A (zh) * | 2022-10-17 | 2023-01-03 | 质子汽车科技有限公司 | 基于区域控制架构的线控底盘及新能源电动商用车辆 |
CN115742756A (zh) * | 2022-12-15 | 2023-03-07 | 拿森汽车科技(杭州)有限公司 | 基于牵引力控制系统车辆控制方法、装置、设备及介质 |
CN116176578A (zh) * | 2023-01-06 | 2023-05-30 | 潍柴动力股份有限公司 | 一种车辆的巡航制动方法、装置、存储介质及终端 |
CN118494485A (zh) * | 2024-05-28 | 2024-08-16 | 小米汽车科技有限公司 | 车辆的控制方法、装置及存储介质 |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109367534B (zh) * | 2018-10-15 | 2020-12-08 | 北京汽车集团越野车有限公司 | 一种电子驻车控制方法及装置 |
CN111660919A (zh) * | 2019-03-07 | 2020-09-15 | 上海博泰悦臻网络技术服务有限公司 | 车辆、车机设备及其车辆大灯自动调节方法 |
CN111767933A (zh) * | 2019-05-17 | 2020-10-13 | 北京京东尚科信息技术有限公司 | 一种识别车辆行驶状态的方法和装置 |
CN110143199B (zh) * | 2019-05-17 | 2020-09-25 | 南京理工大学 | 商用车车重自适应坡道起步控制方法 |
CN110371131B (zh) * | 2019-05-31 | 2021-06-11 | 惠州市德赛西威汽车电子股份有限公司 | 基于adas的车辆esp关闭告警方法及车载系统 |
CN110293971B (zh) * | 2019-06-24 | 2021-06-15 | 浙江吉利控股集团有限公司 | 坡道缓降控制方法、坡道缓降控制系统及车辆 |
CN110341496B (zh) * | 2019-07-09 | 2022-11-04 | 武汉理工大学 | 一种分布式驱动越野车辆的坡道低速工况行驶控制方法 |
CN111559385A (zh) * | 2020-04-08 | 2020-08-21 | 长城汽车股份有限公司 | 一种车辆控制方法及装置 |
CN113879299A (zh) * | 2020-07-02 | 2022-01-04 | 威马智慧出行科技(上海)有限公司 | 车辆控制方法、设备及车辆 |
CN111993887A (zh) * | 2020-08-27 | 2020-11-27 | 内蒙古莱拓汽车科技有限公司 | 一种无轨胶轮车的安全保障系统 |
CN112339656B (zh) * | 2020-11-10 | 2023-02-21 | 南昌智能新能源汽车研究院 | 一种多模块触发车辆高位制动灯的控制方法 |
CN112758091B (zh) * | 2021-01-25 | 2022-12-02 | 上汽通用五菱汽车股份有限公司 | 自适应巡航控制方法、系统、装置及存储介质 |
EP4063211B1 (en) * | 2021-02-02 | 2024-06-19 | Zhejiang Geely Holding Group Co., Ltd. | Method, apparatus, and system for controlling engine, and vehicle |
CN112874520B (zh) * | 2021-02-03 | 2023-03-24 | 宜宾丰川动力科技有限公司 | 一种车辆控制方法、装置、设备及存储介质 |
CN113911098B (zh) * | 2021-11-25 | 2024-01-23 | 中国重汽集团济南动力有限公司 | 一种结合巡航控制的hdc高精度车速控制方法及系统 |
CN113928322A (zh) * | 2021-11-26 | 2022-01-14 | 中国重汽集团济南动力有限公司 | 一种基于eps的车辆低速脱困控制方法、系统及车辆 |
CN114148333A (zh) * | 2021-12-13 | 2022-03-08 | 中国重汽集团济南动力有限公司 | 一种协调驾驶模式和四驱模式的控制方法及系统 |
CN115489528A (zh) * | 2022-07-06 | 2022-12-20 | 中国第一汽车股份有限公司 | 一种车辆控制方法、装置、设备及介质 |
CN115817480A (zh) * | 2022-11-29 | 2023-03-21 | 重庆长安汽车股份有限公司 | 自适应巡航防溜坡控制方法、装置、电子设备及存储介质 |
CN115782618A (zh) * | 2023-01-03 | 2023-03-14 | 三一汽车起重机械有限公司 | 坡道缓降的控制方法、装置及作业机械 |
CN116279554B (zh) * | 2023-01-15 | 2024-02-13 | 润芯微科技(江苏)有限公司 | 基于图像识别及移动位置服务调整驾驶策略的系统及方法 |
SE2350427A1 (en) * | 2023-04-13 | 2024-10-14 | Scania Cv Ab | Method and control arrangement for controlling a vehicle during a downhill start |
CN116901952B (zh) * | 2023-08-31 | 2025-01-10 | 大陆软件系统开发中心(重庆)有限公司 | 一种防溜车控制方法、装置、设备及存储介质 |
CN117068168A (zh) * | 2023-10-16 | 2023-11-17 | 天津所托瑞安汽车科技有限公司 | 一种坡道辅助控制方法、装置、设备及存储介质 |
CN117565871B (zh) * | 2023-12-14 | 2024-07-02 | 中科华芯(东莞)科技有限公司 | 一种多模式自动切换驾驶安全方法及系统 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101678821A (zh) * | 2007-05-23 | 2010-03-24 | 卢卡斯汽车股份有限公司 | 在下坡道路上发动机动车的方法 |
US8532906B2 (en) * | 2008-01-23 | 2013-09-10 | Ford Global Technologies, Llc | Vehicle stability control system and method |
CN104125906A (zh) * | 2012-02-20 | 2014-10-29 | 捷豹路虎有限公司 | 用于车辆的速度控制方法 |
CN104442763A (zh) * | 2014-11-20 | 2015-03-25 | 北京新能源汽车股份有限公司 | 一种纯电动汽车的陡坡缓降系统及其控制方法 |
CN106347368A (zh) * | 2015-07-14 | 2017-01-25 | 福特全球技术公司 | 用于机动车辆坡道启动辅助的控制系统 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9493160B2 (en) * | 2012-08-16 | 2016-11-15 | Jaguar Land Rover Limited | Vehicle speed control system |
GB201215967D0 (en) * | 2012-09-06 | 2012-10-24 | Jaguar Cars | Vehicle control system and method |
-
2017
- 2017-12-27 CN CN201711448130.1A patent/CN109334656B/zh active Active
-
2018
- 2018-12-26 RU RU2020124421A patent/RU2742445C1/ru active
- 2018-12-26 WO PCT/CN2018/123993 patent/WO2019129091A1/zh active Application Filing
- 2018-12-26 AU AU2018395066A patent/AU2018395066B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101678821A (zh) * | 2007-05-23 | 2010-03-24 | 卢卡斯汽车股份有限公司 | 在下坡道路上发动机动车的方法 |
US8532906B2 (en) * | 2008-01-23 | 2013-09-10 | Ford Global Technologies, Llc | Vehicle stability control system and method |
CN104125906A (zh) * | 2012-02-20 | 2014-10-29 | 捷豹路虎有限公司 | 用于车辆的速度控制方法 |
CN104442763A (zh) * | 2014-11-20 | 2015-03-25 | 北京新能源汽车股份有限公司 | 一种纯电动汽车的陡坡缓降系统及其控制方法 |
CN106347368A (zh) * | 2015-07-14 | 2017-01-25 | 福特全球技术公司 | 用于机动车辆坡道启动辅助的控制系统 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111332292A (zh) * | 2020-02-28 | 2020-06-26 | 吉利汽车研究院(宁波)有限公司 | 一种自适应巡航低速跟车控制方法、装置及车辆 |
CN113581143B (zh) * | 2020-04-30 | 2022-07-15 | 比亚迪股份有限公司 | 自动驻车的控制方法、装置、存储介质及车辆 |
CN113581143A (zh) * | 2020-04-30 | 2021-11-02 | 比亚迪股份有限公司 | 自动驻车的控制方法、装置、存储介质及车辆 |
CN112113774A (zh) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | 坡道检测方法、检测终端及存储介质 |
CN112092812A (zh) * | 2020-08-18 | 2020-12-18 | 江苏大学 | 一种自适应巡航控制系统下车辆上坡自动限速的方法 |
CN114715123A (zh) * | 2021-01-06 | 2022-07-08 | 长城汽车股份有限公司 | 一种车辆控制方法及装置 |
CN113050610A (zh) * | 2021-03-31 | 2021-06-29 | 上海拿森汽车电子有限公司 | 一种状态检测装置及车辆 |
CN113511210A (zh) * | 2021-06-01 | 2021-10-19 | 北京汽车集团越野车有限公司 | 一种车辆控制方法、车辆控制装置及车辆 |
CN113511210B (zh) * | 2021-06-01 | 2024-01-19 | 北京汽车集团越野车有限公司 | 一种车辆控制方法、车辆控制装置及车辆 |
CN113183963B (zh) * | 2021-06-10 | 2023-06-30 | 嘉兴鲁棒实特车辆智能科技有限公司 | 车辆起步控制方法、装置、车辆控制器、车辆及存储介质 |
CN113183963A (zh) * | 2021-06-10 | 2021-07-30 | 嘉兴鲁棒实特车辆智能科技有限公司 | 车辆起步控制方法、装置、车辆控制器、车辆及存储介质 |
CN114954331B (zh) * | 2021-07-20 | 2023-03-21 | 长城汽车股份有限公司 | 安全气囊控制方法、装置、介质及电子设备 |
CN114954331A (zh) * | 2021-07-20 | 2022-08-30 | 长城汽车股份有限公司 | 安全气囊控制方法、装置、介质及电子设备 |
CN113619555B (zh) * | 2021-07-28 | 2023-01-03 | 中汽创智科技有限公司 | 车辆驱动控制方法、装置、系统、存储介质和终端设备 |
CN113619555A (zh) * | 2021-07-28 | 2021-11-09 | 中汽创智科技有限公司 | 车辆驱动控制方法、装置、系统、存储介质和终端设备 |
CN114044000A (zh) * | 2021-11-05 | 2022-02-15 | 东风汽车集团股份有限公司 | 一种自动驾驶车辆hmi人机交互的安全冗余系统 |
CN114044000B (zh) * | 2021-11-05 | 2023-06-23 | 东风汽车集团股份有限公司 | 一种自动驾驶车辆hmi人机交互的安全冗余系统 |
CN114383858A (zh) * | 2021-11-30 | 2022-04-22 | 江铃汽车股份有限公司 | 动力系统耐久性测试验证规范等效方法及系统 |
CN114383858B (zh) * | 2021-11-30 | 2024-02-27 | 江铃汽车股份有限公司 | 动力系统耐久性测试验证规范等效方法及系统 |
CN115556738A (zh) * | 2022-10-17 | 2023-01-03 | 质子汽车科技有限公司 | 基于区域控制架构的线控底盘及新能源电动商用车辆 |
CN115742756A (zh) * | 2022-12-15 | 2023-03-07 | 拿森汽车科技(杭州)有限公司 | 基于牵引力控制系统车辆控制方法、装置、设备及介质 |
CN116176578A (zh) * | 2023-01-06 | 2023-05-30 | 潍柴动力股份有限公司 | 一种车辆的巡航制动方法、装置、存储介质及终端 |
CN118494485A (zh) * | 2024-05-28 | 2024-08-16 | 小米汽车科技有限公司 | 车辆的控制方法、装置及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN109334656B (zh) | 2020-07-28 |
AU2018395066A1 (en) | 2020-08-13 |
RU2742445C1 (ru) | 2021-02-05 |
CN109334656A (zh) | 2019-02-15 |
AU2018395066B2 (en) | 2021-11-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019129091A1 (zh) | 一种车辆控制方法及装置 | |
US9849879B2 (en) | Vehicle speed control | |
US9052713B2 (en) | Method for operating a vehicle during coasting | |
JP6276873B2 (ja) | 設定速度に従う車両速度の自動制御 | |
US20090093938A1 (en) | Speed control system for vehicles | |
CN110370940B (zh) | 一种陡坡缓降定速巡航系统及方法 | |
CN101678767A (zh) | 行车间距控制装置和行车间距控制方法 | |
JP2015219830A (ja) | 運転支援装置 | |
JPH09315275A (ja) | 車両のブレーキ制御システム | |
CN109017327A (zh) | 制动系统 | |
US8027774B2 (en) | Method and device for ensuring the standstill of a motor vehicle | |
CN109649327A (zh) | 基于自适应巡航的安全带预紧方法、系统、设备和介质 | |
US12110021B2 (en) | Control device and a method for controlling vehicle speed | |
KR20170005078A (ko) | 곡선로 주행과 관련하여 도로상에서의 차량 주행을 적합화 하기 위한 방법 및 시스템 | |
US10343684B2 (en) | Systems and methods for smooth stopping of a vehicle | |
JP5169539B2 (ja) | 降坂路走行速度制御装置 | |
WO2024027262A1 (zh) | 车辆控制方法、装置、车辆及存储介质 | |
SE1350646A1 (sv) | Förfarande och system för att retardera ett fordon | |
GB2618562A (en) | Control system for a vehicle and method | |
JP2004268847A (ja) | 制動制御装置 | |
JP2014000900A (ja) | 車両制御装置 | |
JP2004268846A (ja) | 走行速度制御装置 | |
CN115782844B (zh) | 一种具有一刹车辅助装置的交通工具 | |
US20230398865A1 (en) | Remote driving system and control method for vehicle | |
JP2010149568A (ja) | 車両用運転支援装置および車両用運転支援方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18896522 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2018395066 Country of ref document: AU Date of ref document: 20181226 Kind code of ref document: A |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 18896522 Country of ref document: EP Kind code of ref document: A1 |