CN107656519B

CN107656519B - Driving control method and device for electric vehicle

Info

Publication number: CN107656519B
Application number: CN201710940534.6A
Authority: CN
Inventors: 李玮; 代康伟; 梁海强; 刘超; 范江楠
Original assignee: Beijing Electric Vehicle Co Ltd
Current assignee: Beijing Electric Vehicle Co Ltd
Priority date: 2017-09-30
Filing date: 2017-09-30
Publication date: 2020-03-10
Anticipated expiration: 2037-09-30
Also published as: CN107656519A

Abstract

The invention provides a driving control method and a driving control device for an electric vehicle, wherein the method comprises the following steps: when the vehicle is in a manual driving mode, the VCU of the vehicle control unit judges whether an automatic driving mode switching request of a vehicle user is received; when an automatic driving mode switching request of a vehicle user is received, a self-checking result of a VCU and a self-checking result of an automatic driving control unit ADU are obtained; determining whether the self-checking of the VCU and the ADU passes or not according to the self-checking result of the VCU and the self-checking result of the ADU; if the self-tests of the VCU and the ADU are both passed, the manual driving mode of the vehicle is switched to the automatic driving mode, and an automatic driving instruction is sent to the ADU, so that the ADU controls the driving of the vehicle according to the automatic driving mode, the vehicle can be switched to the automatic driving mode when the self-tests of the VCU and the ADU are both passed, and the automatic driving mode switching request of a vehicle user is received, so that the safety of automatic driving of the vehicle is improved, and the driving safety is improved.

Description

Driving control method and device for electric vehicle

Technical Field

The invention relates to the technical field of vehicles, in particular to a driving control method and device of an electric vehicle.

Background

Currently, unmanned automobiles are the main trend for future development in the automotive field. An automatic driving control unit ADU in the unmanned automobile senses information such as road environment, vehicle position, traffic signals, obstacles and the like through a vehicle-mounted sensing system, automatically plans a driving route on the basis, and realizes longitudinal and transverse coupling control of the vehicle through certain control logic, so that the vehicle safely reaches a preset destination without manual extra intervention. However, in the prior art, when the vehicle has a fault affecting the automatic driving function, the automatic driving control unit ADU has difficulty in effectively controlling the vehicle, and the driving safety is poor.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, a first object of the present invention is to provide a driving control method for an electric vehicle, which is used to solve the problem of poor driving safety of an unmanned vehicle when a vehicle has a fault affecting an automatic driving function in the prior art.

A second object of the present invention is to provide a driving control apparatus for an electric vehicle.

A third object of the present invention is to propose another drive control device of an electric vehicle.

A fourth object of the invention is to propose a non-transitory computer-readable storage medium.

A fifth object of the invention is to propose a computer program product.

To achieve the above object, an embodiment of a first aspect of the present invention provides a driving control method for an electric vehicle, including:

when the vehicle is in a manual driving mode, the VCU of the vehicle control unit judges whether an automatic driving mode switching request of a vehicle user is received;

when an automatic driving mode switching request of a vehicle user is received, obtaining a self-checking result of a VCU (vehicle control unit) and a self-checking result of an ADU (automatic driving control unit);

determining whether the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU passes or not according to the self-checking result of the vehicle control unit VCU and the self-checking result of the automatic driving control unit ADU;

and if the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU is passed, switching the manual driving mode of the vehicle into the automatic driving mode, and sending an automatic driving instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU drives and controls the vehicle according to the automatic driving mode.

Further, the self-checking result of the vehicle control unit VCU is a self-checking result obtained by performing self-checking on each component in the vehicle control system by the vehicle control unit VCU; the parts in the whole vehicle control system comprise: the system comprises a vehicle control unit VCU and an execution component connected with the vehicle control unit VCU;

the self-checking result of the automatic driving control unit ADU is a self-checking result obtained by the automatic driving control unit ADU performing self-checking on each component in the environment perception and information processing system; the components in the context awareness and information handling system include: the automatic driving control unit ADU, and a sensing component and an inertial navigation system which are connected with the automatic driving control unit ADU.

Further, the method further comprises the following steps:

when the vehicle is in an automatic driving mode, the VCU of the vehicle control unit judges whether a manual driving trigger signal is acquired; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of vehicle users;

and when the manual driving trigger signal is acquired, switching the automatic driving mode of the vehicle into the manual driving mode, and sending an automatic driving stopping instruction to an automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control of the vehicle.

Further, the triggering signal of the vehicle user includes: a brake signal when the user depresses the brake pedal, and/or a signal when the user presses an emergency button.

Further, the switching the manual driving mode of the vehicle to the automatic driving mode includes:

the VCU of the vehicle controller stops collecting information of each part in the vehicle control system;

and the VCU of the finished automobile controller receives a control instruction sent by the ADU and controls each part in the finished automobile control system to execute corresponding operation according to the control instruction.

Further, the switching the automatic driving mode of the vehicle to the manual driving mode includes:

the VCU of the vehicle controller stops receiving the control instruction sent by the ADU;

and the VCU of the finished automobile controller collects the information of all parts in the finished automobile control system and controls the driving of the vehicle according to the information of all parts in the finished automobile control system.

Further, vehicle control unit VCU gathers the information of each part in the whole vehicle control system, and is right according to the information of each part in the whole vehicle control system the vehicle drives control, includes:

the VCU of the vehicle controller collects information of each part in a vehicle control system;

judging whether the information of each part is matched with a control instruction sent by an automatic driving control unit (ADU) before mode switching;

and if the information of the first component which does not match the control instruction exists, controlling the first component according to the command related to the first component in the control instruction until a vehicle user operates the first component.

According to the driving control method of the electric vehicle, when the vehicle is in a manual driving mode, the VCU of the vehicle control unit judges whether an automatic driving mode switching request of a vehicle user is received; when an automatic driving mode switching request of a vehicle user is received, obtaining a self-checking result of a VCU (vehicle control unit) and a self-checking result of an ADU (automatic driving control unit); determining whether the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU passes or not according to the self-checking result of the vehicle control unit VCU and the self-checking result of the automatic driving control unit ADU; if the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU is passed, the manual driving mode of the vehicle is switched to the automatic driving mode, and an automatic driving instruction is sent to the automatic driving control unit ADU, so that the automatic driving control unit ADU controls the driving of the vehicle according to the automatic driving mode, the vehicle can pass the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU, and the manual driving mode of the vehicle is switched to the automatic driving mode under the condition that the automatic driving mode switching request of a vehicle user is received, so that the safety of automatic driving of the vehicle is improved, and the driving safety is improved.

To achieve the above object, a second aspect of the present invention provides a driving control apparatus for an electric vehicle, including:

the judging module is used for judging whether an automatic driving mode switching request of a vehicle user is received or not when the vehicle is in a manual driving mode;

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a self-checking result of a Vehicle Control Unit (VCU) and a self-checking result of an automatic driving control unit (ADU) when receiving an automatic driving mode switching request of a vehicle user;

the determining module is used for determining whether the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU passes or not according to the self-checking result of the vehicle control unit VCU and the self-checking result of the automatic driving control unit ADU;

and the switching module is used for switching the manual driving mode of the vehicle into the automatic driving mode and sending an automatic driving instruction to the automatic driving control unit ADU when the self-tests of the vehicle control unit VCU and the automatic driving control unit ADU are passed, so that the automatic driving control unit ADU drives and controls the vehicle according to the automatic driving mode.

Further, the judging module is further configured to judge whether a manual driving trigger signal is acquired when the vehicle is in an automatic driving mode; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of vehicle users;

the switching module is further configured to switch an automatic driving mode of the vehicle to a manual driving mode when the manual driving trigger signal is acquired, and send an automatic driving stopping instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control over the vehicle.

Further, the switching module is specifically configured to,

stopping collecting information of each part in the whole vehicle control system;

and receiving a control instruction sent by an automatic driving control unit (ADU), and controlling each component in the whole vehicle control system to execute corresponding operation according to the control instruction.

Further, the switching module is specifically configured to,

stopping receiving the control instruction sent by the automatic driving control unit ADU;

and collecting information of each part in the whole vehicle control system, and driving and controlling the vehicle according to the information of each part in the whole vehicle control system.

Further, the switching module is specifically configured to,

collecting information of each part in a finished automobile control system;

According to the driving control device of the electric vehicle, when the vehicle is in a manual driving mode, the VCU of the vehicle control unit judges whether an automatic driving mode switching request of a vehicle user is received; when an automatic driving mode switching request of a vehicle user is received, obtaining a self-checking result of a VCU (vehicle control unit) and a self-checking result of an ADU (automatic driving control unit); determining whether the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU passes or not according to the self-checking result of the vehicle control unit VCU and the self-checking result of the automatic driving control unit ADU; if the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU is passed, the manual driving mode of the vehicle is switched to the automatic driving mode, and an automatic driving instruction is sent to the automatic driving control unit ADU, so that the automatic driving control unit ADU controls the driving of the vehicle according to the automatic driving mode, the vehicle can pass the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU, and the manual driving mode of the vehicle is switched to the automatic driving mode under the condition that the automatic driving mode switching request of a vehicle user is received, so that the safety of automatic driving of the vehicle is improved, and the driving safety is improved.

In order to achieve the above object, a third embodiment of the present invention provides another driving control device for an electric vehicle, including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor implements the driving control method for the electric vehicle as described above when executing the program.

To achieve the above object, a fourth aspect of the present invention provides a non-transitory computer-readable storage medium, wherein instructions of the storage medium, when executed by a processor, implement the method as described above.

To achieve the above object, a fifth aspect of the present invention provides a computer program product, wherein when executed by an instruction processor of the computer program product, the computer program product executes a driving control method for an electric vehicle, the method comprising:

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flowchart of a driving control method for an electric vehicle according to an embodiment of the present invention;

FIG. 2 is a control system architecture for a vehicle according to an embodiment of the present invention;

fig. 3 is a flowchart illustrating another driving control method for an electric vehicle according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a driving control device of an electric vehicle according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of another driving control device for an electric vehicle according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A driving control method and apparatus of an electric vehicle according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a driving control method for an electric vehicle according to an embodiment of the present invention. As shown in fig. 1, the driving control method of the electric vehicle mainly includes the steps of:

s101, when the vehicle is in a manual driving mode, the VCU of the vehicle controller judges whether an automatic driving mode switching request of a vehicle user is received.

The execution main body of the driving control method of the electric vehicle provided by the invention is a driving control device of the electric vehicle, and the driving control device of the electric vehicle can be a Vehicle Control Unit (VCU) or a vehicle control system comprising the VCU. The vehicle in this embodiment may be a pure electric vehicle.

The control system architecture of the vehicle in the present embodiment may be as shown in fig. 2, and in fig. 2, the control system architecture of the vehicle includes: an environment sensing and information processing system and a whole vehicle control system. In the environment sensing and information processing system, an Automatic driving control unit (ADU) is connected with a laser radar, a millimeter wave radar, an ultrasonic radar, a camera, a locator GPS and an inertial navigation system, and the ADU detects the surrounding environment of the vehicle, the state of the vehicle and obstacles around the vehicle through information fed back by the laser radar, the millimeter wave radar, the ultrasonic radar, the camera, the locator GPS and the inertial navigation system; the ADU calculates the expected state of the vehicle according to the information and a certain logic algorithm, such as the expected longitudinal acceleration of the vehicle, the expected transverse acceleration of the vehicle, the expected braking speed of the vehicle and the like; decoupling the desired state of the vehicle to obtain a vehicle command, e.g., converting a desired acceleration of the vehicle into an accelerator pedal opening; converting the expected lateral acceleration of the vehicle into a front wheel turning angle of the vehicle; converting a desired braking speed of the vehicle into a brake pedal opening command; in addition, the ADU gives gear commands according to the vehicle state; and the ADU sends the vehicle command as a control instruction to the VCU, and the VCU controls each execution component in the vehicle control system to execute corresponding operation according to the vehicle command so that the vehicle runs according to an expected state to realize automatic driving.

In the vehicle control system, a vehicle control unit VCU is connected with a Motor controller MCU, a battery management system BMS, an accelerator pedal system APS, a brake pedal system BPS, a gear system GP, an instrument system ICM, a power steering system EPS, an accessory system AUX, an electronic brake unit EBU, an air conditioning system AC and a vehicle body control module BCM, the Motor controller MCU is connected with a driving Motor, and the battery management system BMS is connected with a high-voltage power battery BATT, wherein the accelerator pedal system APS, the brake pedal system BPS, the gear system GP, the power steering system EPS, the electronic brake unit EBU and the driving Motor are execution components. When the vehicle is in a manual driving mode, the VCU calculates the expected output torque of the driving Motor according to information fed back by the accelerator pedal system APS, the gear system GP and the brake pedal system BPS and according to a certain logic, limits, smoothes and the like the expected output torque according to the states of the high-voltage power battery BATT, the driving Motor and the Motor controller MCU to obtain a torque command and sends the torque command to the Motor controller MCU, and the Motor controller MCU controls the output torque of the driving Motor according to the torque command to finally realize the driving of the vehicle. In the process, the VCU of the vehicle controller controls normal work of systems such as an instrument, power steering, an air conditioner and accessories according to the state of the vehicle and the operation of a driver.

When the vehicle is in the automatic driving mode, the vehicle control unit VCU does not calculate the expected output torque of the driving motor according to the information fed back by the accelerator pedal system APS, the gear system GP and the brake pedal system BPS, and at this time, the vehicle control unit VCU receives the accelerator pedal opening command, the vehicle front wheel steering angle command, the brake pedal opening command, the gear command and the light command sent by the automatic driving control unit ADU, and uses the commands to replace the information fed back by the accelerator pedal system APS, the brake pedal system BPS, the gear system GP and the like in the vehicle control system, so as to control the execution component to work, and finally achieve the purpose of automatic driving of the vehicle.

In addition, in this embodiment, after the vehicle is switched from the power-off state to the power-on state, the initial mode of the vehicle is the manual driving mode in order to ensure the safety of the vehicle and the personnel on the vehicle. After the vehicle is powered on, the vehicle control unit VCU may send a self-checking instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU performs self-checking on each component in the environment sensing and information processing system according to the self-checking instruction to obtain a self-checking result; the VCU of the vehicle controller can also perform self-checking on all parts in the vehicle control system to obtain a self-checking result.

S102, when an automatic driving mode switching request of a vehicle user is received, a self-test result of a vehicle control unit VCU and a self-test result of an automatic driving control unit ADU are obtained.

In this embodiment, an automatic driving button may be provided on the vehicle. When the vehicle user presses the button, the vehicle control unit VCU may recognize the operation of the vehicle user as an automatic driving mode switching request.

S103, determining whether the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU is passed or not according to the self-checking result of the vehicle control unit VCU and the self-checking result of the automatic driving control unit ADU.

In this embodiment, specifically, when it is determined that the power limiting fault of the high-voltage power battery does not occur, the faults of the motor controller MCU and the driving motor do not occur, and the fault of the execution component does not occur according to the self-test result of the VCU of the vehicle controller, it is determined that the VCU of the vehicle controller passes the self-test. When determining that the environmental perception sensors, such as a laser radar, a millimeter wave radar, an ultrasonic radar, a camera, a locator GPS, an inertial navigation system and the like, do not have faults according to the self-checking result of the automatic driving control unit ADU, determining that the automatic driving control unit ADU passes the self-checking.

And S104, if the self-checking of the vehicle control unit VCU and the automatic driving control unit ADU is passed, switching the manual driving mode of the vehicle into the automatic driving mode, and sending an automatic driving instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU drives and controls the vehicle according to the automatic driving mode.

The process that the vehicle control unit VCU switches the manual driving mode of the vehicle into the automatic driving mode specifically may be that the vehicle control unit VCU stops acquiring information of each component in the vehicle control system; and the VCU of the finished automobile controller receives a control instruction sent by the ADU and controls each part in the finished automobile control system to execute corresponding operation according to the control instruction.

Specifically, (1) the vehicle control unit VCU stops receiving an accelerator pedal signal fed back by the accelerator pedal system APS, receives an accelerator pedal opening command sent by the automatic driving control unit ADU, and implements a predetermined control logic according to the command; (2) the VCU receives a vehicle front wheel steering angle command sent by the ADU, and controls the EPS according to the command to realize automatic steering of the vehicle; wherein a vehicle user in this state will not be able to steer the steering wheel; (3) the VCU receives a brake pedal opening command sent by the ADU, realizes a set control logic according to the command, does not perform brake control according to information fed back by a BPS (brake pedal system), and still monitors the state of a brake pedal at the moment; (4) the VCU of the vehicle control unit stops receiving the physical gear signal fed back by the gear system GP, receives a gear command sent by the ADU and realizes a set control logic according to the command; in the state, a driver can operate a gear, but a gear system GP does not feed back a physical gear signal; (5) the VCU of the vehicle controller receives a light command sent by the ADU to control the starting of vehicle light, wherein the light command comprises a high beam light, a low beam light, a contour light, a fog light, a steering light and the like; (6) the instrument lights the "autopilot" status light, while the text prompts the driver: the vehicle enters an autonomous driving mode.

In this embodiment, in the process of switching the manual driving mode of the vehicle to the automatic driving mode, the vehicle control unit VCU performs a certain information interaction with the automatic driving control unit ADU to realize automatic driving, where the information interaction amount is small, only a control command related to the execution component is received, and the automatic driving is finally realized through a control command simulated by the automatic driving control unit ADU. In which other functions of the vehicle, such as air conditioning control, etc., are still performed by the driver in addition to automatic driving.

Fig. 3 is a schematic flow chart of another driving control method for an electric vehicle according to an embodiment of the present invention, as shown in fig. 3, based on the embodiment shown in fig. 1, when a vehicle is in an automatic driving mode, a specific fault occurs and a driver needs to exit the automatic driving mode when performing a specific operation, so as to meet an actual driving requirement and driving safety of a vehicle user, and therefore, the method may further include:

s105, when the vehicle is in an automatic driving mode, the VCU judges whether a manual driving trigger signal is acquired or not; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of a vehicle user.

Wherein the fault signal of the automatic driving control unit ADU comprises: laser radar faults, millimeter wave radar faults, ultrasonic radar faults, camera faults, locator GPS faults, inertial navigation system faults, and other system faults, among others. The fault signal of the VCU of the vehicle control unit comprises the following steps: the method comprises the following steps of high-voltage power battery power limiting failure, motor controller and driving motor failure, execution component failure and the like. The communication fault signal includes: communication failures between the individual components, for example, communication losses between the vehicle control unit VCU and the automatic drive control unit ADU, i.e., the vehicle control unit VCU cannot receive the communication information of the automatic drive control unit ADU. The triggering signal of the vehicle user includes: a brake signal when the user depresses the brake pedal, and/or a signal when the user presses an emergency button.

When the vehicle is in the automatic driving mode, if the brake pedal is pressed down, the braking requirement of a vehicle user is indicated, namely the requirement of intervention in vehicle driving is met, and therefore the condition of exiting the automatic driving mode is met in the state; if the vehicle user thinks that the vehicle is in a dangerous state and the automatic driving control unit ADU does not respond to the dangerous state, the automatic driving mode can be forcibly exited by pressing the emergency button, the automatic driving mode is switched to a manual driving mode, and driving safety is ensured by manual driving.

In addition, it should be noted that when a serious failure occurs in the vehicle, for example, a failure affecting the driving of the vehicle, such as a damaged driving motor, the vehicle control unit VCU may switch the automatic driving mode of the vehicle to the manual driving mode, and prompt the vehicle user to stop the vehicle as soon as possible, and perform power-off processing on the vehicle when the vehicle is stopped.

And S106, when the manual driving trigger signal is acquired, switching the automatic driving mode of the vehicle into the manual driving mode, and sending an automatic driving stopping instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control of the vehicle.

In this embodiment, the process of the vehicle control unit VCU switching the automatic driving mode of the vehicle to the manual driving mode may specifically be that the vehicle control unit VCU stops receiving the control instruction sent by the automatic driving control unit ADU; and the VCU of the finished automobile controller collects the information of all parts in the finished automobile control system and controls the driving of the vehicle according to the information of all parts in the finished automobile control system. The VCU acquires information of each part in the vehicle control system, and the driving control process of the vehicle according to the information of each part in the vehicle control system can be specifically that the VCU acquires the information of each part in the vehicle control system; judging whether the information of each part is matched with a control instruction sent by an automatic driving control unit (ADU) before mode switching; and if the information of the first component which does not match the control instruction exists, controlling the first component according to the command related to the first component in the control instruction until the vehicle user operates the first component.

Specifically, (1) the vehicle control unit VCU completes vehicle control through an accelerator pedal signal fed back by the automatic driving control unit ADU, and no longer implements a predetermined control logic according to an accelerator pedal opening command sent by the automatic driving control unit ADU; (2) the VCU of the vehicle controller controls the power steering system EPS to realize automatic steering of the vehicle no longer according to the front wheel steering angle command of the vehicle sent by the ADU, and the driver can operate the steering wheel at the moment; (3) the VCU finishes vehicle control through a brake pedal signal fed back by the BPS, and does not realize a set control logic according to a brake pedal opening command sent by the ADU; (4) the VCU of the vehicle controller finishes vehicle control through a physical gear signal fed back by the gear system GP, and a set control logic is not realized according to a gear command sent by the ADU; if the physical gear signal fed back by the gear system GP is inconsistent with the gear command sent by the automatic driving control unit ADU before mode switching, the gear command of the automatic driving control unit ADU before mode switching is taken as an effective gear signal to carry out vehicle control until a vehicle user has gear shifting operation; (5) the VCU controls the vehicle light according to the operation of the vehicle user, if the light control command sent by the ADU before mode switching does not accord with the operation of the vehicle user after mode switching, the VCU continues to control the vehicle light according to the light command of the ADU before mode switching until the vehicle user operates the corresponding light; (6) the instrument turns off the 'automatic driving' status light, sounds a warning tone, and simultaneously the characters prompt the driver: and the vehicle enters a manual driving mode and is requested to be driven safely.

The situation that gear signals before and after switching are inconsistent can occur in the switching process from the automatic driving mode to the manual driving mode of the vehicle, and the reasons are as follows: 1. the automatic driving control unit ADU controls gear change according to an actual driving state in the automatic driving control process, so that a gear command of the automatic driving control unit ADU before mode switching does not accord with a physical gear of a gear system GP after mode switching; 2. the manual operation of the gear by the vehicle user during the automatic driving process also causes the gear command of the automatic driving control unit ADU before the mode switching to not correspond to the physical gear of the gear system GP after the mode switching. The method and the device have the advantages that the mode switching smoothness is considered, the influence on driving safety caused by the sudden change of gears is prevented, and if the gear information before and after the mode switching is inconsistent, the gear command of the automatic driving control unit ADU before the mode switching is adopted to complete vehicle control.

In the process of switching the automatic driving mode to the manual driving mode of the vehicle, the problem of inconsistent light commands may exist. For driving safety considerations, for example, automatic driving is performed at night, at this time, the automatic driving control unit ADU controls the vehicle light to be turned on, and after the mode is switched to the manual driving mode, it is considered that the driver does not turn on the vehicle light system before, so if the vehicle light is in the off state according to the actual situation, great harm is caused to the driving safety during the mode switching process.

According to the driving control method of the electric vehicle, when the vehicle is in an automatic driving mode, a vehicle control unit VCU judges whether a manual driving trigger signal is acquired; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of vehicle users; when the manual driving trigger signal is acquired, the automatic driving mode of the vehicle is switched to the manual driving mode, and an automatic driving stopping instruction is sent to the automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control of the vehicle, and the automatic driving mode of the vehicle can be switched to the manual driving mode when a fault signal of the automatic driving control unit ADU, a fault signal of a vehicle control unit VCU, a communication fault signal or a trigger signal of a vehicle user occurs, so that the safety of automatic driving of the vehicle is improved, and the driving safety is improved.

Fig. 4 is a schematic structural diagram of a driving control device of an electric vehicle according to an embodiment of the present invention. As shown in fig. 4, includes: a judging module 41, an obtaining module 42, a determining module 43 and a switching module 44.

The judging module 41 is configured to judge whether an automatic driving mode switching request of a vehicle user is received when the vehicle is in a manual driving mode;

an obtaining module 42, configured to obtain a self-test result of a vehicle control unit VCU and a self-test result of an automatic driving control unit ADU when an automatic driving mode switching request of a vehicle user is received;

a determining module 43, configured to determine whether the self-test of the vehicle control unit VCU and the automatic driving control unit ADU passes according to a self-test result of the vehicle control unit VCU and a self-test result of the automatic driving control unit ADU;

and the switching module 44 is configured to switch the manual driving mode of the vehicle to the automatic driving mode and send an automatic driving instruction to the automatic driving control unit ADU when the self-tests of the vehicle control unit VCU and the automatic driving control unit ADU both pass, so that the automatic driving control unit ADU performs driving control on the vehicle according to the automatic driving mode.

The driving control device of the electric vehicle provided by the invention can be a Vehicle Control Unit (VCU) or a vehicle control system comprising the VCU. The vehicle in this embodiment may be a pure electric vehicle.

In this embodiment, after the vehicle is switched from the power-off state to the power-on state, in order to ensure the safety of the vehicle and the personnel on the vehicle, the initial mode of the vehicle is an artificial driving mode. After the vehicle is powered on, the vehicle control unit VCU may send a self-checking instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU performs self-checking on each component in the environment sensing and information processing system according to the self-checking instruction to obtain a self-checking result; the VCU of the vehicle controller can also perform self-checking on all parts in the vehicle control system to obtain a self-checking result.

The self-checking result of the VCU is a self-checking result obtained by self-checking each component in the whole vehicle control system by the VCU; the parts in the whole vehicle control system comprise: the system comprises a vehicle control unit VCU and an execution component connected with the vehicle control unit VCU;

Further, the switching module is specifically configured to,

Further, the determining module 41 is further configured to determine whether a manual driving trigger signal is obtained when the vehicle is in the automatic driving mode; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of vehicle users;

the switching module 44 is further configured to switch the automatic driving mode of the vehicle to the manual driving mode when the manual driving trigger signal is acquired, and send an automatic driving stopping instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control of the vehicle.

Wherein the vehicle user's trigger signal comprises: a brake signal when the user depresses the brake pedal, and/or a signal when the user presses an emergency button. The fault signal of the automatic driving control unit ADU comprises: laser radar faults, millimeter wave radar faults, ultrasonic radar faults, camera faults, locator GPS faults, inertial navigation system faults, and other system faults, among others. The fault signal of the VCU of the vehicle control unit comprises the following steps: the method comprises the following steps of high-voltage power battery power limiting failure, motor controller and driving motor failure, execution component failure and the like. The communication fault signal includes: communication failures between the individual components, for example, communication losses between the vehicle control unit VCU and the automatic drive control unit ADU, i.e., the vehicle control unit VCU cannot receive the communication information of the automatic drive control unit ADU.

Further, the switching module 44 is specifically configured to,

Further, the switching module is specifically configured to,

collecting information of each part in a finished automobile control system;

According to the driving control device of the electric vehicle, when the vehicle is in an automatic driving mode, the VCU of the vehicle control unit judges whether a manual driving trigger signal is acquired; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of vehicle users; when the manual driving trigger signal is acquired, the automatic driving mode of the vehicle is switched to the manual driving mode, and an automatic driving stopping instruction is sent to the automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control of the vehicle, and the automatic driving mode of the vehicle can be switched to the manual driving mode when a fault signal of the automatic driving control unit ADU, a fault signal of a vehicle control unit VCU, a communication fault signal or a trigger signal of a vehicle user occurs, so that the safety of automatic driving of the vehicle is improved, and the driving safety is improved.

Fig. 5 is a schematic structural diagram of another driving control device for an electric vehicle according to an embodiment of the present invention. The drive control device for an electric vehicle includes:

memory 1001, processor 1002, and computer programs stored on memory 1001 and executable on processor 1002.

The processor 1002, when executing the program, realizes the driving control method of the electric vehicle provided in the above-described embodiment.

Further, the drive control device of the electric vehicle further includes:

a communication interface 1003 for communicating between the memory 1001 and the processor 1002.

A memory 1001 for storing computer programs that may be run on the processor 1002.

Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory).

A processor 1002, configured to implement the driving control method of the electric vehicle according to the above-described embodiment when executing the program.

If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.

The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention.

The present embodiment also provides a non-transitory computer-readable storage medium having stored thereon a computer program characterized in that the program, when executed by a processor, implements the driving control method of an electric vehicle as described above.

The present embodiment also provides a computer program product, which when executed by an instruction processor in the computer program product, performs a method of driving control of an electric vehicle, the method comprising:

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A driving control method of an electric vehicle, characterized by comprising:

if the self-checking of the vehicle controller VCU and the automatic driving control unit ADU is passed, switching the manual driving mode of the vehicle into the automatic driving mode, and sending an automatic driving instruction to the automatic driving control unit ADU, so that the automatic driving control unit ADU performs driving control on the vehicle according to the automatic driving mode;

the method further comprises the following steps:

when the manual driving trigger signal is acquired, switching the automatic driving mode of the vehicle into the manual driving mode, and sending an automatic driving stopping instruction to an automatic driving control unit (ADU) so that the ADU stops driving control of the vehicle;

the switching the automatic driving mode of the vehicle to the manual driving mode includes:

the VCU acquires information of each part in the vehicle control system, and controls the driving of the vehicle according to the information of each part in the vehicle control system;

vehicle control unit VCU gathers the information of each part in the whole car control system, and is right according to the information of each part in the whole car control system the vehicle drives control, includes:

2. The method of claim 1,

3. The method of claim 1,

the vehicle user's trigger signal includes: a brake signal when the user depresses the brake pedal, and/or a signal when the user presses an emergency button.

4. The method of claim 1, wherein switching the manual driving mode of the vehicle to the autonomous driving mode comprises:

5. A driving control apparatus of an electric vehicle, characterized by comprising:

the switching module is used for switching the manual driving mode of the vehicle into the automatic driving mode and sending an automatic driving instruction to the automatic driving control unit ADU when the self-tests of the vehicle control unit VCU and the automatic driving control unit ADU are passed, so that the automatic driving control unit ADU drives and controls the vehicle according to the automatic driving mode;

the judging module is also used for judging whether a manual driving trigger signal is acquired or not when the vehicle is in an automatic driving mode; the manual driving trigger signal comprises any one or more of the following signals: fault signals of an automatic driving control unit ADU, fault signals of a vehicle control unit VCU, communication fault signals and trigger signals of vehicle users;

the switching module is further configured to switch an automatic driving mode of the vehicle to a manual driving mode when the manual driving trigger signal is acquired, and send an automatic driving stopping instruction to an automatic driving control unit ADU, so that the automatic driving control unit ADU stops driving control over the vehicle;

the switching module is specifically configured to,

collecting information of each part in a finished automobile control system, and carrying out driving control on the automobile according to the information of each part in the finished automobile control system;

the switching module is specifically configured to,

collecting information of each part in a finished automobile control system;

6. The apparatus of claim 5,

7. The apparatus of claim 5,

8. The apparatus of claim 5, wherein the switching module is specifically configured to,

9. A driving control apparatus of an electric vehicle, characterized by comprising:

memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the driving control method of an electric vehicle according to any one of claims 1 to 4 when executing the program.

10. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the driving control method of an electric vehicle according to any one of claims 1 to 4.

11. A computer program product which, when executed by an instruction processor, performs a method of driving control of an electric vehicle, the method comprising:

the switching the automatic driving mode of the vehicle to the manual driving mode includes: the VCU of the vehicle controller stops receiving the control instruction sent by the ADU;