CN115465248A

CN115465248A - Vertical control method and device, electronic equipment and storage medium

Info

Publication number: CN115465248A
Application number: CN202211145151.7A
Authority: CN
Inventors: 侯迎华; 丁峰; 田山; 张东好; 杨兴邦; 孙磊
Original assignee: Beijing Jingxiang Technology Co Ltd
Current assignee: Beijing Jingxiang Technology Co Ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2022-12-13

Abstract

The application discloses a longitudinal control method, a longitudinal control device, electronic equipment and a storage medium, wherein the method comprises the steps of receiving an acceleration value instruction required by an upper-layer controller; calculating a torque value corresponding to an acceleration value required by the upper controller according to a vehicle longitudinal dynamic model; under the condition that the torque value is negative torque, judging whether the acceleration value is also a negative value; if the torque value is a negative torque value and the acceleration value is negative, sending an acceleration value instruction required by the upper controller to a vehicle braking system, wherein the vehicle braking system is used for receiving only a negative acceleration instruction; and if the torque value is a negative torque value, the acceleration value is not negative, and the negative torque value is within a preset range value, sending the calculated torque value to a vehicle driving system, wherein the vehicle driving system is used for receiving the positive torque and the negative torque within the preset range value. The method and the device reduce the pause and contusion in the driving process, and enable the switching of the longitudinally controlled brake system to be smoother.

Description

Vertical control method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a longitudinal control method and apparatus, an electronic device, and a storage medium.

Background

Acceleration, braking, etc. belong to the underlying longitudinal control logic of autonomous driving.

In the related art, a fixed coefficient or calibration method is generally adopted. However, the switching logic between braking and driving depends only on whether the acceleration given by the upper controller is positive or negative, and if the acceleration is negative, braking is performed, and vice versa, driving is performed. Therefore, the frequent switching of braking and driving under certain working conditions can cause the driver and the passenger to feel frustrated, and the driving and riding experience is reduced.

Disclosure of Invention

The embodiment of the application provides a longitudinal control method and device, electronic equipment and a storage medium, so that longitudinal control is optimized, driving and braking of longitudinal control are switched smoothly, and jerkiness is reduced.

The embodiment of the application adopts the following technical scheme:

in a first aspect, an embodiment of the present application provides a longitudinal control method, where the method includes:

receiving an acceleration value instruction required by an upper controller;

calculating a torque value corresponding to an acceleration value required by the upper controller according to a vehicle longitudinal dynamic model;

under the condition that the torque value is negative torque, judging whether the acceleration value is also negative;

if the torque value is a negative torque value and the acceleration value is negative, sending an acceleration value instruction required by the upper controller to a vehicle braking system, wherein the vehicle braking system is used for receiving only a negative acceleration instruction;

and if the torque value is a negative torque value, the acceleration value is not negative, and the negative torque value is within a preset range value, sending the calculated torque value to a vehicle driving system, wherein the vehicle driving system is used for receiving the positive torque and the negative torque within the preset range value.

In a second aspect, an embodiment of the present application further provides a longitudinal control device, where the device includes:

the receiving module is used for receiving an acceleration value instruction required by the upper controller;

the calculation module is used for calculating a torque value corresponding to an acceleration value required by the upper controller according to a vehicle longitudinal dynamic model;

the judging module is used for judging whether the acceleration value is a negative value or not under the condition that the torque value is a negative torque;

the first execution module is used for sending an acceleration value instruction required by the upper controller to a vehicle braking system if the acceleration value is a negative torque value and the acceleration value is negative, and the vehicle braking system is used for receiving only a negative acceleration instruction;

and the second execution module is used for sending the calculated torque value to a vehicle driving system if the torque value is a negative torque value and the acceleration value is not negative and the negative torque value is within a preset range value, and the vehicle driving system is used for receiving the positive torque and the negative torque within the preset range value.

In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the above method.

In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to perform the above-described method.

The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:

firstly, an acceleration value instruction required by an upper controller is received, and then a torque value corresponding to the acceleration value required by the upper controller is calculated according to a vehicle longitudinal dynamic model. And further judging whether the acceleration value is a negative value or not under the condition that the torque value is a negative torque. For a negative torque value and the acceleration value is negative, sending an acceleration value instruction required by the upper controller to a vehicle braking system; and for a negative torque value, the acceleration value is non-negative and the negative torque value is within a preset range value, the calculated torque value is sent to the vehicle drive system. From the perspective of vehicle longitudinal dynamics, by determining the acceleration value expected by the upper controller, a corresponding negative acceleration value or torque value command can be sent to the vehicle braking system or the vehicle driving system according to the expected acceleration. The suspension feeling in the driving process is reduced, and the switching of a longitudinally controlled brake system is smoother.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flowchart of a coefficient determination method in the related art;

FIG. 2 is a schematic flow chart of a calibration method in the related art;

FIG. 3 is a schematic flow chart of a longitudinal control method in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a longitudinal control device in an embodiment of the present application;

FIG. 5 is a schematic flow chart of a longitudinal control method in a preferred embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The automatic driving can be generally divided into upper-layer control and bottom-layer control, the longitudinal upper-layer control obtains the tracking target speed or target position according to different functional requirements by each function, and the target acceleration of the vehicle is calculated according to a control algorithm; and the bottom layer control module controls the torque or acceleration of the driving actuator and the deceleration of the braking actuator to track the target acceleration of the automatic driving.

The bottom layer control method in the related art includes the following two methods:

firstly, a bottom layer controller receives a target acceleration request a sent by an upper layer and judges the sign of the acceleration request a. When the acceleration a is positive, the acceleration a command is multiplied by a coefficient K to be converted into a torque command which is sent to a driving actuator. and when a is negative, directly sending a to the brake actuator. As shown in detail in figure 1.

Secondly, the vehicle speed, the acceleration and the engine torque value of the vehicle are collected in advance according to different working conditions and are calibrated into a three-dimensional table. The bottom layer controller receives a target acceleration request a sent by the upper layer and judges the sign of the acceleration request a. When the target acceleration request a is positive, finding out the corresponding torque T by table lookup interpolation between the acceleration a and the current vehicle speed V, and sending a torque T instruction to the actuator. and when the a is negative, the a is directly sent to the brake actuator. As shown in particular in fig. 2.

The inventor finds that the bottom layer control method does not generally consider a vehicle longitudinal dynamic model, and the conversion of the acceleration to the torque is only multiplied by a fixed coefficient. This approach ignores variability of system states such as low speed and high speed of the vehicle, gradient of the road, etc., which are not in compliance with actual physical objects. And the fixed coefficient is difficult to approach the actual controlled vehicle in a calibration mode. This approach does not allow for accurate control of the longitudinal direction of the vehicle.

In addition, although some methods consider the defects of the method, the method comprises the steps of calibrating the working conditions of the vehicle under different working conditions, acquiring the mapping relation among the acceleration, the speed and the opening degree of the accelerator pedal of the controlled object, and fitting to generate a three-dimensional mapping table. And inquiring and fitting according to the expected acceleration and the actual vehicle speed to generate an accelerator pedal opening instruction in automatic driving. The disadvantages of this approach:

a. calibration of the collected data is troublesome, and the complexity and the number of parameters form an exponential relationship. The common passenger car only considers the acceleration, the relation between the speed and the accelerator pedal is a three-dimensional fitting, and if the mass change of the car is also considered for the truck, the complexity is more huge.

b. The signal noise influences the accuracy of data in the calibration process, and the repeatability of the same working condition is not good.

The above methods also have problems that: the switching logic between braking and driving is only based on whether the acceleration given by the upper controller is positive or negative, and if the acceleration is negative, braking is performed, and otherwise, driving is performed. But in fact, because the vehicle itself inherently has damping, such as wind resistance and rolling resistance, even if the upper strata gives the expectation of deceleration (acceleration a is negative), there may be no need for brake braking, but only a reduction in the accelerator opening.

The above approach may result in frequent switching of braking and driving under certain conditions causing frustration to the driver. Because the torque of the driver cannot be calculated, for the electric vehicle, if the torque is not calculated, energy recovery cannot be carried out, so that other systems are needed to achieve the purpose of energy recovery under certain working conditions.

In addition, the above method cannot predict the problem of the downward long steep slope in advance.

In view of the above-mentioned shortcomings, the longitudinal control method in the embodiments of the present application solves the inaccuracy of longitudinal control due to the fact that the longitudinal dynamics of the vehicle are not considered. Meanwhile, the calibration workload can be reduced, the switching logic of the brake driving is optimized, the driving and braking switching of longitudinal control is smoother, and the pause feeling is reduced;

in addition, the method in the application can give consideration to energy recovery and engine braking, and simultaneously give consideration to the problem of braking on a long downward slope.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

The embodiment of the present application provides a longitudinal control method, and as shown in fig. 3, provides a schematic flow chart of the longitudinal control method in the embodiment of the present application, where the method at least includes the following steps S310 to S350:

and step S310, receiving an acceleration value instruction required by the upper controller.

For the upper layer controller, the instruction is issued to the bottom layer control module when the operation is executed. It should be noted that the above-described longitudinal control method is for the vehicle in the automatic driving mode, that is, in the automatic driving mode, when an acceleration value command required by the upper controller is received. The driver does not perform any take-over operation at this time.

Specifically, the automatic driving can be generally divided into upper-layer control and bottom-layer control, wherein the longitudinal upper-layer control is realized by acquiring the tracking target speed or the target position according to different functional requirements by each function, and calculating the target acceleration of the vehicle according to a control algorithm; and the bottom layer control module controls the torque or acceleration of the driving actuator and the deceleration of the braking actuator to track the target acceleration of the automatic driving.

And receiving an acceleration value instruction required by the upper controller in the bottom control module, namely the acceleration value expected to be obtained by the upper controller.

It is noted that the vehicle drive system may receive a drive command for positive torque and a brake command for a limited value of negative torque. While the brake controller in the vehicle brake system may only receive a negative acceleration (i.e., deceleration) command. The above-described reception mode of the brake command is a scenario mainly addressed in the embodiments of the present application. That is, in the event of a negative acceleration, it may respond via the vehicle braking system. If positive or a range of negative accelerations, the response may be made by the vehicle drive system.

In addition, only one of the vehicle drive system and the vehicle brake system is normally responsive.

And step S320, calculating a torque value corresponding to the acceleration value required by the upper controller according to the vehicle longitudinal dynamic model.

As the vehicle longitudinal dynamic model, a dynamic model known in the related art may be used, and is not particularly limited in the embodiments of the present application.

And a torque value corresponding to the acceleration value required by the upper controller can be calculated by adding the vehicle longitudinal dynamic model. For example, the required torque T is calculated by a vehicle longitudinal dynamics model.

Further, it is necessary to subsequently determine whether the torque value is a positive torque value or a negative torque value. For example, the judgment torque T > =0.

Preferably, the calculating a torque value corresponding to the acceleration value required by the upper controller according to the vehicle longitudinal dynamics model further includes: if the torque value is positive, the positive torque value is sent to an electronic control unit in the vehicle drive system that drives the actuator.

Preferably, the vehicle longitudinal dynamics model includes:

wherein, the conversion coefficient of beta driving force to torque, rho air density, A windward area and C _d Wind resistance coefficient, V vehicle speed, m vehicle weight, theta gradient, C _R Rolling resistance coefficient, a acceleration.

And step S330, judging whether the acceleration value is a negative value or not under the condition that the torque value is a negative torque.

And further judging whether the acceleration value required by the upper controller is negative or not according to the judgment result that the torque value is a negative torque value or a positive torque value. And when the torque value is negative torque, judging whether the acceleration value is also negative. For example, it is determined whether the acceleration value is <0.

It should be noted that whether the expected acceleration of the upper layer controller is a positive value or a negative value is considered here, and whether to respond by the vehicle drive system or by the vehicle brake system needs to be selected according to whether the acceleration is a positive value or a negative value.

Unlike the related art, it is not considered that in the actual situation, since the vehicle itself inherently has damping such as wind resistance and rolling resistance, even if the expectation given by the upper layer is deceleration (i.e., acceleration a is negative), the brake may not be required and only the accelerator opening degree may be reduced.

Therefore, through the strategy, the frequent switching of braking and driving under certain working conditions is reduced, so that the driver and the passenger feel frustrated and control is refined.

And step S340, if the torque value is a negative torque value and the acceleration value is negative, sending an acceleration value instruction required by the upper controller to a vehicle braking system, wherein the vehicle braking system is used for only receiving a negative acceleration instruction.

If the torque value is negative and the acceleration value is negative, it indicates that the acceleration value command required by the upper controller can be responded to through the vehicle braking system. Since the vehicle braking system is configured to receive only negative acceleration commands, it is desirable when there is a negative torque value and the acceleration value is negative.

And step S350, if the torque value is a negative torque value, the acceleration value is not negative, and the negative torque value is within a preset range value, sending the calculated torque value to a vehicle driving system, wherein the vehicle driving system is used for receiving the positive torque and the negative torque within the preset range value.

If the torque value is negative and the acceleration value is not negative, it indicates that the acceleration value command required by the upper controller can be responded to through the vehicle driving system. Since the vehicle drive system is configured to receive a positive torque, a negative torque within a predetermined range of values, the vehicle drive system is configured to meet the requirements when the vehicle drive system is a negative torque value and the acceleration value is non-negative and the negative torque value is within the predetermined range of values.

In some embodiments, the corresponding torque T is performed by a drive actuator in the vehicle drive system.

In one embodiment of the application, if the torque value is negative and the acceleration value is negative, the negative acceleration command required by the upper controller is sent to a vehicle braking system, and the vehicle braking system is configured to receive only the negative acceleration command, and further includes: when the acceleration value is non-negative, judging whether the negative torque value is within the capacity limit range of the vehicle driving system; if the negative torque value does not exceed a capability limit range, which characterizes an acceptable maximum negative torque value, the negative torque value is continuously sent to an electronic control unit driving an actuator in the vehicle drive system.

In particular embodiments, it may be desirable to determine whether the negative torque value is within a capability limit of the vehicle drive system if the acceleration value is determined to be non-negative (the capability limit being indicative of an acceptable maximum negative torque value, such as-T) _max ). It will be appreciated that if the absolute value of the negative torque | T | is greater than T _max The capacity limit is considered to be exceeded, whereas the capacity limit is considered not to be exceeded.

Further, if the negative torque value does not exceed the capacity limit range, the negative torque value is continuously sent to an electronic control unit that drives an actuator in the vehicle drive system. That is, since the brake controller of the vehicle brake system cannot receive a non-negative acceleration command, but only a negative acceleration command, the brake cannot directly respond to the acceleration command of the upper layer at this time, and attempts to respond to the acceleration demand of the upper layer controller by the driving actuator in the vehicle driving system.

In one embodiment of the application, if the negative torque value exceeds the capacity limit range, the brake of the vehicle brake system is controlled to perform inching brake, and the driver is reminded to take over, wherein the capacity limit range is used for representing that the drive actuator in the vehicle drive system has no capacity to respond to the negative torque value in an energy recovery mode.

In particular implementations, the negative torque value is determined to be within the ability to drive the actuator. If the limit is not exceeded, for example, the absolute value of torque | T | ≧ T _max The negative torque value continues to be sent to the electronic control unit that drives the actuator.

Further, if the limit is exceeded, the current vehicle is in a downhill, and the gradient is larger. The driving actuator of the vehicle driving system and the braking actuator of the vehicle braking system cannot meet the acceleration requirement of the upper-layer controller. Can remind the driver to take over through inching the brake to the vehicle, guarantee safety.

In one embodiment of the present application, if the negative torque value is outside the capacity limit range and this condition persists continuously for more than a threshold time, the vehicle is gradually braked and the driver is alerted to take over.

In specific implementation, if the continuous existing time of the state exceeds the threshold time (usually, the threshold time can be calibrated), the current vehicle is descending a long and steep slope, and the braking capability is seriously reduced because the brake of the vehicle braking system can not brake for a long time and heats, and the vehicle is gradually braked and stopped at the moment and a driver is reminded to take over the vehicle, so that accidents are avoided.

In one embodiment of the application, if the acceleration value required by the upper controller is non-negative and the torque is negative, the vehicle is in a downhill state, and the acceleration command of the upper controller is responded through a vehicle driving system; and if the negative torque value exceeds the capacity limit range, the vehicle is indicated to be on a downhill, the gradient value exceeds a threshold value, and the vehicle braking system and the vehicle driving system cannot respond to the acceleration command of the upper controller.

In specific implementation, if the acceleration value required by the upper controller is non-negative and the calculated torque is negative, it indicates that the vehicle is in a downhill state and needs deceleration, and the vehicle driving system responds to the acceleration command of the upper controller.

And if the negative torque value exceeds the capacity limit range, indicating that the vehicle is on a downhill, and the gradient value exceeds a threshold value, wherein the vehicle braking system and the vehicle driving system cannot respond to the acceleration command of the upper controller. There is a need to overcome the current risk by gradually stopping and alerting the driver to take over.

The embodiment of the present application further provides a longitudinal control device 400, as shown in fig. 4, which provides a schematic structural diagram of the longitudinal control device in the embodiment of the present application, where the longitudinal control device 400 at least includes: a receiving module 410, a calculating module 420, a determining module 430, a first executing module 440, and a second executing module 450, wherein:

in an embodiment of the application, the receiving module 410 is specifically configured to: and receiving an acceleration value command required by an upper controller.

For the upper layer controller, when executing operation, the instruction is issued to the bottom layer control module. It should be noted that the above-described longitudinal control method is for the vehicle in the automatic driving mode, that is, in the automatic driving mode, when an acceleration value command required by the upper controller is received. The driver does not perform any take-over operation at this time.

Specifically, the automatic driving can be generally divided into upper layer control and bottom layer control, wherein the longitudinal upper layer control obtains the tracking target speed or target position by each function according to different function requirements, and calculates the target acceleration of the vehicle according to a control algorithm; and the bottom layer control module controls the torque or acceleration of the driving actuator and the deceleration of the braking actuator to track the target acceleration of the automatic driving.

It is noted that the vehicle drive system may receive a drive command for positive torque and a brake command for negative torque of limited value. While the brake controller in the vehicle brake system can only receive a negative acceleration (i.e. deceleration) command. The above-described reception mode of the brake command is a scenario mainly addressed in the embodiments of the present application. That is, in the case of negative acceleration, response may be provided by the vehicle braking system. If positive or a range of negative accelerations, the response may be made by the vehicle drive system.

In an embodiment of the present application, the calculation module 420 is specifically configured to: and calculating a torque value corresponding to the acceleration value required by the upper layer controller according to a vehicle longitudinal dynamic model.

And a torque value corresponding to the acceleration value required by the upper layer controller can be calculated by adding the vehicle longitudinal dynamic model. For example, the required torque T is calculated by a vehicle longitudinal dynamics model.

Further, it is necessary to subsequently determine whether the torque value is a positive torque value or a negative torque value. For example, the determination torque T > =0.

Preferably, the vehicle longitudinal dynamics model comprises:

wherein, the conversion coefficient from beta driving force to torque, rho air density, A windward area, C _d Wind resistance coefficient, V vehicle speed, m vehicle weight, theta gradient, C _R Rolling resistance coefficient, a acceleration.

In an embodiment of the present application, the determining module 430 is specifically configured to: and under the condition that the torque value is negative torque, judging whether the acceleration value is also negative.

In an embodiment of the application, the first executing module 440 is specifically configured to: and if the acceleration value is a negative torque value and the acceleration value is negative, sending an acceleration value instruction required by the upper layer controller to a vehicle braking system, wherein the vehicle braking system is used for receiving only a negative acceleration instruction.

In an embodiment of the application, the second executing module 450 is specifically configured to: and if the torque value is a negative torque value, the acceleration value is not negative, and the negative torque value is within a preset range value, sending the calculated torque value to a vehicle driving system, wherein the vehicle driving system is used for receiving the positive torque and the negative torque within the preset range value.

In some embodiments, the corresponding torque T is executed by a drive actuator in the vehicle drive system.

It can be understood that, the longitudinal control device can implement the steps of the longitudinal control method provided in the foregoing embodiment, and the explanations regarding the longitudinal control method are applicable to the longitudinal control device, and are not described herein again.

In order to better explain the longitudinal control method in the embodiment of the present application, as shown in fig. 5, the method specifically includes the following steps:

s1, the upper layer controller calculates the required acceleration a.

And S2, the bottom layer control module calculates the required torque T according to the torque dynamics model.

And S3, judging whether the torque T is not less than 0.

And S4, if so, driving the actuator to execute the torque T.

S5, if not, and the acceleration a is smaller than 0, the brake executes the acceleration a.

And if the torque value is a negative torque value and the acceleration value is negative, sending an acceleration value command required by the upper controller to a vehicle braking system, wherein the vehicle braking system is used for receiving only a negative acceleration command.

S6, if not, and the acceleration a is larger than 0, judging whether the torque T is not smaller than-T _max If so, the actuator is driven to specify the torque T.

In some embodiments, the corresponding acceleration value (negative torque value and the acceleration value is non-negative) is executed by an automatic in the vehicle automatic system.

If the vehicle is a negative torque value and the acceleration value is non-negative and the negative torque value is within a preset range of values, it is indicated that the acceleration value command required by the upper level controller can be responded to by the vehicle drive system. Since the vehicle drive system is configured to receive a positive torque, a negative torque within a predetermined range of values, the vehicle drive system is configured to meet the requirements when the vehicle drive system is a negative torque value and the acceleration value is non-negative and the negative torque value is within the predetermined range of values.

S7, if not, the brake executes inching brake and reminds the driver to take over. And if the time exceeds the set threshold value, the brake is stopped.

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 6, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (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 double-headed arrow is shown in FIG. 6, but this does not indicate only one bus or one type of bus.

And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.

The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the vertical control device on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:

receiving an acceleration value instruction required by an upper controller;

The method executed by the vertical control device according to the embodiment shown in fig. 3 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and combines hardware thereof to complete the steps of the method.

The electronic device may further execute the method executed by the longitudinal control apparatus in fig. 3, and implement the functions of the longitudinal control apparatus in the embodiment shown in fig. 3, which are not described herein again in this embodiment of the present application.

An embodiment of the present application further provides a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to perform the method performed by the vertical control apparatus in the embodiment shown in fig. 3, and are specifically configured to perform:

receiving an acceleration value instruction required by an upper controller;

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

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

The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A longitudinal control method, wherein the method comprises:

receiving an acceleration value instruction required by an upper controller;

under the condition that the torque value is negative torque, judging whether the acceleration value is also a negative value;

2. The method of claim 1, wherein if the torque value is negative and the acceleration value is negative, sending an acceleration value command required by the upper level controller to a vehicle braking system, the vehicle braking system configured to receive only negative acceleration commands, further comprising:

when the acceleration value is non-negative, judging whether the negative torque value is within the capacity limit range of the vehicle driving system;

if the negative torque value does not exceed a capability limit range, which is used to characterize the maximum acceptable negative torque value, the negative torque value is continuously sent to an electronic control unit that drives an actuator in the vehicle drive system.

3. The method of claim 2, wherein if the negative torque value is outside the capacity limit range, controlling a brake of a vehicle braking system to perform snubbing and alerting a driver to take over, the capacity limit range being indicative of a current inability of a drive actuator in the vehicle drive system to respond to the negative torque value by energy recovery.

4. The method of claim 2, wherein if the negative torque value is outside the capability limit range and the continuous presence time of this condition exceeds a threshold time, the vehicle is gradually braked and the driver is alerted to take over.

5. The method of claim 1, wherein,

if the acceleration value required by the upper controller is non-negative and the torque is negative, the vehicle is indicated to be in a downhill state currently, and the acceleration instruction of the upper controller is responded through a vehicle driving system;

and if the negative torque value exceeds the capacity limit range, the vehicle is indicated to be on a downhill, the gradient value exceeds a threshold value, and the vehicle braking system and the vehicle driving system cannot respond to the acceleration command of the upper controller.

6. The method of claim 1, wherein the calculating a torque value corresponding to an acceleration value required by the upper controller according to a vehicle longitudinal dynamics model further comprises:

in the case where the torque value is a positive torque, the positive torque value is transmitted to an electronic control unit that drives an actuator in a vehicle drive system.

7. The method of claim 1, wherein the vehicle longitudinal dynamics model comprises:

wherein, the conversion coefficient of beta driving force to torque, rho air density, A windward area and C _d Wind resistance coefficient, V vehicle speed, m vehicle weight, theta gradient, C _R Coefficient of rolling resistance, a acceleration.

8. A longitudinal control device, wherein the device comprises:

and the second execution module is used for sending the calculated torque value to a vehicle driving system if the torque value is a negative torque value, the acceleration value is not negative, and the negative torque value is within a preset range value, and the vehicle driving system is used for receiving the positive torque and the negative torque within the preset range value.

9. An electronic device, comprising:

a processor; and

a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any one of claims 1 to 7.

10. A computer readable storage medium storing one or more programs which, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform the method of any of claims 1-7.