CN117901869A - Target acceleration realization method for domain control-based auxiliary driving function - Google Patents
Target acceleration realization method for domain control-based auxiliary driving function Download PDFInfo
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Abstract
The invention discloses a method for realizing target acceleration of auxiliary driving functions based on domain control, which presets priority of each auxiliary driving function of a vehicle; after receiving the activation mark of the auxiliary driving function and the target acceleration of the corresponding function, arbitrating the priority according to an arbitration policy to obtain the target acceleration corresponding to the auxiliary driving function with winning arbitration and executing acceleration control. The invention has the advantages that: the domain controller will first arbitrate all the activated priority of the auxiliary driving functions, avoiding the problem of the downstream controller receiving multiple target accelerations.
Description
Technical Field
The invention relates to the field of auxiliary driving, in particular to a method for realizing target acceleration of an auxiliary driving function based on domain control.
Background
At present, vehicles are more and more intelligent, and various auxiliary driving functions are layered endlessly. During activation, the auxiliary driving function can send out target acceleration to be executed by the downstream controller so as to realize control of acceleration and deceleration of the vehicle. The utility model provides an intelligent driving auxiliary system controller control method and system when ACC is followed and stopped, relates to intelligent driving auxiliary technical field, includes: setting a following stop state before the following stop in the intelligent driving auxiliary controller; when entering a following stop state, the controller sends a following stop signal for detecting the static state of the front vehicle, and the signal is continuously sent in an entering condition range; when the signal is received, the level road and the ramp are distinguished according to the ramp value calculated by the yaw rate sensor in the ESP, and control during the following stop is performed. The patent discloses an assisted driving function ACC following stop control function.
However, with the development of intelligent technology of automobiles, more and more auxiliary functions appear, if a plurality of auxiliary driving functions are activated simultaneously, a plurality of target accelerations are allowed to be executed by a downstream controller, and the problem that the downstream controller does not know which target acceleration to respond to occurs. In addition, the downstream controller receives the target acceleration and then faces the problem of whether the downstream controller needs to execute the target acceleration and how much moment to execute the target acceleration. How to solve the technical problem is the key point of research, and no related technology can solve the problem at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a target acceleration realizing method of auxiliary driving functions based on domain control, which limits the priority of each auxiliary driving function through an arbitration strategy and solves the technical problems by executing acceleration control with high priority.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the method for realizing the target acceleration of the auxiliary driving function based on domain control comprises the steps of presetting the priority of each auxiliary driving function of a vehicle; after receiving the activation mark of the auxiliary driving function and the target acceleration of the corresponding function, arbitrating the priority according to an arbitration policy to obtain the target acceleration corresponding to the auxiliary driving function with winning arbitration and executing acceleration control.
And after the arbitration is completed, the domain controller selects a downstream controller to perform acceleration execution control according to the target acceleration of the arbitration winning function and the dragging moment of the driving controller.
After the domain controller selects the downstream controller, the domain controller adaptively calculates the target braking or driving moment of the corresponding controller according to the target acceleration, the actual longitudinal acceleration, the actual driving moment of the wheel end and the actual braking moment of the wheel end by PI control.
The ADAS controller sends out the activated auxiliary driving function and the corresponding target acceleration, the domain controller receives the target acceleration and the corresponding activation function, and then arbitrates and transparently transmits the target acceleration corresponding to the winning auxiliary driving function according to the priority;
and judging whether the target acceleration is greater than 0, and if so, selecting the driving controller as an actuator to perform acceleration execution control.
When the driving controller is selected as an actuator to perform acceleration execution control, calculating a driving torque T 1, then calculating a target driving torque based on the driving torque T 1, and setting a target braking torque to be 0;
transmitting a target driving moment and a target braking moment, receiving and executing the target braking moment by a braking controller, and feeding back the actual braking moment of the wheel end;
The driving controller receives and executes the target driving moment and feeds back the actual driving moment of the wheel end.
The driving torque T 1 is calculated using the following formula:
T1＝M*(ATarget-AActual)*R；
The target driving torque is calculated using the following formula:
Wherein: a Target is target acceleration, A Actual is actual longitudinal acceleration, T Propulsion Actual is actual driving moment of a wheel end, T Propulsion Target is target driving moment, M is vehicle weight, R is effective radius of a wheel, KP i is integral factor of PI control in target driving moment calculation, and KP p is proportional factor of PI control in target driving moment calculation.
If the target acceleration is not greater than 0, calculating a target acceleration moment T 3;
selecting an acceleration control actuator according to the obtained relationship between the drag torque sent by the driving controller and the target acceleration torque T 3, and selecting the driving controller as the actuator if the drag torque is smaller than the target acceleration torque; otherwise, the brake controller is selected as the actuator.
When the brake controller is selected as an actuator, firstly, a brake torque T 2 is calculated, then a target brake torque T Brake Target is calculated based on the brake torque T 2, a target driving torque is set to be 0, the target driving torque and the target brake torque are sent, the brake controller receives and executes the target brake torque and feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target driving torque and feeds back the actual driving torque of the wheel end; wherein the method comprises the steps of
The braking torque T 2 is calculated using the following formula:
T2＝M*(AActual-ATarget)*R；
The target braking torque is calculated by the following formula:
When the driving controller is selected as an actuator, setting the target braking torque to be 0; transmitting a target acceleration moment T3 and a target braking moment; the brake controller receives and executes the target brake torque, feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target acceleration torque and feeds back the actual drive torque of the wheel end.
The invention has the advantages that: 1, the domain controller arbitrates all the activated auxiliary driving function priorities first, so that the problem that the downstream controller receives a plurality of target accelerations is avoided.
2, The domain controller can select the downstream controllers according to the target acceleration and the dragging moment of the driving controller, so that the problem that a plurality of downstream controllers respond to the same target acceleration is avoided.
And 3, the domain controller adaptively calculates the target moment of the corresponding controller according to the target acceleration, the actual longitudinal acceleration, the actual driving moment of the wheel end and the actual braking moment of the wheel end by PI control, and has the function of adaptive adjustment.
And 4, after the target moment of the downstream controllers is selected and calculated, the target moment of the other downstream controller is set to 0, so that the problem that the two downstream controllers output torques in different directions simultaneously is solved.
And 5, when the target deceleration is smaller, particularly the drag torque of the drive controller fluctuates up and down at 0, the drive controller is preferably selected as an actuator, the deceleration capacity of the drive controller is fully utilized, and the problem of frequent switching back and forth between the drive controller and the brake controller is avoided.
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The contents of the drawings and the marks in the drawings of the present specification are briefly described as follows:
FIG. 1 is a flow chart of a method of implementing the present invention;
fig. 2 is a schematic diagram of hardware structure connection related to the control method of the present application.
Detailed Description
The following detailed description of the invention refers to the accompanying drawings, which illustrate preferred embodiments of the invention in further detail.
Aiming at the problem that a plurality of auxiliary driving functions are activated simultaneously in the prior art, the scheme sets an acceleration control method, hardware designed by the method comprises an ADAS controller, a domain controller, a driving controller, a braking controller and an IMU, wherein the ADAS controller is connected with the domain controller through a CAN or a Flexray, the domain controller is also connected with the IMU, the driving controller and the braking controller through the CAN or the Flexray, and as shown in figure 2, the functions of each controller are as follows:
ADAS controller: and judging that the auxiliary driving function is activated, and sending the target acceleration of the corresponding function.
IMU: inertial Measurement Unit, sensing and issuing the actual longitudinal acceleration of the vehicle.
Domain controller: and receiving an auxiliary driving function activation mark and target acceleration of a corresponding function, arbitrating the function priority, selecting an actuator and calculating the corresponding target moment.
And a drive controller: and receiving and executing the target driving moment, and feeding back the actual driving moment and the dragging moment of the wheel end.
A brake controller: and receiving and executing the target braking moment, and feeding back the actual braking moment of the wheel end.
As shown in fig. 2, the present application provides a method for implementing target acceleration of a domain-controlled auxiliary driving function, where a priority is preset for each auxiliary driving function of a vehicle; after receiving the activation mark of the auxiliary driving function and the target acceleration of the corresponding function, arbitrating the priority according to an arbitration policy to obtain the target acceleration corresponding to the auxiliary driving function with winning arbitration and executing acceleration control.
And after the arbitration is completed, the domain controller selects a downstream controller to perform acceleration execution control according to the target acceleration of the arbitration winning function and the dragging moment of the driving controller.
After the domain controller selects the downstream controller, the domain controller adaptively calculates the target braking or driving moment of the corresponding controller according to the target acceleration, the actual longitudinal acceleration, the actual driving moment of the wheel end and the actual braking moment of the wheel end by PI control.
The ADAS controller sends out the activated auxiliary driving function and the corresponding target acceleration, the domain controller receives the target acceleration and the corresponding activation function, and then arbitrates and transparently transmits the target acceleration corresponding to the winning auxiliary driving function according to the priority;
and judging whether the target acceleration is greater than 0, and if so, selecting the driving controller as an actuator to perform acceleration execution control.
When the driving controller is selected as an actuator to perform acceleration execution control, calculating a driving torque T 1, then calculating a target driving torque based on the driving torque T 1, and setting a target braking torque to be 0;
transmitting a target driving moment and a target braking moment, receiving and executing the target braking moment by a braking controller, and feeding back the actual braking moment of the wheel end;
The driving controller receives and executes the target driving moment and feeds back the actual driving moment of the wheel end.
The driving torque T 1 is calculated using the following formula:
T1＝M*(ATarget-AActual)*R；
The target driving torque is calculated using the following formula:
Wherein: a Target is target acceleration, A Actual is actual longitudinal acceleration, T Propulsion Actual is actual driving moment of a wheel end, T Propulsion Target is target driving moment, M is vehicle weight, R is effective radius of a wheel, KP i is integral factor of PI control in target driving moment calculation, and KP p is proportional factor of PI control in target driving moment calculation.
If the target acceleration is not greater than 0, a target acceleration moment T 3 is calculated.
Selecting an acceleration control actuator according to the obtained relationship between the drag torque sent by the driving controller and the target acceleration torque T 3, and selecting the driving controller as the actuator if the drag torque is smaller than the target acceleration torque; otherwise, the brake controller is selected as the actuator.
When the brake controller is selected as an actuator, firstly, a brake torque T 2 is calculated, then a target brake torque T Brake Target is calculated based on the brake torque T 2, a target driving torque is set to be 0, the target driving torque and the target brake torque are sent, the brake controller receives and executes the target brake torque and feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target driving torque and feeds back the actual driving torque of the wheel end; wherein the method comprises the steps of
The braking torque T 2 is calculated using the following formula:
T2＝M*(AActual-ATarget)*R；
The target braking torque is calculated by the following formula:
When the driving controller is selected as an actuator, setting the target braking torque to be 0; transmitting a target acceleration moment T3 and a target braking moment; the brake controller receives and executes the target brake torque, feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target acceleration torque and feeds back the actual drive torque of the wheel end.
The control flow for a plurality of auxiliary driving functions is illustrated in the flow chart in fig. 1, where the english references are:
A Target is target acceleration, A Actual is actual longitudinal acceleration, T Propulsion Actual is actual wheel end driving moment, T Brake Actual is actual wheel end braking moment, M is vehicle weight, R is effective radius of a wheel, KP p is proportional factor of PI control in target driving moment calculation, KP i is integral factor of PI control in target driving moment calculation, T Propulsion Target is target driving moment, T Brake Target is target braking moment, KB p is proportional factor of PI control in target braking moment calculation, KB i is integral factor of PI control in target braking moment calculation.
The priority arbitration policy in this embodiment includes: the functions with high automatic driving level have high priority; the function of the same automatic driving level, the higher the maximum allowed vehicle speed is, the higher the priority is; the function activates the function as same as the highest vehicle speed, and the driver is not in the vehicle with a high priority.
(1) After the ADAS sends out the activated auxiliary driving function and the corresponding target acceleration, the domain controller receives the target acceleration and the corresponding activation function, and then arbitrates and transparently transmits the target acceleration A Target corresponding to the winning auxiliary driving function according to the priority; the time domain controller receives actual longitudinal acceleration, actual driving moment of the wheel end, actual braking moment of the wheel end and drag moment, wherein the IMU sends out actual longitudinal acceleration A Actual of the vehicle, and the driving controller sends out T Propulsion Actual to be the actual driving moment of the wheel end and the drag moment T Drag; the brake controller sends out the actual brake moment T of the wheel end Brake Actual.
(2) And judging whether the target acceleration is greater than 0, and if so, selecting the driving controller as an actuator to perform acceleration execution control. When the driving controller is selected as an actuator to perform acceleration execution control, calculating a driving torque T 1, then calculating a target driving torque based on the driving torque T 1, and setting a target braking torque to be 0; transmitting a target driving moment and a target braking moment, receiving and executing the target braking moment by a braking controller, and feeding back the actual braking moment of the wheel end; the driving controller receives and executes the target driving moment and feeds back the actual driving moment of the wheel end.
Wherein: the driving torque T 1 is calculated using the following formula:
T1＝M*(ATarget-AActual)*R；
The target driving torque is calculated using the following formula:
Wherein: a Target is target acceleration, A Actual is actual longitudinal acceleration, T Propulsion Actual is actual driving moment of a wheel end, T Propulsion Target is target driving moment, M is vehicle weight, R is effective radius of a wheel, and KP i is integral factor of PI control in calculation of the target driving moment. KP p is a proportional factor of PI control in target driving torque calculation;
T 1i is a value of T 1 at each control time during the period from the function activation time to the control time immediately preceding the current acceleration execution control time.
The value of T 1 at each control time during the period from the function activation time to the control time immediately before the current acceleration execution control time is accumulated.
Max is a maximization function. Max (A, B) is a value obtained by taking a larger number from A, B.
(3) If the target acceleration is not greater than 0, calculating a target acceleration moment T 3;
Selecting an acceleration control actuator according to the obtained relationship between the drag torque T Drag sent by the driving controller and the target acceleration torque T 3, and selecting the driving controller as the actuator if the drag torque is smaller than the target acceleration torque; otherwise, the brake controller is selected as the actuator. Wherein the target acceleration moment T 3＝M*ATarget R.
(4) When the brake controller is selected as an actuator, firstly, a brake torque T 2 is calculated, then a target brake torque T Brake Target is calculated based on the brake torque T 2, a target drive torque T Propulsion Target is set to 0, the target drive torque and the target brake torque are sent, the brake controller receives and executes the target brake torque and feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target drive torque and feeds back the actual drive torque of the wheel end; wherein:
The braking torque T 2 is calculated using the following formula:
T2＝M*(AActual-ATarget)*R；
The target braking torque is calculated by the following formula:
T 2i is a value of T 2 at each control time during the period from the function activation time to the control time immediately preceding the current acceleration execution control time.
The value of T 2 at each control time during the period from the function activation time to the control time immediately before the current acceleration execution control time is accumulated.
Max is a maximization function. Max (A, B) is a value obtained by taking a larger number from A, B.
(5) When the driving controller is selected as an actuator, setting a target braking torque T Brake Target to 0; transmitting a target acceleration moment T3 and a target braking moment; the brake controller receives and executes the target brake torque, feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target acceleration torque and feeds back the actual drive torque of the wheel end.
According to the method for realizing the target acceleration of the auxiliary driving function based on the domain control, after the domain controller receives the activation marks of the auxiliary driving functions and the target acceleration of the corresponding functions, the priority of all the activation functions is arbitrated according to the arbitration strategy, and only the target acceleration of the arbitration winning function is transmitted. This prevents each of the auxiliary driving functions from directly requesting the downstream controller, and from being switched from distributed control to centralized control, thereby avoiding the problem that the downstream control does not know which target acceleration to respond to.
After the domain controller completes arbitration, the downstream controllers are selected according to the target acceleration of the arbitration winning function and the drag torque of the driving controller, so that the problem that a plurality of downstream controllers execute the same target acceleration at the same time is avoided.
After the domain controller selects the downstream controller, the domain controller adaptively calculates the target braking or driving moment of the corresponding controller according to the target acceleration, the actual longitudinal acceleration, the actual driving moment of the wheel end and the actual braking moment of the wheel end by PI control.
The technical scheme of the application has the following technical advantages:
1, the domain controller arbitrates the activated priority of the auxiliary driving function first, so that the problem that the downstream controller receives a plurality of target accelerations is avoided.
2, The domain controller can select the downstream controllers according to the target acceleration and the dragging moment of the driving controller, so that the problem that a plurality of downstream controllers respond to the same target acceleration is avoided.
And 3, the domain controller adaptively calculates the target moment of the corresponding controller according to the target acceleration, the actual longitudinal acceleration, the actual driving moment of the wheel end and the actual braking moment of the wheel end by PI control, and has the function of adaptive adjustment.
And 4, after the target moment of the downstream controllers is selected and calculated, the target moment of the other downstream controller is set to 0, so that the problem that the two downstream controllers output torques in different directions simultaneously is solved.
And 5, when the target deceleration is smaller, particularly the drag torque of the drive controller fluctuates up and down at 0, the drive controller is preferably selected as an actuator, the deceleration capacity of the drive controller is fully utilized, and the problem of frequent switching back and forth between the drive controller and the brake controller is avoided.
It is obvious that the specific implementation of the present invention is not limited by the above-mentioned modes, and that it is within the scope of protection of the present invention only to adopt various insubstantial modifications made by the method conception and technical scheme of the present invention.
Claims (9)
1. A method for realizing target acceleration of auxiliary driving function based on domain control is characterized by comprising the following steps: the priority of each auxiliary driving function of the vehicle is preset; after receiving the activation marks of two or more auxiliary driving functions and the target accelerations of the corresponding functions, arbitrating the priority according to an arbitration policy to obtain the target acceleration corresponding to the auxiliary driving function with the winning arbitration and executing acceleration control.
2. The method for realizing the target acceleration of the domain-control-based auxiliary driving function according to claim 1, wherein the method comprises the following steps: and after the arbitration is completed, the domain controller selects a downstream controller to perform acceleration execution control according to the target acceleration of the arbitration winning function and the dragging moment of the driving controller.
3. The method for realizing the target acceleration of the domain-control-based auxiliary driving function according to claim 2, wherein the method comprises the following steps: after the domain controller selects the downstream controller, the domain controller adaptively calculates the target braking or driving moment of the corresponding controller according to the target acceleration, the actual longitudinal acceleration, the actual driving moment of the wheel end and the actual braking moment of the wheel end by PI control.
4. A method for achieving a target acceleration of a domain-controlled assisted driving function according to any one of claims 1 to 3, characterized in that: the ADAS controller sends out the activated auxiliary driving function and the corresponding target acceleration, the domain controller receives the target acceleration and the corresponding activation function, and then arbitrates and transparently transmits the target acceleration corresponding to the winning auxiliary driving function according to the priority;
and judging whether the target acceleration is greater than 0, and if so, selecting the driving controller as an actuator to perform acceleration execution control.
5. The method for realizing the target acceleration of the domain-control-based auxiliary driving function according to claim 4, wherein the method comprises the following steps:
When the driving controller is selected as an actuator to perform acceleration execution control, calculating a driving torque T 1, then calculating a target driving torque based on the driving torque T 1, and setting a target braking torque to be 0;
transmitting a target driving moment and a target braking moment, receiving and executing the target braking moment by a braking controller, and feeding back the actual braking moment of the wheel end;
The driving controller receives and executes the target driving moment and feeds back the actual driving moment of the wheel end.
6. The method for realizing the target acceleration of the domain-control-based auxiliary driving function according to claim 5, wherein the method comprises the following steps:
The driving torque T 1 is calculated using the following formula:
T1＝M*(ATarget-AActual)*R；
The target driving torque is calculated using the following formula:
Wherein: a Target is target acceleration, A Actual is actual longitudinal acceleration, T PropulsionActual is actual driving moment of a wheel end, T PropulsionTarget is target driving moment, M is vehicle weight, R is effective radius of a wheel, KP i is integral factor of PI control in target driving moment calculation, and KP p is proportional factor of PI control in target driving moment calculation.
7. The method for realizing the target acceleration of the domain-controlled auxiliary driving function according to any one of claims 1 to 6, wherein:
if the target acceleration is not greater than 0, calculating a target acceleration moment T 3;
selecting an acceleration control actuator according to the obtained relationship between the drag torque sent by the driving controller and the target acceleration torque T 3, and selecting the driving controller as the actuator if the drag torque is smaller than the target acceleration torque; otherwise, the brake controller is selected as the actuator.
8. The method for realizing the target acceleration of the domain-controlled auxiliary driving function according to claim 7, wherein:
When the brake controller is selected as an actuator, firstly, a brake torque T 2 is calculated, then a target brake torque T BrakeTarget is calculated based on the brake torque T 2, a target driving torque is set to be 0, the target driving torque and the target brake torque are sent, the brake controller receives and executes the target brake torque and feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target driving torque and feeds back the actual driving torque of the wheel end; wherein the method comprises the steps of
The braking torque T 2 is calculated using the following formula:
T2＝M*(AActual-ATarget)*R；
The target braking torque is calculated by the following formula:
9. The method for realizing the target acceleration of the domain-controlled auxiliary driving function according to claim 7, wherein:
When the driving controller is selected as an actuator, setting the target braking torque to be 0; transmitting a target acceleration moment T 3 and a target braking moment; the brake controller receives and executes the target brake torque, feeds back the actual brake torque of the wheel end, and the drive controller receives and executes the target acceleration torque and feeds back the actual drive torque of the wheel end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410187718.XA CN117901869A (en) | 2024-02-20 | 2024-02-20 | Target acceleration realization method for domain control-based auxiliary driving function |
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| CN202410187718.XA CN117901869A (en) | 2024-02-20 | 2024-02-20 | Target acceleration realization method for domain control-based auxiliary driving function |
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| CN117901869A true CN117901869A (en) | 2024-04-19 |
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