Vehicle, control method and control device thereof, and computer readable storage medium

Abstract

The application discloses a vehicle and a control method and a control device thereof and a computer readable storage medium, and the method comprises the following steps: receiving and responding to a gear shifting instruction of the vehicle; when it is determined that feedback torque compensation is needed for the vehicle, a feedback torque compensation value is obtained according to a driving torque change condition within a preset time before the gear shifting instruction; and a brake torque is determined according to the feedback torque compensation value. According to the control method, the loss of the brake feedback torque in the torque zero process of the gear shifting process of the vehicle can be compensated, the discomfort and insecurity brought by the loss of the feedback torque to the driver are avoided, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a vehicle control method, a vehicle control device, a computer-readable storage medium, and a vehicle. Background Technology

[0002] Before the vehicle downshifts when the brakes are applied, there is torque feedback, and the driver can clearly feel the vehicle decelerating. However, before the transmission actually shifts gears, the MCU (Motor Control Unit) instructs the drive motor to clear the torque. At this moment, the braking effect generated by the motor's feedback torque disappears instantly, and the vehicle experiences a brief forward lurch. On slippery surfaces or when close to other obstacles, this puts the vehicle in a very dangerous situation, posing a risk to driving and causing the driver to feel unsafe and uncomfortable. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a vehicle control method capable of compensating for the loss of braking feedback torque during the torque clearing process of gear shifting, thereby avoiding the discomfort and insecurity caused to the driver by the disappearance of feedback torque and improving vehicle driving safety.

[0004] The second objective of this invention is to provide a vehicle control device.

[0005] A third objective of this invention is to provide a computer-readable storage medium.

[0006] The fourth objective of this invention is to provide a vehicle.

[0007] To achieve the above objectives, a first aspect of the present invention provides a vehicle control method, comprising: receiving and responding to a vehicle shift command; when it is determined that feedback torque compensation is required for the vehicle, obtaining a feedback torque compensation value based on the change in driving torque within a preset time before the shift command; determining a braking torque based on the feedback torque compensation value, and controlling the vehicle to brake based on the braking torque.

[0008] According to the vehicle control method of the present invention, a vehicle shift command is received and responded to. When it is determined that feedback torque compensation is needed, a feedback torque compensation value is obtained based on the change in drive torque within a preset time before the shift command. The braking torque is then determined based on the feedback torque compensation value, and the vehicle is controlled to brake based on the braking torque. Therefore, this method can compensate for the loss of braking feedback torque during the torque clearing process of vehicle shifting, avoiding discomfort and insecurity for the driver caused by the disappearance of feedback torque, and improving vehicle driving safety.

[0009] In addition, the vehicle control method according to the above embodiments of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, obtaining a feedback torque compensation value based on the change in drive torque within a preset time before the shift command includes: obtaining multiple drive torque values ​​within the preset time; fitting a drive torque change curve based on the multiple drive torque values; estimating a drive torque change curve within the motor clearing torque time based on the drive torque change curve; and determining the feedback torque compensation value based on the drive torque change curve within the motor clearing torque time.

[0011] According to one embodiment of the present invention, the motor clearing torque time is determined based on the shift time.

[0012] According to one embodiment of the present invention, predicting the drive torque change curve during the motor clearing torque time based on the drive torque change curve includes: obtaining the change trend of the drive torque change curve; and predicting the drive torque change curve during the motor clearing torque time based on the change trend.

[0013] According to one embodiment of the present invention, determining the feedback torque compensation value based on the drive torque change curve during the motor clearing torque time includes: obtaining the drive torque value corresponding to the current moment based on the drive torque change curve during the motor clearing torque time; and determining the feedback torque compensation value by taking the torque difference between the drive torque value corresponding to the current moment and the feedback torque.

[0014] According to one embodiment of the present invention, determining the braking torque based on the feedback torque compensation value includes: obtaining the transmission ratio of the current gear of the vehicle, the drive axle final reduction ratio, and the wheel-side reduction ratio; and determining the braking torque based on the feedback torque compensation value, the transmission ratio of the current gear, the drive axle final reduction ratio, and the wheel-side reduction ratio.

[0015] According to one embodiment of the present invention, the braking torque is determined by the following formula:

[0016] M T =M X *i0*i1*i2

[0017] Among them, M T M represents braking torque. X i0 represents the feedback torque compensation value, i1 represents the transmission ratio of the current gear, i2 represents the drive axle main reduction ratio, and i2 represents the wheel-side reduction ratio.

[0018] According to one embodiment of the present invention, a need for feedback torque compensation for the vehicle is determined when the following conditions are met simultaneously: the vehicle's anti-lock braking system is inactive; the vehicle is not on an uphill slope; the vehicle's steering wheel angle is less than a first preset angle threshold; and the vehicle's brake pedal angle is less than a second preset angle threshold.

[0019] According to one embodiment of the present invention, the above-described vehicle control method further includes: obtaining the required torque of the vehicle; and controlling the vehicle based on the required torque and braking torque.

[0020] According to one embodiment of the present invention, obtaining the required torque of a vehicle includes: obtaining the brake pedal opening; and determining the required torque corresponding to the current brake pedal opening based on the correspondence between the brake pedal opening and the required torque.

[0021] To achieve the above objectives, a second aspect of the present invention provides a vehicle control device, comprising: a receiving module for receiving and responding to a vehicle shift command; an acquiring module for acquiring a feedback torque compensation value based on the change in drive torque within a preset time before the shift command when it is determined that feedback torque compensation for the vehicle is required; and a determining module for determining a braking torque based on the feedback torque compensation value and controlling the vehicle to brake based on the braking torque.

[0022] According to an embodiment of the present invention, the vehicle control device receives and responds to the vehicle's shift command via a receiving module. When it is determined that feedback torque compensation is needed, the acquisition module obtains the feedback torque compensation value based on the change in drive torque within a preset time before the shift command. The determination module determines the braking torque based on the feedback torque compensation value and controls the vehicle to brake based on the braking torque. Therefore, this device can compensate for the loss of braking feedback torque during the torque clearing process of vehicle shifting, avoiding the discomfort and insecurity caused to the driver by the disappearance of feedback torque, and improving vehicle driving safety.

[0023] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium having a vehicle control program stored thereon, which, when executed by a processor, implements the vehicle control method described above.

[0024] The computer-readable storage medium of this invention, when executed, implements the vehicle control method described above, and can compensate for the loss of braking feedback torque during the torque clearing process of vehicle gear shifting, thereby avoiding the discomfort and insecurity caused to the driver by the disappearance of feedback torque and improving vehicle driving safety.

[0025] To achieve the above objectives, a vehicle is provided in a fourth aspect of the present invention, including a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, it implements the above-described vehicle control method.

[0026] The vehicle of this embodiment of the invention, by executing the above-described vehicle control method, can compensate for the loss of braking feedback torque during the zeroing process of the vehicle's gear shifting torque, thereby avoiding the discomfort and insecurity caused to the driver by the disappearance of feedback torque and improving vehicle driving safety.

[0027] 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. Attached Figure Description

[0028] Figure 1 A flowchart of a vehicle control method according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the driving torque variation curve according to an embodiment of the present invention;

[0030] Figure 3 A flowchart illustrating a vehicle control method according to a specific example of the present invention;

[0031] Figure 4 This is a block diagram of a vehicle control device according to an embodiment of the present invention;

[0032] Figure 5 This is a block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0033] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0034] The following description, with reference to the accompanying drawings, outlines an embodiment of the vehicle control method, a vehicle control device, a computer-readable storage medium, and a vehicle.

[0035] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention.

[0036] like Figure 1 As shown, the vehicle control method of this embodiment may include the following steps:

[0037] S1 receives and responds to the vehicle's gear shifting commands.

[0038] S2, when it is determined that the vehicle needs to perform feedback torque compensation, obtains the feedback torque compensation value based on the change in drive torque within a preset time before the shift command. The preset time can be determined according to the actual situation.

[0039] S3 determines the braking torque based on the feedback torque compensation value and controls the vehicle to brake based on the braking torque.

[0040] Specifically, during gear shifting, the motor torque briefly reaches zero, causing the motor feedback torque to suddenly disappear and the vehicle to briefly lurch forward. The vehicle control method of this invention can compensate for the loss of feedback torque, mitigating the discomfort and safety risks associated with this loss. Therefore, it is necessary to first determine whether the vehicle has received a gear shift command. For example, the user can send a gear shift command by controlling the brake pedal opening; in this case, the brake pedal opening can be used to determine whether to shift gears. Alternatively, the current vehicle speed can be determined using a vehicle speed sensor, and the shift command can be based on that speed.

[0041] After receiving and responding to the vehicle's shift command, it is necessary to determine whether feedback torque compensation is needed based on the vehicle's actual driving status, such as whether the anti-lock braking system is inactive, whether the vehicle is going uphill, whether the vehicle is turning, or whether the vehicle is braking. The specific methods for determining the vehicle's driving status will be explained in detail in the following embodiments and will not be elaborated here.

[0042] When it's determined that regenerative torque compensation is needed for a vehicle, the trend of the vehicle's drive torque change before gear shifting can be predicted first. Then, based on the relationship between drive torque and regenerative torque, combined with the predicted change in drive torque, the regenerative torque compensation value can be determined. Next, based on the relationship between regenerative torque and braking torque, the braking torque corresponding to the current regenerative torque compensation value can be determined. After obtaining the braking torque, compensation is applied to the vehicle's required torque, thus compensating for the loss of motor regenerative torque during the motor torque clearing process and improving vehicle driving safety.

[0043] Therefore, it is possible to compensate for the loss of braking feedback torque during the zeroing process of vehicle gear shifting, avoid the discomfort and insecurity caused to the driver by the loss of feedback torque, and improve vehicle driving safety.

[0044] The specific workflow of the control method of the present invention is described in detail below.

[0045] According to one embodiment of the present invention, obtaining a feedback torque compensation value based on the change in drive torque within a preset time before the shift command includes: obtaining multiple drive torque values ​​within the preset time; fitting a drive torque change curve based on the multiple drive torque values, and estimating a drive torque change curve within the motor clearing torque time based on the drive torque change curve; and determining a feedback torque compensation value based on the drive torque change curve within the motor clearing torque time, wherein the preset time is determined according to the actual situation.

[0046] In one embodiment of the present invention, the motor clearing torque time is determined based on the shift time.

[0047] According to one embodiment of the present invention, predicting the drive torque change curve during the motor clearing torque time based on the drive torque change curve includes: obtaining the change trend of the drive torque change curve; and predicting the drive torque change curve during the motor clearing torque time based on the change trend.

[0048] Furthermore, according to an embodiment of the present invention, determining the feedback torque compensation value based on the drive torque change curve during the motor clearing torque time includes: obtaining the drive torque value corresponding to the current moment based on the drive torque change curve during the motor clearing torque time; and determining the feedback torque compensation value by taking the torque difference between the drive torque value corresponding to the current moment and the feedback torque.

[0049] Specifically, firstly, the drive torque values ​​at different times within a preset time period before the vehicle shifts gears are obtained. Then, curve fitting is performed on the drive torque values ​​and their changing trends at different times within the preset time period to determine the drive torque change curve. Based on the change curve of the drive torque change curve, the changing trend of the vehicle itself if it does not shift gears can be estimated, which is the changing trend of the drive torque at different times within the motor torque clearing time. The motor torque clearing time is generally the same as the vehicle shifting time. Figure 2As shown, T0-T1 is the preset time period before gear shifting. The driving torque value during the T0-T1 time period is the actual measured value, and the driving torque value during the T1-T2 time period is the simulated calculated data, which simulates the change of driving torque over time when the vehicle is not shifting gears. The driving torque value corresponding to each moment within the T0-T1 time period is obtained in real time. Connecting the driving torque values ​​with a smooth curve yields the driving torque change curve within the T0-T1 time period. The driving torque value corresponding to moment T0 is M0, and the driving torque value corresponding to moment T1 is M1. The T1-T2 time period is the vehicle gear shifting time. After obtaining the driving torque change curve for the T0-T1 time period, the range of driving torque change during the motor torque clearing time (T1-T2 time period) can be estimated and simulated based on the driving torque change curve (for example, the driving torque value changes from M1 to M2). This yields the driving torque change curve during the motor torque clearing time. During the motor torque clearing time, the driving torque corresponding to different moments can be obtained from the change curve. Based on the relationship between the driving torque and the feedback torque, the feedback torque compensation value can be determined.

[0050] According to one embodiment of the present invention, determining the braking torque based on the feedback torque compensation value includes: obtaining the transmission ratio of the current gear of the vehicle, the drive axle final reduction ratio, and the wheel-side reduction ratio; and determining the braking torque based on the feedback torque compensation value, the transmission ratio of the current gear, the drive axle final reduction ratio, and the wheel-side reduction ratio.

[0051] According to one embodiment of the present invention, the braking torque is determined by the following formula:

[0052] M T =M X *i0*i1*i2(1)

[0053] Among them, M T M represents braking torque. X i0 represents the feedback torque compensation value, i1 represents the transmission ratio of the current gear, i2 represents the drive axle main reduction ratio, and i2 represents the wheel-side reduction ratio.

[0054] Specifically, after obtaining the feedback torque compensation value, the transmission ratio of the vehicle's current gear, the final drive ratio of the drive axle, and the wheel-end reduction ratio are obtained. Therefore, the braking torque can be determined based on the feedback torque compensation value, the transmission ratio of the current gear, the final drive ratio of the drive axle, and the wheel-end reduction ratio. For example, the feedback torque compensation value M at the current moment can be obtained from the drive torque variation curve. XDifferent gears correspond to different transmission ratios. The transmission ratio refers to the ratio of the number of teeth of the input shaft transmission gear to the number of teeth of the output shaft transmission gear. The gear with a larger transmission ratio is the low speed gear, and the gear with a smaller transmission ratio is the high speed gear. When the vehicle is shifting gears, taking the gear from fourth gear to third gear during deceleration and braking as an example, if the transmission ratio corresponding to third gear is i0, the main reduction ratio of the vehicle's drive axle is i1, and the wheel-side reduction ratio is i2, then the braking torque M can be calculated using the above formula (1). T The vehicle is actively braked based on this braking torque, reducing the safety risks associated with vehicle operation after the vehicle's feedback torque has been cleared.

[0055] According to one embodiment of the present invention, a need for regenerative torque compensation for the vehicle is determined when the following conditions are simultaneously met: the vehicle's anti-lock braking system is inactive; the vehicle is not on an uphill slope; the vehicle's steering wheel angle is less than a first preset angle threshold; and the vehicle's brake pedal angle is less than a second preset angle threshold. The first and second preset angle thresholds can be determined based on actual conditions.

[0056] Specifically, before applying torque regenerative compensation to a vehicle, it's necessary to determine whether the Anti-lock Braking System (ABS) is activated, whether the vehicle is going uphill, whether it's turning, and whether there's a braking signal. If the ABS is activated, the vehicle is going uphill, or turning (steering wheel angle greater than or equal to a first preset angle threshold), or there's a braking signal (brake pedal angle greater than or equal to a second preset angle threshold), torque regenerative compensation is not applied. If the ABS is deactivated, the vehicle is not going uphill, is not turning, the steering wheel angle is less than the first preset angle threshold, and there's no braking signal (brake pedal angle less than the second preset angle threshold), torque regenerative compensation is applied. This avoids the discomfort and insecurity caused by the loss of torque regenerative compensation, thereby improving vehicle safety, reducing energy consumption, and providing a better driving experience. The anti-lock braking system (ABS) can quickly determine the wheel lock-up state based on the speed signals from each wheel speed sensor. When the ABS is active, no torque compensation is provided. A slope sensor can determine if the vehicle is going uphill; if so, no torque compensation is provided. A steering wheel angle sensor can obtain the steering wheel angle; if the steering wheel angle exceeds a first preset threshold, it indicates the vehicle is turning, and no torque compensation is provided. A brake pedal angle sensor can obtain the brake pedal angle; if the brake pedal angle exceeds a second preset threshold, it indicates the vehicle is braking, and no torque compensation is provided.

[0057] According to one embodiment of the present invention, the vehicle control method further includes: obtaining the required torque of the vehicle; and controlling the vehicle based on the required torque and braking torque.

[0058] According to one embodiment of the present invention, obtaining the required torque of a vehicle includes: obtaining the brake pedal opening; and determining the required torque corresponding to the current brake pedal opening based on the correspondence between the brake pedal opening and the required torque.

[0059] Specifically, after calculating the braking torque based on the feedback torque compensation value, the transmission ratio of the vehicle's current gear, the main reduction ratio of the drive axle, and the wheel-side reduction ratio (according to the above formula (1)), the opening of the brake pedal is obtained. Based on the opening of the brake pedal, the pre-stored correspondence between the brake pedal opening and the required torque is called to obtain the current required torque of the vehicle. The vehicle is controlled based on the required torque and the braking torque. For example, when the braking torque is positive, the vehicle is controlled to perform active braking based on the required torque and the braking torque; when the braking torque is negative, such as when the vehicle is in an uphill state, the vehicle is controlled based on the sum of the required torque and the braking torque. In one embodiment of the present invention, the braking air pressure is obtained based on the braking torque. For vehicle driving safety, the brake air tank must be kept at more than 4 air pressures to ensure that the vehicle can take braking measures to stop at any time due to changes in road conditions. For example, the calculated braking torque is M T According to the table of correspondence between braking torque and braking air pressure, the value corresponding to braking torque M can be found. T The corresponding brake air pressure P is given in the table, where each brake torque corresponds one-to-one with a brake air pressure. Once the brake air pressure is obtained, and based on the vehicle's required torque, the corresponding brake valve body can be controlled to output brake air pressure, improving driving safety. This reduces the occurrence of rear-end collisions on slippery roads or when close to other obstacles, placing the vehicle in a safer operating condition.

[0060] It should be noted that the corresponding voltage value can also be determined based on the change in the brake pedal opening, and the required torque can be determined by calling the pre-stored voltage value-required torque correspondence based on the voltage value.

[0061] The following is combined Figure 3 The control method of the present invention will be described below.

[0062] As a specific example, the vehicle control method of the present invention may include the following steps:

[0063] S101 receives and responds to the vehicle's gear shifting commands.

[0064] S102, motor clearing torque.

[0065] S103, determine whether feedback torque compensation for the vehicle is required. If yes, proceed to step S104; if no, proceed to step S107.

[0066] S104 obtains the feedback torque compensation value based on the change in drive torque within a preset time before the shift command.

[0067] S105 determines the braking torque based on the feedback torque compensation value.

[0068] S106 obtains the required torque of the vehicle and controls the vehicle based on the required torque and braking torque.

[0069] S107, the gearbox disengages and adjusts the speed.

[0070] S108, the vehicle has completed the gear shift.

[0071] S109, motor load torque.

[0072] In summary, the vehicle control method according to embodiments of the present invention first receives and responds to a vehicle shift command. When it is determined that feedback torque compensation is needed, a feedback torque compensation value is obtained based on the change in drive torque within a preset time period before the shift command. Finally, the braking torque is determined based on the feedback torque compensation value, and the vehicle is controlled to brake based on the braking torque. Therefore, this method can compensate for the loss of braking feedback torque during the torque clearing process of vehicle shifting, avoiding discomfort and insecurity for the driver caused by the disappearance of feedback torque.

[0073] Corresponding to the above embodiments, the present invention also proposes a vehicle control device.

[0074] like Figure 4 As shown, the vehicle control device of this embodiment includes: a receiving module 10, an acquiring module 20, and a determining module 30.

[0075] The receiving module 10 receives and responds to the vehicle's shift command. The acquiring module 20, when it is determined that feedback torque compensation is needed for the vehicle, acquires the feedback torque compensation value based on the change in drive torque within a preset time before the shift command. The determining module 30 determines the braking torque based on the feedback torque compensation value and controls the vehicle to brake based on the braking torque.

[0076] According to one embodiment of the present invention, the acquisition module 20 acquires a feedback torque compensation value based on the change of drive torque within a preset time before the shift command. Specifically, it is used to: acquire multiple drive torque values ​​within a preset time; fit a drive torque change curve based on the multiple drive torque values; estimate the drive torque change curve within the motor clearing torque time based on the drive torque change curve; and determine the feedback torque compensation value based on the drive torque change curve within the motor clearing torque time.

[0077] According to one embodiment of the present invention, the motor clearing torque time is determined based on the shift time.

[0078] According to one embodiment of the present invention, the acquisition module 20 estimates the driving torque change curve during the motor clearing torque time based on the driving torque change curve, specifically used for: acquiring the changing trend of the driving torque change curve; and estimating the driving torque change curve during the motor clearing torque time based on the changing trend.

[0079] According to one embodiment of the present invention, the acquisition module 20 determines the feedback torque compensation value based on the driving torque change curve during the motor clearing torque time. Specifically, it is used to: acquire the driving torque value corresponding to the current moment based on the driving torque change curve during the motor clearing torque time; and determine the feedback torque compensation value by taking the torque difference between the driving torque value corresponding to the current moment and the feedback torque.

[0080] According to one embodiment of the present invention, the determining module 30 determines the braking torque based on the feedback torque compensation value, specifically for: obtaining the transmission ratio of the current gear of the vehicle, the drive axle final reduction ratio and the wheel-side reduction ratio; and determining the braking torque based on the feedback torque compensation value, the transmission ratio of the current gear, the drive axle final reduction ratio and the wheel-side reduction ratio.

[0081] According to one embodiment of the present invention, the determining module 30 determines the braking torque using the following formula:

[0082] M T =M X *i0*i1*i2

[0083] Among them, M T M represents braking torque. X i0 represents the feedback torque compensation value, i1 represents the transmission ratio of the current gear, i2 represents the drive axle main reduction ratio, and i2 represents the wheel-side reduction ratio.

[0084] According to an embodiment of the present invention, the determining module 30 determines that feedback torque compensation for the vehicle is required when the following conditions are met simultaneously: the vehicle's anti-lock braking system is inactive; the vehicle is not on an uphill slope; the vehicle's steering wheel angle is less than a first preset angle threshold; and the vehicle's brake pedal angle is less than a second preset angle threshold.

[0085] According to one embodiment of the present invention, the acquisition module 10 is further configured to acquire the required torque of the vehicle; and control the vehicle based on the required torque and braking torque of the vehicle.

[0086] According to one embodiment of the present invention, the acquisition module 10 acquires the required torque of the vehicle, specifically for: acquiring the brake pedal opening; and determining the required torque corresponding to the current brake pedal opening based on the correspondence between the brake pedal opening and the required torque.

[0087] It should be noted that for details not disclosed in the vehicle control device of this embodiment of the invention, please refer to the details disclosed in the vehicle control method of this embodiment of the invention, which will not be repeated here.

[0088] According to an embodiment of the present invention, a vehicle control device receives and responds to a vehicle shift command via a receiving module. When it is determined that feedback torque compensation is needed, an acquisition module obtains a feedback torque compensation value based on the change in drive torque within a preset time before the shift command. A determination module determines the braking torque based on the feedback torque compensation value and controls the vehicle to brake based on the braking torque. Therefore, this device can compensate for the loss of braking feedback torque during the torque clearing process of vehicle shifting, avoiding discomfort and insecurity caused to the driver by the loss of feedback torque, and improving vehicle driving safety.

[0089] Corresponding to the above embodiments, the present invention also proposes a computer-readable storage medium.

[0090] The computer-readable storage medium of this invention stores a vehicle control program thereon, which, when executed by a processor, implements the vehicle control method described above.

[0091] The computer-readable storage medium of this invention, by executing the above-described vehicle control method, can compensate for the loss of braking feedback torque during the torque clearing process of vehicle gear shifting, thereby avoiding discomfort and insecurity to the driver caused by the loss of feedback torque and improving vehicle driving safety.

[0092] Corresponding to the above embodiments, the present invention also proposes a vehicle.

[0093] like Figure 5 As shown, the vehicle 200 in this embodiment of the invention may include: a memory 210, a processor 220, and a vehicle control program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the vehicle control program, it implements the above-described vehicle control method.

[0094] The vehicle of this invention, by executing the above-described vehicle control method, can compensate for the loss of braking feedback torque during the torque clearing process of gear shifting, thereby avoiding discomfort and insecurity to the driver caused by the loss of feedback torque and improving vehicle driving safety.

[0095] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0096] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0097] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0098] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0099] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] 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. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, include: Receive and respond to the vehicle's shift command; When it is determined that feedback torque compensation is needed for the vehicle, the feedback torque compensation value is obtained based on the change in drive torque within a preset time before the shift command; The braking torque is determined based on the feedback torque compensation value, and the vehicle is controlled to brake based on the braking torque. Determining the braking torque based on the feedback torque compensation value includes: Obtain the current gear ratio, drive axle final reduction ratio, and wheel-side reduction ratio of the vehicle; The braking torque is determined based on the feedback torque compensation value, the transmission ratio of the current gear, the main reduction ratio of the drive axle, and the wheel-side reduction ratio. The braking torque is determined using the following formula: in, This indicates the braking torque. This represents the feedback torque compensation value. This indicates the gear ratio of the current gear. This indicates the main reduction ratio of the drive axle. This indicates the wheel-side reduction ratio.

2. The method according to claim 1, characterized in that, include: The feedback torque compensation value is obtained based on the change in drive torque within a preset time before the shift command, including: Obtain the trend of multiple drive torque values ​​within the preset time period; A drive torque variation curve is fitted based on the multiple drive torque values, and the drive torque variation curve within the motor clearing torque time is estimated based on the drive torque variation curve. The feedback torque compensation value is determined based on the driving torque change curve during the motor clearing torque time.

3. The method according to claim 2, characterized in that, The clearing torque time of the motor is determined based on the shift time.

4. The method according to claim 2, characterized in that, Based on the aforementioned drive torque variation curve, the drive torque variation curve during the motor clearing torque time is estimated, including: Obtain the trend of the driving torque variation curve; Based on the aforementioned trend, predict the driving torque change curve within the motor's clearing torque time.

5. The method according to claim 2, characterized in that, The feedback torque compensation value is determined based on the drive torque change curve during the motor clearing torque time, including: The driving torque value at the current moment is obtained based on the driving torque change curve within the motor clearing torque time. The feedback torque compensation value is determined by the torque difference between the driving torque value at the current moment and the feedback torque.

6. The method according to claim 1, characterized in that, The need for regenerative torque compensation for the vehicle is determined when the following conditions are met simultaneously: The vehicle's anti-lock braking system is inactive; The vehicle was not on an uphill slope; The steering wheel angle of the vehicle is less than a first preset angle threshold. The brake pedal angle of the vehicle is less than a second preset angle threshold.

7. The method according to claim 1, characterized in that, Also includes: Obtain the required torque for the vehicle; The vehicle is controlled according to its required torque and braking torque.

8. The method according to claim 7, characterized in that, Obtaining the required torque of the vehicle includes: Obtain the brake pedal opening; The required torque corresponding to the current brake pedal opening is determined based on the relationship between brake pedal opening and required torque.

9. A vehicle control device, characterized in that, include: A receiving module is used to receive and respond to the vehicle's gear shifting commands; The acquisition module is used to acquire the feedback torque compensation value based on the change in drive torque within a preset time before the shift command when it is determined that feedback torque compensation is needed for the vehicle. The determining module is used to determine the braking torque based on the feedback torque compensation value, and to control the vehicle to brake based on the braking torque; Determining the braking torque based on the feedback torque compensation value includes: Obtain the current gear ratio, drive axle final reduction ratio, and wheel-side reduction ratio of the vehicle; The braking torque is determined based on the feedback torque compensation value, the transmission ratio of the current gear, the main reduction ratio of the drive axle, and the wheel-side reduction ratio. The braking torque is determined using the following formula: in, This indicates the braking torque. This represents the feedback torque compensation value. This indicates the gear ratio of the current gear. This indicates the main reduction ratio of the drive axle. This indicates the wheel-side reduction ratio.

10. A computer-readable storage medium, characterized in that, It stores a vehicle control program, which, when executed by a processor, implements the vehicle control method according to any one of claims 1-8.

11. A vehicle, characterized in that, The system includes a memory, a processor, and a vehicle control program stored in the memory and executable on the processor. When the processor executes the vehicle control program, it implements the vehicle control method according to any one of claims 1-8.

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