Vehicle control method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: acquiring vehicle state information of a vehicle; wherein the vehicle state information comprises the running speed of the vehicle and the accelerator state of a two-way accelerator rotating handle of the vehicle; if the accelerator state of the two-way accelerator rotating handle is the forward accelerator opening degree, the motor is controlled to provide driving force of forward torque for the vehicle according to the forward accelerator opening degree so that the vehicle can move forwards; and if the running speed of the vehicle does not exceed the vehicle static threshold value and the accelerator state of the two-way accelerator rotating handle is the reversing accelerator opening degree, the motor is controlled to provide driving force of negative torque of linear deceleration for the vehicle according to the reversing accelerator opening degree so that the vehicle can run in a reversing mode. The vehicle is controlled to advance or reverse through the two-way accelerator rotating handle, and the safety of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and in particular, to a control method, device, equipment, and storage medium for a vehicle. Background Art

[0002] With the rapid development of electric vehicle technology, users have higher and higher requirements for the riding safety of electric vehicles.

[0003] In the existing vehicle control method, a reverse gear button is set on the electric vehicle. When the user intends to control the electric vehicle to reverse, the electric vehicle is controlled to enter the reverse gear by pressing the reverse gear button, and at the same time, the vehicle reverses by twisting the throttle. When the user releases the reverse gear button, the reverse gear is exited. At this time, twisting the throttle again makes the vehicle move forward.

[0004] However, the inventor found that the vehicle control method in the prior art has at least the following technical problems: Since it is necessary to press the reverse gear button with the left hand and twist the throttle with the right hand to reverse the vehicle; the operation of controlling the electric vehicle to reverse by the cooperation of the left and right hands is relatively complex and prone to misoperation, so the safety of the vehicle is relatively low. Summary of the Invention

[0005] This application provides a control method, device, equipment, and storage medium for a vehicle, which can improve the safety of the vehicle.

[0006] In a first aspect, this application provides a control method for a vehicle, and the method includes:.

[0007] Obtain the vehicle state information of the vehicle; wherein the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes the forward throttle opening or the reverse throttle opening;

[0008] If the throttle state of the two-way throttle grip is the forward throttle opening, then according to the forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle, so that the vehicle moves forward;

[0009] If the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle reverses.

[0010] Optionally, the vehicle state information further includes the seat occupancy state of the vehicle; correspondingly, the method further includes: if the seat occupancy state of the vehicle is the occupied state and the throttle state of the two-way throttle grip is the forward throttle opening, then according to the forward throttle opening, controlling the motor to provide a driving force with a positive torque for the vehicle so that the vehicle travels forward; if the traveling speed of the vehicle does not exceed the vehicle stationary threshold and / or the seat occupancy state of the vehicle is the unoccupied state, and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle so that the vehicle travels in reverse.

[0011] Optionally, the controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle according to the reverse throttle opening includes: adjusting the current value of the motor according to the reverse throttle opening, and controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

[0012] Optionally, the method further includes: if the traveling speed of the vehicle is greater than the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle so that the vehicle decelerates.

[0013] Optionally, the controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle according to the reverse throttle opening so that the vehicle decelerates includes: the controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle according to the reverse throttle opening includes: switching the motor from the motor mode to the energy recovery mode; adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

[0014] Optionally, adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening, includes: if the reverse throttle opening is less than or equal to a first preset throttle opening threshold, adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a first driving force of a negative torque with a linear deceleration for the vehicle, so that the magnitude of the first driving force is linearly related to the magnitude of the reverse throttle opening; wherein, the energy recovery current value corresponding to the first preset throttle opening threshold is the maximum allowable energy recovery current value of the vehicle battery.

[0015] Optionally, the method further includes: if the reverse throttle opening is less than or equal to a first preset throttle opening threshold, adjusting the energy recovery current value of the motor charging the vehicle battery to the maximum allowable energy recovery current value according to the reverse throttle opening, and controlling the motor to provide a first driving force of a negative torque with a linear deceleration for the vehicle; controlling the motor to provide a second driving force of a negative torque with a linear deceleration for the vehicle through a motor controller, and determining the magnitude of the second driving force according to the reverse throttle opening and the first driving force, so that the combined driving force including the first driving force and the second driving force is linearly related to the magnitude of the reverse throttle opening.

[0016] Optionally, the method further includes: if the reverse throttle opening is less than or equal to a second preset throttle opening threshold, not controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle; if the reverse throttle opening is greater than the second preset throttle opening threshold, controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening.

[0017] Optionally, the method further includes: determining the reverse throttle opening of the two-way throttle according to the ratio between the reverse throttle travel and the maximum reverse throttle travel of the two-way throttle grip; determining the forward throttle opening of the two-way throttle according to the ratio between the forward throttle travel and the maximum forward throttle travel of the two-way throttle grip; wherein, the reverse throttle travel and the forward throttle travel are in opposite directions, and the value of the maximum reverse throttle travel is less than the value of the maximum forward throttle travel.

[0018] Optionally, the method further includes: obtaining the reverse driving speed of the vehicle; controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening and the reverse driving speed of the vehicle, so that the reverse driving speed of the vehicle does not exceed a preset reverse speed threshold.

[0019] Second aspect, the present application provides a control device for a vehicle, the device comprising:

[0020] An acquisition module, configured to acquire vehicle state information of the vehicle; wherein the vehicle state information includes a seat occupancy state of the vehicle, a driving speed of the vehicle, and a throttle state of a bidirectional throttle grip of the vehicle, and the throttle state of the bidirectional throttle grip includes a forward throttle opening or a reverse throttle opening;

[0021] A first control module, configured to, if the seat occupancy state of the vehicle is an occupied state and the throttle state of the bidirectional throttle grip is a forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle according to the forward throttle opening, so that the vehicle travels forward;

[0022] A second control module, configured to, if the driving speed of the vehicle does not exceed a vehicle stationary threshold and / or the seat occupancy state of the vehicle is an unoccupied state, and the throttle state of the bidirectional throttle grip is a reverse throttle opening, control the motor to provide a driving force with a negative torque of a linear deceleration for the vehicle according to the reverse throttle opening, so that the vehicle travels in reverse.

[0023] Third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, and a memory, the processor is communicatively connected to the communication interface and the memory respectively;

[0024] The memory stores computer-executable instructions;

[0025] The communication interface communicates with an external device;

[0026] The processor executes the computer-executable instructions stored in the memory to implement the vehicle control method according to any one of the first aspects.

[0027] Fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the vehicle control method according to any one of the first aspects.

[0028] The control method, device, equipment and storage medium for a vehicle provided by this application, the method includes: obtaining the vehicle state information of the vehicle; wherein the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes the forward throttle opening or the reverse throttle opening; if the throttle state of the two-way throttle grip of the vehicle is the forward throttle opening, then according to the forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle to make the vehicle drive forward; if the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle to make the vehicle drive in reverse. In the embodiments of this application, since the two-way throttle grip can be rotated forward or backward, and the vehicle is controlled to move forward or backward through the two-way throttle grip, the operation is simple and not prone to misoperation, so the safety of the vehicle is improved. Moreover, when the vehicle is reversing, according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, which improves the stability of the vehicle when reversing, thereby further improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0030] Figure 1 FIG. is a schematic diagram of an application scenario of a control method for a vehicle provided by an embodiment of this application;

[0031] Figure 2 FIG. is a flowchart of a control method for a vehicle provided by an embodiment of this application;

[0032] Figure 3 FIG. is a schematic diagram of a reverse throttle stroke provided by an embodiment of this application;

[0033] Figure 4 FIG. is a schematic diagram of a negative torque of linear deceleration provided by an embodiment of this application;

[0034] Figure 5 FIG. is a schematic diagram of the structure of a control device for a vehicle provided by an embodiment of this application;

[0035] Figure 6 FIG. is a schematic diagram of the structure of an electronic device provided by an embodiment of this application.

[0036] Through the above drawings, the clear embodiments of this application have been shown, and there will be more detailed descriptions later. These drawings and the text description are not intended to limit the scope of the concept of this application in any way, but to explain the concept of this application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0037] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0038] With the rapid development of electric vehicle technology, users have higher and higher requirements for the safety of electric vehicle riding. In the existing vehicle control method, a reverse gear button is provided on the electric vehicle. When the user intends to control the electric vehicle to reverse, the electric vehicle is controlled to enter the reverse gear by pressing the reverse gear button, and at the same time, the vehicle reverses by twisting the throttle. When the user releases the reverse gear button, the reverse gear is exited. At this time, twisting the throttle again makes the vehicle move forward. However, since it is necessary to press the reverse gear button with the left hand and twist the throttle with the right hand to reverse the vehicle when reversing; the operation method of controlling the electric vehicle to reverse by the cooperation of the left and right hands is relatively complicated and prone to misoperation, so the safety of the vehicle is relatively low.

[0039] Thus, it can be seen that in the process of controlling the vehicle to reverse, how to improve the safety of the vehicle is a technical problem that needs to be solved urgently at present.

[0040] In view of the above technical problems, the inventor proposed the following technical concept: when twisting the throttle negatively during riding, a recovery deceleration force is linearly provided according to the reverse throttle opening; when stationary, twisting the throttle negatively will cause the vehicle to reverse, and the greater the reverse throttle opening, the faster the vehicle reverses.

[0041] Correspondingly, the specific steps may include: First, obtain the vehicle state information of the vehicle; where the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes the forward throttle opening or the reverse throttle opening. Then, if the throttle state of the two-way throttle grip of the vehicle is the forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle according to the forward throttle opening, so that the vehicle moves forward. Finally, if the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle according to the reverse throttle opening, so that the vehicle reverses.

[0042] In the embodiments of the present application, since the two-way throttle grip can be rotated forward or backward to control the vehicle to move forward or backward, the operation is simple and not prone to misoperation, thus improving the safety of the vehicle. Moreover, when the vehicle is reversing, according to the reverse throttle opening, the motor controller controls the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, improving the stability of the vehicle during reversing, and further enhancing the safety of the vehicle.

[0043] The application scenarios of the vehicle control method provided by the present application will be described below. Figure 1 It is a schematic diagram of the application scenario of a vehicle control method provided by an embodiment of the present application. As Figure 1 shown, this scenario includes: the motor controller of the vehicle, the two-way throttle grip, and the motor. Among them, the two-way throttle grip can be rotated forward or backward. When rotated forward, the throttle state of the two-way throttle grip is the forward throttle opening. At this time, the motor controller controls the motor to provide a driving force with a positive torque for the vehicle to make the vehicle move forward. When rotated backward, the throttle state of the two-way throttle grip is the reverse throttle opening. At this time, the motor controller controls the motor to provide a driving force with a negative torque of linear deceleration for the vehicle to make the vehicle reverse. In the above scenario, since the two-way throttle grip can be rotated forward or backward to control the vehicle to move forward or backward, the operation is simple and not prone to misoperation, thus improving the safety of the vehicle.

[0044] The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0045] Figure 2 It is a flowchart of a vehicle control method provided by an embodiment of the present application. As Figure 2 shown, the method may include:

[0046] S201. Obtain the vehicle state information of the vehicle; where the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes the forward throttle opening or the reverse throttle opening.

[0047] In the embodiments of the present application, the above vehicle may be an electric scooter. For example, an electric two-wheeler, an electric three-wheeler, etc.

[0048] In some embodiments, obtaining vehicle state information of a vehicle includes: determining the driving speed of the vehicle according to a speed sensor; and obtaining an accelerator opening signal of a bidirectional accelerator grip of the vehicle through a motor controller, and determining the accelerator state of the bidirectional accelerator grip according to the accelerator opening signal.

[0049] Optionally, the accelerator state of the bidirectional accelerator grip includes a forward accelerator opening or a reverse accelerator opening; correspondingly, the accelerator opening signal includes a positive opening signal or a negative opening signal, and the forward accelerator opening is determined through the positive opening signal, and the reverse accelerator opening is determined through the negative opening signal.

[0050] Optionally, the vehicle state information may further include the seat occupancy state of the vehicle. Correspondingly, obtaining the vehicle state information of the vehicle further includes: obtaining a pressure signal of the seat of the vehicle through a seat pressure sensor, and determining the seat occupancy state of the vehicle according to the pressure signal, where the seat occupancy state of the vehicle includes an occupied state and an unoccupied state.

[0051] In some other embodiments, the accelerator stroke of the bidirectional accelerator grip can be obtained, and the accelerator opening is determined according to the accelerator stroke. Correspondingly, obtaining the accelerator state of the bidirectional accelerator grip of the vehicle includes: determining the reverse accelerator opening of the bidirectional accelerator according to the ratio between the reverse accelerator stroke of the bidirectional accelerator grip and the maximum reverse accelerator stroke; determining the forward accelerator opening of the bidirectional accelerator according to the ratio between the forward accelerator stroke of the bidirectional accelerator grip and the maximum forward accelerator stroke.

[0052] Among them, as Figure 3 shown, the reverse accelerator stroke is in the opposite direction to the forward accelerator stroke, and the value of the maximum reverse accelerator stroke is less than the value of the maximum forward accelerator stroke.

[0053] In the embodiments of the present application, since the accelerator stroke of the bidirectional accelerator grip is obtained and the accelerator opening is determined according to the accelerator stroke, and the accuracy of the accelerator stroke is relatively high, the accuracy of determining the accelerator opening can be improved.

[0054] It should be noted that the bidirectional accelerator grip can be rotated forward to increase the throttle or rotated backward to decrease the throttle, and the force of rotating the throttle backward is relatively higher to prevent accidental misoperation by the user.

[0055] S202. If the accelerator state of the bidirectional accelerator grip is a forward accelerator opening, then according to the forward accelerator opening, control the motor to provide a driving force with a positive torque for the vehicle so that the vehicle moves forward.

[0056] In some embodiments, the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle. Accordingly, if the throttle state of the two-way throttle grip of the vehicle is the forward throttle opening, it is determined that the vehicle is in the forward driving mode. At this time, according to the forward throttle opening, the motor is controlled to provide a driving force with a positive torque for the vehicle, so that the vehicle drives forward.

[0057] Among them, the larger the forward throttle opening is, the greater the driving force with a positive torque provided by the motor for the vehicle is; on the contrary, the smaller the forward throttle opening is, the smaller the driving force with a positive torque provided by the motor for the vehicle is.

[0058] In some other embodiments, the vehicle state information further includes the seat occupancy state of the vehicle. Accordingly, this step is: if the seat occupancy state of the vehicle is the occupied state and the throttle state of the two-way throttle grip is the forward throttle opening, then according to the forward throttle opening, the motor is controlled to provide a driving force with a positive torque for the vehicle, so that the vehicle drives forward.

[0059] S203. If the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, the motor is controlled to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle drives in reverse.

[0060] In the embodiments of the present application, in order to improve the safety of the vehicle, the vehicle can be controlled to drive in reverse only when the vehicle is stationary or at a low speed.

[0061] In some embodiments, the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle. Accordingly, this step is: if the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, the motor is controlled to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle drives in reverse.

[0062] In some other embodiments, the vehicle state information further includes the seat occupancy state of the vehicle. Accordingly, this step is: if the driving speed of the vehicle does not exceed the vehicle stationary threshold and / or the seat occupancy state of the vehicle is the unoccupied state, and the throttle state of the two-way throttle grip is the reverse throttle opening, then according to the reverse throttle opening, the motor is controlled to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle drives in reverse.

[0063] Optionally, when the vehicle speed is low, the seat occupancy state can be the occupied state or the unoccupied state. Among them, if the seat occupancy state is the occupied state, it is determined that the vehicle is in the mode of reversing with a person sitting; if the seat occupancy state is the unoccupied state, it is determined that the vehicle is in the mode of reversing without a person sitting. That is, when the vehicle is stationary or the speed is low, negative throttle reversing includes the mode of reversing with a person sitting on the vehicle and the mode of reversing without a person sitting on the vehicle.

[0064] In some other embodiments, the vehicle speed may not be considered. When there is no person sitting on the vehicle, it is determined that the vehicle is in the pushing mode. At this time, if the throttle state of the bidirectional throttle grip is the reverse throttle opening, according to the reverse throttle opening, the motor is controlled to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle reverses, that is, the pushing-assisted reverse mode.

[0065] Furthermore, in order to improve the safety of reversing the vehicle without a person sitting, it can be controlled that the vehicle can only be controlled to reverse when the driving speed of the vehicle does not exceed the vehicle stationary threshold. Correspondingly, if the driving speed of the vehicle does not exceed the vehicle stationary threshold, the seat occupancy state of the vehicle is the unoccupied state, and the throttle state of the bidirectional throttle grip is the reverse throttle opening, then according to the reverse throttle opening, the motor is controlled to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle reverses.

[0066] Optionally, controlling the motor to provide a driving force with a negative torque of linear deceleration for the vehicle according to the reverse throttle opening includes: adjusting the current value of the motor according to the reverse throttle opening, and controlling the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

[0067] In the embodiments of the present application, the value of the vehicle stationary threshold is not specifically limited and can be set and modified as needed. Exemplarily, the vehicle stationary threshold can be 0.5 km / h, 0.6 km / h or 1 km / h, etc.

[0068] It should be noted that in order to improve the safety of the vehicle reversing, the maximum reverse speed can also be limited. Correspondingly, the method further includes: obtaining the reverse driving speed of the vehicle; controlling the motor to provide a driving force with a negative torque of linear deceleration for the vehicle according to the reverse throttle opening and the reverse driving speed of the vehicle, so that the reverse driving speed of the vehicle does not exceed the preset reverse speed threshold.

[0069] Optionally, when the reverse driving speed of the vehicle is less than a preset reverse speed threshold, according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle drives in reverse. When the reverse driving speed of the vehicle is greater than or equal to the preset reverse speed threshold, no driving force with negative torque is provided, so that the reverse driving speed of the vehicle does not exceed the preset reverse speed threshold.

[0070] In the embodiment of the present application, the value of the preset reverse speed threshold is not specifically limited and can be set and modified as needed. Exemplarily, the preset reverse speed threshold can be 5 km / h, 6 km / h or 7 km / h, etc.

[0071] The present application provides a control method for a vehicle. The method includes: obtaining vehicle state information of the vehicle; where the vehicle state information includes the driving speed of the vehicle and the throttle state of a two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes a forward throttle opening or a reverse throttle opening; if the throttle state of the two-way throttle grip is a forward throttle opening, then according to the forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle, so that the vehicle drives forward; if the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is a reverse throttle opening, then according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle drives in reverse. In the embodiment of the present application, since the two-way throttle grip can be twisted forward or backward, and the vehicle is controlled to move forward or backward through the two-way throttle grip, the operation is simple and not prone to misoperation, so the safety of the vehicle is improved. Moreover, when the vehicle is reversing, according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, which improves the stability of the vehicle when reversing, thereby further improving the safety of the vehicle.

[0072] In the embodiment of the present application, when the vehicle is moving at a speed, releasing the throttle grip has no energy recovery, and the controller does not output power and the vehicle slides forward freely. At this time, the user twists the throttle grip backward, and according to different rotation angles, different deceleration forces are output. The relationship between the rotation angle of the grip and the deceleration is linear, giving the user an expected deceleration.

[0073] Correspondingly, the method further includes: if the driving speed of the vehicle is greater than the vehicle stationary threshold and the throttle state of the two-way throttle grip is a reverse throttle opening, then according to the reverse throttle opening, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the vehicle decelerates.

[0074] In some embodiments, controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening includes: switching the motor from the electric motor mode to the energy recovery mode; adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force for the vehicle to decelerate is linearly related to the magnitude of the reverse throttle opening.

[0075] It should be noted that the energy recovery current for charging the vehicle battery varies according to the ambient temperature and the battery charge level, and the braking deceleration caused by energy recovery also varies. At this time, a relatively linear braking force can be given according to the controller by combining the maximum current value allowed for energy recovery by the current battery and the braking force output by the controller.

[0076] In some embodiments, adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening, includes: if the reverse throttle opening is less than or equal to the first preset opening threshold, adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a first driving force of a negative torque with a linear deceleration for the vehicle, so that the magnitude of the first driving force is linearly related to the magnitude of the reverse throttle opening; wherein, the energy recovery current value corresponding to the first preset opening threshold is the maximum allowed energy recovery current value of the vehicle battery.

[0077] In some other embodiments, if the reverse throttle opening is less than or equal to the first preset opening threshold, adjusting the energy recovery current value of the motor charging the vehicle battery to the maximum allowed energy recovery current value, and controlling the motor to provide a first driving force of a negative torque with a linear deceleration for the vehicle; controlling the motor to provide a second driving force of a negative torque with a linear deceleration for the vehicle through the motor controller, and determining the magnitude of the second driving force according to the reverse throttle opening and the first driving force, so that the combined driving force including the first driving force and the second driving force is linearly related to the magnitude of the reverse throttle opening.

[0078] Exemplarily, as Figure 4 shown, when the reverse throttle opening is less than or equal to the first preset opening threshold, it is not necessary for the motor controller to control the motor to provide a second driving force of a negative torque with a linear deceleration for the vehicle, and the magnitude of the first driving force can be linearly related to the magnitude of the reverse throttle opening. When the reverse throttle opening is greater than the first preset opening threshold, the motor controller needs to control the motor to provide a second driving force of a negative torque with a linear deceleration for the vehicle, so that the combined driving force is linearly related to the magnitude of the reverse throttle opening.

[0079] It should be further noted that when the reverse throttle opening is small, the motor is not controlled to provide a driving force of a negative torque for linear deceleration of the vehicle.

[0080] Optionally, the method further includes: if the reverse throttle opening is less than or equal to a second preset opening threshold, the motor is not controlled to provide a driving force of a negative torque for linear deceleration of the vehicle; if the reverse throttle opening is greater than the second preset opening threshold, the motor is controlled to provide a driving force of a negative torque for linear deceleration of the vehicle according to the reverse throttle opening.

[0081] In the embodiments of the present application, the value of the second preset opening threshold is not specifically limited and can be set and modified as needed. Exemplarily, the second preset opening threshold can be 1%, 3%, or 5%, etc. Exemplarily, as Figure 4 shown, the second preset opening threshold is 5%.

[0082] In the embodiments of the present application, since the motor is not controlled to provide a driving force of a negative torque for linear deceleration of the vehicle when the reverse throttle opening is small, mis-triggering of the two-way throttle grip is avoided, thus further improving the safety of the vehicle.

[0083] Figure 5 This is a schematic structural diagram of a control device for a vehicle provided by an embodiment of the present application. As Figure 5 shown, the device includes: an acquisition module 501, a first control module 502, and a second control module 503.

[0084] Among them, the acquisition module 501 is used to acquire the vehicle state information of the vehicle; the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes the forward throttle opening or the reverse throttle opening;

[0085] The first control module 502 is used to, if the throttle state of the two-way throttle grip is the forward throttle opening, control the motor to provide a driving force of a positive torque for the vehicle so that the vehicle moves forward;

[0086] The second control module 503 is used to, if the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the two-way throttle grip is the reverse throttle opening, control the motor to provide a driving force of a negative torque for linear deceleration of the vehicle so that the vehicle moves backward.

[0087] Optionally, the vehicle state information further includes the seat occupancy state of the vehicle; correspondingly,

[0088] The first control module 502 is further configured to, if the seat occupancy state of the vehicle is the occupied state and the throttle state of the bidirectional throttle grip is the forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle according to the forward throttle opening, so that the vehicle travels forward;

[0089] The second control module 503 is further configured to, if the traveling speed of the vehicle does not exceed the vehicle stationary threshold and / or the seat occupancy state of the vehicle is the unoccupied state, and the throttle state of the bidirectional throttle grip is the reverse throttle opening, control the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening, so that the vehicle travels in reverse.

[0090] Optionally, the second control module 503 controls the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening, including: adjusting the current value of the motor according to the reverse throttle opening, and controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

[0091] Optionally, the device further includes: a third control module; the third control module is configured to, if the traveling speed of the vehicle is greater than the vehicle stationary threshold and the throttle state of the bidirectional throttle grip is the reverse throttle opening, control the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening, so that the vehicle decelerates.

[0092] Optionally, the third control module controls the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening, so that the vehicle decelerates, including: controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening, including: switching the motor from the motor mode to the energy recovery mode; adjusting the energy recovery current value of the motor charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

[0093] Optionally, the third control module adjusts the energy recovery current value of the motor for charging the vehicle battery according to the reverse throttle opening, and controls the motor to provide a driving force with a negative torque for linear deceleration of the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening, including: if the reverse throttle opening is less than or equal to a first preset opening threshold, adjusting the energy recovery current value of the motor for charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a first driving force with a negative torque for linear deceleration of the vehicle, so that the magnitude of the first driving force is linearly related to the magnitude of the reverse throttle opening; wherein, the energy recovery current value corresponding to the first preset opening threshold is the maximum allowable energy recovery current value of the vehicle battery.

[0094] Optionally, the third control module is further configured to, if the reverse throttle opening is less than or equal to a first preset opening threshold, adjust the energy recovery current value of the motor for charging the vehicle battery to the maximum allowable energy recovery current value according to the reverse throttle opening, and control the motor to provide a first driving force with a negative torque for linear deceleration of the vehicle; control the motor to provide a second driving force with a negative torque for linear deceleration of the vehicle through a motor controller, and determine the magnitude of the second driving force according to the reverse throttle opening and the first driving force, so that the combined driving force including the first driving force and the second driving force is linearly related to the magnitude of the reverse throttle opening.

[0095] Optionally, the third control module is further configured to, if the reverse throttle opening is less than or equal to a second preset opening threshold, not control the motor to provide a driving force with a negative torque for linear deceleration of the vehicle; if the reverse throttle opening is greater than the second preset opening threshold, control the motor to provide a driving force with a negative torque for linear deceleration of the vehicle according to the reverse throttle opening.

[0096] Optionally, the obtaining module 501 is configured to determine the reverse throttle opening of the bidirectional throttle according to the ratio between the reverse throttle stroke and the maximum reverse throttle stroke of the bidirectional throttle grip; determine the forward throttle opening of the bidirectional throttle according to the ratio between the forward throttle stroke and the maximum forward throttle stroke of the bidirectional throttle grip; wherein, the reverse throttle stroke and the forward throttle stroke are in opposite directions, and the value of the maximum reverse throttle stroke is less than the value of the maximum forward throttle stroke.

[0097] Optionally, the second control module 503 is further configured to obtain the reverse driving speed of the vehicle; and control the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening and the reverse driving speed of the vehicle, so that the reverse driving speed of the vehicle does not exceed a preset reverse speed threshold.

[0098] For the vehicle control device provided in this application, since the two-way throttle grip can be rotated forward or backward, the vehicle can be controlled to move forward or backward by rotating the two-way throttle grip, and the operation is simple and not prone to misoperation, thus improving the safety of the vehicle. Moreover, when the vehicle is reversing, according to the reverse throttle opening, the motor is controlled to provide a driving force of a negative torque with a linear deceleration for the vehicle, improving the stability of the vehicle during reversing, thereby further improving the safety of the vehicle.

[0099] The display device for warning information of the vehicle provided in the embodiments of this application can execute the vehicle control method in the above method embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0100] Figure 6 It is a schematic structural diagram of an electronic device provided in the embodiments of this application. Among them, this electronic device is used to execute the vehicle control method described above. As Figure 6 shown, the electronic device 600 may include: at least one processor 601, a memory 602, and in a possible implementation manner, a communication interface 603 may also be included.

[0101] The memory 602 is used to store programs. Specifically, the program may include program code, and the program code includes computer operation instructions.

[0102] The memory 602 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0103] The processor 601 is configured to execute the computer execution instructions stored in the memory 602 to implement the method described in the foregoing method embodiments. Among them, the processor 601 may be a CPU, or a specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0104] Optionally, the processor 601 may communicate and interact with external devices through the communication interface 603. When this electronic device is a device or a cloud platform for providing operation instructions to intelligent operation devices, the external devices mentioned here may be intelligent operation devices, for example.

[0105] In specific implementation, if the communication interface 603, the memory 602, and the processor 601 are implemented independently, the communication interface 603, the memory 602, and the processor 601 can be interconnected through a bus and complete communication with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0106] Optionally, in specific implementation, if the communication interface 603, the memory 602, and the processor 601 are integrated on a chip, the communication interface 603, the memory 602, and the processor 601 can complete communication through an internal interface.

[0107] The present application also provides a computer-readable storage medium, which may include: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the method in the foregoing embodiments.

[0108] The present application also provides a program product, which includes execution instructions stored in a readable storage medium. At least one processor of a computing device can read the execution instructions from the readable storage medium, and the at least one processor executes the execution instructions to enable the computing device to implement the above-mentioned vehicle control method.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a vehicle, characterized in that, The method includes: Obtaining vehicle status information of the vehicle; wherein the vehicle status information includes the driving speed of the vehicle and the throttle status of the two-way throttle grip of the vehicle, and the throttle status of the two-way throttle grip includes a forward throttle opening or a reverse throttle opening; If the throttle status of the two-way throttle grip is a forward throttle opening, then according to the forward throttle opening, controlling the motor to provide a driving force with a positive torque for the vehicle, so that the vehicle travels forward; If the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle status of the two-way throttle grip is a reverse throttle opening, then according to the reverse throttle opening, controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the vehicle travels in reverse.

2. The control method according to claim 1, wherein The vehicle status information further includes the seat occupancy status of the vehicle; correspondingly, the method further includes: If the seat occupancy status of the vehicle is an occupied status and the throttle status of the two-way throttle grip is a forward throttle opening, then according to the forward throttle opening, controlling the motor to provide a driving force with a positive torque for the vehicle, so that the vehicle travels forward; If the driving speed of the vehicle does not exceed the vehicle stationary threshold and / or the seat occupancy status of the vehicle is an unoccupied status, and the throttle status of the two-way throttle grip is a reverse throttle opening, then according to the reverse throttle opening, controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the vehicle travels in reverse.

3. The control method according to claim 1, characterized in that, The controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening includes: According to the reverse throttle opening, adjusting the current value of the motor, and controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

4. The control method according to claim 1, characterized in that, The method further includes: If the driving speed of the vehicle is greater than the vehicle stationary threshold and the throttle status of the two-way throttle grip is a reverse throttle opening, then according to the reverse throttle opening, controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the vehicle decelerates.

5. The control method according to claim 4, characterized in that, The controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening includes: Switching the motor from the motor mode to the energy recovery mode; According to the reverse throttle opening, adjusting the energy recovery current value of the motor for charging the vehicle battery, and controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening.

6. The control method according to claim 5, wherein The adjusting the energy recovery current value of the motor for charging the vehicle battery according to the reverse throttle opening, and controlling the motor to provide a driving force with a negative torque with a linear deceleration for the vehicle, so that the magnitude of the driving force is linearly related to the magnitude of the reverse throttle opening includes: If the reverse throttle opening is less than or equal to the first preset opening threshold, then according to the reverse throttle opening, adjust the energy recovery current value of the motor charging the vehicle battery, and control the motor to provide a first driving force with a negative torque of linear deceleration for the vehicle, so that the magnitude of the first driving force is linearly related to the magnitude of the reverse throttle opening; Wherein, the energy recovery current value corresponding to the first preset opening threshold is the maximum allowable energy recovery current value of the vehicle battery.

7. The control method according to claim 6, characterized in that The method further includes: If the reverse throttle opening is less than or equal to the first preset opening threshold, then according to the reverse throttle opening, adjust the energy recovery current value of the motor charging the vehicle battery to the maximum allowable energy recovery current value, and control the motor to provide a first driving force with a negative torque of linear deceleration for the vehicle; Control the motor to provide a second driving force with a negative torque of linear deceleration for the vehicle through a motor controller, and determine the magnitude of the second driving force according to the reverse throttle opening and the first driving force, so that the combined driving force including the first driving force and the second driving force is linearly related to the magnitude of the reverse throttle opening.

8. The control method according to claim 1, wherein The method further includes: If the reverse throttle opening is less than or equal to the second preset opening threshold, then do not control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle; If the reverse throttle opening is greater than the second preset opening threshold, then control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle according to the reverse throttle opening.

9. The control method according to claim 1, wherein, The method further includes: Determine the reverse throttle opening of the two-way throttle according to the ratio between the reverse throttle stroke and the maximum reverse throttle stroke of the two-way throttle grip; Determine the forward throttle opening of the two-way throttle according to the ratio between the forward throttle stroke and the maximum forward throttle stroke of the two-way throttle grip; Wherein, the reverse throttle stroke and the forward throttle stroke are in opposite directions, and the value of the maximum reverse throttle stroke is less than the value of the maximum forward throttle stroke.

10. The control method according to claim 1, characterized in that The method further includes: Obtain the reverse driving speed of the vehicle; According to the reverse throttle opening and the reverse driving speed of the vehicle, control the motor to provide a driving force with a negative torque of linear deceleration for the vehicle, so that the reverse driving speed of the vehicle does not exceed a preset reverse speed threshold.

11. A control device for a vehicle, characterized in that, The device includes: An acquisition module, configured to acquire vehicle state information of the vehicle; wherein the vehicle state information includes the driving speed of the vehicle and the throttle state of the two-way throttle grip of the vehicle, and the throttle state of the two-way throttle grip includes a forward throttle opening or a reverse throttle opening; A first control module, configured to, if the throttle state of the two-way throttle grip is a forward throttle opening, control the motor to provide a driving force with a positive torque for the vehicle according to the forward throttle opening, so that the vehicle moves forward; The second control module is configured to, if the driving speed of the vehicle does not exceed the vehicle stationary threshold and the throttle state of the bidirectional throttle grip is the reverse throttle opening, control the motor to provide a driving force of a negative torque with a linear deceleration for the vehicle according to the reverse throttle opening, so that the vehicle travels in reverse.

12. An electronic device, characterized in that, It includes: a processor, a communication interface, and a memory, where the processor is communicatively connected to the communication interface and the memory respectively; the memory stores computer-executable instructions; the communication interface communicates with external devices; the processor executes the computer-executable instructions stored in the memory to implement the vehicle control method according to any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by the processor, they are used to implement the vehicle control method according to any one of claims 1 to 10.

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