A method and device for controlling vehicle driving, and a vehicle

Abstract

The present invention discloses a method and device for controlling vehicle travel, and a vehicle, and relates to the field of vehicle control. The method comprises: determining a first vehicle speed and a second vehicle speed; when the first vehicle speed and the second vehicle speed are both first preset values, determining the current vehicle speed according to an accelerator pedal opening signal, so that the vehicle travels at the current vehicle speed, and controlling the output torque of the vehicle to be a first preset multiple of the maximum output torque of the whole vehicle. The present invention realizes that even if there are problems with the vehicle speeds from different dimensional sources, the vehicle speed will not be out of control, and the torque out-of-control problem caused by the problem of the vehicle speed from only one dimensional source is avoided, thereby improving the safety of the whole vehicle travel.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a vehicle driving control method, a vehicle driving control device and a vehicle. Background Art

[0002] At present, most electric vehicles still only use ABS wheel speed signals to calculate vehicle speed, and a single vehicle speed signal poses safety risks. For example, when the ABS fails or the ABS wheel speed signal is abnormal, the vehicle speed will also become abnormal, causing problems in calculating the current torque demand of the entire vehicle, which may cause danger. Some electric vehicles also use motor speed to calculate vehicle speed. This method is more convenient to use, but it also has risks. For example, when there is a problem with the motor speed signal, the vehicle speed signal will also become abnormal, causing the vehicle torque to lose control and cause danger.

[0003] If the vehicle speed is calculated only through the ABS wheel speed signal or the motor speed signal, when there is a problem with the vehicle speed, it is impossible to evaluate the deviation between the problem vehicle speed and the actual vehicle speed. That is, the calculated current required torque and the actual required torque may deviate greatly, resulting in the possibility of torque loss of control of the entire vehicle, which poses a greater safety risk to the driving of the entire vehicle. Summary of the invention

[0004] In view of the above problems, the present invention provides a vehicle driving control method, device and a vehicle, which can avoid the problem of vehicle driving out of control caused by calculating the vehicle speed only through ABS wheel speed signals or motor speed signals.

[0005] A first aspect of an embodiment of the present invention provides a method for controlling vehicle travel, the method comprising:

[0006] determining a first vehicle speed and a second vehicle speed;

[0007] When the first vehicle speed and the second vehicle speed are both first preset values, determining the current vehicle speed according to the accelerator pedal opening signal, so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed the limp home speed at most;

[0008] Controlling the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle;

[0009] The first vehicle speed and the second vehicle speed are respectively determined according to different operating parameter values ​​of the vehicle.

[0010] Optionally, after determining the first vehicle speed and the second vehicle speed, the method further includes:

[0011] determining a difference between the first vehicle speed and the second vehicle speed when at least one of the first vehicle speed and the second vehicle speed is not the first preset value;

[0012] When the difference is greater than a second preset value, determining a magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed;

[0013] In a case where both the first vehicle speed and the second vehicle speed are not greater than the limp home speed, determining a higher vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed;

[0014] When the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, determining the limp home speed as the current vehicle speed;

[0015] The output torque of the vehicle is controlled to be a first preset multiple of the maximum output torque of the vehicle.

[0016] Optionally, when the difference is greater than a second preset value, after determining the magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed, the method further includes:

[0017] When both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is less than a third preset value, determining the lower vehicle speed between the first vehicle speed and the second vehicle speed as the current vehicle speed;

[0018] The output torque of the vehicle is controlled to be a second preset multiple of the maximum output torque of the whole vehicle.

[0019] Optionally, when the difference is greater than a second preset value, after determining the magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed, the method further includes:

[0020] When both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is not less than the third preset value, determining the lower vehicle speed between the first vehicle speed and the second vehicle speed as the current vehicle speed;

[0021] The output torque of the vehicle is controlled to be a third preset multiple of the maximum output torque of the whole vehicle.

[0022] Optionally, when at least one of the first vehicle speed and the second vehicle speed is not the first preset value, after determining the difference between the first vehicle speed and the second vehicle speed, the method further includes:

[0023] When the difference is not greater than the second preset value, any one of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed.

[0024] Optionally, it also includes:

[0025] When the first vehicle speed and the second vehicle speed are both the first preset values, sending an alarm signal to the vehicle-mounted terminal; or

[0026] When the difference is greater than the second preset value, the alarm signal is sent to the vehicle-mounted terminal.

[0027] Optionally, the different operating parameter values ​​of the vehicle include: ABS wheel speed parameters, motor speed parameters.

[0028] A second aspect of an embodiment of the present invention provides a vehicle driving control device, the device comprising:

[0029] A vehicle speed determination module, used to determine a first vehicle speed and a second vehicle speed;

[0030] A pedal-determining vehicle speed module, for determining a current vehicle speed according to an accelerator pedal opening signal when both a first vehicle speed and a second vehicle speed are first preset values, so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed a limp-home speed at most;

[0031] A first torque control module, used for controlling the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle;

[0032] The first vehicle speed and the second vehicle speed are respectively determined according to different operating parameter values ​​of the vehicle.

[0033] Optionally, the device further comprises:

[0034] a difference determination module, configured to determine a difference between the first vehicle speed and the second vehicle speed when at least one of the first vehicle speed and the second vehicle speed is not the first preset value;

[0035] a limp home speed determining module, configured to determine a magnitude relationship between the first vehicle speed and the second vehicle speed and the limp home speed when the difference is greater than a second preset value;

[0036] a first vehicle speed determining module, configured to determine a higher vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed when both the first vehicle speed and the second vehicle speed are not greater than the limp home speed;

[0037] When the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, the limp home speed is determined as the current vehicle speed.

[0038] Optionally, the device further comprises:

[0039] The second vehicle speed determination module is configured to, when both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is less than a third preset value,

[0040] determining a lower vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed;

[0041] The second torque control module is used to control the output torque of the vehicle to be a second preset multiple of the maximum output torque of the vehicle.

[0042] Optionally, the device further comprises:

[0043] a third vehicle speed determination module, configured to determine the lower vehicle speed of the first vehicle speed and the second vehicle speed as the current vehicle speed when both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is not less than the third preset value;

[0044] The third torque control module is used to control the output torque of the vehicle to be a third preset multiple of the maximum output torque of the vehicle.

[0045] Optionally, the device further comprises:

[0046] The fourth vehicle speed determination module is used to determine any one of the first vehicle speed and the second vehicle speed as the current vehicle speed when the difference is not greater than the second preset value.

[0047] Optionally, the device further comprises: an alarm module; the alarm module is used to:

[0048] When the first vehicle speed and the second vehicle speed are both the first preset values, sending an alarm signal to the vehicle-mounted terminal; or

[0049] When the difference is greater than the second preset value, the alarm signal is sent to the vehicle-mounted terminal.

[0050] A third aspect of an embodiment of the present invention provides a vehicle, the vehicle comprising: a vehicle controller;

[0051] The vehicle controller is used to execute any method described in the first aspect.

[0052] The vehicle driving control method of the present invention determines a first vehicle speed and a second vehicle speed according to different operating parameter values ​​of the vehicle, and then determines a current vehicle speed according to an accelerator pedal opening signal when the first vehicle speed and the second vehicle speed are both first preset values, so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed the limp home speed, and at the same time controls the output torque of the vehicle to be a first preset multiple of the maximum output torque of the whole vehicle.

[0053] The method of the present invention obtains vehicle speeds from different dimensional sources through different operating parameter values, and determines the current vehicle speed in combination with the specific conditions of the vehicle speeds from different dimensional sources and the accelerator pedal opening signal, so that the vehicle travels at the current vehicle speed, thereby ensuring that even if problems occur with the vehicle speeds from different dimensional sources, the vehicle speed will not be out of control. At the same time, the output torque is directly controlled to be output at a first preset multiple of the maximum output torque of the vehicle, thereby avoiding the problem of torque out of control caused by a problem with the vehicle speed from only one dimensional source, and improving the safety of the vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0055] Figure 1 is a flow chart of a vehicle driving control method according to an embodiment of the present invention;

[0056] Figure 2 is one of the flow charts of vehicle driving control in an embodiment of the present invention;

[0057] Figure 3 The present invention is a block diagram of a vehicle driving control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, are only part of the embodiments of the present invention, not all of the embodiments, and are not used to limit the present invention.

[0059] Reference Figure 1 , shows a flow chart of a vehicle driving control method according to an embodiment of the present invention, the method comprising:

[0060] Step 101: Determine a first vehicle speed and a second vehicle speed.

[0061] In the embodiment of the present invention, the first vehicle speed and the second vehicle speed are determined according to different operating parameter values ​​of the vehicle. For example, a preferred source of operating parameter values ​​may include: ABS wheel speed parameter, motor speed parameter. That is, in the method of the present invention, it is necessary to simultaneously obtain vehicle speeds from different dimensional sources, rather than only obtaining vehicle speeds from one dimensional source.

[0062] Step 102: When the first vehicle speed and the second vehicle speed are both first preset values, determine the current vehicle speed according to the accelerator pedal opening signal so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed the limp home speed.

[0063] In an embodiment of the present invention, when the first vehicle speed and the second vehicle speed are both the first preset values, it is necessary to determine the current vehicle speed based on the accelerator pedal opening signal. For example: if the first preset value is 0, then when the first vehicle speed and the second vehicle speed are both 0, it indicates that there may be a problem with the vehicle speeds from different dimensions. If the first vehicle speed and the second vehicle speed are determined based on the ABS wheel speed parameter and the motor speed parameter, respectively, then the first vehicle speed and the second vehicle speed are both 0, which indicates that there may be a problem with the ABS wheel speed parameter and the motor speed parameter, and the first vehicle speed and the second vehicle speed determined therefrom are both incorrect and can no longer accurately reflect the current actual speed of the vehicle, which is a dangerous state of vehicle driving.

[0064] In this case, the current vehicle speed can be determined according to the accelerator pedal opening signal, and the maximum value of the current vehicle speed is limited not to exceed the limp speed. The speed is limited in this way to ensure the safety of vehicle driving. Generally, the limp speed is a relatively low speed that allows the user to drive the vehicle safely to the repair shop for repair. Therefore, when the first speed and the second speed can no longer accurately reflect the current actual vehicle speed, the current maximum speed is limited to the limp speed based on the accelerator pedal opening signal of 0 to 100%, that is, when the accelerator pedal opening signal is 0, the vehicle stops driving, and when the accelerator pedal opening signal is 100%, the vehicle drives at the limp speed.

[0065] Step 103: Control the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle.

[0066] In the embodiment of the present invention, when the current vehicle speed is determined so that the vehicle travels at the current vehicle speed, the output torque of the vehicle is controlled to be the first preset multiple of the maximum output torque of the vehicle. That is, the output torque of the transmitter is controlled to be the first preset multiple of the maximum output torque of the vehicle. For example, the preferred first preset multiple may be: 0.2 times, then when the first vehicle speed and the second vehicle speed are both the first preset value, when the vehicle travels at the current vehicle speed, the output torque of the vehicle is controlled to be 0.2 times the maximum output torque of the vehicle.

[0067] In this way, even if there are problems with the vehicle speed from different dimensional sources, the vehicle speed will not be out of control, avoiding the torque out-of-control problem caused by a problem with the vehicle speed from only one dimensional source, thereby improving the safety of the entire vehicle.

[0068] In the embodiment of the present invention, considering that in actual vehicle driving, vehicle speeds from different dimensional sources may not all have problems, therefore, after determining the first vehicle speed and the second vehicle speed, the vehicle driving control method further includes:

[0069] Step S1: determining a difference between the first vehicle speed and the second vehicle speed when at least one of the first vehicle speed and the second vehicle speed is not a first preset value;

[0070] Step S2: when the difference is greater than a second preset value, determining the magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed;

[0071] Step S3: When both the first vehicle speed and the second vehicle speed are not greater than the limp home speed, a higher vehicle speed of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed.

[0072] In the embodiment of the present invention, when at least one of the first vehicle speed and the second vehicle speed is not the first preset value, it means that at least one of the first vehicle speed and the second vehicle speed may accurately reflect the actual vehicle speed of the vehicle. At this time, the difference between the two vehicle speeds is first determined, and when the difference between the two vehicle speeds is greater than the second preset value, the relationship between the first vehicle speed and the second vehicle speed and the limp speed is determined.

[0073] The reason why the difference between the first speed and the second speed needs to be determined is that if different motion parameters can reflect the speed normally, the difference between the speeds from different dimensional sources should be 0 in theory. However, in actual calculations, due to various factors, there will be a difference between the speeds from different dimensional sources, but it is generally believed that the difference should be very small. If the difference is large, it can be confirmed that the speed from one of the dimensional sources is inaccurate. Considering this reason, it is necessary to determine the difference between the first speed and the second speed when at least one of the first speed and the second speed is not the first preset value. If the difference between the two speeds is very small, it means that both speeds can correctly reflect the speed. Then, the size relationship between the two speeds and the limp speed is determined. If the user is currently driving the vehicle at a relatively slow speed, that is, the actual speed of the vehicle is less than the limp speed, then the first speed and the second speed are not greater than the limp speed. At this time, the higher speed of the first speed and the second speed is determined as the current speed, and the vehicle is controlled to travel at this speed.

[0074] Step S4: when the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, determining the limp home speed as the current vehicle speed;

[0075] Step S5: Control the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle.

[0076] In an embodiment of the present invention, if the user is currently driving the vehicle at a relatively fast speed, that is, the actual speed of the vehicle is greater than the limp home speed, but due to various factors, the first speed is not greater than the limp home speed, but the second speed is greater than the limp home speed, or the first speed is greater than the limp home speed, but the second speed is not greater than the limp home speed, then in order to ensure the safety of vehicle driving, the limp home speed is directly determined as the current speed, and the vehicle is controlled to drive at the limp home speed.

[0077] When the above two situations occur, the output torque of the engine is controlled to be the first preset multiple of the maximum output torque of the whole vehicle. For example, the preferred first preset multiple may be: 0.2 times, then when both the first vehicle speed and the second vehicle speed are not greater than the limp home speed, or when one vehicle speed is not greater than the limp home speed and the other vehicle speed is greater than the limp home speed, the output torque of the vehicle is controlled to be 0.2 times the maximum output torque of the whole vehicle while the vehicle is traveling at the current vehicle speed.

[0078] In addition to the situation that both the first vehicle speed and the second vehicle speed are not greater than the limp home speed, or one of the vehicle speeds is not greater than the limp home speed and the other vehicle speed is greater than the limp home speed, there is also a situation that both the first vehicle speed and the second vehicle speed are greater than the limp home speed. In this case, the flow chart of the vehicle driving control method further includes:

[0079] Step V1: when both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is less than a third preset value, determining the lower vehicle speed of the first vehicle speed and the second vehicle speed as the current vehicle speed;

[0080] Step V2: Control the output torque of the vehicle to be a second preset multiple of the maximum output torque of the vehicle.

[0081] In the embodiment of the present invention, when both the first speed and the second speed are greater than the limp speed, if the difference is greater than the second preset value and less than the third preset value, it indicates that one of the first speed and the second speed cannot correctly reflect the actual speed. In this case, the lower speed of the first speed and the second speed is determined as the current speed. For example: the preferred second preset value is: 2km / h, and the preferred third preset value is 10km / h. If the difference between the first speed and the second speed is greater than 2km / h and less than 10km / h, the lower speed of the first speed and the second speed is determined as the current speed. This is to control the speed of the vehicle and avoid speed loss. At the same time, it is also necessary to control the output torque of the vehicle to be the second preset multiple of the maximum output torque of the vehicle to limit the output torque of the vehicle and avoid torque loss. For example: the preferred second preset multiple is: 0.5 times, so the output torque of the vehicle is controlled to be 0.5 times the maximum output torque of the vehicle.

[0082] Step V3: When both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is not less than a third preset value, the lower vehicle speed of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed;

[0083] Step V4: Control the output torque of the vehicle to be a third preset multiple of the maximum output torque of the vehicle.

[0084] In the embodiment of the present invention, when it is determined that both the first vehicle speed and the second vehicle speed are greater than the limp speed and not less than the third preset value, that is, when the difference between the first vehicle speed and the second vehicle speed is relatively large, the lower speed of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed. For example: the preferred third preset value is 10km / h. Then if the difference between the first vehicle speed and the second vehicle speed is not less than 10km / h, the lower speed of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed to control the speed of the vehicle and avoid speed loss. At the same time, because the speed difference is large, in order to more reliably ensure the safety of the vehicle, the output torque of the vehicle is controlled to be the third preset multiple of the maximum output torque of the whole vehicle, and the output torque of the vehicle is limited to avoid torque loss. For example: the preferred third preset multiple is: 0.3 times, then the output torque of the vehicle is controlled to be 0.3 times the maximum output torque of the whole vehicle.

[0085] Step V5: When the difference is not greater than the second preset value, any one of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed.

[0086] In the embodiment of the present invention, after determining the difference between the first speed and the second speed, if the difference between the two is not greater than the second preset value, that is, when the difference between the first speed and the second speed is very small, it means that the speeds from different dimensional sources can correctly reflect the actual speed of the vehicle. Therefore, there is no need to determine the magnitude relationship between the first speed and the second speed and the limp speed, and any one of the first speed and the second speed is directly determined as the current speed. For example: the preferred second preset value is 2km / h. Then if the difference between the first speed and the second speed is not greater than 2km / h, any one of the first speed and the second speed is determined as the current speed, because the speed can accurately reflect the actual speed of the vehicle, it is only necessary to control the speed of the vehicle at any speed, and naturally there will be no speed out of control. At the same time, there is no need to limit the output torque of the vehicle, and the torque can be output according to actual needs.

[0087] The method for controlling vehicle driving of the present invention takes into account the need to promptly inform the user when a problem occurs with the vehicle speed determined by any motion parameter value. Therefore, when the first vehicle speed and the second vehicle speed are both first preset values, that is, when the vehicle speeds from different dimensional sources cannot accurately reflect the actual vehicle speed, an alarm signal is sent to the vehicle-mounted terminal. After receiving the alarm signal, the vehicle-mounted terminal displays it on the screen to inform the user of the current situation.

[0088] Similar to the above situation, when the difference is greater than the second preset value, that is, when any of the vehicle speeds from different dimensional sources cannot accurately reflect the actual vehicle speed, it is also necessary to send an alarm signal to the vehicle terminal. After the vehicle terminal receives the alarm signal, it displays it on the screen so that the user knows the current situation. It should be noted that, when both the first speed and the second speed are not greater than the limp speed, or one speed is not greater than the limp speed and the other speed is greater than the limp speed, if the difference between the first speed and the second speed is also greater than the second preset value, it is also necessary to send an alarm signal to the vehicle terminal. After the vehicle terminal receives the alarm signal, it displays it on the screen so that the user knows the current situation.

[0089] The vehicle driving control method of the embodiment of the present invention is described as follows with a specific embodiment:

[0090] Assume that the first vehicle speed is determined by the ABS wheel speed parameter value, the second vehicle speed is determined by the motor speed parameter value, the first preset value is 0, the second preset value is 2km / h, the third preset value is 10km / h, the first preset multiple is 0.2 times, the second preset multiple is 0.5 times, the third preset multiple is 0.3, the maximum output torque of the vehicle is 300N.m, and the limp speed is 20km / h.

[0091] At a certain moment, the first speed is determined to be 80km / h, and the second speed is determined to be 81km / h. Then, both are not the first preset value, and both speeds are greater than 20km / h. Then the difference between the two is determined to be 1km / h, which is less than the second preset value of 2km / h, indicating that both the first speed and the second speed can accurately reflect the current actual speed of the vehicle. At this time, any speed is determined as the current speed, and the vehicle can be controlled to travel at 80km / h or 81km / h.

[0092] At a certain moment, the first speed is determined to be 80km / h, and the second speed is determined to be 85km / h. Then, neither of them is the first preset value, and both speeds are greater than 20km / h. The difference between the two is determined to be 5km / h, which is greater than 2km / h and less than 10km / h, indicating that one of the first speed and the second speed cannot accurately reflect the current actual speed of the vehicle. At this time, for the safety of vehicle driving, the lower speed of 80km / h is determined as the current speed, and the vehicle is controlled to travel at 80km / h. At the same time, the output torque of the vehicle is controlled to be 300N.m*0.5 times=150N.m.

[0093] At a certain moment, the first speed is determined to be 80km / h, and the second speed is determined to be 90km / h, then both are not the first preset value, and both speeds are greater than 20km / h. The difference between the two is determined to be 10km / h, which is not less than 10km / h, indicating that one of the first speed and the second speed cannot accurately reflect the current actual speed of the vehicle. At this time, for the safety of vehicle driving, the lower speed of 80km / h is determined as the current speed, and the vehicle is controlled to travel at 80km / h. At the same time, the output torque of the vehicle is controlled to be 300N.m*0.3 times=90N.m.

[0094] At a certain moment, the first speed is determined to be 0km / h, and the second speed is determined to be 0km / h, then both are the first preset value, and both speeds are not greater than 20km / h. This means that neither the first speed nor the second speed can accurately reflect the current actual speed of the vehicle. At this time, for the safety of vehicle driving, the current speed is determined according to the accelerator pedal opening signal. When the accelerator pedal opening signal is 100%, the vehicle travels at a limp speed of 20km / h. At the same time, the output torque of the vehicle is controlled to be 300N.m*0.2 times=60N.m.

[0095] At a certain moment, the first speed is determined to be 0km / h, and the second speed is determined to be 30km / h, then one of the two is less than 20km / h, and the other is greater than 20km / h. This means that one of the first speed and the second speed cannot accurately reflect the current actual speed of the vehicle. At this time, for the safety of the vehicle, the vehicle is directly controlled to travel at a limp speed of 20km / h, and at the same time, the output torque of the vehicle is controlled to be 300N.m*0.2 times=60N.m.

[0096] At a certain moment, the first speed is determined to be 6km / h, and the second speed is determined to be 19km / h, so both are not greater than 20km / h. This means that one of the first speed and the second speed cannot accurately reflect the current actual speed of the vehicle. At this time, the higher speed of 19km / h is determined as the current speed, and the vehicle is controlled to travel at 19km / h. At the same time, the output torque of the vehicle is controlled to be 300N.m*0.2 times=60N.m.

[0097] The vehicle driving control method of the embodiment of the present invention is combined with Figure 2 The vehicle driving control flow chart shown in FIG. 1 shows a preferred flow chart:

[0098] A vehicle speed is calculated based on the ABS wheel speed signal, and another vehicle speed is calculated based on the motor speed signal. It is determined whether the two speeds are both equal to 0. If both are equal to 0, the vehicle's instrument will display a speed fault message, and then the current vehicle speed is determined based on the accelerator pedal opening signal. The vehicle is controlled to travel at the current speed and the current speed is limited to not exceed the limp speed. At the same time, the vehicle's output torque is controlled to 0.2 times the maximum output torque of the vehicle.

[0099] If the two vehicle speeds are not both equal to 0, then determine whether the difference between the two vehicle speeds is greater than X. When the difference is greater than X, determine the relationship between the first vehicle speed, the second vehicle speed and the limp speed. If both vehicle speeds are not greater than the limp speed, then control the vehicle to travel at the higher of the two speeds, display speed fault information on the vehicle's instrument panel, and control the vehicle's output torque to be 0.2 times the vehicle's maximum output torque.

[0100] If one of the two speeds is not greater than the limp speed and the other speed is greater than the limp speed, the vehicle is controlled to travel at the limp speed, the vehicle's instrument displays a speed fault message, and the vehicle's output torque is controlled to be 0.2 times the vehicle's maximum output torque. If both speeds are greater than the limp speed and the difference between the two speeds is greater than X, then it is determined whether the difference between the two speeds is not less than Y. If the difference between the two speeds is greater than X and less than or equal to Y, then the vehicle's instrument displays a speed fault message, the vehicle is controlled to travel at the lower speed of the two speeds, and the vehicle's output torque is controlled to be 0.5 times the vehicle's maximum output torque.

[0101] If the difference between the two vehicle speeds is not less than Y, the vehicle's instrument panel displays a speed fault message, controls the vehicle to travel at the lower of the two speeds, and at the same time controls the vehicle's output torque to 0.3 times the vehicle's maximum output torque.

[0102] If it is determined that the difference between the two speeds is not greater than X, the vehicle is controlled to travel at any of the two speeds, the instrument does not display fault information, and the output torque is not limited. In summary, the vehicle driving control method of the embodiment of the present invention obtains the speeds of different dimensional sources through different operating parameter values. When the speeds of different dimensional sources are all the first preset value, the current speed is determined according to the accelerator pedal opening signal, so that the vehicle travels at the current speed, and the output torque is directly controlled to be output at the first preset multiple of the maximum output torque of the whole vehicle; when the speeds of different dimensional sources are not all the first preset value, the difference of the speeds of different dimensional sources is determined, and then the current speed is determined and the output torque is controlled according to the relationship between the speeds of different dimensional sources and the limp speed, and the difference of the speeds of different dimensional sources and the second preset value and the third preset value. It is achieved that even if there is a problem with the speeds of different dimensional sources, the speed of the vehicle will not be out of control, and the torque out of control problem caused by the speed of only one dimensional source has a problem is avoided, thereby improving the safety of the whole vehicle.

[0103] Reference Figure 3 , shows a block diagram of a vehicle driving control device according to an embodiment of the present invention, the device comprising:

[0104] A vehicle speed determination module 310, configured to determine a first vehicle speed and a second vehicle speed;

[0105] The pedal-determining vehicle speed module 320 is used to determine the current vehicle speed according to the accelerator pedal opening signal when the first vehicle speed and the second vehicle speed are both first preset values, so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed the limp home speed at most;

[0106] A first torque control module 330, used to control the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle;

[0107] The first vehicle speed and the second vehicle speed are respectively determined according to different operating parameter values ​​of the vehicle.

[0108] Optionally, the device further comprises:

[0109] a difference determination module, configured to determine a difference between the first vehicle speed and the second vehicle speed when at least one of the first vehicle speed and the second vehicle speed is not the first preset value;

[0110] A limp home speed determining module, configured to determine a magnitude relationship between the first vehicle speed and the second vehicle speed and the limp home speed when the difference is greater than a second preset value;

[0111] a first vehicle speed determining module, configured to determine a higher vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed when both the first vehicle speed and the second vehicle speed are not greater than the limp home speed;

[0112] When the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, the limp home speed is determined as the current vehicle speed.

[0113] Optionally, the device further comprises:

[0114] a second vehicle speed determining module, configured to determine the lower vehicle speed of the first vehicle speed and the second vehicle speed as the current vehicle speed when both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is less than a third preset value;

[0115] The second torque control module is used to control the output torque of the vehicle to be a second preset multiple of the maximum output torque of the vehicle.

[0116] Optionally, the device further comprises:

[0117] a third vehicle speed determination module, configured to determine the lower vehicle speed of the first vehicle speed and the second vehicle speed as the current vehicle speed when both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is not less than the third preset value;

[0118] The third torque control module is used to control the output torque of the vehicle to be a third preset multiple of the maximum output torque of the vehicle.

[0119] Optionally, the device further comprises:

[0120] The fourth vehicle speed determination module is used to determine any one of the first vehicle speed and the second vehicle speed as the current vehicle speed when the difference is not greater than the second preset value.

[0121] Optionally, the device further comprises: an alarm module; the alarm module is used to:

[0122] When the first vehicle speed and the second vehicle speed are both first preset values, sending an alarm signal to the vehicle-mounted terminal; or

[0123] When the difference is greater than a second preset value, the alarm signal is sent to the vehicle-mounted terminal.

[0124] Based on the above vehicle driving control method, an embodiment of the present invention further provides a car, the car comprising: a vehicle controller;

[0125] The vehicle controller is used to execute the method described in steps 101 to 103 above.

[0126] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process or method including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process or method.

[0127] The embodiments of the present invention are described above in conjunction with the accompanying drawings. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for controlling vehicle travel, characterized in that: The method comprises: determining a first vehicle speed and a second vehicle speed; When at least one of the first vehicle speed and the second vehicle speed is not a first preset value, determining a difference between the first vehicle speed and the second vehicle speed; When the difference is greater than a second preset value, determining a magnitude relationship between the first vehicle speed, the second vehicle speed and a limp home speed; In a case where both the first vehicle speed and the second vehicle speed are not greater than the limp home speed, determining a higher vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed; When the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, determining the limp home speed as the current vehicle speed; When the first vehicle speed and the second vehicle speed are both first preset values, determining the current vehicle speed according to the accelerator pedal opening signal, so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed the limp home speed at most; Controlling the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle; The first vehicle speed and the second vehicle speed are respectively determined according to different operating parameter values ​​of the vehicle.

2. The method according to claim 1, characterized in that In the case where the difference is greater than a second preset value, after determining the magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed, the method further includes: When the first vehicle speed and the second vehicle speed are both greater than the limp home speed, and the difference is less than a third preset value, determining a lower vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed; The output torque of the vehicle is controlled to be a second preset multiple of the maximum output torque of the whole vehicle.

3. The method according to claim 1, characterized in that In the case where the difference is greater than a second preset value, after determining the magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed, the method further includes: When both the first vehicle speed and the second vehicle speed are greater than the limp home speed and the difference is not less than a third preset value, determining the lower vehicle speed between the first vehicle speed and the second vehicle speed as the current vehicle speed; The output torque of the vehicle is controlled to be a third preset multiple of the maximum output torque of the whole vehicle.

4. The method according to claim 1, characterized in that: In a case where at least one of the first vehicle speed and the second vehicle speed is not the first preset value, after determining the difference between the first vehicle speed and the second vehicle speed, the method further includes: When the difference is not greater than the second preset value, any one of the first vehicle speed and the second vehicle speed is determined as the current vehicle speed.

5. The method according to claim 2, characterized in that: Also includes: When the first vehicle speed and the second vehicle speed are both the first preset values, sending an alarm signal to the vehicle terminal; or When the difference is greater than the second preset value, the alarm signal is sent to the vehicle-mounted terminal.

6. The method according to claim 1, characterized in that The different operating parameter values ​​of the vehicle include: ABS wheel speed parameter values ​​and motor speed parameter values.

7. A vehicle driving control device, characterized in that: The device comprises: A vehicle speed determination module, used to determine a first vehicle speed and a second vehicle speed; a difference determination module, configured to determine a difference between the first vehicle speed and the second vehicle speed when at least one of the first vehicle speed and the second vehicle speed is not a first preset value; a limp home speed determining module, configured to determine a magnitude relationship between the first vehicle speed and the second vehicle speed and the limp home speed when the difference is greater than a second preset value; a first vehicle speed determining module, configured to determine a higher vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed when both the first vehicle speed and the second vehicle speed are not greater than the limp home speed; wherein, when the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, the limp home speed is determined as the current vehicle speed; A pedal-determining vehicle speed module, for determining a current vehicle speed according to an accelerator pedal opening signal when both a first vehicle speed and a second vehicle speed are first preset values, so that the vehicle travels at the current vehicle speed, and the current vehicle speed does not exceed a limp-home speed at most; A first torque control module, used for controlling the output torque of the vehicle to be a first preset multiple of the maximum output torque of the vehicle; The first vehicle speed and the second vehicle speed are respectively determined according to different operating parameter values ​​of the vehicle.

8. The device according to claim 7, characterized in that The device also includes: a limp home speed comparison module, configured to determine a magnitude relationship between the first vehicle speed, the second vehicle speed and the limp home speed when at least one of the first vehicle speed and the second vehicle speed is not the first preset value; a first vehicle speed determining module, configured to determine a higher vehicle speed between the first vehicle speed and the second vehicle speed as a current vehicle speed when both the first vehicle speed and the second vehicle speed are not greater than the limp home speed; When the first vehicle speed is not greater than the limp home speed and the second vehicle speed is greater than the limp home speed, the limp home speed is determined as the current vehicle speed.

9. A car, characterized in that: The automobile comprises: a vehicle controller; The vehicle controller is used to execute any one of the methods described in claims 1-5.

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