Control Method, Device, Vehicle, and Storage Medium of a Vehicle

Abstract

The present application provides a control method, device, vehicle and storage medium for a vehicle. In this method, within the first preset duration of the current operating cycle during the operation of the vehicle and when the current vehicle speed is greater than the preset vehicle speed threshold, the target throttle opening value of the vehicle pedal is obtained. Then, according to the target throttle opening value, the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the preset comfortable range of the vehicle pedal opening, the lower limit of the preset weighting coefficient of the vehicle pedal opening, and the upper limit of the preset weighting coefficient of the vehicle pedal opening, the adjustment coefficient of the vehicle pedal is determined. After that, according to the adjustment coefficient, the original throttle opening within the second preset duration of the current operating cycle and the first preset duration of the next operating cycle, the target throttle opening is determined. Finally, after detecting that the throttle opening of the vehicle pedal returns to 0, the vehicle is controlled to run according to the target throttle opening. This method enables the user to effectively reduce the fatigue of the ankle during driving.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] When the user is driving a vehicle, the installation angle and pedal force of the accelerator pedal have a direct impact on the user's perception, especially when driving the vehicle for a long time. An ergonomic and comfortable accelerator pedal angle can effectively reduce the driver's ankle fatigue and improve the user's car experience.

[0003] In the prior art, during the vehicle R&D and design process, the OEM will check the ergonomics of the pedal angle to ensure that the installation position and angle of the pedal can meet the needs of the vast majority of users.

[0004] However, the accelerator pedal angle will also change with the vehicle's driving conditions and the user's acceleration torque requirements. Therefore, the original pedal installation angle that has been ergonomically verified will also have problems such as hooking the foot and under-foot under certain driving conditions, which will prevent users from having a better driving experience during driving, and there will be problems such as ankle fatigue. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, vehicle and storage medium to solve the problem that a user cannot effectively reduce ankle fatigue during driving.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising:

[0007] Within a first preset time duration in a current operation cycle during vehicle operation, and when the current vehicle speed is greater than a preset vehicle speed threshold, a target throttle opening value of the vehicle pedal is obtained, the target throttle opening value being a throttle opening value with the largest proportion among a plurality of throttle opening values, the vehicle operation process includes a plurality of operation cycles, each operation cycle includes a first preset time duration and a second preset time duration, and a starting point of the second preset time duration is an ending point of the first preset time duration;

[0008] Determining an adjustment coefficient of the vehicle pedal according to the target throttle opening value, a preset lower limit of the vehicle pedal opening comfort range, a preset upper limit of the vehicle pedal opening comfort range, a preset lower limit of the vehicle pedal opening weighting coefficient, and a preset upper limit of the vehicle pedal opening weighting coefficient, wherein the adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening;

[0009] Determine a target throttle opening according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration in the next operation cycle;

[0010] After detecting that the throttle opening of the vehicle pedal returns to 0 within the second preset duration in the current operating cycle and the first preset duration in the next operating cycle, control the vehicle to operate according to the target throttle opening.

[0011] In a possible design of the first aspect, determining the adjustment coefficient of the vehicle pedal according to the target throttle opening value, the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the preset comfortable range of the vehicle pedal opening, the lower limit of the preset weighting coefficient of the vehicle pedal opening, and the upper limit of the preset weighting coefficient of the vehicle pedal opening includes:

[0012] If the target throttle opening value is greater than the upper limit of the comfortable range of the vehicle pedal opening, and the quotient of the target throttle opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is greater than or equal to the upper limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the upper limit of the weighting coefficient of the vehicle pedal opening;

[0013] If the target throttle opening value is greater than the upper limit of the comfortable range of the vehicle pedal opening, and the quotient of the target throttle opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is less than the upper limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the comfortable range of the vehicle pedal opening;

[0014] If the target throttle opening value is less than the lower limit of the comfortable range of the vehicle pedal opening, and the quotient of the target throttle opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is less than or equal to the lower limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the lower limit of the weighting coefficient of the vehicle pedal opening;

[0015] If the target throttle opening value is less than the lower limit of the comfortable range of the vehicle pedal opening, and the quotient of the target throttle opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is greater than the lower limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the quotient of the target throttle opening value and the lower limit of the comfortable range of the vehicle pedal opening.

[0016] In another possible design of the first aspect, the method further includes:

[0017] If the target throttle opening value is less than or equal to the upper limit of the comfortable range of the vehicle pedal opening and greater than or equal to the lower limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is 1.

[0018] Optionally, the method further includes:

[0019] After the vehicle operation ends and the parking duration is greater than a preset duration threshold, determine that the adjustment coefficient is 1.

[0020] Optionally, when within a first preset duration in the current operation cycle during the vehicle operation and the current vehicle speed is greater than a preset vehicle speed threshold, obtaining a target throttle opening value of the vehicle pedal includes:

[0021] When within the first preset duration in the current operation cycle and the current vehicle speed is greater than the preset vehicle speed threshold, obtain the multiple throttle opening values;

[0022] Divide the multiple throttle opening values according to a preset granularity to obtain at least one group of candidate throttle opening values;

[0023] For each group of candidate throttle opening values, determine the proportion of the number of the candidate throttle opening values in the number corresponding to the multiple throttle opening values;

[0024] Determine the candidate throttle opening value with the largest proportion among all the proportions as the target throttle opening value.

[0025] In a second aspect, an embodiment of the present application provides a control device for a vehicle, including:

[0026] An acquisition module, configured to obtain a target throttle opening value of the vehicle pedal when within a first preset duration in the current operation cycle during the vehicle operation and the current vehicle speed is greater than a preset vehicle speed threshold, where the target throttle opening value is the throttle opening value with the largest proportion among multiple throttle opening values, the vehicle operation process includes multiple operation cycles, and each operation cycle includes a first preset duration and a second preset duration, and the starting point of the second preset duration is the end point of the first preset duration;

[0027] A determination module, configured to determine an adjustment coefficient of the vehicle pedal according to the target throttle opening value, a lower limit of a preset comfortable interval of the vehicle pedal opening, an upper limit of the preset comfortable interval of the vehicle pedal opening, a lower limit of a preset weighting coefficient of the vehicle pedal opening, and an upper limit of the preset weighting coefficient of the vehicle pedal opening, where the adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening;

[0028] A processing module, configured to determine a target throttle opening according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration of the next operation cycle;

[0029] A control module, configured to control the vehicle to run according to the target throttle opening after detecting that the throttle opening of the vehicle pedal returns to 0 within the second preset duration in the current operation cycle and the first preset duration of the next operation cycle.

[0030] In a possible design of the second aspect, the determining module is specifically configured to:

[0031] When the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is greater than or equal to the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the upper limit of the vehicle pedal opening weighting coefficient;

[0032] When the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is less than the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening comfort range;

[0033] When the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is less than or equal to the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the lower limit of the vehicle pedal opening weighting coefficient;

[0034] When the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is greater than the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening comfort range.

[0035] In another possible design of the second aspect, the determining module is further configured to:

[0036] If the target throttle opening value is less than or equal to the upper limit of the vehicle pedal opening comfort range and greater than or equal to the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is 1.

[0037] Optionally, the determining module is further configured to:

[0038] After the vehicle operation ends and the parking duration is greater than a preset duration threshold, determine that the adjustment coefficient is 1.

[0039] Optionally, the obtaining module is specifically configured to:

[0040] Within a first preset duration in the current operation cycle and when the current vehicle speed is greater than a preset vehicle speed threshold, obtain the multiple throttle opening values;

[0041] Divide the multiple throttle opening values according to a preset granularity to obtain at least one group of candidate throttle opening values;

[0042] For each group of candidate throttle opening values, determine the proportion of the number of the candidate throttle opening values in the number corresponding to the multiple throttle opening values;

[0043] Determine the candidate throttle opening value with the largest proportion among all the proportions as the target throttle opening value.

[0044] In a third aspect, an embodiment of the present application provides a vehicle, including: a processor and a memory;

[0045] The memory stores computer-executable instructions;

[0046] The processor executes the computer-executable instructions, so that the vehicle executes the vehicle control method as described in the first aspect and various possible designs above.

[0047] In a fourth aspect, an embodiment of 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 as described in the first aspect and various possible designs above.

[0048] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it is used to implement the vehicle control method as described in the first aspect and various possible designs above.

[0049] The vehicle control method, device, vehicle and storage medium provided by the embodiments of the present application. In this method, within the first preset duration in the current operation cycle during the vehicle operation process and when the current vehicle speed is greater than the preset vehicle speed threshold, obtain the target throttle opening value of the vehicle pedal. The vehicle operation process includes multiple operation cycles, and each operation cycle includes a first preset duration and a second preset duration. The starting point of the second preset duration is the end point of the first preset duration. Then, according to the target throttle opening value, the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the preset comfortable range of the vehicle pedal opening, the lower limit of the preset weighting coefficient of the vehicle pedal opening, and the upper limit of the preset weighting coefficient of the vehicle pedal opening, determine the adjustment coefficient of the vehicle pedal. The adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening. Then, according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration of the next operation cycle, determine the target throttle opening. Finally, after detecting that the throttle opening of the vehicle pedal returns to 0 within the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, control the vehicle to run according to the target throttle opening. This method enables the user to effectively reduce the fatigue of the ankle during driving. Description of the Drawings

[0050] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0051] Figure 1 Schematic diagram of the application scenario of the vehicle control method provided by the embodiment of the present application;

[0052] Figure 2 Schematic diagram of the principle of the vehicle control method provided by the embodiment of the present application;

[0053] Figure 3 Schematic diagram of the process of the first embodiment of the vehicle control method provided by the embodiment of the present application;

[0054] Figure 4 Schematic diagram of the operation cycle provided by the embodiment of the present application;

[0055] Figure 5 Schematic diagram of the proportion of the throttle opening value provided by the embodiment of the present application;

[0056] Figure 6 Schematic diagram of the process of the second embodiment of the vehicle control method provided by the embodiment of the present application;

[0057] Figure 7 Schematic diagram of the structure of the vehicle control device provided by the embodiment of the present application;

[0058] Figure 8 Schematic diagram of the structure of the vehicle provided by the embodiment of the present application.

[0059] Through the above-mentioned accompanying drawings, the specific embodiments of the present disclosure have been shown, and there will be more detailed descriptions hereinafter. These accompanying drawings and the written description are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0060] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying 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 disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0061] Before introducing the embodiments of the present application, first, the background technology of the present application will be explained:

[0062] When a user is driving a vehicle, the installation angle and pedal force of the accelerator pedal have a direct impact on the user's perception. Especially when driving a vehicle for a long time, a human-machine and comfortable accelerator pedal pedal angle can effectively reduce the driver's ankle fatigue and improve the user's driving experience.

[0063] Usually during the vehicle development and design process, the OEM will check the ergonomics of the pedal angle to ensure that the installation position and angle of the pedal can meet the needs of the vast majority of users. Major automobile manufacturers have done a lot of work to reduce the driver's operating intensity and driving comfort, such as seat wrapping, steering assist, brake assist, etc.

[0064] However, the accelerator pedal angle will also change with the vehicle's driving conditions and the user's acceleration torque requirements. Therefore, the original pedal installation angle that has been ergonomically verified will also have problems such as foot hooking and foot shortage under certain driving conditions.

[0065] Specifically, during long hours of driving, drivers are prone to fatigue due to frequent acceleration, deceleration, steering, lane changing and other operations on the vehicle.

[0066] Based on the above problems existing in the prior art, Figure 1 The following is a schematic diagram of an application scenario of the vehicle control method provided in the embodiment of the present application, which is used to solve the above technical problems. Figure 1 As shown, the schematic diagram of the application scenario includes: a vehicle 11 and a user 12.

[0067] Optionally, when the user 12 controls the operation of the vehicle 11, the electronic control unit (ECU) of the vehicle 11 obtains the angle data of the user 12 stepping on the vehicle pedal, and determines the adjustment coefficient of the vehicle throttle opening based on the data, so that when the user 12 uses the control vehicle 11, the actual vehicle throttle opening is corrected by the adjustment coefficient to adapt to the user 12 driving the vehicle 11 for a long time.

[0068] The vehicle 11 may be any type of vehicle having a vehicle pedal, including a car, a truck, a bus, etc.

[0069] For example, Figure 2 The schematic diagram of the principle of the vehicle control method provided in the embodiment of the present application is as follows. Figure 2 As shown:

[0070] The displacement sensor detects the displacement of the accelerator pedal. After obtaining the displacement of the accelerator pedal, it is converted into the signal voltage of the accelerator pedal. Then, the signal voltage of the accelerator pedal is converted into the original opening degree of the accelerator pedal. After being corrected by the adjustment coefficient, the target throttle opening is obtained. The ECU uses the target throttle opening to look up the output torque through the Pedal Map of the accelerator pedal torque to achieve the control of the vehicle.

[0071] In view of the above technical problems, the technical concept process of the inventor is as follows: If the angle data of the driver stepping on the accelerator pedal can be monitored, statistically analyzed, and the opening signal of the accelerator pedal is processed through an adaptive adjustment algorithm, so that the angle of the driver stepping on the accelerator pedal is gradually adjusted to a relatively comfortable range, enabling the vehicle to have a certain self-learning ability, thereby reducing the fatigue degree of the driver's ankle joint and improving the vehicle's maneuverability and the driver's driving experience.

[0072] The following takes Figure 1 the schematic diagram of the application scenario shown and Figure 2 the schematic diagram of the principle shown to describe the technical solution of the present application in detail through specific embodiments. It should be noted that the following 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 drawings.

[0073] Figure 3 is the flowchart of the first embodiment of the vehicle control method provided by the embodiment of the present application. As Figure 3 shown, the vehicle control method includes the following steps:

[0074] Step 31: During the first preset duration in the current operation cycle during the vehicle operation and when the current vehicle speed is greater than the preset vehicle speed threshold, obtain the target throttle opening value of the vehicle pedal.

[0075] Among them, the target throttle opening value is the throttle opening value with the largest proportion among multiple throttle opening values, which can be APPm. There are multiple operation cycles during the vehicle operation, and each operation cycle includes a first preset duration and a second preset duration. The starting point of the second preset duration is the end point of the first preset duration.

[0076] In this step, the user starts the vehicle, that is, Key-ON. Then, under the action of the user stepping on the vehicle pedal, the vehicle travels at a certain speed. When the current vehicle speed of the vehicle is greater than the preset vehicle speed threshold, the vehicle obtains the throttle opening value with the largest proportion among multiple throttle opening values.

[0077] Optionally, during the operation of the entire vehicle, the process can be divided into multiple operation cycles, and each cycle can include a first preset duration and a second preset duration.

[0078] As an example, Figure 4 is a schematic diagram of the operation cycle provided by the embodiment of the present application. As Figure 4 shown, the first preset duration of the first operation cycle is T0, the second preset duration is T1, the first preset duration of the second operation cycle is T0, and the second preset duration is T1...

[0079] Specifically, for example, T0 is 5 minutes, T1 is 15 minutes, and the moment when the current vehicle speed is detected to be greater than the preset vehicle speed threshold of 30 km / h is 12:05, that is, the start moment of the first operation cycle T0 of the vehicle operation is 12:05, and the start moment of T1 is 12:10. As the vehicle continues to run, the target throttle opening value of the vehicle pedal is determined between 12:05 and 12:10.

[0080] Optionally, Figure 5 is a schematic diagram of the proportion of the throttle opening value provided by the embodiment of the present application. Combining Figure 5 , the implementation of this step is elaborated in detail:

[0081] Step 1: During the first preset duration of the current operation cycle and when the current vehicle speed is greater than the preset vehicle speed threshold, obtain multiple throttle opening value proportions according to the granularity of the preset throttle opening blocks.

[0082] Continuing with the above example, between 12:05 and 12:10, continuously obtain multiple throttle opening values of the vehicle in real time at a certain sampling frequency. For example, there are 25 values: 3%, 5%, 9%, 8%, 16%... 36%, 39%.

[0083] Step 2: Divide the multiple throttle opening values according to the preset granularity to obtain at least one group of candidate throttle opening values.

[0084] Continuing with the above example, if the preset granularity is 5%, then classify the above multiple throttle opening values into the following groups of candidate throttle opening values:

[0085] Group 1 (0%-5%]: 3%, 5%;

[0086] Group 2 (5%-10%]: 8%, 9%;

[0087] Group 3 (10%-15%]: 11%, 12%, 14%, 14%;

[0088] Group 4 (15%-20%]: 16%, 16%, 18%, 20%, 18%, 20%;

[0089] Group 5 (20% - 25%]: 21%, 25%, 23%, 24%;

[0090] Group 6 (25% - 30%]: 26%, 30%, 27%;

[0091] Group 7 (30% - 35%]: 31%, 32%;

[0092] Group 8 (35% - 40%]: 36%, 39%.

[0093] It should be understood that a throttle opening value of 0% can be excluded from the statistics.

[0094] Step 3: For each group of candidate throttle opening values, determine the proportion of the number of candidate throttle opening values in the number corresponding to multiple throttle opening values.

[0095] Continuing with the above example, calculate the proportion of the number of candidate throttle opening values in each group in the number corresponding to all throttle opening values, and then we get:

[0096] Group 1: 2 / 25 = 8%;

[0097] Group 2: 2 / 25 = 8%;

[0098] Group 3: 4 / 25 = 16%;

[0099] Group 4: 6 / 25 = 24%;

[0100] Group 5: 4 / 25 = 16%;

[0101] Group 6: 3 / 25 = 12%;

[0102] Group 7: 2 / 25 = 8%;

[0103] Group 8: 2 / 25 = 8%.

[0104] Step 4: Among all the proportions, determine the candidate throttle opening value with the largest proportion as the target throttle opening value.

[0105] Continuing with the above example, the proportion corresponding to the candidate throttle opening values in Group 4 is greater than the proportions corresponding to other groups. That is, select an opening value as the target throttle opening value according to a certain rule from (16%, 16%, 18%, 20%, 18%, 20%).

[0106] In a possible implementation, since the value range of Group 4 is (15% - 20%], 20% can be used as the target throttle opening value, that is, select the value corresponding to the right-closed interval in this range.

[0107] It should be understood that the frequency of collecting the throttle opening value can be increased to avoid the situation where the ratios corresponding to two sets of candidate throttle opening values are the same. The above example only takes collecting the throttle opening value 5 times per minute as an example.

[0108] Step 32: Determine the adjustment coefficient of the vehicle pedal according to the target throttle opening value, the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the preset comfortable range of the vehicle pedal opening, the lower limit of the preset weighting coefficient of the vehicle pedal opening, and the upper limit of the preset weighting coefficient of the vehicle pedal opening.

[0109] Among them, the adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening, and can be WFt.

[0110] In this step, in order to adapt to the user's driving to a greater extent, a comfortable range of the vehicle pedal opening, as well as the lower limit of the weighting coefficient of the vehicle pedal opening and the upper limit of the weighting coefficient of the vehicle pedal opening, can be set.

[0111] Optionally, the comfortable range of the vehicle pedal opening can be [APP1, APP2]. For example, the lower limit APP1 of the comfortable range of the vehicle pedal opening is 20%, and the upper limit APP2 of the comfortable range of the vehicle pedal opening is 30%.

[0112] Optionally, the lower limit of the weighting coefficient of the vehicle pedal opening can be WF1, with a value range of (0% - 100%]; the upper limit of the weighting coefficient of the vehicle pedal opening can be WF2, with a value range of [100% - 200%).

[0113] In a possible implementation, the lower limit of the weighting coefficient of the vehicle pedal opening is 80%, and the upper limit of the weighting coefficient of the vehicle pedal opening is 120%.

[0114] Furthermore, according to the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the comfortable range of the vehicle pedal opening, the lower limit of the weighting coefficient of the vehicle pedal opening, the upper limit of the weighting coefficient of the vehicle pedal opening, and the target throttle opening value, the adjustment coefficient of the vehicle pedal is determined. The specific implementation process is as Figure 6 shown in the embodiments.

[0115] Step 33: Determine the target throttle opening according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration in the next operation cycle.

[0116] In this step, at the end of the first preset duration of the current operation cycle, the adjustment coefficient of the vehicle pedal has been determined. During the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, at each time point when the user steps on the vehicle pedal, an original throttle opening can be obtained. Based on this original throttle opening, multiplying by the adjustment coefficient can obtain the throttle opening required for the actual operation of the vehicle, that is, the target throttle opening.

[0117] In a possible implementation, following the above example, during the operation of the vehicle, at the node of 12:17, the ECU detects that the throttle opening of the user stepping on the vehicle pedal is 30%, and the adjustment coefficient is 90%, then the target throttle opening is 27%.

[0118] In a possible implementation, following the above example, during the operation of the vehicle, at the node of 12:27, the ECU detects that the throttle opening of the user stepping on the vehicle pedal is 35%, and the adjustment coefficient is 90%, then the target throttle opening is 31.5%.

[0119] That is: the target throttle opening APPt = the original throttle opening APP0 * WFt.

[0120] Step 34: After detecting that the throttle opening of the vehicle pedal returns to 0 during the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, control the vehicle to run according to the target throttle opening.

[0121] In this step, during the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, it is necessary to detect whether the throttle opening of the vehicle pedal returns to 0. If it does not return to 0, at this time, the ECU corrects the throttle opening of the vehicle, which will cause the vehicle speed to change suddenly and affect the driving experience.

[0122] Furthermore, after detecting that the throttle opening of the vehicle pedal returns to 0, control the vehicle to run according to the target throttle opening.

[0123] In a possible implementation, during the operation of the vehicle, at the node of 12:15, it is detected that the throttle opening of the vehicle pedal returns to 0, that is, the throttle opening is 0%. After 12:15, the throttle opening required for the actual operation of the vehicle is the throttle opening after correcting the original throttle opening.

[0124] In a possible implementation, following the above example, during the operation of the vehicle, after 12:15, at the node of 12:17, the ECU detects that the throttle opening of the user stepping on the vehicle pedal is 30%, then the ECU controls the vehicle to run according to the target throttle opening of 27%.

[0125] Specifically, according to the magnitude of the target throttle opening, look up the output torque in the acceleration pedal torque map, and control the vehicle to run according to the output torque.

[0126] In addition, after the vehicle operation ends and the parking duration is greater than the preset duration threshold, determine that the adjustment coefficient is 1.

[0127] Optionally, in this implementation, when the vehicle is in the state of Key-off and the parking time is less than or equal to the duration threshold, WFt continues to maintain the original set value; after the downtime is greater than the duration threshold, WFt is restored to the default value setting, which can be 1.

[0128] In a possible implementation, the duration threshold can be the sum of the first preset duration and the second preset duration, that is, T0 + T1.

[0129] The vehicle control method provided by the embodiments of the present application obtains the target throttle opening value of the vehicle pedal within the first preset duration of the current operation cycle during the vehicle operation process and when the current vehicle speed is greater than the preset vehicle speed threshold. The vehicle operation process includes multiple operation cycles, and each operation cycle includes a first preset duration and a second preset duration. The starting point of the second preset duration is the end point of the first preset duration. Then, according to the target throttle opening value, the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the preset comfortable range of the vehicle pedal opening, the lower limit of the preset weighting coefficient of the vehicle pedal opening, and the upper limit of the preset weighting coefficient of the vehicle pedal opening, determine the adjustment coefficient of the vehicle pedal. The adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening. Then, according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration of the next operation cycle, determine the target throttle opening. Finally, after the throttle opening of the vehicle pedal is detected to be zero within the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, control the vehicle to run according to the target throttle opening. This method effectively reduces the discomfort caused by the driver's long-term ankle stepping on the pedal operation, improves the operability of the acceleration pedal, and at the same time brings more driving pleasure to the driver.

[0130] Based on the above embodiments, Figure 6 is a schematic flowchart of the second embodiment of the vehicle control method provided by the embodiments of the present application. As Figure 6 shown, step 32 in the above embodiment can be implemented in the following several ways:

[0131] It should be understood that there is no absolute order relationship between the following steps, and all are possible implementations for determining the adjustment coefficient:

[0132] Step 61: If the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range, and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is greater than or equal to the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the upper limit of the vehicle pedal opening weighting coefficient.

[0133] Optionally, if APPm > APP2 and APPm / WF2 ≥ APP2, then WFt = WF2.

[0134] In a possible implementation, if APPm is 37%, APP2 is 30%, and WF2 is 120%, then APPm / WF2 = 30.8%. Since 30.8% > 30%, then WFt = 120%.

[0135] Step 62: If the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range, and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is less than the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening comfort range.

[0136] Optionally, if APPm > APP2 and APPm / WF2 < APP2, then WFt = APPm / APP2.

[0137] In a possible implementation, if APPm is 32%, APP2 is 30%, and WF2 is 120%, then APPm / WF2 = 26.7%. Since 26.7% < 30%, then WFt = 106.7%.

[0138] Step 63: If the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range, and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is less than or equal to the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the lower limit of the vehicle pedal opening weighting coefficient.

[0139] Optionally, if APPm < APP1 and APPm / WF1 ≤ APP1, then WFt = WF1.

[0140] In a possible implementation, if APPm is 15%, APP1 is 20%, and WF1 is 80%, then APPm / WF1 = 18.7%. Since 18.7% < 20%, then WFt = 80%.

[0141] Step 64: If the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range, and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is greater than the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening comfort range.

[0142] Optionally, if APPm < APP1 and APPm / WF1 > APP1, then WFt = APPm / APP1.

[0143] In a possible implementation, if APPm is 18%, APP1 is 20%, and WF1 is 80%, then APPm / WF1 = 22.5%, and since 22.5% > 20%, then WFt = 90%.

[0144] Step 65: If the target throttle opening value is less than or equal to the upper limit of the vehicle pedal opening comfort range and greater than or equal to the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is 1.

[0145] Optionally, if APPm ∈ [APP1, APP2], then APPt = APP0, that is, the adjustment coefficient is 1, and the target throttle opening is equal to the original throttle opening * 1.

[0146] In a possible implementation, if APPm is 25%, APP1 is 20%, and APP2 is 30%, then WFt = 100%, that is, 1.

[0147] The vehicle control method provided by the embodiments of the present application determines that the adjustment coefficient is the upper limit of the vehicle pedal opening weighting coefficient when the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is greater than or equal to the upper limit of the vehicle pedal opening comfort range; determines that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening comfort range when the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is less than the upper limit of the vehicle pedal opening comfort range; determines that the adjustment coefficient is the lower limit of the vehicle pedal opening weighting coefficient when the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is less than or equal to the lower limit of the vehicle pedal opening comfort range; determines that the adjustment coefficient is the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening comfort range when the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is greater than the lower limit of the vehicle pedal opening comfort range; determines that the adjustment coefficient is 1 when the target throttle opening value is less than or equal to the upper limit of the vehicle pedal opening comfort range and greater than or equal to the lower limit of the vehicle pedal opening comfort range. According to the above judgment process, the adjustment coefficient is determined, which provides support for the subsequent actual output vehicle torque and improves the user's driving experience.

[0148] Based on the above method embodiments, Figure 7 This is a schematic structural diagram of the vehicle control device provided by the embodiments of the present application. As Figure 7As shown, the control device of the vehicle includes:

[0149] An acquisition module 71, configured to obtain a target throttle opening value of the vehicle pedal within a first preset duration in the current operation cycle during the vehicle operation process and when the current vehicle speed is greater than a preset vehicle speed threshold. The target throttle opening value is the throttle opening value with the largest proportion among multiple throttle opening values. The vehicle operation process includes multiple operation cycles, and each operation cycle includes a first preset duration and a second preset duration. The starting point of the second preset duration is the end point of the first preset duration;

[0150] A determination module 72, configured to determine an adjustment coefficient of the vehicle pedal according to the target throttle opening value, the lower limit of the preset comfortable range of the vehicle pedal opening, the upper limit of the preset comfortable range of the vehicle pedal opening, the lower limit of the preset weighting coefficient of the vehicle pedal opening, and the upper limit of the preset weighting coefficient of the vehicle pedal opening. The adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening;

[0151] A processing module 73, configured to determine the target throttle opening according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration of the next operation cycle;

[0152] A control module 74, configured to control the vehicle to operate according to the target throttle opening after detecting that the throttle opening of the vehicle pedal returns to 0 within the second preset duration of the current operation cycle and the first preset duration of the next operation cycle.

[0153] In a possible design of the embodiment of the present application, the determination module 72 is specifically configured to:

[0154] When the target throttle opening value is greater than the upper limit of the comfortable range of the vehicle pedal opening and the quotient of the target throttle opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is greater than or equal to the upper limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the upper limit of the weighting coefficient of the vehicle pedal opening;

[0155] When the target throttle opening value is greater than the upper limit of the comfortable range of the vehicle pedal opening and the quotient of the target throttle opening value and the upper limit of the weighting coefficient of the vehicle pedal opening is less than the upper limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the comfortable range of the vehicle pedal opening;

[0156] When the target throttle opening value is less than the lower limit of the comfortable range of the vehicle pedal opening and the quotient of the target throttle opening value and the lower limit of the weighting coefficient of the vehicle pedal opening is less than or equal to the lower limit of the comfortable range of the vehicle pedal opening, determine that the adjustment coefficient is the lower limit of the weighting coefficient of the vehicle pedal opening;

[0157] When the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is greater than the lower limit of the vehicle pedal opening comfort range, determine the adjustment coefficient as the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening comfort range.

[0158] In another possible design of the embodiment of the present application, the determining module 72 is further configured to:

[0159] If the target throttle opening value is less than or equal to the upper limit of the vehicle pedal opening comfort range and greater than or equal to the lower limit of the vehicle pedal opening comfort range, determine the adjustment coefficient as 1.

[0160] Optionally, the determining module 72 is further configured to:

[0161] After the vehicle operation ends and the parking duration is greater than the preset duration threshold, determine the adjustment coefficient as 1.

[0162] Optionally, the obtaining module 71 is specifically configured to:

[0163] Within the first preset duration in the current operation cycle and when the current vehicle speed is greater than the preset vehicle speed threshold, obtain multiple throttle opening values;

[0164] Divide the multiple throttle opening values according to a preset granularity to obtain at least one group of candidate throttle opening values;

[0165] For each group of candidate throttle opening values, determine the proportion of the number of candidate throttle opening values in the number corresponding to the multiple throttle opening values;

[0166] Among all the proportions, determine the candidate throttle opening value with the largest proportion as the target throttle opening value.

[0167] The vehicle control device provided in the embodiment of the present application can be used to execute the technical solution corresponding to the vehicle control method in the above embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here.

[0168] It should be noted that it should be understood that the division of each module of the above device is only a logical function division. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together or independently implemented. The processing element mentioned here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit or software-form instructions in the processor element.

[0169] Figure 8 This is a schematic structural diagram of a vehicle provided by an embodiment of the present application. As Figure 8 shown, the vehicle may include: a processor 80, a memory 81, and computer program instructions stored on the memory 81 and executable on the processor 80.

[0170] Among them, the vehicle may be any vehicle with an accelerator pedal.

[0171] The processor 80 executes the computer execution instructions stored in the memory 81, so that the processor 80 executes the solutions in the above embodiments. The processor 80 may be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it may also be a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0172] Optionally, the vehicle may further include: a transceiver 82.

[0173] The memory 81 and the transceiver 82 are connected to the processor 80 through a system bus and complete communication with each other. The memory 81 is used to store computer program instructions.

[0174] The transceiver 82 is used to communicate with other devices, and the transceiver 82 constitutes a communication interface.

[0175] Optionally, in terms of hardware implementation, the above Figure 7 acquisition module 71 in the shown embodiment corresponds to the transceiver 82 in this embodiment.

[0176] The system bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0177] The vehicle provided by the embodiment of the present application can be used to execute the technical solutions corresponding to the vehicle control method in the above embodiments. The implementation principle and technical effects are similar and will not be elaborated here.

[0178] The embodiment of the present application also provides a chip for running instructions. The chip is used to execute the technical solutions of the vehicle control method in the above embodiments.

[0179] An embodiment of the present application further provides a computer-readable storage medium. Computer instructions are stored in the computer-readable storage medium. When the computer instructions run on a vehicle, the vehicle is caused to execute the technical solution of the vehicle control method in the above embodiment.

[0180] An embodiment of the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, it is used to execute the technical solution of the vehicle control method in the above embodiment.

[0181] The above computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disk. The readable storage medium can be any available medium accessible by a general or special vehicle.

[0182] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A control method for a vehicle, characterized in that, Including: During the first preset duration within the current operation cycle during the vehicle operation and when the current vehicle speed is greater than a preset vehicle speed threshold, obtain the target throttle opening value of the vehicle pedal. The target throttle opening value is the throttle opening value with the largest proportion among multiple throttle opening values. The vehicle operation process includes multiple operation cycles, and each operation cycle includes a first preset duration and a second preset duration. The starting point of the second preset duration is the ending point of the first preset duration; According to the target throttle opening value, the lower limit of the preset vehicle pedal opening comfort range, the upper limit of the preset vehicle pedal opening comfort range, the lower limit of the preset vehicle pedal opening weighting coefficient, and the upper limit of the preset vehicle pedal opening weighting coefficient, determine the adjustment coefficient of the vehicle pedal. The adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening; According to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration of the next operation cycle, determine the target throttle opening; After detecting that the throttle opening of the vehicle pedal returns to 0 within the second preset duration of the current operation cycle and the first preset duration of the next operation cycle, control the vehicle to operate according to the target throttle opening.

2. The method according to claim 1, wherein The determining the adjustment coefficient of the vehicle pedal according to the target throttle opening value, the lower limit of the preset vehicle pedal opening comfort range, the upper limit of the preset vehicle pedal opening comfort range, the lower limit of the preset vehicle pedal opening weighting coefficient, and the upper limit of the preset vehicle pedal opening weighting coefficient includes: If the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is greater than or equal to the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the upper limit of the vehicle pedal opening weighting coefficient; If the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is less than the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening comfort range; If the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is less than or equal to the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the lower limit of the vehicle pedal opening weighting coefficient; If the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is greater than the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening comfort range.

3. The method according to claim 2, wherein The method further includes: If the target throttle opening value is less than or equal to the upper limit of the vehicle pedal opening comfort range and greater than or equal to the lower limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is 1.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: After the vehicle operation ends and the parking duration is greater than a preset duration threshold, determine that the adjustment coefficient is 1.

5. The method according to any one of claims 1 to 3, characterized in that, The obtaining, within a first preset duration in the current operation cycle during the vehicle operation and when the current vehicle speed is greater than a preset vehicle speed threshold, of the target throttle opening value of the vehicle pedal includes: Within the first preset duration in the current operation cycle and when the current vehicle speed is greater than the preset vehicle speed threshold, obtain the multiple throttle opening values; Divide the multiple throttle opening values according to a preset granularity to obtain at least one group of candidate throttle opening values; For each group of candidate throttle opening values, determine the proportion of the number of the candidate throttle opening values in the number corresponding to the multiple throttle opening values; Among all the proportions, determine the candidate throttle opening value with the largest proportion as the target throttle opening value.

6. A control device for a vehicle, characterized in that, Includes: An obtaining module, configured to obtain, within a first preset duration in the current operation cycle during the vehicle operation and when the current vehicle speed is greater than a preset vehicle speed threshold, the target throttle opening value of the vehicle pedal, where the target throttle opening value is the throttle opening value with the largest proportion among multiple throttle opening values, the vehicle operation process includes multiple operation cycles, each operation cycle includes a first preset duration and a second preset duration, and the starting point of the second preset duration is the ending point of the first preset duration; A determining module, configured to determine the adjustment coefficient of the vehicle pedal according to the target throttle opening value, the lower limit of the preset vehicle pedal opening comfort range, the upper limit of the preset vehicle pedal opening comfort range, the lower limit of the preset vehicle pedal opening weighting coefficient, and the upper limit of the preset vehicle pedal opening weighting coefficient, where the adjustment coefficient is a weighting coefficient for correcting the vehicle throttle opening; A processing module, configured to determine the target throttle opening according to the adjustment coefficient, the second preset duration in the current operation cycle, and the original throttle opening within the first preset duration of the next operation cycle; A control module, configured to control the vehicle to run according to the target throttle opening after detecting that the throttle opening of the vehicle pedal returns to 0 within the second preset duration of the current operation cycle and the first preset duration of the next operation cycle.

7. The device according to claim 6, characterized in that, The determining module is specifically configured to: When the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is greater than or equal to the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the upper limit of the vehicle pedal opening weighting coefficient; When the target throttle opening value is greater than the upper limit of the vehicle pedal opening comfort range and the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening weighting coefficient is less than the upper limit of the vehicle pedal opening comfort range, determine that the adjustment coefficient is the quotient of the target throttle opening value and the upper limit of the vehicle pedal opening comfort range; When the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range, and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is less than or equal to the lower limit of the vehicle pedal opening comfort range, determine the adjustment coefficient as the lower limit of the vehicle pedal opening weighting coefficient; When the target throttle opening value is less than the lower limit of the vehicle pedal opening comfort range, and the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening weighting coefficient is greater than the lower limit of the vehicle pedal opening comfort range, determine the adjustment coefficient as the quotient of the target throttle opening value and the lower limit of the vehicle pedal opening comfort range.

8. A vehicle, comprising: A processor, a memory, and computer program instructions stored on the memory and executable on the processor, wherein the processor implements the vehicle control method according to any one of claims 1 to 5 above when executing the computer program instructions.

9. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and are used to implement the vehicle control method according to any one of claims 1 to 5 above when the computer-executable instructions are executed by a processor.

10. A computer program product, comprising a computer program, characterized in that, The computer program is used to implement the vehicle control method according to any one of claims 1 to 5 above when executed by a processor.

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