Vehicle Control Method, Device and Vehicle

Abstract

The present disclosure relates to a vehicle control method, apparatus and vehicle, including: obtaining a vehicle driving mode adjustment parameter, where the vehicle driving mode adjustment parameter is a continuous parameter generated based on a driver's adjustment operation of the vehicle driving mode; determining adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameter; obtaining vehicle state information, and determining vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively; and controlling the vehicle according to the vehicle control parameters and adjustment ratios corresponding to each driving mode. In this way, according to the continuous adjustment parameter input by the user, the adjustment ratios corresponding to each driving mode in the vehicle are respectively determined, and then the control strategies of multiple driving modes are comprehensively used to control the vehicle together, achieving the effect of stepless adjustment between multiple driving modes, enabling the driver to perform more fine-grained and refined control of the vehicle driving mode, and optimizing the driving experience.

Description

Technical Field

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

[0002] At present, a variety of driving modes can be set at the time of vehicle factory to achieve unified switching of multiple system modes in the vehicle, or the working modes of each system in the vehicle, such as the steering system, power system, vehicle stability control system, etc., can be switched separately to better meet the driving needs and preferences of the driver.

[0003] However, whether it is through the vehicle driving mode to achieve unified mode switching of multiple systems or separate mode switching of each system, the vehicle working parameters corresponding to the switched working modes are basically fixed parameters, and the driver cannot perform more fine-grained and refined adjustment on the vehicle working parameters in various set working modes. For example, the powertrain system generally has three modes: economy, standard, and sport. The driver can only choose among the three modes. If the driver feels that the power in the standard mode is too weak and the power in the sport mode is too strong, the driver cannot adjust to an intermediate position to meet their driving needs. The vehicle stability control system and the steering system also have similar problems. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a vehicle control method, device, and vehicle, which can achieve the effect of stepless adjustment between multiple driving modes, enabling the driver to perform more fine-grained and refined control of the vehicle driving mode and optimizing the driving experience.

[0005] To achieve the above object, the present disclosure provides a vehicle control method, the method including:

[0006] Obtain a vehicle driving mode adjustment parameter, where the vehicle driving mode adjustment parameter is a continuous parameter generated based on the driver's adjustment operation of the vehicle driving mode;

[0007] Determine the adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameter;

[0008] Obtain vehicle state information, and determine vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode;

[0009] Control the vehicle according to the vehicle control parameters and the adjustment ratios corresponding to each driving mode.

[0010] Optionally, the determining the adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameter includes:

[0011] Calculate the adjustment ratios corresponding to each driving mode according to the parameter ranges in which the vehicle driving mode adjustment parameters are located; or

[0012] Search for the adjustment ratios corresponding to each driving mode according to the vehicle driving mode adjustment parameters and a preset correspondence table, where the preset correspondence table is the correspondence between the vehicle driving mode adjustment parameters, the driving mode, and the adjustment ratio.

[0013] Optionally, the driving modes include an economy mode, a standard mode, and a sport mode. The calculating the adjustment ratios corresponding to each driving mode according to the parameter ranges in which the vehicle driving mode adjustment parameters are located includes:[[]]

[0014] When the vehicle driving mode adjustment parameter is in the first parameter range, determine that the adjustment ratio corresponding to the economy mode is 1, and the adjustment ratios corresponding to the standard mode and the sport mode are 0;

[0015] When the vehicle driving mode adjustment parameter is in the second parameter range, respectively obtain the adjustment ratio calculation formulas corresponding to the economy mode and the standard mode, and determine the adjustment ratios corresponding to the economy mode and the standard mode according to the adjustment ratio calculation formulas. Determine that the adjustment ratio corresponding to the sport mode is 0, where the sum of the adjustment ratios corresponding to the economy mode and the standard mode is 1;

[0016] When the vehicle driving mode adjustment parameter is in the third parameter range, respectively obtain the adjustment ratio calculation formulas corresponding to the standard mode and the sport mode, and determine the adjustment ratios corresponding to the standard mode and the sport mode according to the adjustment ratio calculation formulas. Determine that the adjustment ratio corresponding to the economy mode is 0, where the sum of the adjustment ratios corresponding to the standard mode and the sport mode is 1;

[0017] When the vehicle driving mode adjustment parameter is in the fourth parameter range, determine that the adjustment ratios corresponding to the economy mode and the standard mode are 0, and the adjustment ratio corresponding to the sport mode is 1.

[0018] Optionally, the vehicle state information includes the accelerator pedal position and the engine speed. The obtaining the vehicle state information and determining the vehicle control parameters corresponding to the vehicle state information when the vehicle is respectively in each driving mode includes:[[]]

[0019] Respectively determine the engine torque corresponding to the accelerator pedal position and the engine speed in each driving mode;

[0020] The controlling the vehicle according to the vehicle control parameters and the adjustment ratios corresponding to each driving mode includes:[[]]

[0021] Determine the current engine output torque of the vehicle according to the adjustment ratio and the engine torque corresponding to each driving mode, and control the vehicle according to the engine output torque.

[0022] Optionally, the obtaining of the vehicle state information and the determination of the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively include:

[0023] Determine the threshold values corresponding to the vehicle's body stability control system in each driving mode respectively;

[0024] The controlling of the vehicle according to the vehicle control parameters and the adjustment ratio corresponding to each driving mode includes:

[0025] Determine the threshold value of the vehicle's current body stability control system according to the adjustment ratio and the threshold value corresponding to each driving mode, and control the vehicle according to the threshold value of the body stability control system.

[0026] Optionally, the vehicle state information includes the hand force applied by the driver on the vehicle steering wheel and the steering motor speed. The obtaining of the vehicle state information and the determination of the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively include:

[0027] Determine the steering motor torque corresponding to the hand force and the steering motor speed in each driving mode respectively;

[0028] The controlling of the vehicle according to the vehicle control parameters and the adjustment ratio corresponding to each driving mode includes:

[0029] Determine the current steering motor output torque of the vehicle according to the adjustment ratio and the steering motor torque corresponding to each driving mode, and control the vehicle according to the steering motor output torque.

[0030] Optionally, the adjustment operation of the driver on the vehicle driving mode is implemented through a physical adjustment structure or a virtual adjustment module in the display screen.

[0031] The present disclosure also provides a vehicle control device, and the device includes:

[0032] An obtaining module, configured to obtain vehicle driving mode adjustment parameters, where the vehicle driving mode adjustment parameters are continuous parameters generated based on the adjustment operation of the driver on the vehicle driving mode;

[0033] A first determination module, configured to determine the adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameters;

[0034] A second determination module, configured to obtain vehicle state information and determine vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode;

[0035] A control module, configured to control the vehicle according to the vehicle control parameters corresponding to each driving mode and the adjustment ratio.

[0036] Optionally, the first determination module is further configured to:

[0037] Calculate the adjustment ratio corresponding to each driving mode according to the parameter range in which the vehicle driving mode adjustment parameter is located; or

[0038] Look up the adjustment ratio corresponding to each driving mode according to the vehicle driving mode adjustment parameter and a preset correspondence table, where the preset correspondence table is the correspondence between the vehicle driving mode adjustment parameter, the driving mode, and the adjustment ratio.

[0039] The present disclosure further provides a vehicle, including the vehicle control device described above.

[0040] Through the above technical solution, the adjustment ratio corresponding to each driving mode in the vehicle is determined respectively according to the continuous adjustment parameter input by the user, and then the vehicle is controlled by integrating the control strategies of multiple driving modes according to this ratio, so that the effect of stepless adjustment between multiple driving modes can be achieved, and the driver can perform more fine-grained and refined control on the vehicle driving mode, optimizing the driving experience.

[0041] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification, and are used to explain the present disclosure together with the following specific implementation, but do not constitute a limitation to the present disclosure. In the accompanying drawings:

[0043] Figure 1 is a flowchart of a vehicle control method shown according to an exemplary embodiment of the present disclosure.

[0044] Figure 2 is an example of the adjustment ratio corresponding to each driving mode in a vehicle control method shown according to an exemplary embodiment of the present disclosure.

[0045] Figure 3 A flowchart of a vehicle control method shown according to another exemplary embodiment of the present disclosure.

[0046] Figure 4It is a structural block diagram of a vehicle control device shown according to an exemplary embodiment of the present disclosure. Detailed implementation manners

[0047] The following will explain in detail the detailed implementation manners of the present disclosure with reference to the accompanying drawings. It should be understood that the detailed implementation manners described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0048] Figure 1 It is a flowchart of a vehicle control method shown according to an exemplary embodiment of the present disclosure. As Figure 1 shown, the method includes steps 101 to 104.

[0049] In step 101, obtain a vehicle driving mode adjustment parameter, and the vehicle driving mode adjustment parameter is a continuous parameter generated based on the driver's adjustment operation of the vehicle driving mode. That is to say, when the driver adjusts the vehicle driving mode, what is generated is not a switching instruction between multiple preset driving modes, but a continuous adjustment parameter. For example, it can be set that the adjustment parameter can be any rational number in [1, 3]. The smaller the adjustment parameter, the smaller the vehicle power desired by the driver, and the more economical and energy-saving. The larger the adjustment parameter, the greater the vehicle power desired by the driver, and the energy will not be overly saved. Among them, the expected requirements of the driver for the driving mode represented by the magnitude of the parameter value and the change trend of the parameter value can be adjusted according to the actual situation. For example, the adjustment parameter can also be a rational number in [1, 30], or the larger the adjustment parameter, the smaller the vehicle power desired by the driver, and the more economical and energy-saving. The smaller the adjustment parameter, the greater the vehicle power desired by the driver, and the energy will not be overly saved, etc. The specific setting of this adjustment parameter is not limited in the present disclosure.

[0050] The driver's adjustment operation of the vehicle driving mode can be realized through a physical adjustment structure such as a stepless knob or a stepless push rod, or can also be realized through a virtual adjustment module displayed on the display screen. The display form of the virtual adjustment module can also be in the form of a knob or a push rod, for example.

[0051] In step 102, according to the vehicle driving mode adjustment parameters, determine the adjustment ratios corresponding to multiple driving modes of the vehicle. The driving modes in the vehicle can be two or more. For example, it can include two modes such as an economy mode and a sport mode. In the economy mode, the vehicle can generate less power, and in the sport mode, the vehicle can generate more power. Or, it can also include three modes such as an economy mode, a standard mode, and a sport mode. In the economy mode, the vehicle can generate the least power, in the standard mode, the vehicle can generate moderate power, and in the sport mode, the vehicle can generate the most power, etc. The vehicle can also include other driving modes. The vehicle control strategies corresponding to different driving modes are also different accordingly. In this disclosure, the type of driving modes included in the vehicle is not limited, as long as the number of driving modes is not less than two and can realize determining the adjustment ratios corresponding to at least two driving modes according to the vehicle driving mode adjustment parameters.

[0052] This adjustment ratio is also the ratio that the driver hopes each driving mode occupies in the actual driving mode of the vehicle. For example, when there are three modes in the vehicle, namely an economy mode, a standard mode, and a sport mode, the driver can adjust the ratio of the three driving modes in the actual driving mode of the vehicle by adjusting the vehicle driving mode adjustment parameters to control the vehicle more precisely. For another example, if the current driving mode of the vehicle is the economy mode and the driver believes that the vehicle power is too weak in the current driving mode, but after adjusting to the standard mode, the driver believes that the vehicle power is too strong in the current driving mode, then the driver can adjust the ratio of the economy mode in the actual driving mode of the vehicle to 30%, adjust the ratio of the standard mode in the actual driving mode of the vehicle to 70%, and the ratio of the sport mode in the actual driving mode of the vehicle to 0, so that the vehicle power in the actual driving mode of the vehicle more meets the driver's own driving needs.

[0053] In step 103, obtain the vehicle state information, and determine the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively.

[0054] In step 104, control the vehicle according to the vehicle control parameters corresponding to each driving mode and the adjustment ratio.

[0055] The vehicle state information can be determined according to the required vehicle control parameters. For example, when it is necessary to control the engine system based on the engine torque as the vehicle control parameter, the current accelerator pedal position and engine speed of the vehicle can be obtained as the vehicle state information, and then the corresponding engine torques in each driving mode can be determined according to the control strategies in a plurality of preset driving modes. For example, if the current accelerator pedal position P and engine speed S of the vehicle are obtained, it is determined that when the vehicle is in the economy mode, if the accelerator pedal of the vehicle is at the accelerator pedal position P and the engine speed is at the engine speed S, the corresponding engine torque should be T1; it is determined that when the vehicle is in the standard mode, if the accelerator pedal of the vehicle is at the accelerator pedal position P and the engine speed is at the engine speed S, the corresponding engine torque should be T2; it is determined that when the vehicle is in the sports mode, if the accelerator pedal of the vehicle is at the accelerator pedal position P and the engine speed is at the engine speed S, the corresponding engine torque should be T3. Then, the vehicle control parameters corresponding to each driving mode determined according to the vehicle state information are the engine torques T1, T2, and T3.

[0056] After the adjustment ratios corresponding to each driving mode have been determined, the calculated vehicle control parameters can be further calculated directly according to the adjustment ratio to obtain the actual vehicle control parameters finally used to control the vehicle, and then the vehicle can be controlled according to the actual vehicle control parameters. For example, when the vehicle control parameters determined above are engine torques, the engine torques corresponding to each driving mode are multiplied by the adjustment ratio corresponding to the driving mode and then added together to obtain the actual engine torque for the user to control the vehicle finally.

[0057] Through the above technical solution, the adjustment ratios corresponding to each driving mode in the vehicle are determined respectively according to the continuous adjustment parameters input by the user, and then the control strategies of multiple driving modes are integrated according to this ratio to control the vehicle together, so that the effect of stepless adjustment between multiple driving modes can be achieved, and the driver can perform more fine-grained and refined control on the vehicle driving mode, optimizing the driving experience.

[0058] In a possible implementation manner, determining the adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameters includes: calculating the adjustment ratios corresponding to each driving mode according to the parameter intervals where the vehicle driving mode adjustment parameters are located; or looking up the adjustment ratios corresponding to each driving mode according to the vehicle driving mode adjustment parameters and a preset correspondence table, where the preset correspondence table is the correspondence between the vehicle driving mode adjustment parameters, the driving modes, and the adjustment ratios. Among them, when calculating the adjustment ratios corresponding to each driving mode according to the parameter intervals where the adjustment parameters are located, the fixed adjustment ratios corresponding to the driving modes can be directly determined according to the parameter intervals where the adjustment parameters are located, or the adjustment ratio calculation formulas corresponding to the parameter intervals can be determined according to the parameter intervals where the adjustment parameters are located, and then the adjustment ratios corresponding to each driving mode are calculated according to the adjustment parameters and the adjustment ratio calculation formulas.

[0059] The following gives an example of calculating the adjustment ratios corresponding to each driving mode according to the parameter intervals where the vehicle driving mode adjustment parameters are located. Among them, the driving modes include an economy mode, a standard mode, and a sports mode:

[0060] (1) When the vehicle driving mode adjustment parameter is in the first parameter interval, determine that the adjustment ratio corresponding to the economy mode is 1, and the adjustment ratios corresponding to the standard mode and the sports mode are 0;

[0061] (2) When the vehicle driving mode adjustment parameter is in the second parameter interval, respectively obtain the adjustment ratio calculation formulas corresponding to the economy mode and the standard mode, and determine the adjustment ratios corresponding to the economy mode and the standard mode according to the adjustment ratio calculation formulas, and determine that the adjustment ratio corresponding to the sports mode is 0, where the sum of the adjustment ratios corresponding to the economy mode and the standard mode is 1;

[0062] (3) When the vehicle driving mode adjustment parameter is in the third parameter interval, respectively obtain the adjustment ratio calculation formulas corresponding to the standard mode and the sports mode, and determine the adjustment ratios corresponding to the standard mode and the sports mode according to the adjustment ratio calculation formulas, and determine that the adjustment ratio corresponding to the economy mode is 0, where the sum of the adjustment ratios corresponding to the standard mode and the sports mode is 1;

[0063] (4) When the vehicle driving mode adjustment parameter is in the fourth parameter interval, determine that the adjustment ratios corresponding to the economy mode and the standard mode are 0, and the adjustment ratio corresponding to the sports mode is 1.

[0064] Among them, the value of the vehicle driving mode adjustment parameter can be, for example, [1, 3]. The interval parameter values from the first parameter interval to the first four-parameter interval can be increasing. For example, the first parameter interval can be less than or equal to 1, the second parameter interval can be greater than 1 and less than 2, the third parameter interval can be greater than or equal to 2 and less than 3, and the fourth parameter interval can be greater than or equal to 4. At this time, it can be considered that when the value of the vehicle driving mode adjustment parameter is 1, the actual driving mode of the vehicle is the economy mode; when the value of the vehicle driving mode adjustment parameter is 2, the actual driving mode of the vehicle is the standard mode; when the value of the vehicle driving mode adjustment parameter is 3, the actual driving mode of the vehicle is the sport mode.

[0065] In the above example, the calculation formula for the adjustment ratio corresponding to each driving mode in each parameter interval can be as Figure 2 shown in the chart Figure 2 In the chart in, the abscissa is the vehicle driving mode adjustment parameter, and the ordinate represents the adjustment ratio. Curve 1 represents the economy mode, Curve 2 represents the standard mode, and Curve 3 represents the sport mode. When different driving modes change in the corresponding parameter intervals, the change trend can be a uniform linear change. The specific formulas are as follows:

[0066] When the vehicle driving mode adjustment parameter is in the second parameter interval, the calculation formula for the adjustment ratio corresponding to the economy mode is: ECO_Ratio = -1 * Position + 2, and the calculation formula for the adjustment ratio corresponding to the standard mode is Standard_Ratio = 1 * Position - 1; when the vehicle driving mode adjustment parameter is in the third parameter interval, the calculation formula for the adjustment ratio corresponding to the standard mode is: Standard_Ratio = -1 * Position + 3, and the calculation formula for the adjustment ratio corresponding to the sport mode is: Sport_Ratio = 1 * Position - 2. Among them, ECO_Ratio represents the adjustment ratio corresponding to the economy mode, Standard_Ratio represents the adjustment ratio corresponding to the standard mode, Sport_Ratio represents the adjustment ratio corresponding to the sport mode, and Position represents the vehicle driving mode adjustment parameter. 3

[0067] In addition, the change trend can also be non-linear and non-uniform. As long as it is ensured that the sum of the adjustment ratios corresponding to each driving mode at the same moment is 1.

[0068] Figure 3 is a flowchart of a vehicle control method shown according to another exemplary embodiment of the present disclosure. As Figure 3 shown, the method further includes steps 201 to 203.

[0069] In step 201, the accelerator pedal position and the engine speed are obtained.

[0070] In step 202, the engine torque corresponding to the accelerator pedal position and the engine speed is determined respectively in each driving mode.

[0071] In step 203, the current engine output torque of the vehicle is determined according to the adjustment ratio and the engine torque corresponding to each driving mode respectively, and the vehicle is controlled according to the engine output torque.

[0072] That is, the vehicle state information includes the accelerator pedal position and the engine speed. When determining the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively, the vehicle control parameters corresponding to the accelerator pedal position and the engine speed can be, for example, the engine torque. There can be various ways to determine the engine torque. For example, the engine torque corresponding to different driving modes can be determined according to the accelerator pedal position and the engine speed by means of look-up table calibration.

[0073] The way to determine the engine output torque can be as shown in the following formula:

[0074] Driver_Request_Torque = ECO_Ratio * ECO_Torque1 + Standard_Raito * Standard_Torque1 + Sport_Ratio * Sport_Torque1,

[0075] wherein, ECO_Torque1 represents the engine torque corresponding to the accelerator pedal position and the engine speed in the economy mode, Standard_Torque1 represents the engine torque corresponding to the accelerator pedal position and the engine speed in the standard mode, Sport_Torque1 represents the engine torque corresponding to the accelerator pedal position and the engine speed in the sport mode, and Driver_Request_Torque represents the current engine output torque of the vehicle.

[0076] In a possible implementation manner, as Figure 3 shown, the method further includes step 204 and step 205.

[0077] In step 204, the threshold values corresponding to the vehicle body stability control system of the vehicle are determined respectively in each driving mode.

[0078] In step 205, determine the threshold value of the vehicle's current body stability control system according to the adjustment ratio and the threshold value corresponding to each driving mode, and control the vehicle according to the threshold value of the body stability control system.

[0079] That is, in different driving modes, the threshold values corresponding to the body stability control system are different and can be obtained through pre-calibration. After determining the adjustment ratio corresponding to each driving mode, the threshold value of the current body stability control system can also be determined according to this adjustment ratio and the threshold values corresponding to different driving modes, so as to ensure that the working mode of the vehicle stability control system can also change accordingly with the change of the vehicle driving mode adjustment parameters, and make the control granularity of the body stability control system more refined.

[0080] The method for determining the threshold value of the body stability control system can be shown by the following formula:

[0081] Brake_Torque = ECO_Ratio * ECO_Threshold + Standard_Raito * Standard_Threshold + Sport_Ratio * Sport_Threshold,

[0082] where ECO_Threshold represents the threshold value of the body stability control system in the economy mode, Standard_Threshold represents the threshold value of the body stability control system in the standard mode, Sport_Threshold represents the threshold value of the body stability control system in the sport mode, and Driver_Request_Torque represents the threshold value of the vehicle's current body stability control system.

[0083] In a possible implementation, as Figure 3 shown, the method further includes steps 206 to 208.

[0084] In step 206, obtain the hand force on the vehicle steering wheel and the steering motor speed.

[0085] In step 207, determine the steering motor torque corresponding to the hand force and the steering motor speed in each driving mode respectively.

[0086] In step 208, determine the current steering motor output torque of the vehicle according to the adjustment ratio and the steering motor torque corresponding to each driving mode, and control the vehicle according to the steering motor output torque.

[0087] That is, the vehicle state information may further include the hand force applied by the driver to the vehicle steering wheel and the steering motor speed. When determining the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode, the vehicle control parameters corresponding to the hand force applied by the driver to the vehicle steering wheel and the steering motor speed may be, for example, the steering motor torque. There are also various ways to determine the steering motor torque. For example, the steering motor torque corresponding to different driving modes may also be determined by means of look-up table calibration according to the hand force applied by the driver to the vehicle steering wheel and the steering motor speed.

[0088] The method for determining the output torque of the steering motor may be as shown in the following formula:

[0089] Driver_Assist_Torque = ECO_Ratio * ECO_Torque2 + Standard_Raito * Standard_Torque2 + Sport_Ratio * Sport_Torque2,

[0090] wherein, ECO_Torque2 represents the steering motor torque corresponding to the hand force and the steering motor speed in the economy mode, Standard_Torque2 represents the steering motor torque corresponding to the hand force and the steering motor speed in the standard mode, Sport_Torque2 represents the steering motor torque corresponding to the hand force and the steering motor speed in the sport mode, and Driver_Assist_Torque represents the current output torque of the vehicle steering motor.

[0091] Figure 4 is a structural block diagram of a vehicle control device shown according to an exemplary embodiment of the present disclosure. As Figure 4 shown, the device includes: an acquisition module 10 for acquiring vehicle driving mode adjustment parameters, where the vehicle driving mode adjustment parameters are continuous parameters generated based on the driver's adjustment operation of the vehicle driving mode; a first determination module 20 for determining the adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameters; a second determination module 30 for acquiring vehicle state information and determining vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode; and a control module 40 for controlling the vehicle according to the vehicle control parameters and the adjustment ratios corresponding to each driving mode.

[0092] Through the above technical solution, the adjustment ratios corresponding to each driving mode in the vehicle are determined respectively according to the continuity adjustment parameters input by the user, and then the control strategies of multiple driving modes are integrated according to this ratio to control the vehicle together. In this way, the effect of stepless adjustment between multiple driving modes can be achieved, and the driver can perform more fine-grained and refined control on the vehicle driving mode, optimizing the driving experience.

[0093] In a possible implementation manner, the first determination module 20 is further configured to: calculate the adjustment ratios corresponding to each driving mode respectively according to the parameter intervals where the vehicle driving mode adjustment parameters are located; or look up the adjustment ratios corresponding to each driving mode according to the vehicle driving mode adjustment parameters and a preset correspondence table, where the preset correspondence table is the correspondence between the vehicle driving mode adjustment parameters, the driving mode, and the adjustment ratio.

[0094] In a possible implementation manner, the driving modes include an economy mode, a standard mode, and a sport mode. The first determination module 20 is further configured to: when the vehicle driving mode adjustment parameters are in a first parameter interval, determine that the adjustment ratio corresponding to the economy mode is 1, and the adjustment ratios corresponding to the standard mode and the sport mode are 0; when the vehicle driving mode adjustment parameters are in a second parameter interval, respectively obtain the adjustment ratio calculation formulas corresponding to the economy mode and the standard mode, and determine the adjustment ratios corresponding to the economy mode and the standard mode according to the adjustment ratio calculation formulas, and determine that the adjustment ratio corresponding to the sport mode is 0, where the sum of the adjustment ratios corresponding to the economy mode and the standard mode is 1; when the vehicle driving mode adjustment parameters are in a third parameter interval, respectively obtain the adjustment ratio calculation formulas corresponding to the standard mode and the sport mode, and determine the adjustment ratios corresponding to the standard mode and the sport mode according to the adjustment ratio calculation formulas, and determine that the adjustment ratio corresponding to the economy mode is 0, where the sum of the adjustment ratios corresponding to the standard mode and the sport mode is 1; when the vehicle driving mode adjustment parameters are in a fourth parameter interval, determine that the adjustment ratios corresponding to the economy mode and the standard mode are 0, and the adjustment ratio corresponding to the sport mode is 1.

[0095] In a possible implementation manner, the vehicle state information includes the accelerator pedal position and the engine speed. The second determination module 30 is further configured to: respectively determine the engine torque corresponding to the accelerator pedal position and the engine speed in each driving mode; the control module 40 is further configured to: determine the current engine output torque of the vehicle according to the adjustment ratios and the engine torque respectively corresponding to each driving mode, and control the vehicle according to the engine output torque.

[0096] In a possible implementation, the second determination module 30 is further configured to: respectively determine the threshold values corresponding to the vehicle's body stability control system in each driving mode; the control module 40 is further configured to: determine the current threshold value of the vehicle's body stability control system according to the adjustment ratios and the threshold values respectively corresponding to each driving mode, and control the vehicle according to the threshold value of the body stability control system.

[0097] In a possible implementation, the vehicle state information includes the hand force applied by the driver to the vehicle steering wheel and the steering motor speed. The second determination module 30 is further configured to: respectively determine the steering motor torques corresponding to the hand force and the steering motor speed in each driving mode; the control module 40 is further configured to: determine the current steering motor output torque of the vehicle according to the adjustment ratios and the steering motor torques respectively corresponding to each driving mode, and control the vehicle according to the steering motor output torque.

[0098] In a possible implementation, the driver's adjustment operation of the vehicle driving mode is implemented through a physical adjustment structure or a virtual adjustment module in the display screen.

[0099] The present disclosure further provides a vehicle, including the above-mentioned vehicle control device.

[0100] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0101] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0102] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without conflict. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination manners.

[0103] Furthermore, any combination can be made between various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that, The method includes: Obtaining a vehicle driving mode adjustment parameter, where the vehicle driving mode adjustment parameter is a continuous parameter generated based on a driver's adjustment operation of the vehicle driving mode; Determining adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameter; Obtaining vehicle state information, and determining vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively, where the vehicle control parameters include at least one of the following: engine torque, threshold value corresponding to the vehicle body stability control system, and steering motor torque; Controlling the vehicle according to the vehicle control parameters and the adjustment ratios corresponding to each driving mode.

2. The method according to claim 1, wherein The determining adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameter includes: Calculating adjustment ratios corresponding to each driving mode respectively according to parameter intervals where the vehicle driving mode adjustment parameter is located; or Searching for adjustment ratios corresponding to each driving mode according to the vehicle driving mode adjustment parameter and a preset correspondence table, where the preset correspondence table is the correspondence between the vehicle driving mode adjustment parameter, the driving mode, and the adjustment ratio.

3. The method according to claim 2, characterized in that, The driving modes include an economy mode, a standard mode, and a sport mode. The calculating adjustment ratios corresponding to each driving mode respectively according to parameter intervals where the vehicle driving mode adjustment parameter is located includes: When the vehicle driving mode adjustment parameter is in a first parameter interval, determining that the adjustment ratio corresponding to the economy mode is 1, and the adjustment ratios corresponding to the standard mode and the sport mode are 0; When the vehicle driving mode adjustment parameter is in a second parameter interval, respectively obtaining adjustment ratio calculation formulas corresponding to the economy mode and the standard mode, and determining adjustment ratios corresponding to the economy mode and the standard mode according to the adjustment ratio calculation formulas, and determining that the adjustment ratio corresponding to the sport mode is 0, where the sum of the adjustment ratios corresponding to the economy mode and the standard mode is 1; When the vehicle driving mode adjustment parameter is in a third parameter interval, respectively obtaining adjustment ratio calculation formulas corresponding to the standard mode and the sport mode, and determining adjustment ratios corresponding to the standard mode and the sport mode according to the adjustment ratio calculation formulas, and determining that the adjustment ratio corresponding to the economy mode is 0, where the sum of the adjustment ratios corresponding to the standard mode and the sport mode is 1; When the vehicle driving mode adjustment parameter is in a fourth parameter interval, determining that the adjustment ratios corresponding to the economy mode and the standard mode are 0, and the adjustment ratio corresponding to the sport mode is 1.

4. The method according to claim 1, wherein The vehicle state information includes an accelerator pedal position and an engine speed. The obtaining vehicle state information and determining vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively includes: Respectively determining engine torques corresponding to the accelerator pedal position and the engine speed when the vehicle is in each driving mode; The controlling the vehicle according to the vehicle control parameters and the adjustment ratios corresponding to each driving mode includes: Determine the current engine output torque of the vehicle according to the adjustment ratio and the engine torque corresponding to each driving mode respectively, and control the vehicle according to the engine output torque.

5. The method according to claim 1, wherein The obtaining of vehicle state information and determining the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively includes: Determine the threshold values corresponding to the vehicle's body stability control system in each driving mode respectively; The controlling of the vehicle according to the vehicle control parameters and the adjustment ratio corresponding to each driving mode includes: Determine the threshold value of the vehicle's current body stability control system according to the adjustment ratio and the threshold value corresponding to each driving mode respectively, and control the vehicle according to the threshold value of the body stability control system.

6. The method according to claim 1, wherein The vehicle state information includes the hand force applied by the driver on the vehicle steering wheel and the steering motor speed. The obtaining of vehicle state information and determining the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively includes: Determine the steering motor torque corresponding to the hand force and the steering motor speed in each driving mode respectively; The controlling of the vehicle according to the vehicle control parameters and the adjustment ratio corresponding to each driving mode includes: Determine the current steering motor output torque of the vehicle according to the adjustment ratio and the steering motor torque corresponding to each driving mode respectively, and control the vehicle according to the steering motor output torque.

7. The method according to claim 1, characterized in that, The driver's adjustment operation of the vehicle driving mode is realized through a physical adjustment structure or a virtual adjustment module in the display screen.

8. A vehicle control device, characterized in that, The device includes: An obtaining module, configured to obtain vehicle driving mode adjustment parameters, where the vehicle driving mode adjustment parameters are continuous parameters generated based on the driver's adjustment operation of the vehicle driving mode; A first determination module, configured to determine the adjustment ratios corresponding to multiple driving modes of the vehicle according to the vehicle driving mode adjustment parameters; A second determination module, configured to obtain vehicle state information and determine the vehicle control parameters corresponding to the vehicle state information when the vehicle is in each driving mode respectively, where the vehicle control parameters include at least one of the following: engine torque, the threshold value corresponding to the body stability control system, and steering motor torque; A control module, configured to control the vehicle according to the vehicle control parameters and the adjustment ratio corresponding to each driving mode.

9. The device according to claim 8, characterized in that, The first determination module is further configured to: Calculate the adjustment ratios corresponding to each driving mode respectively according to the parameter intervals where the vehicle driving mode adjustment parameters are located; or Look up the adjustment ratios corresponding to each driving mode according to the vehicle driving mode adjustment parameters and a preset correspondence table, where the preset correspondence table is the correspondence relationship among the vehicle driving mode adjustment parameters, the driving mode, and the adjustment ratio.

10. A vehicle, characterized in that, Including the vehicle control device according to claims 8 and 9.

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