Vehicle Control Method, Device, Equipment and Storage Medium

Abstract

The present invention relates to the technical field of vehicle control, and discloses a vehicle control method, device, equipment and storage medium. The method includes: determining a target demand torque according to the throttle opening, vehicle speed and driving mode; segmenting the acceleration and deceleration torque control stage according to a preset segmentation strategy and the target demand torque to obtain each torque segmentation control interval; determining a slope control strategy and a filtering control strategy corresponding to each torque segmentation control interval; controlling the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the comprehensive slope of the current torque change and the corresponding motor output torque; when the current acceleration and the comprehensive slope of the current torque change are within the range of motion sickness prevention torque control, controlling the motor to work according to the motor output torque, thereby improving the vehicle control smoothness.

Description

Technical Field

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

[0002] The primary cause of motion sickness is discomfort caused by a mismatch between the displacement of the vestibular organs in the head and visual signals. The energy recovery and rapid acceleration of pure electric vehicles lead to more frequent and greater displacement of the vestibular organs during driving, making motion sickness more likely to occur. Summary of the Invention

[0003] The main purpose of the present invention is to provide a vehicle control method, device, equipment and storage medium, aiming to solve the technical problem of improving the stability of vehicle control.

[0004] To achieve the above object, the present invention provides a vehicle control method, which includes the following steps:

[0005] Determine the target torque requirement based on the throttle opening, vehicle speed, and driving mode;

[0006] The acceleration and deceleration torque control phase is segmented according to the preset segmentation strategy and the target required torque to obtain each torque segment control interval;

[0007] Determining a slope control strategy and a filtering control strategy corresponding to each torque segment control interval;

[0008] The torque is controlled according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the current torque change comprehensive slope and the corresponding motor output torque;

[0009] When the current acceleration and the current torque change integrated slope are within the anti-motion sickness torque control range, the motor is controlled to operate according to the motor output torque.

[0010] Optionally, after controlling the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, torque change comprehensive slope and corresponding motor output torque, the method further includes:

[0011] When the current acceleration and the current torque change integrated slope are not within the anti-motion sickness torque control range, obtaining a target torque change integrated slope and a target acceleration within the anti-motion sickness torque control range;

[0012] Determine the target filter coefficient according to the comprehensive slope of the target torque change and the target acceleration;

[0013] Perform feedback adjustment according to the target filtering coefficient until the adjusted acceleration and the comprehensive slope of torque change are within the anti-motion sickness torque control range.

[0014] Optionally, control the torque according to the slope control strategy and the filtering control strategy to obtain the corresponding motor output torque, including:

[0015] Determine the initial torque change slope corresponding to each torque segmented control interval according to the slope control strategy, where each torque segmented control interval includes a non-zero crossing segment and a zero crossing segment;

[0016] When the torque segmented control interval is in the non-zero crossing segment, calculate the motor output torque of the current non-zero crossing segment according to the initial change torque slope;

[0017] Determine the initial filtering coefficient of the non-zero crossing segment according to the filtering control strategy corresponding to the non-zero crossing segment;

[0018] Determine the motor output torque of the non-zero crossing segment according to the initial filtering coefficient of the non-zero crossing segment, the current torque of the non-zero crossing segment, and the motor output torque of the current non-zero crossing segment;

[0019] When the torque segmented control interval is in the zero crossing segment, determine the initial filtering coefficient of the zero crossing segment according to the filtering control strategy corresponding to the zero crossing segment;

[0020] Adjust the initial filtering coefficient of the zero crossing segment according to the motor output torque of the non-zero crossing segment and the current motor output torque of the zero crossing segment to obtain the target filtering coefficient of the zero crossing segment;

[0021] Determine the motor output torque of the zero crossing segment according to the target filtering coefficient of the zero crossing segment, the current torque of the zero crossing segment, and the current motor output torque of the zero crossing segment.

[0022] Optionally, control the torque according to the slope control strategy and the filtering control strategy to obtain the current comprehensive slope of torque change, including:

[0023] Obtain the weighting coefficients corresponding to each torque segmented control interval;

[0024] Obtain the current comprehensive slope of torque change according to the initial torque change slope and the weighting coefficients.

[0025] Optionally, the performing feedback adjustment according to the target filtering coefficient until the adjusted acceleration and the comprehensive slope of torque change are within the anti-motion sickness torque control range includes:

[0026] Adjust the initial filtering coefficient according to the target filtering coefficient to obtain the target motor output torque;

[0027] Obtain the corresponding target change torque slopes for each torque segment control interval according to the output torque of the target motor;

[0028] Obtain the adjusted acceleration and the comprehensive torque change slope according to the target change torque slope until the adjusted acceleration and the comprehensive torque change slope are within the anti-motion sickness torque control range.

[0029] Optionally, after controlling the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the comprehensive torque change slope, and the corresponding motor output torque, it further includes:

[0030] When the current acceleration and the current comprehensive torque change slope are not within the anti-motion sickness torque control range and the set acceleration does not limit the identifier, trigger the anti-motion sickness in-vehicle light display command;

[0031] Control the in-vehicle lights to perform anti-motion sickness light display through the anti-motion sickness in-vehicle light display command.

[0032] Optionally, segmenting the acceleration and deceleration torque control stage according to the preset segmentation strategy and the target demand torque includes:

[0033] Obtain the first throttle opening difference according to the current throttle opening and the throttle opening in the previous time period;

[0034] When the first throttle opening difference is greater than the throttle opening increment change threshold, obtain the starting point of the acceleration segment;

[0035] Obtain the first torque difference according to the current motor output torque and the target demand torque;

[0036] When the first torque difference is less than the acceleration segment torque threshold, or the throttle opening reduction is greater than the throttle opening reduction change threshold, determine the end point of the acceleration segment;

[0037] Determine the acceleration segment according to the starting point of the acceleration segment and the end point of the acceleration segment.

[0038] Optionally, obtaining each torque segment control interval includes:

[0039] Obtain the starting point of the torque zero-crossing segment, the end point of the torque zero-crossing segment, and the torque increase termination point calibrated in advance;

[0040] Determine the torque increasing and decreasing segment according to the starting point of the acceleration segment and the starting point of the torque zero-crossing segment or the torque increase termination point;

[0041] Determine the torque increasing and zero-crossing segment according to the starting point of the torque zero-crossing segment and the end point of the torque zero-crossing segment or the torque increase termination point;

[0042] Determine the positive torque increasing section based on the end point of the torque zero-crossing section and the end point of torque increase termination.

[0043] Optionally, segmenting the acceleration and deceleration torque control phases according to a preset segmentation strategy and the target required torque includes:

[0044] Obtain a second throttle opening difference according to the current throttle opening and the throttle opening in the previous time period;

[0045] When the second throttle opening difference is greater than the throttle opening reduction change threshold, obtain the starting point of the deceleration section;

[0046] Obtain a second torque difference according to the current motor output torque and the target required torque;

[0047] When the second torque difference is less than the deceleration section torque threshold, or the throttle opening reduction is greater than the throttle opening increment change threshold, determine the end point of the deceleration section;

[0048] Determine the deceleration section based on the starting point and the end point of the deceleration section.

[0049] Optionally, obtaining each torque segmentation control interval includes:

[0050] Obtain the starting point of the torque zero-crossing section, the end point of the torque zero-crossing section, and the end point of torque decrease pre-calibrated in advance;

[0051] Determine the negative torque increasing section based on the starting point of the deceleration section and the starting point of the torque zero-crossing section or the end point of torque decrease;

[0052] Determine the zero-crossing section of torque decrease based on the starting point and the end point of the torque zero-crossing section or the end point of torque decrease;

[0053] Determine the negative torque section of torque decrease based on the end point of the torque zero-crossing section and the end point of torque decrease.

[0054] In addition, to achieve the above object, the present invention also provides a vehicle control device, and the vehicle control device includes:

[0055] An acquisition module, configured to determine a target required torque according to the throttle opening, the vehicle speed, and the driving mode;

[0056] A segmentation module, configured to segment the acceleration and deceleration torque control phases according to a preset segmentation strategy and the target required torque to obtain each torque segmentation control interval;

[0057] The acquisition module is further configured to determine a slope control strategy and a filtering control strategy corresponding to each torque segmentation control interval;

[0058] A control module, configured to control the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the comprehensive slope of the current torque change, and the corresponding motor output torque; the control module is further configured to, when the current acceleration and the comprehensive slope of the current torque change are within the range of the anti-motion sickness torque control, control the motor to operate according to the motor output torque.

[0059] In addition, to achieve the above object, the present invention further provides a vehicle control device, which includes: a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, and the vehicle control program is configured to implement the vehicle control method as described above.

[0060] In addition, to achieve the above object, the present invention further provides a storage medium, on which a vehicle control program is stored, and when the vehicle control program is executed by a processor, it implements the vehicle control method as described above.

[0061] The vehicle control method provided by the present invention determines the target demand torque according to the throttle opening, vehicle speed, and driving mode; segments the acceleration and deceleration torque control phases according to the preset segmentation strategy and the target demand torque to obtain each torque segmentation control interval; determines the slope control strategy and the filtering control strategy corresponding to each torque segmentation control interval; controls the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the comprehensive slope of the current torque change, and the corresponding motor output torque; when the current acceleration and the comprehensive slope of the current torque change are within the range of the anti-motion sickness torque control, control the motor to operate according to the motor output torque, so as to control the magnitude of the acceleration and deceleration torque and the torque increase rate within a specific comfort range according to different performance objectives in different acceleration and deceleration stages, achieving the purpose of improving the vehicle control smoothness. Description of the Drawings

[0062] Figure 1 It is a schematic structural diagram of a vehicle control device in the hardware operating environment related to the embodiment solution of the present invention;

[0063] Figure 2 It is a schematic flowchart of the first embodiment of the vehicle control method of the present invention;

[0064] Figure 3 It is a segmentation schematic diagram of an embodiment of the vehicle control method of the present invention;

[0065] Figure 4 It is a schematic diagram of the torque control range corresponding to the acceleration and the comprehensive slope control target in an embodiment of the vehicle control method of the present invention;

[0066] Figure 5Schematic flowchart of the second embodiment of the vehicle control method of the present invention;

[0067] Figure 6 Schematic overall flowchart of vehicle control in an embodiment of the vehicle control method of the present invention;

[0068] Figure 7 Schematic flowchart of the third embodiment of the vehicle control method of the present invention;

[0069] Figure 8 Schematic diagram of functional modules of the first embodiment of the vehicle control device of the present invention.

[0070] The implementation, functional features and advantages of the objectives of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0071] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0072] Referring to Figure 1 , Figure 1 Schematic diagram of the device structure of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0073] As Figure 1 shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a driver interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The driver interface 1003 may include a display screen (Display), an input unit such as a button, and optionally, the driver interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally also be a storage device independent of the aforementioned processor 1001.

[0074] Those skilled in the art can understand that Figure 1 the vehicle control device structure shown in

[0075] does not constitute a limitation to the vehicle control device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Figure 1 As

[0076] shown, in the memory 1005, which is a storage medium, there may be included an operating system, a network communication module, a driver interface module, and a vehicle control program. Figure 1In the vehicle control device shown, the network interface 1004 is mainly used to connect to the server and communicate with the server for data; the driver interface 1003 is mainly used to connect to the driver terminal and communicate with the terminal for data; the vehicle control device of the present invention calls the vehicle control program stored in the memory 1005 through the processor 1001 and executes the vehicle control method provided by the embodiments of the present invention.

[0077] Based on the above hardware structure, an embodiment of the vehicle control method of the present invention is proposed.

[0078] Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the vehicle control method of the present invention.

[0079] In the first embodiment, the vehicle control method includes the following steps:

[0080] Step S10, determine the target required torque according to the throttle opening, vehicle speed, and driving mode.

[0081] It should be noted that the execution subject of this embodiment is the vehicle control device, and the vehicle control device can be a vehicle or a controller on the vehicle. This embodiment does not limit this. Among them, the target required torque is the target torque during the torque adjustment process of the vehicle.

[0082] In specific implementation, the corresponding relationship between the throttle opening, vehicle speed, and driving mode and the required torque is preset in advance, and a required torque relationship table is established. When the throttle opening, vehicle speed, and driving mode are obtained, the corresponding target required torque can be obtained by looking up the required torque relationship table.

[0083] Step S20, segment the acceleration / deceleration torque control stage according to the preset segmentation strategy and the target required torque to obtain each torque segmentation control interval.

[0084] It can be understood that the preset segmentation strategy is to segment the acceleration and deceleration processes during vehicle driving. For each segment, due to different driving requirements, a corresponding torque change slope is used for torque control alone. It can be divided into an acceleration segment and a deceleration segment. The torque segmentation control intervals include the increasing torque negative torque segment, increasing torque zero-crossing segment, and increasing torque positive torque segment in the acceleration segment, and the decreasing torque positive torque segment, decreasing torque zero-crossing segment, and decreasing torque negative torque segment in the deceleration segment, as shown in Figure 3 the segmentation schematic diagram.

[0085] In this embodiment, for different torque segments, the performance requirements of the driver / passenger are different. The segmented control of torque is beneficial to the improvement of comprehensive performance. In the first segment of torque increase and negative torque, after the driver steps on the accelerator pedal, it is required that the torque can respond quickly. The process from negative torque to zero torque should be as fast as possible on the basis of balancing the motion sickness feeling, and the customer's motion sickness feeling is less perceptible in this segment. In the second segment of torque increase across zero, the vehicle is most likely to cause impact due to the engagement of the reduction gear train during the switching of positive and negative torques. Therefore, on the basis of smooth connection with the front and rear ends, the torque increase in this segment should be small enough to avoid impact and prevent the sense of incongruity of torque segment difference. In the third segment of torque increase with positive torque, the displacement of the vestibular organ caused by torque change to the driver / passenger is the largest and is most likely to cause motion sickness. Therefore, the torque increase rate in this segment should be controlled within the range of not causing motion sickness, while taking into account the driver's accelerating power demand. In the fourth segment of torque decrease with positive torque, after the driver releases the accelerator pedal, the customer no longer has the intention to accelerate, and the positive torque should quickly withdraw. If the torque decreases too slowly, it will cause an uncomfortable feeling. Therefore, the torque decrease in this segment should be as fast as possible on the basis of balancing the motion sickness feeling. In the fifth segment of torque decrease across zero, the vehicle is most likely to cause impact due to the engagement of the reduction gear train during the switching of positive and negative torques. Therefore, on the basis of smooth connection with the front and rear ends, the torque increase in this segment should be small enough to avoid impact and prevent the sense of incongruity of torque segment difference. In the sixth segment of torque decrease with negative torque, due to the unexpected vestibular displacement of the passenger caused by energy recovery, the passenger is most likely to have motion sickness. The torque control in this segment should, on the basis of meeting the economic development goal, that is, the amount of electricity recovered by energy recovery, control the torque decrease rate as small as possible to avoid motion sickness. Therefore, slope control strategies and filtering control strategies that meet the requirements are set for each torque segmented control interval.

[0086] Step S30: Determine the slope control strategy and the filtering control strategy corresponding to each torque segmented control interval.

[0087] It can be understood that the slope control strategy is that different control slopes are set for each torque segmented control interval according to driving requirements, and the filtering control strategy is to adjust the torque through different filtering coefficients on the basis of slope-controlled torque to ensure the smoothness of torque adjustment.

[0088] In this embodiment, on the basis of the original torque increase slope control, filtering control is added, and filtering control is superimposed on the fixed slope control. It can achieve the improvement of response in the torque increase and negative torque segment / the torque decrease and positive torque segment to enhance the power response, avoid the problem of automatic acceleration when releasing the accelerator pedal, and at the same time take into account the driver's acceleration and deceleration expectations in the torque increase and positive torque segment / the torque decrease and negative torque segment and the economic requirements of energy recovery.

[0089] Step S40: Control the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the comprehensive slope of the current torque change, and the corresponding motor output torque.

[0090] In this embodiment, the acceleration is calculated by the acceleration based on driver demand target torque calculation module in combination with the current throttle opening, vehicle speed, and reduction gear & tire speed ratio conversion. The output torque is obtained according to the current throttle opening, vehicle speed, and reduction gear & tire speed ratio, and the corresponding acceleration is obtained according to the output torque.

[0091] Step S50, when the current acceleration and the comprehensive slope of the current torque change are within the anti-motion sickness torque control range, control the motor to operate according to the motor output torque.

[0092] As Figure 4 shown in the schematic diagram of the torque control range corresponding to the acceleration and the comprehensive slope control target, the anti-motion sickness torque control range is preset, that is, the vehicle acceleration and deceleration torque control range. When the current acceleration and the comprehensive slope of the current torque change are obtained and it is determined that the current acceleration and the comprehensive slope of the current torque change are within the anti-motion sickness torque control range, it means that motion sickness will not be caused. Then, the motor can be controlled to operate by the motor output torque. When the current acceleration and the comprehensive slope of the current torque change are not within the anti-motion sickness torque control range, through the feedback control weighted by the comprehensive slope of the torque change, the torque change slope is strictly limited within the customer comfort / non-motion sickness range defined according to medical principles, ensuring that the occupants are always in a comfortable and non-motion sickness state regardless of how the driver accelerates or decelerates.

[0093] In one embodiment, after the step S40, it further includes:

[0094] When the current acceleration and the comprehensive slope of the current torque change are not within the anti-motion sickness torque control range and the set acceleration non-limiting flag is set, trigger the anti-motion sickness in-vehicle light display command; control the in-vehicle lights to perform anti-motion sickness light display through the anti-motion sickness in-vehicle light display command.

[0095] During the actual vehicle driving process, if the magnitude of the acceleration is restricted, it may cause a poor acceleration feeling when the driver accelerates with a large throttle. The torque control does not limit the motor torque magnitude, but when the torque breaks through the comfort zone range and is judged and triggered by the motion sickness torque condition judgment module, it interacts with the body control module through the CAN message to trigger the anti-motion sickness in-vehicle light feedback display to relieve the passengers' motion sickness feeling. Therefore, through the motion sickness torque condition judgment module, while taking into account the driver's operation limit of large throttle power performance, the anti-motion sickness in-vehicle light feedback display is triggered to relieve the passengers' motion sickness feeling in this extreme situation.

[0096] In this embodiment, the target required torque is determined according to the throttle opening, vehicle speed, and driving mode; the acceleration and deceleration torque control stage is segmented according to a preset segmentation strategy and the target required torque to obtain each torque segmentation control interval; the slope control strategy and filtering control strategy corresponding to each torque segmentation control interval are determined; the torque is controlled according to the slope control strategy and filtering control strategy to obtain the current acceleration, the comprehensive slope of the current torque change, and the corresponding motor output torque; when the current acceleration and the comprehensive slope of the current torque change are within the anti-motion sickness torque control range, the motor is controlled to operate according to the motor output torque, so that the torque magnitude and torque increase rate during acceleration and deceleration are controlled within a specific comfort range according to different performance objectives in different acceleration and deceleration stages, achieving the purpose of improving the vehicle control smoothness.

[0097] Referring to Figure 5 , Figure 5 FIG. is a schematic flowchart of the second embodiment of the vehicle control method of the present invention. Based on the first embodiment, the second embodiment of the present invention is proposed. In the second embodiment, after the step S40, the following steps are further included:

[0098] Step S60, when the current acceleration and the comprehensive slope of the current torque change are not within the anti-motion sickness torque control range, obtain the target comprehensive slope of the torque change and the target acceleration within the anti-motion sickness torque control range.

[0099] In this embodiment, when the current acceleration and the comprehensive slope of the current torque change are not within the anti-motion sickness torque control range, it indicates that motion sickness is likely to occur in the current situation. Therefore, through the setting of the comfortable driving control target and feedback control, the absolute torque control range of comfort without motion sickness is located, and feedback adjustment is performed through the control of the slope until the adjusted acceleration and the comprehensive slope of the torque change are within the anti-motion sickness torque control range.

[0100] Step S70, determine the target filter coefficient according to the target comprehensive slope of the torque change and the target acceleration.

[0101] It should be noted that during the feedback control, adjustments are made according to the target comprehensive slope of the torque change and the target acceleration within the anti-motion sickness torque control range. When the target comprehensive slope of the torque change and the target acceleration are obtained, the filter coefficient is determined according to the target comprehensive slope of the torque change and the target acceleration, the torque is adjusted according to the filter coefficient to obtain a new torque control slope, and a new comprehensive slope of the torque change is obtained according to the new torque control slope until the adjusted acceleration and the comprehensive slope of the torque change are within the anti-motion sickness torque control range, thereby realizing the feedback control of the torque, controlling the increase and decrease rate of the torque, and avoiding the feeling of motion sickness.

[0102] Step S80: Perform feedback adjustment according to the target filtering coefficient until the combined slope of the adjusted acceleration and torque change is within the range of motion sickness prevention torque control.

[0103] In this embodiment, by setting the comfortable driving control target and feedback control, the absolute torque control range for comfort without motion sickness is positioned, achieving the performance effect of passengers not suffering from motion sickness.

[0104] In one embodiment, the controlling the torque according to the slope control strategy and the filtering control strategy to obtain the corresponding motor output torque includes:

[0105] Determine the initial torque change slope corresponding to each torque segmented control interval according to the slope control strategy, where each torque segmented control interval includes a non-zero crossing segment and a zero crossing segment;

[0106] When the torque segmented control interval is in the non-zero crossing segment, calculate the current motor output torque of the non-zero crossing segment according to the initial change torque slope; determine the initial filtering coefficient of the non-zero crossing segment according to the filtering control strategy corresponding to the non-zero crossing segment; determine the motor output torque of the non-zero crossing segment according to the initial filtering coefficient of the non-zero crossing segment, the current torque of the non-zero crossing segment, and the current motor output torque of the non-zero crossing segment.

[0107] It can be understood that different control slopes and filtering coefficients are adopted for each torque segmented control interval. In the non-zero crossing segment, torque adjustment is performed through the initial change torque slope and filtering control is superimposed to achieve refined segmented smooth control of torque. For example, when the initial change torque slope is limited to 10 Nm / s and the target torque is 100 Nm, if the current torque is 10 Nm, the output in the next cycle is 20 Nm; if the current torque is 80 Nm, the output in the next cycle is 90 Nm. However, due to the addition of filtering control, when the filtering coefficient is 0.1, when the current torque is 10 Nm, the increment of the torque in the next cycle is (100 - 10) * 0.1 = 9 Nm, so the output torque in the next cycle is 19 Nm; when the current torque is 80 Nm, the increment of the torque in the next cycle is (100 - 80) * 0.1 = 2 Nm, so the output torque in the next cycle is 82 Nm. Compared with the output torque limited by a constant 10 Nm change only through the torque slope initially, the torque control after filtering is smoother, and refined segmented control with the torque change rate being fast first and then slow as the actual torque approaches the target torque can be achieved according to the adjustment of the filtering coefficient.

[0108] When the torque segmented control interval is in the zero-crossing section, determine the initial filtering coefficient for the zero-crossing section according to the filtering control strategy corresponding to the zero-crossing section; adjust the initial filtering coefficient for the zero-crossing section according to the motor output torque in the non-zero-crossing section and the motor output torque in the current zero-crossing section to obtain the target filtering coefficient for the zero-crossing section; determine the motor output torque in the zero-crossing section according to the target filtering coefficient for the zero-crossing section, the torque in the current zero-crossing section, and the motor output torque in the current zero-crossing section.

[0109] In this embodiment, when the torque segmented control interval is in the zero-crossing section, combining slope control and torque filtering to achieve independent control of the zero-crossing section. However, considering the transition from the non-zero section to the zero section, torque filtering is performed to slow down the torque change slope.

[0110] Through the torque slope control module, limit the torque change slope during the entire torque change process; then, on the basis of slope control, through torque non-zero-crossing section filtering, achieve the torque slope difference control for the non-zero-crossing sections of ①-③ and ④-⑥ above. According to the principle of filtering control, since the difference between the torque in the ① and ④ torque sections and the target torque is large, the torque increase rate is faster than that in the ② and ⑥ sections. The larger the filtering coefficient, the greater the difference in the increase rate. Combining slope control can achieve the segmented control with the above segmented meaning / target. For the ② and ④ zero-crossing sections, separately identify the torque zero-crossing regions prone to gear clash impact through torque zero-crossing section filtering, and then perform torque filtering in this region to slow down the torque change slope, thereby achieving torque control independent of the ① / ④ and ② / ⑥ sections.

[0111] Through non-zero-crossing section and zero-crossing section filtering, and slope control, achieve the segmentation of acceleration and deceleration, and separately control different stages according to different performance goals to achieve the performance balance and maximize the benefits of acceleration and deceleration response, acceleration and deceleration impact, power performance, economy, and comfort.

[0112] In one embodiment, control the torque according to the slope control strategy and the filtering control strategy to obtain the current comprehensive torque change slope, including:

[0113] Obtain the weighting coefficients corresponding to each torque segmented control interval; obtain the current comprehensive torque change slope according to the initial torque change slope and the weighting coefficients.

[0114] In this embodiment, the comprehensive torque change slope K is weighted: in the acceleration section, K = K1*i + K2*o + K3*q; in the deceleration section, K = K4*u + K5*t + K6*r; K1, K2, K3, K4, K5, and K6 are the torque change slopes of the ①-⑥ torque sections respectively, and i, o, q, u, t, and r are the weighting coefficients for the discomfort of motion sickness for each segment. The acceleration magnitude is calculated based on the driver demand target torque calculation module, combined with the current throttle opening, vehicle speed, and reduction gear & tire speed ratio conversion.

[0115] The comprehensive slope K of the final torque change and the acceleration G need to be controlled within Figure 4 the motion sickness prevention range shown, and at the same time, the K1 control takes into account the acceleration response target, the K2 control takes into account the acceleration smoothness target, the K3 control takes into account the deceleration acceleration force target, the K4 control takes into account the automatic acceleration control target, the K5 control takes into account the deceleration smoothness target, and the K6 control takes into account the energy recovery economy target.

[0116] In one embodiment, the feedback adjustment according to the target filtering coefficient until the adjusted acceleration and the comprehensive slope of the torque change are within the motion sickness prevention torque control range includes:

[0117] Adjust the initial filtering coefficient according to the target filtering coefficient to obtain the target motor output torque; obtain the corresponding target change torque slope for each torque segment control interval according to the target motor output torque; obtain the adjusted acceleration and the comprehensive slope of the torque change according to the target change torque slope until the adjusted acceleration and the comprehensive slope of the torque change are within the motion sickness prevention torque control range.

[0118] As Figure 6 shown in the schematic diagram of the overall vehicle control process, first determine the driver demand torque target calculation according to the throttle opening, vehicle speed and driving mode, then perform torque change slope limitation, torque zero-crossing section filtering, and torque non-zero-crossing section filtering to obtain the motor torque execution target, and perform motor torque execution according to the motor torque execution target. When there is a motion sickness torque condition limit, perform a motion sickness torque condition judgment and perform a motion sickness prevention light display.

[0119] In this embodiment, when performing feedback adjustment, through the feedback control weighted by the comprehensive slope of the torque change, the torque change slope is strictly limited within the customer comfort / motion sickness prevention range defined according to medical principles, ensuring that the occupants are always in a comfortable and motion sickness-free state regardless of how the driver accelerates or decelerates.

[0120] Referring to Figure 7 , Figure 7 is the schematic diagram of the process of the third embodiment of the vehicle control method of the present invention. Based on the first embodiment, the third embodiment of the present invention is proposed. In the third embodiment, the step S20 includes:

[0121] Step S201, obtain the first opening difference according to the current throttle opening and the throttle opening in the previous time period.

[0122] In this embodiment, when defining the acceleration section, first start timing from the throttle opening increment, that is, the first opening difference, and end when the torque increase terminates, where the throttle opening increment is the current throttle opening - the throttle opening in the previous time period, and start timing when the current throttle opening - the throttle opening in the previous time period > A + a.

[0123] In step S202, when the first opening difference is greater than the throttle opening increment change threshold, the starting point of the acceleration section is obtained.

[0124] The throttle opening increment change threshold is A + a, where A represents the judgment threshold for triggering the change of the throttle opening increment; a represents the control margin to prevent the frequent triggering of the throttle opening change condition, B represents the judgment threshold for the actual motor torque output in the acceleration section to reach the throttle coefficient target, C represents the judgment threshold for triggering the reduction of the throttle opening; D represents the judgment threshold for the actual motor torque output in the deceleration section to reach the throttle coefficient target.

[0125] In step S203, according to the current motor output torque and the target demand torque, the first torque difference is obtained.

[0126] In step S204, when the first torque difference is less than the torque threshold in the acceleration section, or the throttle opening reduction is greater than the throttle opening reduction change threshold, the end point of the acceleration section is determined.

[0127] The torque increase termination condition is triggered by one of the following conditions: 1. The current motor output torque - the torque target corresponding to the current throttle coefficient, that is, the target demand torque < B; 2. The throttle opening reduction > C + a, where the throttle opening reduction is the throttle opening in the previous time period - the current throttle opening.

[0128] In step S205, the acceleration section is determined according to the starting point and the end point of the acceleration section.

[0129] In an embodiment, obtaining each torque segmented control interval includes:

[0130] Obtain the starting point of the torque zero-crossing section, the end point of the torque zero-crossing section, and the torque increase termination point calibrated in advance; according to the starting point of the acceleration section and the starting point of the torque zero-crossing section or the torque increase termination point, determine the torque increase and negative torque section; according to the starting point of the torque zero-crossing section and the end point of the torque zero-crossing section or the torque increase termination point, determine the torque increase and zero-crossing section; according to the end point of the torque zero-crossing section and the torque increase termination point, determine the torque increase and positive torque section.

[0131] When performing the segmentation of the acceleration section, continue as Figure 3 shown: ① Torque increase and negative torque section: Start timing from the throttle opening increment (current throttle opening - throttle opening in the previous time period) > A + a, and end at the starting point of the torque zero-crossing section defined by the calibrated parameters of the torque zero-crossing filter control module or when the torque increase terminates. ② Torque increase and zero-crossing section: Start timing from the starting point of the torque zero-crossing section defined by the calibrated parameters of the torque zero-crossing filter control module, and end at the end point of the torque zero-crossing section or when the torque increase terminates. ③ Torque increase and positive torque section: Start from the end point of the torque zero-crossing section defined by the calibrated parameters of the torque zero-crossing filter control module, and end when the torque increase terminates.

[0132] In one embodiment, step S20 includes:

[0133] Obtain a second opening difference based on the current throttle opening and the throttle opening in the previous time period; when the second opening difference is greater than the throttle opening reduction change threshold, obtain the starting point of the deceleration section; obtain a second torque difference based on the current motor output torque and the target required torque; when the second torque difference is less than the deceleration section torque threshold, or the throttle opening reduction is greater than the throttle opening increment change threshold, determine the end point of the deceleration section; determine the deceleration section based on the starting point and the end point of the deceleration section.

[0134] In this embodiment, when defining the deceleration section, timing starts from the throttle opening reduction, i.e., the second opening difference, and ends when the torque drop terminates. Here, the throttle opening reduction is the previous time period throttle opening - the current throttle opening. Timing starts when the previous time period throttle opening - the current throttle opening > C + a and ends when the torque drop terminates. The torque drop termination condition is triggered by one of the following conditions: 1. The torque target corresponding to the current throttle coefficient - the current motor output torque < D; 2. The throttle opening increment (the current throttle opening - the previous time period throttle opening) > A + a.

[0135] In one embodiment, obtaining each torque segmented control interval includes:

[0136] Obtain the starting point of the torque zero-crossing section, the ending point of the torque zero-crossing section, and the torque drop termination point calibrated in advance; determine the torque reduction positive torque section based on the starting point of the deceleration section and the starting point of the torque zero-crossing section or the torque drop termination point; determine the torque reduction zero-crossing section based on the starting point and the ending point of the torque zero-crossing section or the torque drop termination point; determine the torque reduction negative torque section based on the ending point of the torque zero-crossing section and the torque drop termination point.

[0137] When performing deceleration section segmentation, continue as Figure 3 shown: ④ Torque reduction positive torque section: Timing starts when the throttle opening reduction (the previous time period throttle opening - the current throttle opening) > C + a and ends at the starting point of the torque zero-crossing section defined by the calibrated parameters of the torque zero-crossing filter control module or when the torque drop terminates. ⑤ Torque reduction zero-crossing section: Timing starts at the starting point of the torque zero-crossing section defined by the calibrated parameters of the torque zero-crossing filter control module and ends at the ending point of the torque zero-crossing section or when the torque drop terminates. ⑥ Torque reduction negative torque section: Starts from the ending point of the torque zero-crossing section defined by the calibrated parameters of the torque zero-crossing filter control module and ends when the torque drop terminates.

[0138] In this embodiment, through the definition of the acceleration and deceleration segments, the acceleration and deceleration are segmented, and different segments are controlled separately according to different performance goals to achieve acceleration and deceleration response, acceleration and deceleration shock, power performance, economy, and comfort performance balance and maximize benefits, thereby realizing the refined control of the vehicle.

[0139] The present invention further provides a vehicle control device.

[0140] Refer to Figure 8 , Figure 8 which is a schematic diagram of the functional modules of the first embodiment of the vehicle control device of the present invention.

[0141] In the first embodiment of the vehicle control device of the present invention, the vehicle control device includes:

[0142] An acquisition module 10, configured to determine a target demand torque according to the throttle opening, vehicle speed, and driving mode.

[0143] A segmentation module 20, configured to segment the acceleration and deceleration torque control phases according to a preset segmentation strategy and the target demand torque to obtain respective torque segmentation control intervals.

[0144] The acquisition module 10 is further configured to determine a slope control strategy and a filtering control strategy corresponding to each of the torque segmentation control intervals.

[0145] A control module 30, configured to control the torque according to the slope control strategy and the filtering control strategy to obtain a current acceleration, a comprehensive slope of the current torque change, and a corresponding motor output torque.

[0146] The control module 30 is further configured to, when the current acceleration and the comprehensive slope of the current torque change are within the anti-motion sickness torque control range, control the motor to operate according to the motor output torque. In this embodiment, by determining the target demand torque according to the throttle opening, vehicle speed, and driving mode; segmenting the acceleration and deceleration torque control phases according to the preset segmentation strategy and the target demand torque to obtain respective torque segmentation control intervals; determining the slope control strategy and the filtering control strategy corresponding to each of the torque segmentation control intervals; controlling the torque according to the slope control strategy and the filtering control strategy to obtain a current acceleration, a comprehensive slope of the current torque change, and a corresponding motor output torque; and when the current acceleration and the comprehensive slope of the current torque change are within the anti-motion sickness torque control range, controlling the motor to operate according to the motor output torque, the magnitude of the acceleration and deceleration torque and the torque increase rate are controlled within a specific comfort range according to different performance goals in different acceleration and deceleration stages, so as to achieve the purpose of improving the vehicle control smoothness.

[0147] Optionally, the control module 30 is further configured to obtain a target torque change comprehensive slope and a target acceleration within the motion sickness prevention torque control range when the current acceleration and the current torque change comprehensive slope are not within the motion sickness prevention torque control range;

[0148] Determine a target filter coefficient according to the target torque change comprehensive slope and the target acceleration;

[0149] Perform feedback adjustment according to the target filter coefficient until the adjusted acceleration and torque change comprehensive slope are within the motion sickness prevention torque control range.

[0150] Optionally, the control module 30 is further configured to determine an initial torque change slope corresponding to each torque segmented control interval according to the slope control strategy, where each torque segmented control interval includes a non-zero crossing segment and a zero crossing segment;

[0151] When the torque segmented control interval is in the non-zero crossing segment, calculate the current motor output torque of the non-zero crossing segment according to the initial change torque slope;

[0152] Determine an initial filter coefficient for the non-zero crossing segment according to the filter control strategy corresponding to the non-zero crossing segment;

[0153] Determine the motor output torque of the non-zero crossing segment according to the initial filter coefficient of the non-zero crossing segment, the current torque of the non-zero crossing segment, and the current motor output torque of the non-zero crossing segment;

[0154] When the torque segmented control interval is in the zero crossing segment, determine an initial filter coefficient for the zero crossing segment according to the filter control strategy corresponding to the zero crossing segment;

[0155] Adjust the initial filter coefficient of the zero crossing segment according to the motor output torque of the non-zero crossing segment and the current motor output torque of the zero crossing segment to obtain a target filter coefficient for the zero crossing segment;

[0156] Determine the motor output torque of the zero crossing segment according to the target filter coefficient of the zero crossing segment, the current torque of the zero crossing segment, and the current motor output torque of the zero crossing segment.

[0157] Optionally, the control module 30 is further configured to obtain a weighting coefficient corresponding to each torque segmented control interval;

[0158] Obtain the current torque change comprehensive slope according to the initial torque change slope and the weighting coefficient.

[0159] Optionally, the control module 30 is further configured to adjust the initial filter coefficient according to the target filter coefficient to obtain a target motor output torque;

[0160] Obtain a target change torque slope corresponding to each torque segmented control interval according to the target motor output torque;

[0161] Based on the target change torque slope, an adjusted acceleration and a comprehensive torque change slope are obtained until the adjusted acceleration and the comprehensive torque change slope are within the anti-motion sickness torque control range.

[0162] Optionally, the control module 30 is further configured to trigger an anti-motion sickness in-vehicle light display instruction when the current acceleration and the current comprehensive torque change slope are not within the anti-motion sickness torque control range and the set acceleration does not limit the identifier;

[0163] Control the in-vehicle lights to perform anti-motion sickness light display through the anti-motion sickness in-vehicle light display instruction.

[0164] Optionally, the segmentation module 20 is further configured to obtain a first opening difference according to the current throttle opening and the throttle opening in the previous time period;

[0165] When the first opening difference is greater than the throttle opening increment change threshold, obtain the starting point of the acceleration section;

[0166] Obtain a first torque difference according to the current motor output torque and the target required torque;

[0167] When the first torque difference is less than the acceleration section torque threshold, or the throttle opening reduction is greater than the throttle opening reduction change threshold, determine the end point of the acceleration section;

[0168] Determine the acceleration section according to the starting point of the acceleration section and the end point of the acceleration section.

[0169] Optionally, the segmentation module 20 is further configured to obtain the starting point of the torque zero-crossing section, the end point of the torque zero-crossing section, and the torque increase termination point that are pre-calibrated;

[0170] Determine the torque increase and negative torque section according to the starting point of the acceleration section and the starting point of the torque zero-crossing section or the torque increase termination point;

[0171] Determine the torque increase zero-crossing section according to the starting point of the torque zero-crossing section and the end point of the torque zero-crossing section or the torque increase termination point;

[0172] Determine the torque increase positive torque section according to the end point of the torque zero-crossing section and the torque increase termination point.

[0173] Optionally, the segmentation module 20 is further configured to obtain a second opening difference according to the current throttle opening and the throttle opening in the previous time period;

[0174] When the second opening difference is greater than the throttle opening reduction change threshold, obtain the starting point of the deceleration section;

[0175] Obtain a second torque difference according to the current motor output torque and the target required torque;

[0176] When the second torque difference is less than the torque threshold in the deceleration section, or the throttle opening reduction is greater than the throttle opening increment change threshold, determine the end point of the deceleration section;

[0177] Determine the deceleration section according to the start point and the end point of the deceleration section.

[0178] Optionally, the segmentation module 20 is further configured to obtain the start point of the torque zero-crossing section, the end point of the torque zero-crossing section, and the torque reduction termination point pre-calibrated;

[0179] Determine the torque reduction and positive torque section according to the start point of the deceleration section and the start point of the torque zero-crossing section or the torque reduction termination point;

[0180] Determine the torque reduction and zero-crossing section according to the start point of the torque zero-crossing section and the end point of the torque zero-crossing section or the torque reduction termination point;

[0181] Determine the torque reduction and negative torque section according to the end point of the torque zero-crossing section and the torque reduction termination point.

[0182] In addition, to achieve the above object, the present invention further provides a vehicle control device, the vehicle control device includes: a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, the vehicle control program is configured to implement the vehicle control method as described above.

[0183] Since this vehicle control device adopts all the technical solutions of the above all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated here one by one.

[0184] In addition, an embodiment of the present invention further provides a storage medium, on which a vehicle control program is stored, and when the vehicle control program is executed by a processor, it implements the vehicle control method as described above.

[0185] Since this storage medium adopts all the technical solutions of the above all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated here one by one.

[0186] It should be noted that in this article, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to this process, method, article or system. Without more limitations, the element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or system including the element.

[0187] The serial numbers of the embodiments of the present invention above are only for description and do not represent the superiority or inferiority of the embodiments.

[0188] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable an intelligent terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0189] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Determining a target demand torque according to the throttle opening, vehicle speed, and driving mode; Segmenting the acceleration and deceleration torque control phases according to a preset segmentation strategy and the target demand torque to obtain respective torque segmentation control intervals; Determining a slope control strategy and a filtering control strategy corresponding to each of the torque segmentation control intervals; Controlling the torque according to the slope control strategy and the filtering control strategy to obtain a current acceleration, a comprehensive slope of current torque change, and a corresponding motor output torque; When the current acceleration and the comprehensive slope of current torque change are within the anti-motion sickness torque control range, controlling the motor to operate according to the motor output torque; Controlling the torque according to the slope control strategy and the filtering control strategy to obtain a corresponding motor output torque, including: Determining an initial torque change slope corresponding to each of the torque segmentation control intervals according to the slope control strategy, where each of the torque segmentation control intervals includes a non-zero-crossing segment and a zero-crossing segment; When the torque segmentation control interval is in the non-zero-crossing segment, calculating the motor output torque of the current non-zero-crossing segment according to the initial torque change slope; Determining an initial filtering coefficient for the non-zero-crossing segment according to the filtering control strategy corresponding to the non-zero-crossing segment; Determining the motor output torque of the non-zero-crossing segment according to the initial filtering coefficient of the non-zero-crossing segment, the current torque of the non-zero-crossing segment, and the motor output torque of the current non-zero-crossing segment; When the torque segmentation control interval is in the zero-crossing segment, determining an initial filtering coefficient for the zero-crossing segment according to the filtering control strategy corresponding to the zero-crossing segment; Adjusting the initial filtering coefficient of the zero-crossing segment according to the motor output torque of the non-zero-crossing segment and the motor output torque of the current zero-crossing segment to obtain a target filtering coefficient for the zero-crossing segment; Determining the motor output torque of the zero-crossing segment according to the target filtering coefficient for the zero-crossing segment, the current torque of the zero-crossing segment, and the motor output torque of the current zero-crossing segment.

2. The vehicle control method according to claim 1, characterized in that, After controlling the torque according to the slope control strategy and the filtering control strategy to obtain a current acceleration, a comprehensive slope of torque change, and a corresponding motor output torque, it further includes: When the current acceleration and the comprehensive slope of current torque change are not within the anti-motion sickness torque control range, obtaining a target comprehensive slope of torque change and a target acceleration within the anti-motion sickness torque control range; Determining a target filtering coefficient according to the target comprehensive slope of torque change and the target acceleration; Performing feedback adjustment according to the target filtering coefficient until the adjusted acceleration and the comprehensive slope of torque change are within the anti-motion sickness torque control range.

3. The vehicle control method according to claim 1, characterized in that, Controlling the torque according to the slope control strategy and the filtering control strategy to obtain a current comprehensive slope of torque change, including: Obtaining a weighting coefficient corresponding to each of the torque segmentation control intervals; Obtaining a current comprehensive slope of torque change according to the initial torque change slope and the weighting coefficient.

4. The vehicle control method according to claim 2, wherein The performing feedback adjustment according to the target filtering coefficient until the adjusted acceleration and the comprehensive slope of torque change are within the anti-motion sickness torque control range includes: Adjusting the initial filtering coefficient according to the target filtering coefficient to obtain a target motor output torque; Obtain the corresponding target variable torque slopes for each torque segmented control interval according to the output torque of the target motor; Obtain the adjusted acceleration and the comprehensive torque change slope according to the target variable torque slope until the adjusted acceleration and the comprehensive torque change slope are within the anti-motion sickness torque control range.

5. The vehicle control method according to claim 1, characterized in that, After controlling the torque according to the slope control strategy and the filtering control strategy to obtain the current acceleration, the comprehensive torque change slope, and the corresponding motor output torque, it further includes: When the current acceleration and the current comprehensive torque change slope are not within the anti-motion sickness torque control range and the set acceleration non-restriction flag is set, trigger the anti-motion sickness in-vehicle light display command; Control the in-vehicle lights to perform anti-motion sickness light display through the anti-motion sickness in-vehicle light display command.

6. The vehicle control method according to any one of claims 1 to 5, characterized in that, Segmenting the acceleration and deceleration torque control stages according to the preset segmentation strategy and the target demand torque includes: Obtain the first throttle opening difference according to the current throttle opening and the throttle opening in the previous time period; When the first throttle opening difference is greater than the throttle opening increment change threshold, obtain the starting point of the acceleration section; Obtain the first torque difference according to the current motor output torque and the target demand torque; When the first torque difference is less than the acceleration section torque threshold, or the throttle opening reduction is greater than the throttle opening reduction change threshold, determine the end point of the acceleration section; Determine the acceleration section according to the starting point of the acceleration section and the end point of the acceleration section.

7. The vehicle control method according to claim 6, characterized in that, Obtaining each torque segmented control interval includes: Obtain the starting point of the torque zero-crossing section, the end point of the torque zero-crossing section, and the torque increase termination point calibrated in advance; Determine the torque increase and negative torque section according to the starting point of the acceleration section and the starting point of the torque zero-crossing section or the torque increase termination point; Determine the torque increase and zero-crossing section according to the starting point of the torque zero-crossing section and the end point of the torque zero-crossing section or the torque increase termination point; Determine the torque increase and positive torque section according to the end point of the torque zero-crossing section and the torque increase termination point.

8. The vehicle control method according to any one of claims 1 to 5, characterized in that Segmenting the acceleration and deceleration torque control stages according to the preset segmentation strategy and the target demand torque includes: Obtain the second throttle opening difference according to the current throttle opening and the throttle opening in the previous time period; When the second throttle opening difference is greater than the throttle opening reduction change threshold, obtain the starting point of the deceleration section; Obtain the second torque difference according to the current motor output torque and the target demand torque; When the second torque difference is less than the deceleration section torque threshold, or the throttle opening reduction is greater than the throttle opening increment change threshold, determine the end point of the deceleration section; Determine the deceleration section according to the starting point of the deceleration section and the end point of the deceleration section.

9. The vehicle control method according to claim 8, wherein Obtaining each torque segmented control interval includes: Obtain the starting point of the torque zero-crossing section, the end point of the torque zero-crossing section, and the torque decrease termination point calibrated in advance; Determine the torque decrease and positive torque section according to the starting point of the deceleration section and the starting point of the torque zero-crossing section or the torque decrease termination point; Determine the torque decrease and zero-crossing section according to the starting point of the torque zero-crossing section and the end point of the torque zero-crossing section or the torque decrease termination point; Determine the torque decrease and negative torque section according to the end point of the torque zero-crossing section and the torque decrease termination point.

10. A vehicle control device, characterized in that, The vehicle control device includes: An acquisition module for determining the target demand torque according to the throttle opening, vehicle speed, and driving mode; A segmentation module, configured to segment the acceleration and deceleration torque control phase according to a preset segmentation strategy and a target required torque, so as to obtain each torque segmentation control interval; The obtaining module is further configured to determine a slope control strategy and a filtering control strategy corresponding to each torque segmentation control interval; A control module, configured to control the torque according to the slope control strategy and the filtering control strategy, so as to obtain a current acceleration, a comprehensive slope of current torque change, and a corresponding motor output torque; The control module is further configured to, when the current acceleration and the comprehensive slope of current torque change are within the range of anti-motion sickness torque control, control the motor to operate according to the motor output torque; The control module is further configured to determine an initial torque change slope corresponding to each torque segmentation control interval according to the slope control strategy, where each torque segmentation control interval includes a non-zero-crossing segment and a zero-crossing segment; when the torque segmentation control interval is in the non-zero-crossing segment, calculate the motor output torque of the current non-zero-crossing segment according to the initial torque change slope; determine an initial filtering coefficient of the non-zero-crossing segment according to the filtering control strategy corresponding to the non-zero-crossing segment; determine the motor output torque of the non-zero-crossing segment according to the initial filtering coefficient of the non-zero-crossing segment, the current torque of the non-zero-crossing segment, and the motor output torque of the current non-zero-crossing segment; when the torque segmentation control interval is in the zero-crossing segment, determine an initial filtering coefficient of the zero-crossing segment according to the filtering control strategy corresponding to the zero-crossing segment; adjust the initial filtering coefficient of the zero-crossing segment according to the motor output torque of the non-zero-crossing segment and the motor output torque of the current zero-crossing segment to obtain a target filtering coefficient of the zero-crossing segment; determine the motor output torque of the zero-crossing segment according to the target filtering coefficient of the zero-crossing segment, the current torque of the zero-crossing segment, and the motor output torque of the current zero-crossing segment.

11. A vehicle control device, characterized in that, The vehicle control device includes: a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, where the vehicle control program is configured to implement the vehicle control method according to any one of claims 1 to 9.

12. A storage medium, characterized in that, A vehicle control program is stored on the storage medium, and when the vehicle control program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 9.

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