Vehicle control method, controller and vehicle

Abstract

The present disclosure relates to a vehicle control method, a controller and a vehicle, wherein the vehicle comprises a controller, a clutch pedal, a multi-speed gearbox and a motor respectively connected to the controller; the clutch pedal is used to trigger a clutch signal according to the pedaling depth; the motor is used to drive the vehicle to travel; the controller is used to obtain the current driving mode of the vehicle, and the driving mode includes an automatic gear driving mode and a manual gear driving mode; when the current driving mode is a manual gear driving mode, the clutch signal corresponding to the clutch pedal is obtained, and the vehicle operation is controlled according to the clutch signal, the vehicle's throttle signal, the motor speed and the current gear position of the multi-speed gearbox; when the current driving mode is an automatic gear driving mode, the vehicle operation is controlled according to the vehicle's current gear position, the motor speed and the vehicle's throttle signal. In this way, the driver can flexibly switch between the automatic gear driving mode and the manual gear driving mode, thereby increasing the utilization rate of the vehicle.

Description

Technical Field

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

[0002] At present, in order to meet the driving needs of different groups of people, driver's licenses are divided into C1 and C2. C1 driver's license is for manual transmission driving, and C2 is for automatic transmission driving. When driving training is conducted in a driving school, students who need to obtain a C1 driver's license use manual transmission vehicles for training, and students who need to obtain a C2 driver's license use automatic transmission vehicles for practice. Driving schools need to provide corresponding driving training vehicles according to the needs of students.

[0003] However, due to the high mobility of students training at driving training venues every day, driving schools can only purchase corresponding driving training vehicles based on early market forecasts, which may cause some driving training vehicles to be idle, reducing vehicle utilization. Summary of the invention

[0004] In order to solve the above problems, the present disclosure provides a vehicle control method, a controller and a vehicle.

[0005] In a first aspect, the present disclosure provides a vehicle, comprising a controller, a clutch pedal, a multi-speed transmission and a motor respectively connected to the controller; the clutch pedal is used to trigger a clutch signal according to a pedaling depth; the motor is used to drive the vehicle to travel; the controller is used to obtain a current driving mode of the vehicle, the driving mode including an automatic driving mode and a manual driving mode; when the current driving mode is the manual driving mode, the clutch signal corresponding to the clutch pedal is obtained, and the operation of the vehicle is controlled according to the clutch signal, the vehicle's throttle signal, the motor speed and the current gear position of the multi-speed transmission; when the current driving mode is the automatic driving mode, the operation of the vehicle is controlled according to the current gear position of the vehicle, the motor speed and the throttle signal of the vehicle.

[0006] Optionally, the controller is used to control the vehicle to shake and shut down if it is determined that the motor speed is less than or equal to a preset speed threshold within a preset time period when the current gear is a preset target gear and the clutch signal of the vehicle is in a semi-clutch state. The preset target gear includes any gear other than neutral.

[0007] Optionally, the controller is used to determine the target torque corresponding to the vehicle according to the throttle signal, the current gear and the motor speed when the current gear is a preset target gear and the clutch signal is in a fully-linked state, and control the motor to drive the vehicle according to the target torque.

[0008] Optionally, the controller is also used to determine a target torque association relationship from a plurality of preset torque association relationships based on the throttle signal, and determine the target torque based on the current gear and the motor speed through the target torque association relationship, wherein the torque association relationship includes a correspondence between the current gear, the motor speed, and the target torque.

[0009] Optionally, the vehicle further includes a clutch pedal switch, wherein the clutch pedal switch is configured to detect a pedaling depth of the clutch pedal and generate the clutch signal according to the pedaling depth.

[0010] Optionally, the vehicle further includes a gear display connected to the controller, and the controller is further used to control the gear display to display the gear corresponding to the current driving mode.

[0011] In a second aspect, the present disclosure provides a vehicle control method, which is applied to a controller of a vehicle, wherein the vehicle includes the controller, a clutch pedal, a multi-speed transmission and a motor respectively connected to the controller; the method includes: obtaining a current driving mode of the vehicle, wherein the driving mode includes an automatic transmission driving mode and a manual transmission driving mode; when the current driving mode is the manual transmission driving mode, obtaining a clutch signal corresponding to the clutch pedal, and controlling the operation of the vehicle according to the clutch signal, the vehicle's throttle signal, the motor speed and the current gear position of the multi-speed transmission; when the current driving mode is the automatic transmission driving mode, controlling the operation of the vehicle according to the current gear position of the vehicle, the motor speed and the throttle signal of the vehicle.

[0012] Optionally, controlling the operation of the vehicle according to the clutch signal, the vehicle's throttle signal, the motor speed and the current gear of the multi-speed transmission includes: when the current gear is a preset target gear and the vehicle's clutch signal is in a semi-clutch state, if it is determined that the motor speed is less than or equal to a preset speed threshold within a preset time period, controlling the vehicle to shake and shut down, and the preset target gear includes any gear other than neutral.

[0013] Optionally, controlling the operation of the vehicle according to the clutch signal, the throttle signal of the vehicle, the motor speed and the current gear of the multi-speed transmission includes: when the current gear is a preset target gear and the clutch signal is in a fully-linked state, determining a target torque corresponding to the vehicle according to the throttle signal, the current gear and the motor speed; and controlling the motor to drive the vehicle according to the target torque.

[0014] Optionally, determining the target torque corresponding to the vehicle based on the throttle signal, the current gear and the motor speed includes: determining a target torque association relationship from a plurality of preset torque association relationships based on the throttle signal; determining the target torque based on the current gear and the motor speed through the target torque association relationship, the torque association relationship including the correspondence between the current gear, the motor speed and the target torque.

[0015] Optionally, the vehicle further includes a clutch pedal switch, and obtaining a clutch signal corresponding to the clutch pedal includes: detecting a pedaling depth of the clutch pedal by means of the clutch pedal switch; and generating the clutch signal according to the pedaling depth.

[0016] Optionally, the vehicle further includes a gear position display connected to the controller; the method further includes: controlling the gear position display to display the gear position corresponding to the current driving mode.

[0017] In a third aspect, the present disclosure provides a controller, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the steps of the method described in the second aspect of the present disclosure.

[0018] Through the above technical scheme, the present disclosure provides a vehicle control method, a controller and a vehicle, wherein the vehicle includes a controller, a clutch pedal, a multi-speed gearbox and a motor respectively connected to the controller; the clutch pedal is used to trigger a clutch signal according to the pedaling depth; the motor is used to drive the vehicle to travel; the controller is used to obtain the current driving mode of the vehicle, and the driving mode includes an automatic gear driving mode and a manual gear driving mode; when the current driving mode is the manual gear driving mode, the clutch signal corresponding to the clutch pedal is obtained, and the vehicle operation is controlled according to the clutch signal, the throttle signal of the vehicle, the motor speed and the current gear position of the multi-speed gearbox; when the current driving mode is the automatic gear driving mode, the vehicle operation is controlled according to the current gear position of the vehicle, the motor speed and the throttle signal of the vehicle. That is to say, the present disclosure realizes automatic gear driving and simulates manual gear driving by adding a clutch pedal and a multi-speed gearbox to an automatic gear vehicle and setting different driving modes, so that the driver can flexibly switch between the automatic gear driving mode and the manual gear driving mode, thereby increasing the utilization rate of the vehicle.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0021] Figure 1 is a schematic structural diagram of a vehicle according to an exemplary embodiment;

[0022] Figure 2 is a torque correlation diagram according to an exemplary embodiment;

[0023] Figure 3 is a schematic diagram of a gear position display according to an exemplary embodiment;

[0024] Figure 4 is a flow chart of a vehicle control method according to an exemplary embodiment;

[0025] Figure 5 is a block diagram of a controller according to an exemplary embodiment.

[0026] Description of Reference Numerals

[0027] 100 Vehicle 101 Controller

[0028] 102 Clutch pedal 103 Multi-speed gearbox

[0029] 104 Motor DETAILED DESCRIPTION

[0030] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0031] First, the application scenario of the present disclosure is described. The present disclosure can be applied to driving training scenarios. Since the test subject for C1 driver's license is manual transmission driving, and the test subject for C2 driver's license is automatic transmission driving, when students are training at the driving training site, the driving school needs to provide different vehicles for students of different test subjects, for example, providing manual transmission vehicles for students who are about to take the C1 driver's license test, and providing automatic transmission vehicles for students who are about to take the C2 driver's license test.

[0032] However, due to the different students in driving schools at different times, for example, there are more students applying for C1 driver's license in the first quarter, and more students applying for C2 driver's license in the second quarter. In addition, the flexibility of students training in the same driving training venue is relatively high. Therefore, when providing vehicles for driving training venues, driving schools can only purchase corresponding driving training vehicles through early market forecasts, and cannot flexibly adjust the corresponding driving training vehicles according to the number of students and the requirements of examination subjects. This may result in the number of driving training vehicles being unable to meet the needs of students in a short period of time, affecting the training efficiency of students, or causing some driving training vehicles to be idle, increasing the operating costs of driving schools.

[0033] In order to solve the above technical problems, the present disclosure provides a vehicle control method, a controller and a vehicle, which realize automatic driving and simulate manual driving by adding a clutch pedal and a multi-speed gearbox to an automatic transmission vehicle and setting different driving modes. In this way, the driver can flexibly switch between the automatic transmission driving mode and the manual transmission driving mode, thereby increasing the utilization rate of the vehicle.

[0034] The present disclosure is described below in conjunction with specific embodiments.

[0035] Figure 1 is a schematic diagram of a vehicle structure according to an exemplary embodiment. Figure 1 As shown, the vehicle 100 includes a controller 101, a clutch pedal 102, a multi-speed gearbox 103 and a motor 104 respectively connected to the controller 101;

[0036] The clutch pedal 102 is used to trigger a clutch signal according to the pedaling depth;

[0037] The motor 104 is used to drive the vehicle 100 to travel;

[0038] The controller 101 is used to obtain the current driving mode of the vehicle 100, which driving mode includes an automatic gear driving mode and a manual gear driving mode; when the current driving mode is the manual gear driving mode, the clutch signal corresponding to the clutch pedal 102 is obtained, and the operation of the vehicle 100 is controlled according to the clutch signal, the throttle signal of the vehicle, the motor speed and the current gear position of the multi-speed transmission 103; when the current driving mode is the automatic gear driving mode, the operation of the vehicle 100 is controlled according to the current gear position of the vehicle 100, the motor speed and the throttle signal of the vehicle 100.

[0039] The power system of the vehicle 100 can be an existing electric vehicle, on the basis of which the controller 101, the clutch pedal 102 and the multi-speed gearbox 103 are added. Since the vehicle 100 has no clutch, the clutch pedal 102 only triggers the clutch signal and does not have the function of mechanically interrupting the power. The multi-speed gearbox 103 can provide gears corresponding to manual transmission vehicles, such as 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear, N gear, and R gear. The clutch pedal 102 and the multi-speed gearbox 103 can simulate operations such as shifting and starting of a manual transmission vehicle.

[0040] The vehicle 100 may include a mode switch, which may be connected to the controller 101. The driver may select different driving modes through the mode switch. For example, when the mode switch is a button switch, pressing the mode switch is a manual transmission driving mode, and popping up the mode switch is an automatic transmission driving mode. After the driver selects the driving mode, the controller 101 may receive the current state of the mode switch, determine the current driving mode of the vehicle 100 according to the current state, and then the current driving mode may be voice broadcasted through the multimedia device of the vehicle 100.

[0041] When the current driving mode of the vehicle 100 is the automatic driving mode, the controller 101 may not process the signals triggered by the clutch pedal 102 and the multi-speed transmission 103, and the vehicle 100 may operate in the original operating mode of the electric vehicle, and the operation of the vehicle is controlled according to the current gear position of the vehicle 100 and the throttle signal of the vehicle 100. For example, when the current gear position of the vehicle 100 is the N gear, no power is output. When the current gear position of the vehicle 100 is the D gear, the motor 104 may rotate forward according to the throttle signal to control the vehicle to move forward. When the current gear position of the vehicle 100 is the R gear, the motor 104 may rotate reversely according to the throttle signal to control the vehicle to move backward.

[0042] When the current driving mode of the vehicle 100 is a manual transmission driving mode, the controller 101 can obtain a clutch signal corresponding to the clutch pedal 102, and control the operation of the vehicle 100 according to the clutch signal, the throttle signal of the vehicle, the motor speed, and the current gear of the multi-speed gearbox 103. The vehicle 100 may include a clutch pedal switch, which may be connected to the controller 101, and the clutch pedal switch may be used to detect the stepping depth of the clutch pedal 102, and generate the clutch signal according to the stepping depth. For example, when the clutch pedal 102 is not stepped on, the clutch signal generated by the clutch pedal switch may be in a fully linked state, when the clutch pedal 102 is not fully stepped on, the clutch signal generated by the clutch pedal switch may be in a semi-linked state, and after the clutch pedal 102 is fully stepped on, the clutch signal generated by the clutch pedal switch may be in a non-linked state.

[0043] After the controller 101 receives the clutch signal, the operation of the vehicle 100 can be controlled with reference to the operation mode of a manual transmission vehicle. When the clutch signal is in a fully-coupled state, the vehicle can be controlled to travel according to the motor speed and the current gear. The controller 101 is used to determine the target torque corresponding to the vehicle according to the throttle signal, the current gear and the motor speed when the current gear is a preset target gear and the clutch signal is in a fully-coupled state, and control the motor to drive the vehicle according to the target torque, which is the maximum wheel torque of the vehicle.

[0044] Among them, the controller 101 can determine the target torque association relationship from multiple pre-set torque association relationships according to the throttle signal, and determine the target torque according to the current gear and the motor speed through the target torque association relationship. The torque association relationship includes the correspondence between the current gear, the motor speed, and the target torque. Figure 2 is a torque correlation diagram according to an exemplary embodiment, which is a torque correlation diagram when the throttle signal of the vehicle is at a maximum value. Figure 2 As shown, the horizontal axis is the motor speed, the vertical axis is the target torque, and the five curves from top to bottom are the target torques corresponding to gears 1, 2, 3, 4, and 5. For example, after obtaining the motor speed and the current gear, the target curve can be determined according to the current gear, and then the target torque corresponding to the motor speed can be determined by the target curve. For example, if the motor speed is 4000rpm and the current gear is gear 5, the target curve can be determined to be the bottom curve, and the target torque corresponding to 4000rpm can be determined from the target curve to be 400Nm.

[0045] It should be noted that the target torque in the torque association relationship corresponding to different throttle signals also increases or decreases in the same proportion. When the current gear position and motor speed are the same, the larger the throttle signal value, the larger the corresponding target torque, and the smaller the throttle signal value, the smaller the corresponding target torque value.

[0046] The process of the motor 104 driving the vehicle 100 to travel can refer to the existing driving method of electric vehicles, which will not be described in detail here.

[0047] The controller 101 is also used to control the vehicle 100 to shake and shut down if it is determined that the motor speed is less than or equal to a preset speed threshold within a preset time period when the current gear is a preset target gear and the clutch signal of the vehicle 100 is in a semi-clutch state. The preset target gear includes any gear except neutral. For example, the preset target gear can be 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear or R gear.

[0048] The preset time period and the preset speed threshold may be obtained according to experimental tests. For example, the preset time period may be 100 ms, and the preset speed threshold may be 300 rpm.

[0049] If the current gear is the preset target gear, and the motor speed is lower than the preset speed threshold within the preset time period, it means that the current gear does not match the current speed of the vehicle 100. In this case, a manual transmission vehicle can be simulated to control the vehicle to shake and stall.

[0050] The vehicle 100 also includes a gear display, which is connected to the controller 101. The controller 101 is also used to control the gear display to display the gear corresponding to the current driving mode. When the current driving mode is a manual gear driving mode, the gear display can display 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear, N gear, and R gear. The distribution of gears can refer to the gear distribution of manual gear vehicles; when the current driving mode is an automatic gear driving mode, the gear display can display D gear, N gear, and R gear. Figure 3 is a schematic diagram of a gear position display according to an exemplary embodiment. Figure 3 As shown, the position of the N gear in the manual gear driving mode is the same as that of the N gear in the automatic gear driving mode. When the current driving mode is the manual gear driving mode, the gear position display can display 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear, N gear, and R gear. Figure 3 The position of the R1 gear shown in the figure, when the current driving mode is the automatic driving mode, the gear position display can display the D gear, N gear, and R gear. Figure 3 The position of R2 gear is shown.

[0051] Through the above vehicle, the controller can control the vehicle operation according to the driving mode selected by the driver. When the driver selects the manual transmission driving mode, the vehicle can be controlled to run normally or shake and shut down. When the driver selects the automatic transmission driving mode, the vehicle can be controlled to operate according to the original electric vehicle operation control. In this way, students with C1 and C2 driver licenses can use the same vehicle for practice. The driving school does not need to train accurate vehicles for C1 and C2 driving training in advance, avoiding the problem of insufficient driving training vehicles that cannot meet the needs of students or some driving training vehicles being idle, thereby ensuring the training efficiency of students while reducing the operating costs of the driving school.

[0052] Figure 4 is a flow chart of a vehicle control method according to an exemplary embodiment, the method is applied to a controller of a vehicle, the vehicle may include a controller, a clutch pedal, a multi-speed gearbox and a motor respectively connected to the controller; Figure 4 As shown, the method includes:

[0053] S401. Obtain the current driving mode of the vehicle.

[0054] Among them, the driving mode can include an automatic driving mode and a manual driving mode; the power system of the vehicle can be an existing electric vehicle, on the basis of which the controller, the clutch pedal and the multi-speed gearbox are added. The multi-speed gearbox can provide gears corresponding to manual vehicles, such as 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear, N gear, and R gear. The clutch pedal and the multi-speed gearbox can be used to simulate operations such as shifting and starting of a manual vehicle.

[0055] In this step, the driver can select the corresponding driving mode through the mode switch. For example, when the mode switch is a button switch, the driver can select the manual gear driving mode by pressing the mode switch, and select the automatic gear driving mode by popping up the mode switch. After the driver selects the corresponding driving mode, the controller can receive the current state of the mode switch and determine the current driving mode of the vehicle according to the current state.

[0056] It should be noted that the vehicle may also include a gear display, which is connected to the controller. After the current driving mode is acquired, the gear display may be controlled to display the gear corresponding to the current driving mode. When the current driving mode is a manual gear driving mode, the gear display may display 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear, N gear, and R gear. The distribution of gears may refer to the gear distribution of a manual gear vehicle; when the current driving mode is an automatic gear driving mode, the gear display may display D gear, N gear, and R gear.

[0057] S402. When the current driving mode is the manual transmission driving mode, obtain a clutch signal corresponding to the clutch pedal, and control the operation of the vehicle according to the clutch signal, a throttle signal of the vehicle, a motor speed, and a current gear position of the multi-speed transmission.

[0058] In this step, the vehicle may also include a clutch pedal switch, which may be placed under the clutch pedal. After stepping on the clutch pedal, the clutch pedal will generate pressure on the clutch pedal switch, and the clutch pedal switch can determine the stepping depth of the clutch pedal based on the pressure. When the clutch pedal is not stepped on, the pressure generated by the clutch pedal on the clutch pedal switch is 0, and the stepping depth of the clutch pedal is also 0. Thereafter, the clutch pedal switch can generate the clutch signal based on the stepping depth.

[0059] The clutch signal may include a fully-engaged state, a semi-engaged state and a non-engaged state. For example, when the clutch pedal is not stepped on, the clutch signal generated by the clutch pedal switch may be a fully-engaged state; when the clutch pedal is not fully stepped on, the clutch signal generated by the clutch pedal switch may be a semi-engaged state; after the clutch pedal is fully stepped on, the clutch signal generated by the clutch pedal switch may be a non-engaged state.

[0060] When the current gear is the preset target gear and the clutch signal of the vehicle is in a semi-clutch state, if it is determined that the motor speed is less than or equal to the preset speed threshold within a preset time period, the vehicle is controlled to shudder and shut down. The preset target gear includes any gear other than neutral. For example, the preset target gear may be 1st gear, 2nd gear, 3rd gear, 4th gear, 5th gear or R gear. If the current gear is the preset target gear and the motor speed is lower than the preset speed threshold within the preset time period, it means that the current gear does not match the current speed of the vehicle. In this case, the vehicle can be simulated to be driven in a manual gear and the vehicle can be controlled to shudder and shut down.

[0061] When the current gear is the preset target gear and the clutch signal is in a fully-linked state, the target torque corresponding to the vehicle can be determined according to the throttle signal, the current gear and the motor speed, and the motor can be controlled to drive the vehicle according to the target torque. Among them, the target torque association relationship can be determined from a plurality of preset torque association relationships according to the throttle signal, and the target torque can be determined according to the current gear and the motor speed through the target torque association relationship, and the torque association relationship includes the corresponding relationship between the current gear, the motor speed and the target torque. When the motor is controlled to drive the vehicle according to the target torque, the motor can be controlled to output the target torque to drive the vehicle.

[0062] The preset time period and the preset speed threshold can be obtained according to experimental tests. For example, the preset time period can be 100ms, and the preset speed threshold can be 300rpm. The process of the motor driving the vehicle can refer to the existing way of driving electric vehicles, which will not be repeated here.

[0063] S403: When the current driving mode is the automatic gear driving mode, the operation of the vehicle is controlled according to the current gear position of the vehicle, the motor speed, and the throttle signal of the vehicle.

[0064] In this step, the controller may not process the signals triggered by the clutch pedal and the multi-speed transmission, and the vehicle may operate in the original operating mode of the electric vehicle. The operation of the vehicle may be controlled according to the current gear of the vehicle and the throttle signal of the vehicle. For example, when the current gear of the vehicle is N gear, no power is output. When the current gear of the vehicle is D gear, the motor may control the vehicle to move forward according to the throttle signal. When the current gear of the vehicle is R gear, the motor may control the vehicle to move backward according to the throttle signal.

[0065] It should be noted that the specific implementation method of the vehicle control method can refer to the implementation method of the above-mentioned vehicle, which will not be repeated here.

[0066] By adopting the above method, the vehicle can be controlled to run according to the driving mode selected by the driver. When the driver selects the manual transmission driving mode, the vehicle can be controlled to run normally or to shudder and shut down. When the driver selects the automatic transmission driving mode, the vehicle can be controlled to run according to the original electric vehicle operation control. In this way, the driver can flexibly switch between the automatic transmission driving mode and the manual transmission driving mode, thereby increasing the utilization rate of the vehicle.

[0067] Figure 5 is a block diagram of a controller 500 according to an exemplary embodiment. For example, the controller 500 may be provided as a server. Figure 5 The controller 500 includes a processor 522, which may be one or more, and a memory 532 for storing a computer program executable by the processor 522. The computer program stored in the memory 532 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 522 may be configured to execute the computer program to perform the above-mentioned vehicle control method.

[0068] In addition, the controller 500 may further include a power supply component 526 and a communication component 550. The power supply component 526 may be configured to perform power management of the controller 500, and the communication component 550 may be configured to implement communication of the controller 500, for example, wired or wireless communication. In addition, the controller 500 may further include an input / output (I / O) interface 558. The controller 500 may operate based on an operating system stored in the memory 532, such as Windows Server 2008. TM , Mac OS X TM , Unix TM , Linux TM etc.

[0069] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, the technical solution of the present disclosure can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the present disclosure. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0070] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle, characterized in that: It includes a controller, a clutch pedal, a multi-speed gearbox and a motor respectively connected to the controller, wherein the clutch pedal and the multi-speed gearbox are used to simulate the shifting and starting operations of the vehicle in a manual gear driving mode; The clutch pedal is used to trigger a clutch signal according to the pedaling depth, and the clutch pedal does not have the function of mechanically interrupting power; The motor is used to drive the vehicle to travel; The controller is used to obtain a current driving mode of the vehicle, wherein the driving mode includes an automatic transmission driving mode and a manual transmission driving mode; When the current driving mode is the manual gear driving mode, obtaining a clutch signal corresponding to the clutch pedal, and controlling the operation of the vehicle according to the clutch signal, a throttle signal of the vehicle, a motor speed, and a current gear position of the multi-speed gearbox; When the current driving mode is the automatic gear driving mode, controlling the operation of the vehicle according to the current gear position of the vehicle, the motor speed and the throttle signal of the vehicle; The controller is used to control the vehicle to shake and shut down if it is determined that the motor speed is less than or equal to a preset speed threshold within a preset time period when the current gear is a preset target gear and the clutch signal of the vehicle is in a semi-clutch state. The preset target gear includes any gear other than neutral.

2. The vehicle according to claim 1, characterized in that The controller is used to determine the target torque corresponding to the vehicle according to the throttle signal, the current gear and the motor speed when the current gear is a preset target gear and the clutch signal is in a fully-linked state, and control the motor to drive the vehicle according to the target torque.

3. The vehicle according to claim 2, characterized in that The controller is also used to determine a target torque association relationship from a plurality of preset torque association relationships according to the throttle signal, and determine the target torque according to the current gear and the motor speed through the target torque association relationship, wherein the torque association relationship includes a correspondence between the current gear, the motor speed, and the target torque.

4. The vehicle according to claim 1, characterized in that The vehicle further includes a clutch pedal switch, wherein the clutch pedal switch is used to detect a stepping depth of the clutch pedal and generate the clutch signal according to the stepping depth.

5. The vehicle according to any one of claims 1 to 4, characterized in that: The vehicle also includes a gear display connected to the controller, and the controller is further used to control the gear display to display the gear corresponding to the current driving mode.

6. A vehicle control method, characterized in that: A controller applied to a vehicle, the vehicle comprising the controller, a clutch pedal, a multi-speed gearbox and a motor respectively connected to the controller, the clutch pedal not having a function of mechanically interrupting power, the clutch pedal and the multi-speed gearbox being used to simulate the shifting and starting operation of the vehicle in a manual gear driving mode; the method comprising: Acquiring a current driving mode of the vehicle, wherein the driving mode includes an automatic transmission driving mode and a manual transmission driving mode; When the current driving mode is the manual gear driving mode, obtaining a clutch signal corresponding to the clutch pedal, and controlling the operation of the vehicle according to the clutch signal, a throttle signal of the vehicle, a motor speed, and a current gear position of the multi-speed gearbox; When the current driving mode is the automatic gear driving mode, controlling the operation of the vehicle according to the current gear position of the vehicle, the motor speed and the throttle signal of the vehicle; The step of controlling the vehicle operation according to the clutch signal, the throttle signal of the vehicle, the motor speed and the current gear position of the multi-speed gearbox comprises: When the current gear is the preset target gear and the clutch signal of the vehicle is in a semi-clutch state, if it is determined that the motor speed is less than or equal to the preset speed threshold within a preset time period, the vehicle is controlled to shake and shut down, and the preset target gear includes any gear except neutral.

7. The method according to claim 6, characterized in that The step of controlling the vehicle operation according to the clutch signal, the throttle signal of the vehicle, the motor speed and the current gear position of the multi-speed gearbox comprises: When the current gear is a preset target gear and the clutch signal is in a fully-linked state, determining a target torque corresponding to the vehicle according to the throttle signal, the current gear and the motor speed; The motor is controlled to drive the vehicle according to the target torque.

8. The method according to claim 7, characterized in that Determining the target torque corresponding to the vehicle according to the throttle signal, the current gear position and the motor speed includes: Determining a target torque association relationship from a plurality of preset torque association relationships according to the throttle signal; The target torque is determined according to the current gear and the motor speed through the target torque association relationship, and the torque association relationship includes a correspondence between the current gear, the motor speed, and the target torque.

9. The method according to claim 6, characterized in that The vehicle further includes a clutch pedal switch, and obtaining a clutch signal corresponding to the clutch pedal includes: detecting the stepping depth of the clutch pedal by means of the clutch pedal switch; The clutch signal is generated according to the pedaling depth.

10. The method according to any one of claims 6 to 9, characterized in that: The vehicle further includes a gear position display connected to the controller; the method further includes: The gear position display is controlled to display the gear position corresponding to the current driving mode.

11. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 6 to 10.

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