An electric vehicle single-pedal mode control method, device and equipment

Abstract

The present application discloses a single-pedal mode control method, device and equipment for an electric vehicle. The method includes: in response to a single-pedal control instruction, collecting the driving speed and pedal opening of the current electric vehicle, and determining the deceleration acceleration corresponding to the driving speed and pedal opening; determining the current congestion situation and the distances from the electric vehicle to different types of obstacles according to the driving environment information of the electric vehicle; comparing the distances from the electric vehicle to different types of obstacles in the current congestion situation with the corresponding safety distance thresholds; when it is determined that the adjustment condition is satisfied according to the comparison result, adjusting the current deceleration acceleration by using the corresponding adjustment method according to the safety distance threshold corresponding to when the adjustment condition is satisfied. This enables the deceleration acceleration of the single-pedal mode in different scenarios to reach the expectation, reduces the situation where the driver continuously steps on / releases the acceleration pedal, thereby improving the energy utilization efficiency and driving experience.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a single-pedal mode control method, device and equipment for an electric vehicle. Background Art

[0002] As a new accelerator pedal control method, the single-pedal mode is currently being widely used in electric vehicles as a new function. The original intention of the single-pedal mode is to enable the driver to accelerate and decelerate by operating only the accelerator pedal, reduce the stepping of the brake pedal, and recover more energy into the battery through the braking of the accelerator pedal, so that the energy can be used more reasonably. However, in the current single-pedal mode, the deceleration acceleration is often fixed at a certain vehicle speed and pedal opening. Therefore, in different scenarios, the deceleration acceleration of the single-pedal mode may not meet expectations, causing the driver to constantly release the accelerator pedal, and even use the brake pedal more frequently, which reduces the efficiency of energy utilization and poor driving experience. Summary of the invention

[0003] In order to prevent the deceleration acceleration of the single-pedal mode from failing to meet expectations and improve driving experience, the present application proposes a single-pedal mode control method, device and equipment for an electric vehicle.

[0004] In a first aspect, the present application provides a single-pedal mode control method for an electric vehicle, the method comprising:

[0005] In response to the single-pedal control instruction, the current driving speed and pedal opening of the electric vehicle are collected, and the deceleration acceleration corresponding to the driving speed and the pedal opening is determined;

[0006] Determine the current congestion situation and the distance from the electric vehicle to different types of obstacles according to the driving environment information of the electric vehicle, where the different types of obstacles include pedestrians, vehicles, and objects other than pedestrians and vehicles;

[0007] Comparing the distances from the electric vehicle to different types of obstacles under the current congestion situation with corresponding safety distance thresholds, wherein different types of obstacles have a priority order, and obstacles with higher priorities have smaller corresponding safety distance thresholds;

[0008] When it is determined according to the comparison result that the adjustment condition is met, the current deceleration acceleration is adjusted using a corresponding adjustment method according to a safety distance threshold corresponding to when the adjustment condition is met.

[0009] In a possible implementation, comparing the distances from the electric vehicle to different types of obstacles under the current congestion situation with corresponding safety distance thresholds includes:

[0010] When it is determined that there is no traffic jam in the current congestion situation, respectively determine whether the distance from the electric vehicle to a pedestrian or an object is less than the fourth safety distance threshold d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1;

[0011] Among them, d1, d2, and d4 all increase with the increase of the driving speed of the electric vehicle, and d1 > d2 > d4 at the same driving speed.

[0012] In a possible implementation manner, comparing the distances from the electric vehicle to different types of obstacles with the corresponding safety distance thresholds in the current congestion situation includes:

[0013] When it is determined that there is a traffic jam in the current congestion situation, respectively determine whether the distance from the electric vehicle to a pedestrian or an object is less than d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than the third safety distance threshold d3, whether the distance from the electric vehicle to a vehicle is greater than d3 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1;

[0014] Among them, d1, d2, d3, and d4 all increase with the increase of the driving speed of the electric vehicle, and d1 > d2 > d3 > d4 at the same driving speed.

[0015] In a possible implementation manner, when it is determined that the adjustment condition is met according to the comparison result, adjust the current deceleration acceleration by using the corresponding adjustment method according to the corresponding safety distance threshold when the adjustment condition is met, including:

[0016] When the distance from the electric vehicle to a pedestrian or an object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased;

[0017] When the distance from the electric vehicle to a vehicle is greater than d4 and less than d2, it is determined that the adjustment condition is not met;

[0018] When the distance from the electric vehicle to a vehicle is greater than d2 and less than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened.

[0019] In a possible implementation manner, when it is determined that the adjustment condition is met according to the comparison result, adjust the current deceleration acceleration by using the corresponding adjustment method according to the corresponding safety distance threshold when the adjustment condition is met, including:

[0020] When the distance between the electric vehicle and a pedestrian or an object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased;

[0021] It is determined that the adjustment condition is satisfied when the distance between the electric vehicle and the vehicle in front is greater than d4 and less than d3, and the current driving speed is less than the preset speed threshold, and the current deceleration acceleration is weakened;

[0022] It is determined that the adjustment condition is not satisfied when the distance between the electric vehicle and the vehicle in front is greater than d4 and less than d3, and the current driving speed is not less than the preset speed threshold;

[0023] It is determined that the adjustment condition is not satisfied when the distance between the electric vehicle and the vehicle in front is greater than d3 and less than d2;

[0024] It is determined that the adjustment condition is satisfied when the distance between the electric vehicle and the vehicle in front is greater than d2 and less than d1, and the current deceleration acceleration is weakened.

[0025] In a possible implementation manner, when it is determined that the adjustment condition is satisfied according to the comparison result, according to the safety distance threshold corresponding to when the adjustment condition is satisfied, the current deceleration acceleration is adjusted by using the corresponding adjustment method, including:

[0026] When it is determined that the current congestion situation is no traffic jam, and it is determined that the adjustment condition is satisfied when the distance from the electric vehicle to the vehicle is greater than d1, the current deceleration acceleration is adjusted to 0;

[0027] When it is determined that the current congestion situation is traffic jam, and it is determined that the adjustment condition is satisfied when the distance from the electric vehicle to the vehicle is greater than d1, the current deceleration acceleration is adjusted to 0.

[0028] In a possible implementation manner, when it is determined according to the driving environment information that the current driving environment is no traffic jam, no obstacle is recognized, and a speed limit sign is recognized, and it is determined that the current driving speed exceeds the speed of the speed limit sign by more than a preset percentage threshold, it is determined to maintain the current deceleration acceleration;

[0029] When it is determined according to the driving environment information that the current driving environment is traffic jam, no obstacle is recognized, and the traffic signal is a red light, it is determined to maintain the current deceleration acceleration.

[0030] In a second aspect, the present application provides an electric vehicle single-pedal mode control device, and the device includes:

[0031] An acquisition module, configured to acquire the driving speed and pedal opening of the current electric vehicle in response to a single-pedal control instruction, and determine the deceleration acceleration corresponding to the driving speed and pedal opening;

[0032] A determination module, configured to determine the current congestion situation and the distances from the electric vehicle to obstacles of different types according to the driving environment information of the electric vehicle, where the obstacles of different types include pedestrians, vehicles, and objects other than pedestrians and vehicles;

[0033] A comparison module, configured to compare the distances from the electric vehicle to obstacles of different types in the current congestion situation with corresponding safety distance thresholds, where obstacles of different types have a priority order, and the safety distance threshold corresponding to an obstacle with a higher priority is smaller;

[0034] An adjustment module, configured to determine, when a satisfaction adjustment condition is met according to the comparison result, adjust the current deceleration acceleration by using a corresponding adjustment method according to the safety distance threshold corresponding to when the satisfaction adjustment condition is met.

[0035] In a third aspect, the present application provides an electric vehicle single-pedal mode control device, where the device includes:

[0036] At least one processor; and a memory communicatively connected to the at least one processor; where the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method in the first aspect above.

[0037] In a fourth aspect, the present application provides a computer storage medium, where the computer storage medium stores a computer program, and the computer program is used to cause a computer to execute the method in the first aspect above.

[0038] The present application provides an electric vehicle single-pedal mode control method, device, and device, which solve the problem that the deceleration acceleration of the single-pedal mode cannot meet the expectation for different scenarios by adjusting the current deceleration acceleration in real time according to different environmental scenarios, reduce the situation that the driver constantly steps on / releases the acceleration pedal, thereby improving the energy utilization efficiency and driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic flowchart of an electric vehicle single-pedal mode control method according to an exemplary embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the relationship between the safety distance threshold and the driving speed according to an exemplary embodiment of the present invention;

[0041] Figure 3 It is a schematic diagram of the vehicle distance according to an exemplary embodiment of the present invention;

[0042] Figure 4 It is a schematic structural diagram of an electric vehicle single-pedal mode control method according to an exemplary embodiment of the present invention;

[0043] Figure 5 Schematic diagram of the current deceleration acceleration change in the non-traffic-jammed situation exemplified by an exemplary embodiment of the present invention;

[0044] Figure 6 Schematic diagram of the current deceleration acceleration adjustment process in the non-traffic-jammed situation exemplified by an exemplary embodiment of the present invention;

[0045] Figure 7 Schematic diagram of the current deceleration acceleration change in the traffic-jammed situation exemplified by an exemplary embodiment of the present invention;

[0046] Figure 8 Schematic diagram of the current deceleration acceleration adjustment process in the traffic-jammed situation exemplified by an exemplary embodiment of the present invention;

[0047] Figure 9 Schematic diagram of a single-pedal mode control device for an electric vehicle exemplified by an exemplary embodiment of the present invention;

[0048] Figure 10 Schematic diagram of a single-pedal mode control device for an electric vehicle exemplified by an exemplary embodiment of the present invention. Detailed implementation manners

[0049] The technical solutions in the embodiments of the present application will be clearly and fully described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0050] In view of the problem in the prior art that due to the failure to consider the actual environmental conditions, the deceleration acceleration of the single-pedal mode cannot reach the expected value, resulting in low energy utilization efficiency, the embodiments of the present application provide a single-pedal mode control method for an electric vehicle, as Figure 1 shown, the method includes:

[0051] S101: In response to a single-pedal control instruction, collect the driving speed and pedal opening of the current electric vehicle, and determine the deceleration acceleration corresponding to the driving speed and pedal opening.

[0052] Among them, the single-pedal control function can be selected to be started or not through the start button on the display panel of the electric vehicle according to the user's needs, or can be set to be automatically started, and no specific limitation is made here.

[0053] The driving speed and pedal opening of a current electric vehicle can be specifically collected through corresponding sensors. Different driving speeds and pedal openings correspond to different deceleration accelerations. In the prior art, the deceleration acceleration is not adjusted according to the driving environment of the electric vehicle. That is to say, at a certain driving speed and pedal opening, the corresponding deceleration acceleration is a fixed value. This will cause that when a pedestrian is recognized and the distance is relatively close, it is necessary to quickly brake the electric vehicle, but this cannot be achieved only by the accelerator pedal. At this time, it is necessary to step on the brake pedal; if no obstacle is recognized after braking and it is necessary to increase the driving speed to a certain value, then the accelerator pedal will be stepped on again. In this case, the recovered energy is consumed again, so the problem of low energy utilization rate will be caused.

[0054] S102: Determine the current congestion situation and the distances from the electric vehicle to different types of obstacles according to the driving environment information of the electric vehicle. The different types of obstacles include pedestrians, vehicles, and objects other than pedestrians and vehicles.

[0055] The driving environment information includes: the road congestion situation, which can be specifically obtained through the navigation module on the electric vehicle; the distance to the obstacle, which can specifically identify the type of the obstacle through a camera. The obstacles include pedestrians, vehicles, and objects other than pedestrians and vehicles, and the distance to the obstacle is measured through a distance recognition module. It should be noted that in the embodiments provided in this application, vehicles and objects belong to different types of obstacles, and their corresponding adjustment conditions are different.

[0056] S103: Compare the distances from the electric vehicle to different types of obstacles in the current congestion situation with the corresponding safety distance thresholds. Among them, different types of obstacles have a priority order, and the safety distance threshold corresponding to the obstacle with a higher priority is smaller.

[0057] The congestion situation includes traffic jams and traffic jams, and different safety distance thresholds are set for different situations.

[0058] In a possible implementation manner, if there is no traffic jam, it is determined that the corresponding safety distance thresholds are d1, d2, and d4; if there is a traffic jam, it is determined that the corresponding safety distance thresholds are d1, d2, d3, and d4. As Figure 2 shown, d1, d2, d3, and d4 are all a set of preset values, and all increase with the increase of the driving speed of the electric vehicle. At the same driving speed, d1>d2>d3>d4.

[0059] The distance d4 is determined according to the maximum power generation of the motor, the battery recovery power, and the vehicle parameters. The relationship between d4, the deceleration acceleration a4, and the vehicle speed is: 2×a4×d4×j = v 2, j is a preset value, such as 12.96, a4 = {min(Pm max, pbmax) + pr} × k / v / m, k is a preset value, such as 27.8, where Pmmax is the maximum power generation of the motor, Pbmax is the maximum battery recovery power, v is the vehicle speed in kph, m is the vehicle mass in kg, and Pr is the vehicle resistance power.

[0060] d2 is the distance when the vehicle decelerates to 0 with the original pedal deceleration acceleration. The relationship between d2, deceleration acceleration a2, and vehicle speed is: 2 × a2 × d2 × j = v 2 , j is a preset value, such as 12.96. The calculation formula for a2 is: a2 = {min(Pmmax, pb max, pc) + pr} × k / v / m, k is a preset value, such as 27.8, where Pmmax is the maximum power generation of the motor, Pbmax is the maximum battery recovery power, v is the vehicle speed in kph, m is the vehicle mass in kg, Pr is the vehicle resistance power, and Pc is the power converted from the vehicle calibrated recovery torque.

[0061] The distance d1 generated by the coasting resistance to decelerate the vehicle, d1 = v 2 × m × v / l / pr, where l is a preset value, such as 720, v is the vehicle speed in kph, m is the vehicle mass in kg, and Pr is the vehicle resistance power.

[0062] For the determination of the d3 distance, it is determined by referring to the distances of d2 and d4 and calibrating according to the vehicle feeling.

[0063] For different types of obstacles, their corresponding priority orders are different. The higher the priority of the obstacle, the smaller the corresponding safety distance threshold. For example Figure 3 as shown, the priority of pedestrians or objects is higher than that of vehicles.

[0064] S104: When it is determined according to the comparison result that the adjustment condition is satisfied, according to the safety distance threshold corresponding to when the adjustment condition is satisfied, the current deceleration acceleration is adjusted by using the corresponding adjustment method.

[0065] The adjustment methods include increasing the current deceleration acceleration and weakening the current deceleration acceleration. For the comparison results with different safety distance thresholds, the corresponding adjustment results are also different.

[0066] For example Figure 4As shown, when the single-pedal control function is determined to be enabled, the relevant intelligent control module captures driving environment information: after real-time recognition of the distance to the vehicle ahead, integration of navigation information, and recognition of pedestrians and objects, combined with signals related to intelligent driving, deceleration accelerations corresponding to different safety distance thresholds are obtained, and these deceleration accelerations are converted into motor target torque correction factors to correct the basic pedal characteristics (pedal map). For example, if the correction factor for the deceleration acceleration obtained according to the driving environment information is 0.9, it indicates that the current deceleration acceleration needs to be weakened; if the correction factor obtained according to the driving environment information is 1.1, it indicates that the current deceleration acceleration needs to be increased. The specific modification method is to multiply the newly obtained correction factor by the value in the pedal characteristics.

[0067] By adjusting the magnitude of the deceleration acceleration in real time through the above driving environment information, the motor recovery torque is controlled, making the energy recovery more efficient, the single-pedal control more in line with the driver's expectations, and reducing the usage frequency of the brake pedal.

[0068] The following will specifically describe the above single-pedal mode control method for electric vehicles:

[0069] As described in S103 above, the distances from the electric vehicle to different types of obstacles in the current congested situation are compared with the corresponding safety distance thresholds, including the following two cases:

[0070] (1) It is determined that there is no traffic jam in the current congested situation.

[0071] In a possible implementation manner, when it is determined that there is no traffic jam in the current congested situation, it is respectively determined whether the distance from the electric vehicle to a pedestrian or an object is less than the fourth safety distance threshold d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1.

[0072] When it is determined that the adjustment condition is satisfied according to the above comparison results, the current deceleration acceleration is adjusted according to the corresponding safety distance threshold when the adjustment condition is satisfied, including:

[0073] When the distance from the electric vehicle to a pedestrian or an object is less than d4, it is determined that the adjustment condition is satisfied, and the current deceleration acceleration is increased;

[0074] When the distance from the electric vehicle to a vehicle is greater than d4 and less than d2, it is determined that the adjustment condition is not satisfied;

[0075] When the distance from the electric vehicle to a vehicle is greater than d2 and less than d1, it is determined that the adjustment condition is satisfied, and the current deceleration acceleration is weakened.

[0076] In a possible implementation, when it is determined that the current congestion situation is that there is no traffic jam, and it is determined that the distance from the electric vehicle to the vehicle is greater than d1, the adjustment condition is satisfied, and the current deceleration acceleration is adjusted to 0.

[0077] As Figure 5 shown is a schematic diagram of the current deceleration change when the current congestion situation is that there is no traffic jam. The abscissa is the distance from the electric vehicle to the obstacle. In the case of no traffic jam, safety distance thresholds of d1, d2, and d4 are set, and the ordinate describes the change in the current deceleration acceleration.

[0078] Its specific process is as Figure 6 shown:

[0079] S601: The user enables the one-pedal control function;

[0080] S602: The electronic control unit determines that there is no traffic jam according to the driving environment information and identifies an obstacle;

[0081] S603: The electronic control unit determines whether the obstacle category is a pedestrian or an object. If so, S604 is executed; otherwise, S605 is executed:

[0082] S604: The electronic control unit determines whether the distance from the electric vehicle to the pedestrian or object is less than d4. If so, S606 is executed; otherwise, S607 is executed;

[0083] S605: The electronic control unit determines whether the distance from the electric vehicle to the vehicle is greater than d4 and less than d2. If so, S607 is executed; otherwise, S608 is executed:

[0084] S606: The electronic control unit determines that the adjustment condition is satisfied and increases the current deceleration acceleration;

[0085] S607: The electronic control unit determines that the adjustment condition is not satisfied;

[0086] S608: The electronic control unit determines whether the distance from the electric vehicle to the vehicle is greater than d2 and less than d1. If so, S609 is executed; otherwise, S610 is executed;

[0087] S609: The electronic control unit determines that the adjustment condition is satisfied and weakens the current deceleration acceleration;

[0088] S610: The electronic control unit determines that the adjustment condition is satisfied and adjusts the current deceleration acceleration to 0.

[0089] Among them, when it is detected that the distance between the electric vehicle and other vehicles is greater than d1, it indicates that there is no need to decelerate at this time, and the current deceleration acceleration can be adjusted to a smaller value or 0. If the adjustment condition is not satisfied, the current deceleration acceleration can be maintained.

[0090] (2) Determine that the current congestion situation is a traffic jam.

[0091] In a possible implementation, when it is determined that the current congestion situation is a traffic jam, it is respectively determined whether the distance from the electric vehicle to a pedestrian or an object is less than d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than the third safety distance threshold d3, whether the distance from the electric vehicle to a vehicle is greater than d3 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1.

[0092] When it is determined that the adjustment condition is met according to the above comparison results, the current deceleration acceleration is adjusted according to the corresponding safety distance threshold when the adjustment condition is met, including:

[0093] When the distance between the electric vehicle and the pedestrian or object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased;

[0094] When the distance between the electric vehicle and the vehicle is greater than d4 and less than d3, and the current driving speed is less than the preset speed threshold, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened;

[0095] When the distance between the electric vehicle and the vehicle in front is greater than d4 and less than d3, and the current driving speed is not less than the preset speed threshold, it is determined that the adjustment condition is not met;

[0096] When the distance between the electric vehicle and the vehicle in front is greater than d3 and less than d2, it is determined that the adjustment condition is not met;

[0097] When the distance between the electric vehicle and the vehicle in front is greater than d2 and less than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened.

[0098] In a possible implementation, when it is determined that the current congestion situation is a traffic jam, when it is determined that the distance from the electric vehicle to the vehicle is greater than d1, the adjustment condition is met, and the current deceleration acceleration is adjusted to 0.

[0099] As Figure 7 shown, compared with the situation where there is no traffic jam as Figure 5 shown, in the case of a traffic jam, in addition to setting the safety distance thresholds d1, d2, d3, and d4, the situation when the current vehicle speed is less than the preset speed threshold is also set.

[0100] The specific adjustment process is as Figure 8 shown:

[0101] S801: The user enables the one-pedal control function;

[0102] S802: The electronic control unit determines that a traffic jam has occurred based on the driving environment information and identifies an obstacle.

[0103] S803: The electronic control unit determines whether the obstacle category is a pedestrian or an object. If so, S504 is executed; otherwise, S805 is executed:

[0104] S804: The electronic control unit determines whether the distance from the electric vehicle to the pedestrian or object is less than d4. If so, S806 is executed; otherwise, S807 is executed;

[0105] S805: The electronic control unit determines whether the distance from the electric vehicle to the vehicle is greater than d4 and less than d3. If so, S808 is executed; otherwise, S809 is executed:

[0106] S806: The electronic control unit determines that the adjustment condition is met and increases the current deceleration acceleration;

[0107] S807: The electronic control unit determines that the adjustment condition is not met;

[0108] S808: The electronic control unit determines whether the current driving speed is less than v1. If so, S810 is executed; otherwise, S807 is executed, where v1 is a preset value;

[0109] S809: The electronic control unit determines whether the distance from the electric vehicle to the vehicle ahead is greater than d3 and less than d2. If so, S807 is executed; otherwise, S811 is executed;

[0110] S810: The electronic control unit determines that the adjustment condition is met and weakens the current deceleration acceleration;

[0111] S811: The electronic control unit determines whether the distance from the electric vehicle to the vehicle ahead is greater than d2 and less than d1. If so, S812 is executed; otherwise, S813 is executed;

[0112] S812: The electronic control unit determines that the adjustment condition is met and weakens the current deceleration acceleration;

[0113] S813: The electronic control unit determines that the adjustment condition is met and adjusts the current deceleration acceleration to 0.

[0114] Among them, when it is detected that the distance between the electric vehicle and other vehicles is greater than d1, it indicates that deceleration is not required at this time, and the current deceleration acceleration can be adjusted to a smaller value or 0. If the adjustment condition is not met, the current deceleration acceleration can be maintained.

[0115] In addition to the driving environment information provided in the above embodiments, it also includes: speed limit signs and traffic lights, which can be specifically identified by a camera.

[0116] In a possible implementation, when it is determined according to the environmental information that the current driving environment is free of traffic jams, no obstacles are recognized, and a speed limit sign is recognized, and when it is determined that the current driving speed exceeds the speed of the speed limit sign by more than a preset percentage threshold, it is determined to maintain the current deceleration acceleration;

[0117] When it is determined according to the environmental information that the current driving environment is in a traffic jam, no obstacles are recognized, and the traffic signal is a red light, it is determined to maintain the current deceleration acceleration.

[0118] When determining the driving environment information, it is preferentially determined whether an obstacle and a traffic jam are recognized, and then it is determined whether a traffic signal and a speed limit sign are recognized. If a red light and a speed limit sign are recognized at the same time and the vehicle is speeding, and an obstacle is recognized, then it starts to determine whether a traffic jam occurs, and then proceeds as follows Figure 5 or Figure 7 the process.

[0119] If a red light and a speed limit sign are recognized at the same time and the vehicle is speeding, and no obstacle is recognized and no traffic jam occurs, then the adjustment condition is not met, and the current deceleration acceleration is maintained.

[0120] The deceleration acceleration adjustment methods corresponding to different types of driving environment information provided in the above embodiments cover most working conditions from low vehicle speeds to high vehicle speeds, thereby making the control clearer and the method of improving energy utilization efficiency clearer.

[0121] Based on the same inventive concept, an embodiment of the present application further provides an electric vehicle single-pedal mode control device 900, as Figure 9 shown, the device includes:

[0122] An acquisition module 901, configured to acquire the driving speed and pedal opening of the current electric vehicle in response to a single-pedal control instruction, and determine the deceleration acceleration corresponding to the driving speed and pedal opening;

[0123] A determination module 902, configured to determine the current congestion situation and the distances of the electric vehicle to different types of obstacles according to the driving environment information of the electric vehicle, where the different types of obstacles include pedestrians, vehicles, and objects other than pedestrians and vehicles;

[0124] A comparison module 903, configured to compare the distances of the electric vehicle to different types of obstacles in the current congestion situation with corresponding safety distance thresholds, where different types of obstacles have a priority order, and the safety distance threshold corresponding to an obstacle with a higher priority is smaller;

[0125] An adjustment module 904 is configured to, when determining that an adjustment condition is met according to a comparison result, adjust the current deceleration acceleration by using a corresponding adjustment method according to a safety distance threshold corresponding to when the adjustment condition is met.

[0126] In a possible implementation manner, a comparison module 903 is configured to compare the distances from the electric vehicle to different types of obstacles in the current congestion situation with corresponding safety distance thresholds, including:

[0127] When it is determined that no traffic jam occurs in the current congestion situation, it is respectively determined whether the distance from the electric vehicle to a pedestrian or an object is less than a fourth safety distance threshold d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than a second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than a first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1;

[0128] Wherein, d1, d2, and d4 all increase as the driving speed of the electric vehicle increases, and d1 > d2 > d4 at the same driving speed.

[0129] In a possible implementation manner, a comparison module 903 is configured to compare the distances from the electric vehicle to different types of obstacles in the current congestion situation with corresponding safety distance thresholds, including:

[0130] When it is determined that a traffic jam occurs in the current congestion situation, it is respectively determined whether the distance from the electric vehicle to a pedestrian or an object is less than d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than a third safety distance threshold d3, whether the distance from the electric vehicle to a vehicle is greater than d3 and less than a second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than a first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1;

[0131] Wherein, d1, d2, d3, and d4 all increase as the driving speed of the electric vehicle increases, and d1 > d2 > d3 > d4 at the same driving speed.

[0132] In a possible implementation manner, an adjustment module 904 is configured to, when determining that an adjustment condition is met according to a comparison result, adjust the current deceleration acceleration by using a corresponding adjustment method according to a safety distance threshold corresponding to when the adjustment condition is met, including:

[0133] When the distance from the electric vehicle to a pedestrian or an object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased;

[0134] When the distance from the electric vehicle to a vehicle is greater than d4 and less than d2, it is determined that the adjustment condition is not met;

[0135] When the distance from the electric vehicle to the vehicle is greater than d2 and less than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened.

[0136] In a possible implementation manner, when the adjustment module 904 is used to determine that the adjustment condition is met according to the comparison result, according to the safety distance threshold corresponding to when the adjustment condition is met, the current deceleration acceleration is adjusted by using the corresponding adjustment method, including:

[0137] When the distance between the electric vehicle and the pedestrian or object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased;

[0138] When the distance between the electric vehicle and the vehicle is greater than d4 and less than d3, and the current driving speed is less than the preset speed threshold, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened;

[0139] When the distance between the electric vehicle and the vehicle in front is greater than d4 and less than d3, and the current driving speed is not less than the preset speed threshold, it is determined that the adjustment condition is not met;

[0140] When the distance between the electric vehicle and the vehicle in front is greater than d3 and less than d2, it is determined that the adjustment condition is not met;

[0141] When the distance between the electric vehicle and the vehicle in front is greater than d2 and less than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened.

[0142] In a possible implementation manner, when the adjustment module 904 is used to determine that the adjustment condition is met according to the comparison result, according to the safety distance threshold corresponding to when the adjustment condition is met, the current deceleration acceleration is adjusted by using the corresponding adjustment method, including:

[0143] When it is determined that the current traffic congestion situation is no traffic jam, and when the distance from the electric vehicle to the vehicle is greater than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is adjusted to 0;

[0144] When it is determined that the current traffic congestion situation is a traffic jam, and when the distance from the electric vehicle to the vehicle is greater than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is adjusted to 0.

[0145] In a possible implementation manner, when the adjustment module 904 is used to determine the current driving environment according to the driving environment information as no traffic jam, no obstacle is recognized, and a speed limit sign is recognized, when it is determined that the current driving speed exceeds the speed of the speed limit sign by a preset percentage threshold, it is determined to maintain the current deceleration acceleration;

[0146] When it is determined according to the driving environment information that the current driving environment is a traffic jam, no obstacle is recognized, and the recognized signal light is red, it is determined to maintain the current deceleration acceleration.

[0147] Based on the same inventive concept, an embodiment of the present application further provides an electric vehicle single-pedal mode control device, as Figure 10 shown, the device includes:

[0148] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the above-mentioned electric vehicle single-pedal mode control method.

[0149] As Figure 10 shown, the device includes a processor 1001, a memory 1002, a communication interface 1003; and a bus 1004. Among them, the processor 1001, the memory 1002, and the communication interface 1003 are interconnected through the bus 1004.

[0150] The processor 1001 is configured to read and execute instructions in the memory 1002 to enable the at least one processor to execute the electric vehicle single-pedal mode control method provided in the above embodiment.

[0151] The memory 1002 is configured to store various instructions and programs of the electric vehicle single-pedal mode control method provided in the above embodiment.

[0152] The communication interface 1003 is used for data interaction between the speed sensor and the electronic control unit.

[0153] The bus 1004 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 10 only a thick line is shown in , but it does not mean that there is only one bus or one type of bus.

[0154] The processor 1001 can be a central processing unit (CPU), a network processor (NP), a graphic processing unit (GPU), or any combination of CPU, NP, and GPU. It can also be a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0155] In addition, this application also provides a computer-readable storage medium. The computer storage medium stores a computer program, and the computer program is used to cause a computer to execute the method described in any one of the above embodiments.

[0156] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured article including an instruction device. The instruction device implements the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 specified in one block or multiple blocks.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Therefore, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 specified in one block or multiple blocks.

[0158] Although the preferred embodiments of this application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of this application.

[0159] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these modifications and variations.

Claims

1. A control method for a single-pedal mode of an electric vehicle, characterized in that, The method includes: In response to a single-pedal control instruction, collecting the driving speed and pedal opening of the current electric vehicle, and determining the deceleration acceleration corresponding to the driving speed and pedal opening; According to the driving environment information of the electric vehicle, determining the current congestion situation and the distances from the electric vehicle to different types of obstacles, where the different types of obstacles include pedestrians, vehicles, and objects other than pedestrians and vehicles; Comparing the distances from the electric vehicle to different types of obstacles in the current congestion situation with the corresponding safety distance thresholds, where different types of obstacles have a priority order, and the safety distance threshold corresponding to the obstacle with a higher priority is smaller; When it is determined that the adjustment condition is met according to the comparison result, adjusting the current deceleration acceleration by using the corresponding adjustment method according to the safety distance threshold corresponding to when the adjustment condition is met; Wherein, when it is determined that the current congestion situation is a traffic jam, it is respectively determined whether the distance from the electric vehicle to a pedestrian or an object is less than d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than the third safety distance threshold d3, whether the distance from the electric vehicle to a vehicle is greater than d3 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1. The d1, d2, d3, and d4 all increase with the increase of the driving speed of the electric vehicle, and at the same driving speed, d1>d2>d3>d4.

2. The method according to claim 1, wherein Comparing the distances from the electric vehicle to different types of obstacles in the current congestion situation with the corresponding safety distance thresholds includes: When it is determined that the current congestion situation is not a traffic jam, it is respectively determined whether the distance from the electric vehicle to a pedestrian or an object is less than the fourth safety distance threshold d4, whether the distance from the electric vehicle to a vehicle is greater than d4 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to a vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to a vehicle is greater than d1; Wherein, the d1, d2, and d4 all increase with the increase of the driving speed of the electric vehicle, and at the same driving speed, d1>d2>d4.

3. The method according to claim 2, wherein When it is determined that the adjustment condition is met according to the comparison result, adjusting the current deceleration acceleration by using the corresponding adjustment method according to the safety distance threshold corresponding to when the adjustment condition is met includes: When the distance from the electric vehicle to a pedestrian or an object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased; When the distance from the electric vehicle to a vehicle is greater than d4 and less than d2, it is determined that the adjustment condition is not met; When the distance from the electric vehicle to a vehicle is greater than d2 and less than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened.

4. The method according to claim 1, wherein When it is determined that the adjustment condition is met according to the comparison result, adjusting the current deceleration acceleration by using the corresponding adjustment method according to the safety distance threshold corresponding to when the adjustment condition is met includes: When the distance between the electric vehicle and a pedestrian or an object is less than d4, it is determined that the adjustment condition is met, and the current deceleration acceleration is increased; When the distance between the electric vehicle and the vehicle is greater than d4 and less than d3, and the current driving speed is less than the preset speed threshold, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened; When the distance between the electric vehicle and the vehicle in front is greater than d4 and less than d3, and the current driving speed is not less than the preset speed threshold, it is determined that the adjustment condition is not met; When the distance between the electric vehicle and the vehicle in front is greater than d3 and less than d2, it is determined that the adjustment condition is not met; When the distance between the electric vehicle and the vehicle in front is greater than d2 and less than d1, it is determined that the adjustment condition is met, and the current deceleration acceleration is weakened.

5. The method according to claim 1 or 2, characterized in that, When it is determined that the adjustment condition is met according to the comparison result, according to the safety distance threshold corresponding to when the adjustment condition is met, the current deceleration acceleration is adjusted by using the corresponding adjustment method, including: When it is determined that the current congestion situation is no traffic jam, and it is determined that the adjustment condition is met when the distance from the electric vehicle to the vehicle is greater than d1, the current deceleration acceleration is adjusted to 0; When it is determined that the current congestion situation is a traffic jam, and it is determined that the adjustment condition is met when the distance from the electric vehicle to the vehicle is greater than d1, the current deceleration acceleration is adjusted to 0.

6. The method according to claim 1, wherein The method further includes: When it is determined according to the driving environment information that the current driving environment is no traffic jam, no obstacle is recognized, and a speed limit sign is recognized, and it is determined that the current driving speed exceeds the speed of the speed limit sign by more than the preset percentage threshold, it is determined to maintain the current deceleration acceleration; When it is determined according to the driving environment information that the current driving environment is a traffic jam, no obstacle is recognized, and the traffic signal is a red light, it is determined to maintain the current deceleration acceleration.

7. An electric vehicle single-pedal mode control device, characterized in that, The device includes: An acquisition module, configured to acquire the driving speed and pedal opening of the current electric vehicle in response to a single-pedal control instruction, and determine the deceleration acceleration corresponding to the driving speed and pedal opening; A determination module, configured to determine the current congestion situation and the distance from the electric vehicle to different types of obstacles according to the driving environment information of the electric vehicle, where the different types of obstacles include pedestrians, vehicles, and objects other than pedestrians and vehicles; A comparison module, configured to compare the distance from the electric vehicle to different types of obstacles in the current congestion situation with the corresponding safety distance thresholds, where different types of obstacles have a priority order, and the safety distance threshold corresponding to the obstacle with a higher priority is smaller; An adjustment module, configured to, when it is determined that the adjustment condition is met according to the comparison result, adjust the current deceleration acceleration by using the corresponding adjustment method according to the safety distance threshold corresponding to when the adjustment condition is met; Wherein, when it is determined that the current congestion situation is a traffic jam, it is respectively determined whether the distance from the electric vehicle to the pedestrian or object is less than d4, whether the distance from the electric vehicle to the vehicle is greater than d4 and less than the third safety distance threshold d3, whether the distance from the electric vehicle to the vehicle is greater than d3 and less than the second safety distance threshold d2, whether the distance from the electric vehicle to the vehicle is greater than d2 and less than the first safety distance threshold d1, and whether the distance from the electric vehicle to the vehicle is greater than d1. The d1, d2, d3, and d4 all increase as the driving speed of the electric vehicle increases, and at the same driving speed, d1 > d2 > d3 > d4.

8. An electric vehicle single-pedal mode control device, characterized in that, The device includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1-6.

9. A computer storage medium, characterized in that, The computer storage medium stores a computer program for causing a computer to execute the method according to any one of claims 1-6.

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