Vehicle Control Method, Device, Storage Medium and Vehicle

Abstract

The present invention discloses a vehicle control method, device, storage medium and vehicle. Among them, the method includes: detecting the driving state of a target vehicle at a preset period based on the vehicle parameters of the target vehicle; in response to the target vehicle maintaining a parked state within a preset time range, adjusting the clutch pressure of the target vehicle by a first step length until the clutch pressure is adjusted from a parked pressure value to a first preset pressure value or the target vehicle switches from a parked state to a starting state; in response to the target vehicle being in a starting state, calculating the pressure difference between the current pressure value and the parked pressure value of the clutch pressure; in response to the pressure difference being not less than a second preset pressure value, performing fuel filling start control and torque limit control on the target vehicle. The present invention solves the technical problems of poor control stability and versatility of the vehicle control method provided by the related art.

Description

Technical Field

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

[0002] With the continuous improvement of vehicle performance, drivers have higher requirements for driving quality. However, in the current driving scenarios, the noise, vibration, and harshness (NVH) levels of the vehicle during parking or starting are relatively low, which cannot meet the expectations of drivers.

[0003] In the prior art, the main methods to improve the NVH level of the vehicle are: disconnecting the powertrain by activating the neutral control function to reduce parking vibration or actively activating the electronic parking function after entering the neutral control state to reduce parking vibration. However, the disadvantages of the above methods are: during the process of the vehicle entering and exiting the neutral control state, problems such as unstable vehicle operation (such as engine speed soaring or dropping, starting impact, and response lag) are likely to occur; it is only applicable to vehicles equipped with an automatic transmission (AT), and the versatility is poor; the detailed control of the restart process is not carried out.

[0004] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a vehicle control method, device, storage medium, and vehicle, so as to at least solve the technical problems of poor control stability and versatility of the vehicle control method provided by the related art.

[0006] According to one embodiment of the present invention, a vehicle control method is provided, including:

[0007] Based on the vehicle parameters of the target vehicle, detect the driving state of the target vehicle at a preset period, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state includes at least a parking state and a starting state; in response to the target vehicle remaining in the parking state within a preset time range, adjust the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from the parking pressure value to a first preset pressure value or the target vehicle switches from the parking state to the starting state; in response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value and the parking pressure value of the clutch pressure; in response to the pressure difference being not less than a second preset pressure value, perform fuel filling start control and torque limit control on the target vehicle.

[0008] Optionally, the vehicle parameters at least include: gear position, speed, accelerator pedal opening, brake master cylinder pressure, and transmission oil temperature. Detecting the driving state of the target vehicle based on the vehicle parameters of the target vehicle according to a preset period includes: detecting the vehicle parameters of the target vehicle according to the preset period; determining that the target vehicle is in a parked state in response to the vehicle parameters satisfying the parking condition; determining that the target vehicle is in a starting state in response to the target vehicle being in the parked state and the vehicle parameters changing from satisfying the parking condition to not satisfying the parking condition; where the parking condition includes: the gear position is in a preset lowest gear position or reverse gear position, the speed is zero, the accelerator pedal opening is zero, the brake master cylinder pressure is higher than the brake pressure threshold, and the transmission oil temperature is not higher than the brake temperature threshold.

[0009] Optionally, adjusting the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from the parking pressure value to a first preset pressure value or the target vehicle switches from the parked state to the starting state includes: determining the first step length according to the transmission oil temperature; executing the corresponding pressure down instruction of the target vehicle according to the first step length, where the pressure down instruction is used to control the adjustment of the clutch pressure; in response to the clutch pressure being adjusted from the parking pressure value to the first preset pressure value, controlling the clutch pressure to maintain the first preset pressure value and stopping executing the pressure down instruction; in response to the target vehicle being in the starting state, stopping executing the pressure down instruction.

[0010] Optionally, performing fuel filling start control and torque limit control on the target vehicle includes: executing the corresponding fuel filling start instruction of the target vehicle to make the clutch pressure recover to the parking pressure value, where the fuel filling start instruction is used to perform open-loop fuel filling control on the target vehicle; according to the execution state of the target vehicle for the open-loop fuel filling control, executing the corresponding torque limit instruction of the target vehicle to adjust the engine torque of the target vehicle to the required torque, where the required torque is determined by the accelerator pedal opening.

[0011] Optionally, the torque limit instruction includes a first instruction and a second instruction. Executing the corresponding torque limit instruction of the target vehicle according to the execution state of the target vehicle for the open-loop fuel filling control includes: in response to determining that the target vehicle has not completed the open-loop fuel filling control according to the execution state, executing the first instruction, where the first instruction is used to control the engine torque not to exceed the torque limit threshold; in response to determining that the target vehicle has completed the open-loop fuel filling control according to the execution state, executing the second instruction, where the second instruction is used to control the engine torque to be gradually adjusted to the required torque according to a second step length.

[0012] Optionally, the vehicle control method further includes: in response to the accelerator pedal opening being less than a preset opening value, executing a rotational speed control instruction corresponding to the target vehicle, so that the engine rotational speed of the target vehicle is adjusted to a target rotational speed value, where the target rotational speed value is determined by the idle rotational speed corresponding to the target vehicle and a rotational speed compensation value, the idle rotational speed is determined by the engine control unit of the target vehicle, and the rotational speed compensation value is determined according to the transmission oil temperature.

[0013] Optionally, the vehicle control method further includes: in response to the target vehicle activating a preset parking function, updating a first preset pressure value according to a preset coefficient, where the preset parking function is used to assist the target vehicle in automatic parking.

[0014] According to one embodiment of the present invention, there is also provided a vehicle control device, including:

[0015] A state detection module, configured to detect the driving state of the target vehicle at a preset period based on the vehicle parameters of the target vehicle, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state includes at least a parking state and a starting state; a parking control module, configured to, in response to the target vehicle maintaining a parking state within a preset time range, adjust the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from a parking pressure value to a first preset pressure value or the target vehicle switches from a parking state to a starting state; a calculation module, configured to, in response to the target vehicle being in a starting state, calculate the pressure difference between the current pressure value and the parking pressure value of the clutch pressure; a starting control module, configured to, in response to the pressure difference being not less than a second preset pressure value, perform fuel filling starting control and torque limit control on the target vehicle.

[0016] Optionally, the above state detection module is further configured to: detect the vehicle parameters of the target vehicle at a preset period; in response to the vehicle parameters satisfying the parking condition, determine that the target vehicle is in a parking state; in response to the target vehicle being in a parking state and the vehicle parameters changing from satisfying the parking condition to not satisfying the parking condition, determine that the target vehicle is in a starting state; where the parking condition includes: the gear position is in a preset lowest gear position or a reverse gear position, the speed is zero, the accelerator pedal opening is zero, the master cylinder pressure of the brake is higher than a brake pressure threshold, and the transmission oil temperature is not higher than a brake temperature threshold.

[0017] Optionally, the above parking control module is further configured to: determine the first step length according to the transmission oil temperature; execute a pressure down instruction corresponding to the target vehicle according to the first step length, where the pressure down instruction is used to control the adjustment of the clutch pressure; in response to the clutch pressure being adjusted from the parking pressure value to the first preset pressure value, control the clutch pressure to maintain the first preset pressure value and stop executing the pressure down instruction; in response to the target vehicle being in a starting state, stop executing the pressure down instruction.

[0018] Optionally, the above starting control module is further configured to: execute the fuel filling start instruction corresponding to the target vehicle, so that the clutch pressure is restored to the parking pressure value, wherein the fuel filling start instruction is used to perform open-loop fuel filling control on the target vehicle; according to the execution status of the target vehicle for the open-loop fuel filling control, execute the torque limit instruction corresponding to the target vehicle, so that the engine torque of the target vehicle is adjusted to the required torque, wherein the required torque is determined by the accelerator pedal opening.

[0019] Optionally, the above starting control module is further configured to: in response to determining that the target vehicle has not completed the open-loop fuel filling control according to the execution status, execute a first instruction, wherein the first instruction is used to control the engine torque not to exceed the torque limit threshold; in response to determining that the target vehicle has completed the open-loop fuel filling control according to the execution status, execute a second instruction, wherein the second instruction is used to control the engine torque to be gradually adjusted to the required torque according to the second step size.

[0020] Optionally, the above starting control module is further configured to: in response to the accelerator pedal opening being less than the preset opening value, execute the engine speed control instruction corresponding to the target vehicle, so that the engine speed of the target vehicle is adjusted to the target speed value, wherein the target speed value is determined by the idle speed corresponding to the target vehicle and the speed compensation value, the idle speed is determined by the engine control unit of the target vehicle, and the speed compensation value is determined according to the transmission oil temperature.

[0021] Optionally, the above parking control module is further configured to: in response to the target vehicle enabling the preset parking function, update the first preset pressure value according to the preset coefficient, wherein the preset parking function is used to assist the target vehicle in automatic parking.

[0022] According to one embodiment of the present invention, there is also provided a storage medium, the storage medium including a stored program, wherein when the program runs, it controls the device where the storage medium is located to execute any one of the foregoing vehicle control methods.

[0023] According to one embodiment of the present invention, there is also provided a vehicle, including an in-vehicle memory and an in-vehicle processor, the in-vehicle memory stores a computer program, and the in-vehicle processor is configured to run the computer program to execute any one of the foregoing vehicle control methods.

[0024] In an embodiment of the present invention, based on the vehicle parameters of a target vehicle, the driving state of the target vehicle is detected at a preset period. If the target vehicle maintains a parked state within a preset time range, the clutch pressure of the target vehicle is adjusted by a first step length until the clutch pressure is adjusted from the parked pressure value to a first preset pressure value or the target vehicle switches from the parked state to the starting state. If the target vehicle is in the starting state, the pressure difference between the current pressure value and the parked pressure value of the clutch pressure is calculated. If the pressure difference is not lower than a second preset pressure value, fuel filling start control and torque limit control are performed on the target vehicle, achieving the purpose of pressure adjustment for the parked state of the vehicle and control for the starting state according to vehicle parameters, thereby realizing the technical effect of improving the running stability of the vehicle during parking or starting to enhance the driving quality of the user, and further solving the technical problem of poor running stability and low driving quality of the user during parking or starting of the vehicle due to solely relying on the neutral control function or the electronic parking function to control the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 is a flowchart of a vehicle control method according to one embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of an optional vehicle control method according to one embodiment of the present invention;

[0028] Figure 3 is a stage schematic diagram of an optional vehicle control method according to one embodiment of the present invention;

[0029] Figure 4 is a structural block diagram of a vehicle control device according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0033] This method embodiment can be executed in an electronic device or a similar computing device that includes a memory and a processor in a vehicle. Taking running on the electronic device of the vehicle as an example, the electronic device of the vehicle can include one or more processors (the processor can include, but is not limited to, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a programmable logic device (FPGA), a neural network processor (NPU), a tensor processor (TPU), an artificial intelligence (AI) type processor, etc.) and a memory for storing data. And a memory for storing data. Optionally, the above-mentioned electronic device of the vehicle may further include a transmission device for communication functions, an input / output device, and a display device. Those of ordinary skill in the art can understand that the above structural description is only illustrative and does not limit the structure of the above-mentioned electronic device of the vehicle. For example, the electronic device of the vehicle may further include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0034] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the information processing method in the embodiments of the present invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the above-mentioned information processing method is implemented. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely disposed relative to the processor, and these remote memories may be connected to the mobile terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and combinations thereof.

[0035] The transmission device is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0036] The display device may be, for example, a touch-screen liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display enables a user to interact with the user interface of the mobile terminal. In some embodiments, the above mobile terminal has a graphical user interface (GUI), and the user can perform human-computer interaction with the GUI through finger contacts and / or gestures on the touch-sensitive surface. The human-computer interaction function here may optionally include the following interactions: creating web pages, drawing, word processing, creating electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. The executable instructions for performing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0037] In this embodiment, a vehicle control method running on the above-mentioned electronic device of the vehicle is provided. Figure 1 It is a vehicle control method according to one embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0038] Step S10, based on the vehicle parameters of the target vehicle, detect the driving state of the target vehicle at a preset period, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state at least includes a parking state and a starting state;

[0039] The target vehicle described above can be, but is not limited to: a parked vehicle, a moving vehicle, a vehicle waiting to park, or a vehicle waiting to start, etc. The target vehicle can also be an automatic transmission vehicle or a manual / automatic transmission vehicle. In particular, the vehicle described above can be a vehicle equipped with a Dual Clutch Transmission (DCT).

[0040] The vehicle parameters described above can be parameters related to the driving process of the target vehicle. For example, the vehicle parameters can be: speed, engine speed, gear position, accelerator pedal opening, fuel consumption, braking distance, master cylinder pressure, and transmission oil temperature, etc.

[0041] The preset period described above can be calibrated in advance by technicians and is used to continuously detect the driving state of the target vehicle. For example, the driving state of the target vehicle is detected once every 1 s.

[0042] The driving state of the target vehicle can be: a parking state, a normal driving state, a starting state, etc. The parking state can be the state after the target vehicle changes from normal driving to a stationary state. For example, the scenarios where the target vehicle enters the parking state can be: the traffic light at an intersection turns red, there is a traffic jam ahead on the road, etc. The starting state can be the state after the target vehicle changes from a stationary state to a normal driving state. For example, the scenarios where the target vehicle enters the starting state can be: the traffic light at an intersection turns green, preparing to drive the vehicle out of the garage, etc.

[0043] The association method between the target vehicle and the sensor can be: association through wireless communication (such as 4G network, 5G network, etc.), association through Controller Area Network (CAN), etc.

[0044] The sensor described above can be a sensor associated with the target vehicle and capable of acquiring the parameters of the target vehicle. For example, the sensor can be: a vehicle speed sensor, a wheel speed sensor, a gear position sensor, an accelerator pedal opening sensor, a master cylinder pressure sensor, an oxygen sensor, and a transmission oil temperature sensor, etc.

[0045] The specific implementation method for acquiring vehicle parameters can be: acquired by an Engine Management System (EMS) from the sensor through CAN; or acquired from a storage space associated with the target vehicle (such as an in-vehicle memory or a cloud database).

[0046] Step S12: In response to the target vehicle remaining in a parked state within a preset time range, adjust the clutch pressure of the target vehicle by a first step length until the clutch pressure is adjusted from the parked pressure value to a first preset pressure value or the target vehicle switches from the parked state to the starting state;

[0047] The above-mentioned preset time range can be used to: determine whether to adjust the clutch pressure of the target vehicle according to the duration of the target vehicle being in the parked state. The above-mentioned preset time range can be a calibrated value, which can be calibrated in advance by technicians during the specific implementation process.

[0048] The specific implementation method for determining that the target vehicle remains in the parked state within the above-mentioned preset time range can be: set the preset time range to within 3 s since entering the parked state; start timing when it is detected that the target vehicle enters the parked state, and if the duration of the parked state is greater than 3 s, determine that the target vehicle remains in the parked state within the above-mentioned preset time range.

[0049] It should be noted that if the target vehicle no longer meets the parked state (such as the vehicle starting) during the timing after the target vehicle enters the parked state, the timing is exited and the above-mentioned step S10 is continued to be executed.

[0050] When the target vehicle is in the parked state, adjust the clutch pressure of the target vehicle. The above-mentioned first step length can be used to determine the adjustment range of the clutch pressure of the target vehicle. The above-mentioned first step length can be determined by the current vehicle parameters of the target vehicle.

[0051] The above-mentioned parked pressure value can be the pressure of the clutch when the target vehicle enters the parked state, and the above-mentioned parked pressure value can be obtained by a clutch pressure sensor.

[0052] The above-mentioned first preset pressure value can be the lower threshold for adjusting the clutch pressure when the target vehicle is in the parked state. That is to say, when it is detected that the clutch pressure is lower than the first preset pressure value, stop adjusting the clutch pressure of the target vehicle. Further, the above-mentioned first preset pressure value can be specifically calibrated by technicians according to the type of the transmission in the specific implementation process. For example, the first preset pressure value of a DCT vehicle model can be calibrated to a value between 1 bar and 1.5 bar.

[0053] It is easy to note that during the process of adjusting the clutch pressure of the target vehicle, the target vehicle may still remain in the parked state when the clutch pressure is adjusted from the parked pressure value to the first preset pressure value, or may enter the starting state when the clutch pressure is not adjusted to the first preset pressure value. When it is detected that the target vehicle enters the starting state when the clutch pressure is not adjusted to the first preset pressure value, stop adjusting the clutch pressure of the target vehicle.

[0054] Specifically, the specific implementation process of adjusting the clutch pressure of the target vehicle according to the first step length until the clutch pressure is adjusted from the parking pressure value to the first preset pressure value or the target vehicle switches from the parking state to the starting state can be referred to the further introduction of the embodiments of the present invention and will not be elaborated here.

[0055] Step S14: In response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value and the parking pressure value of the clutch pressure;

[0056] The above current pressure value can be the clutch pressure value when the target vehicle enters the above starting state, and the above current pressure value can be obtained in real time by a clutch pressure sensor.

[0057] When it is detected that the target vehicle is in the starting state, calculate the pressure difference between the current pressure value and the parking pressure value of the clutch pressure. This pressure difference can be used to determine the starting control mode of the target vehicle. The specific implementation method of calculating the above pressure difference can be: subtract the current pressure value obtained in real time by the clutch pressure sensor from the above parking pressure value.

[0058] Step S16: In response to the pressure difference being not less than the second preset pressure value, perform fuel filling starting control and torque limit control on the target vehicle.

[0059] The specific implementation method of determining that the above pressure difference is not less than the second preset pressure value can be: calibrate the second preset pressure value to 0.5 bar. If the currently calculated pressure difference is greater than or equal to 0.5 bar, it is determined that the pressure difference is not less than the second preset pressure value.

[0060] It should be noted that when the pressure difference is not less than the second preset pressure value, perform fuel filling starting control and torque limit control on the target vehicle; when the pressure difference is lower than the second preset pressure value, perform normal starting control on the vehicle.

[0061] The above second preset pressure value can be used to determine the starting control mode of the vehicle. Further, in the specific implementation process, the above second preset pressure value can be specifically calibrated by a technician according to the type of the transmission. For example, the second preset pressure value of a DCT model can be calibrated to a value between 0.4 bar and 0.7 bar.

[0062] Specifically, the implementation process of performing fuel filling starting control and torque limit control on the target vehicle can be referred to the further introduction of the embodiments of the present invention and will not be elaborated here.

[0063] In an embodiment of the present invention, based on the vehicle parameters of a target vehicle, the driving state of the target vehicle is detected at a preset period. If the target vehicle maintains a parked state within a preset time range, the clutch pressure of the target vehicle is adjusted in a first step length until the clutch pressure is adjusted from the parked pressure value to a first preset pressure value or the target vehicle switches from the parked state to the starting state. If the target vehicle is in the starting state, the pressure difference between the current pressure value and the parked pressure value of the clutch pressure is calculated. If the pressure difference is not lower than a second preset pressure value, fuel filling start control and torque limit control are performed on the target vehicle, achieving the purpose of pressure adjustment for the parked state of the vehicle and control for the starting state according to vehicle parameters, thereby realizing the technical effect of improving the running stability of the vehicle during parking or starting to enhance the driving quality of users, and further solving the technical problem of poor running stability of the vehicle during parking or starting and low driving quality of users due to solely relying on the neutral control function or the electronic parking function to control the vehicle.

[0064] Figure 2 is a schematic diagram of an optional vehicle control method according to an embodiment of the present invention. As Figure 2 shown, the method for controlling a vehicle includes:

[0065] First, determine whether the vehicle activates the parked state;

[0066] If the vehicle does not activate the parked state, it means the vehicle is in the normal driving state. If the vehicle activates the parked state, start calculating the parked time and determine whether the vehicle maintains the parked state within the preset time range;

[0067] If the vehicle does not maintain the parked state within the preset time range, continue to determine whether the vehicle activates the parked state. If the vehicle maintains the parked state within the preset time range, enter the pressure downward process;

[0068] After the pressure downward is completed, determine whether the pressure drops to the first preset pressure value. If it does not drop to the first preset pressure value, calculate the pressure difference between the parked pressure and the current pressure. If it drops to the first preset pressure value, the vehicle enters the low-pressure holding stage;

[0069] In the low-pressure holding stage, determine whether the vehicle exits the parked state. If the vehicle exits the parked state, perform fuel filling start and torque limit. If the vehicle does not exit the parked state, continue to be in the low-pressure holding stage.

[0070] In addition, still as Figure 2 shown, after calculating the pressure difference between the parked pressure and the current pressure, determine the magnitude relationship between the pressure difference and the second preset pressure value. If the pressure difference is not less than the second preset pressure value, the vehicle performs fuel filling start and torque limit. If the pressure difference is less than the second preset pressure value, the vehicle starts normally.

[0071] In Figure 2 the vehicle control method shown, it may further include multiple judgment processes and specific implementation manners of multiple control methods, which can be referred to the following further introduction to the embodiments of the present invention.

[0072] The above method of the embodiments of the present invention will be further introduced below.

[0073] As an optional implementation manner, in the above step S10, based on the vehicle parameters of the target vehicle, detecting the driving state of the target vehicle according to a preset period may further include the following steps:

[0074] S101, detecting the vehicle parameters of the target vehicle according to a preset period;

[0075] The above vehicle parameters may include: gear position, speed, accelerator pedal opening, master cylinder pressure, and transmission oil temperature.

[0076] S102, in response to the vehicle parameters satisfying the parking condition, determining that the target vehicle is in a parked state;

[0077] The above parking condition may include: the gear position is in a preset lowest gear or reverse gear, the speed is zero, the accelerator pedal opening is zero, the master cylinder pressure is higher than the braking pressure threshold, and the transmission oil temperature is not higher than the braking temperature threshold.

[0078] The above preset lowest gear may be the first gear of the vehicle, which is obtained in real time by a gear position sensor.

[0079] The above reverse gear may be the R gear of the vehicle, which is obtained in real time by a gear position sensor.

[0080] The above speed may be obtained in real time by a speed sensor.

[0081] The above accelerator pedal opening may be obtained in real time by an accelerator pedal opening sensor.

[0082] The above master cylinder pressure may be obtained in real time by a master cylinder pressure sensor.

[0083] In the specific implementation process, the above braking pressure threshold can be specifically calibrated by technicians according to the type of the gearbox. For example, the braking pressure threshold of a DCT vehicle type can be calibrated to a value between 20 bar and 40 bar.

[0084] The above transmission oil temperature may be obtained in real time by a transmission oil temperature sensor.

[0085] In the specific implementation process, the above braking temperature threshold can be specifically calibrated by technicians according to the type of the gearbox. For example, the braking temperature threshold of a DCT vehicle type can be calibrated to a value between -5°C and 5°C.

[0086] A specific example of determining whether vehicle parameters meet the parking condition is: a standard brake pressure threshold of 30 bar and a standard brake temperature threshold of 0°C. If the gear sensor detects that the vehicle is currently in 1st gear, the speed sensor detects that the vehicle is currently at 0 speed, the accelerator pedal opening sensor detects that the accelerator pedal opening is 0, the brake master cylinder pressure sensor detects that the brake master cylinder pressure is 35 bar, and the transmission oil temperature sensor detects that the transmission oil temperature is -3°C, then the current vehicle parameters are determined to meet the parking condition and the vehicle is in the parked state.

[0087] S103 , in response to the target vehicle being in a parking state and the vehicle parameters changing from satisfying the parking condition to not satisfying the parking condition, determining that the target vehicle is in a starting state.

[0088] The above starting conditions may include: the gear is not in the preset lowest gear or reverse gear, the speed is not zero, the accelerator pedal opening is not zero, the brake master cylinder pressure is lower than the brake pressure threshold, and the transmission oil temperature is higher than the brake temperature threshold.

[0089] The specific implementation method of judging whether the target vehicle is in the starting state can be: calibrating the braking pressure threshold to 30 bar, calibrating the braking temperature threshold to 0 ° C, calibrating P hyst If the gear sensor detects that the vehicle is currently in 5th gear, the speed sensor detects that the vehicle is currently at 60 km / h, the accelerator pedal opening sensor detects that the accelerator pedal opening is 3%, the brake master cylinder pressure sensor detects that the brake master cylinder pressure is 18 bar, and the transmission oil temperature sensor detects that the transmission oil temperature is 3°C, then it is determined that the current vehicle parameters meet the starting conditions and the vehicle is in the starting state.

[0090] The above P hyst It can be a calibrated amount, and in the specific implementation process, it can be calibrated by technical personnel to a value between 10 bar and 15 bar.

[0091] Specifically, the specific conditions for determining the vehicle driving state may be as shown in Table 1 below.

[0092] It should be noted that Table 1 is an example of the format of a pre-calibrated data table. In actual application scenarios, the vehicle speed calibrated in Table 1 can be in kilometers per hour (km / h), the brake master cylinder pressure calibrated in Table 1 can be in bar, and the transmission oil temperature calibrated in Table 1 can be in degrees Celsius (°C). For example, when the vehicle is in the starting state, the calibration can be 60 km / h, the accelerator pedal opening is 3%, the brake master cylinder pressure is 15 bar, the gear is in 5th gear, and the transmission oil temperature is 0°C.

[0093] It should be noted that: when all the current parameters of the vehicle meet the parameter conditions of the parking state shown in Table 1, the vehicle is in the parking state; when at least one of the current parameters of the vehicle meets the parameter conditions of the starting state shown in Table 1, the vehicle is in the starting state.

[0094] Table 1

[0095]

[0096] As an optional embodiment, in the above step S12, when adjusting the clutch pressure of the target vehicle according to the first step length until the clutch pressure is adjusted from the parking pressure value to the first preset pressure value or the target vehicle switches from the parking state to the starting state, the following steps may further be included:

[0097] S121. Determine the first step length according to the transmission oil temperature;

[0098] S122. Execute the pressure-down instruction corresponding to the target vehicle according to the first step length, where the pressure-down instruction is used to control the adjustment of the clutch pressure;

[0099] The above first step length can be determined by the transmission oil temperature. For every 10°C increase in the oil temperature, the step length increases by 1 bar / s.

[0100] The specific implementation manner of the above pressure-down instruction may be: the clutch pressure takes the first preset pressure value as the target value and gradually decreases according to the first step length, and the transmission gear state remains unchanged. For example: the current clutch parking pressure value is 9.3 bar, the calibrated first step length is 2 bar / s, and the calibrated first preset pressure value is 1.3 bar. Then the clutch decreases by 2 bar / s, and after 4 s, it decreases to the first preset pressure value.

[0101] S123. In response to the clutch pressure being adjusted from the parking pressure value to the first preset pressure value, control the clutch pressure to maintain the first preset pressure value and stop executing the pressure-down instruction;

[0102] Optionally, in response to the target vehicle enabling the preset parking function, update the first preset pressure value according to a preset coefficient, where the preset parking function is used to assist the target vehicle in automatic parking.

[0103] The above preset parking function may include: an automatic parking (AUTOHOLD, AVH) system, an electronic parking brake system (Electrical Park Brake, EPB), etc.

[0104] The above preset coefficient may be a calibrated value, and in the specific implementation process, it can be calibrated by a technician to a value between 1.1 and 1.3.

[0105] The specific implementation of updating the first preset pressure value can be: multiplying the current preset first pressure value by a preset coefficient to obtain the updated first preset pressure value. For example, calibrate the current first preset pressure value to 1.3 bar and the calibration coefficient to 1.2. Multiply the first preset pressure value by the calibration coefficient, and update the first preset pressure value to 1.56 bar according to the multiplication result.

[0106] S124, in response to the target vehicle being in a starting state, stop executing the pressure-down instruction.

[0107] The above-mentioned target vehicle being in a starting state can be that the target vehicle enters the starting state when the clutch pressure has not been adjusted to the first preset pressure value.

[0108] As an alternative embodiment, in the above step S14, the specific implementation of calculating the pressure difference between the current pressure value of the clutch pressure and the parking pressure value in response to the target vehicle being in a starting state can be:

[0109] Judge whether the difference between the parking pressure value and the current clutch pressure is not less than the second preset pressure value. If the pressure difference is greater than or equal to the second preset pressure value, perform oil filling and starting torque limit control. If the pressure difference is less than the second preset pressure value, perform normal starting control. For example, calibrate the parking pressure value to 5 bar, the first step length to 1 bar / s, and the second preset pressure value to 0.5 bar. If the vehicle enters the starting state after 1 s of pressure down, at this time the difference between the parking pressure value and the current pressure value is 1 bar, perform oil filling and starting control on the vehicle. If the vehicle enters the starting state after 0.4 s of pressure down, at this time the difference between the parking pressure value and the current pressure value is 0.4 bar, perform normal starting control on the vehicle.

[0110] It should be noted that when the vehicle enters the starting state while in low-pressure holding, directly perform oil filling and starting control and torque limit control on the vehicle.

[0111] As an alternative embodiment, in the above step S16, performing oil filling and starting control and torque limit control on the target vehicle may further include the following steps:

[0112] S161, execute the oil filling and starting instruction corresponding to the target vehicle to make the clutch pressure recover to the parking pressure value, where the oil filling and starting instruction is used to perform open-loop oil filling control on the target vehicle;

[0113] The above oil filling and starting instruction may include: a rapid oil filling instruction, an engine speed increase control instruction, and an engine torque limit control instruction.

[0114] The specific implementation manner of the above-mentioned rapid fuel filling instruction may be: when the target vehicle enters the fuel filling and starting control stage, the clutch pressure rises from the first preset pressure value to the parking pressure value, and open-loop fuel filling control is performed to quickly complete the fuel filling process.

[0115] The specific implementation manner of the above-mentioned engine speed increase control instruction may be: when the target vehicle enters the fuel filling and starting and torque limiting stage, it is determined that the target vehicle needs to perform engine speed increase control according to the accelerator pedal opening, and the engine speed after increase is obtained according to the engine parameters, where the engine parameters may be the idle speed, speed compensation value, etc.

[0116] The specific implementation manner of the above-mentioned engine torque limiting control instruction may be: before the rapid fuel filling process is completed, the engine parameters are sent to the EMS control unit through the CAN line to achieve engine torque limiting, where the engine parameters may be the torque limiting value, etc.

[0117] S162. According to the execution status of the open-loop fuel filling control of the target vehicle, execute the torque limiting instruction corresponding to the target vehicle, so that the engine torque of the target vehicle is adjusted to the required torque, where the required torque is determined by the accelerator pedal opening.

[0118] As an optional implementation manner, in the above step S162, the torque limiting instruction includes a first instruction and a second instruction. Executing the torque limiting instruction corresponding to the target vehicle according to the execution status of the open-loop fuel filling control of the target vehicle may include the following steps:

[0119] S1621. In response to determining that the target vehicle has not completed the open-loop fuel filling control according to the execution status, execute the first instruction, where the first instruction is used to control the engine torque not to exceed the torque limiting threshold.

[0120] The above torque limiting threshold may be a calibrated value with a value range between 10 N·m and 20 N·m. In the specific implementation process, the transmission control unit (TCU) sends the sum of the torque limiting threshold and Torq loss to the EMS control unit through the CAN line to achieve engine torque limiting, where Torq loss is output by the engine control unit and obtained through the CAN line.

[0121] S1622. In response to determining that the target vehicle has completed the open-loop fuel filling control according to the execution status, execute the second instruction, where the second instruction is used to control the engine torque to be gradually adjusted to the required torque according to the second step size.

[0122] The above engine torque may be the torque output from the crankshaft end of the engine, and the magnitude of the torque is related to the engine speed. The smaller the torque, the higher the speed.

[0123] The specific implementation of adjusting the engine torque to the required torque can be: calibrate the current engine torque to 700 N·m, calibrate the second step length to 240 N·m / s, and calibrate the required torque to 1300 N·m. Then the engine torque increases at a rate of 240 N·m / s and reaches the required torque after 2.5 s, and then remains unchanged.

[0124] After the above target vehicle completes the processes of fuel filling start and torque control, adjust the clutch pressure of the target vehicle. The above second step length can be used to determine the adjustment amplitude of the clutch pressure of the target vehicle. The above second step length is a calibrated value, and in the specific implementation process, it can be calibrated by a technician to a value between 200 N·m / s and 300 N·m / s.

[0125] As an alternative implementation, in the above step S162, the following steps are further included:

[0126] S1623, in response to the accelerator pedal opening being less than the preset opening value, execute the rotation speed control instruction corresponding to the target vehicle, so that the engine rotation speed of the target vehicle is adjusted to the target rotation speed value, where the target rotation speed value is determined by the idle rotation speed corresponding to the target vehicle and the rotation speed compensation value. The idle rotation speed is determined by the engine control unit of the target vehicle, and the rotation speed compensation value is determined according to the transmission oil temperature.

[0127] The above preset opening value can be used to determine whether to perform the engine speed increase control process. The above preset opening value is a calibrated quantity, and in the specific implementation process, it can be calibrated by a technician to a value between 2% and 5%.

[0128] The above idle rotation speed can be output by the engine control unit and obtained through CAN communication.

[0129] The above rotation speed compensation value can be a calibrated quantity regarding the transmission oil temperature. For every 10°C increase in the oil temperature, the rotation speed compensation value decreases by 5 rpm.

[0130] The above target rotation speed value can be the sum of the idle rotation speed and the rotation speed compensation value. For example: the obtained idle rotation speed is 1000 rpm, the current rotation speed compensation value is calibrated to 100 rpm, add the idle rotation speed and the rotation speed compensation value, and obtain the target rotation speed of 1100 rpm according to the added result.

[0131] It should be noted that when the above accelerator pedal opening is not less than the preset opening value, the engine rotation speed of the target vehicle is controlled according to normal start.

[0132] Figure 3 It is a schematic diagram of a stage of an optional vehicle control method according to an embodiment of the present invention. Figure 3The solid line above the numerical change curve represents the change curve of the engine demand torque in each stage. Figure 3 The dashed line above the numerical change curve represents the change curve of the engine combustion torque in the stages of oil filling torque limit and after. Figure 3 The solid line below the numerical change curve represents the change curve of the clutch command pressure in each stage. Figure 3 The dashed line below the numerical change curve represents the change curve of the actual clutch pressure in the oil filling torque limit stage.

[0133] It should be noted that in the three stages of parking state, pressure down and pressure holding, the engine demand torque is the engine combustion torque, and the clutch command pressure is the actual clutch pressure.

[0134] As Figure 3 shown, when the vehicle is in the stage of maintaining the parking state, the engine demand torque and the clutch command pressure remain unchanged throughout the stage.

[0135] It should be noted that the clutch command pressure when the vehicle is in the parking state is the parking pressure of the clutch.

[0136] As Figure 3 shown, when the vehicle has been in the parking state within the time range of t0, after t0, it starts to enter the pressure down stage. When the vehicle is in the pressure down stage, the engine demand torque shows a linear downward trend with a small amplitude and finally tends to be stable; the clutch command pressure shows a linear downward trend with a large amplitude and finally remains at the first preset pressure value.

[0137] As Figure 3 shown, when the vehicle is in the pressure holding stage, the engine demand torque remains unchanged, and the clutch pressure remains unchanged at the first preset pressure value.

[0138] As Figure 3 shown, when the vehicle is in the oil filling torque limit stage, the engine demand torque linearly rises to a certain value and then remains unchanged. The actual engine combustion torque drops to a value lower than the engine demand torque at the beginning of the vehicle entering the oil filling torque limit stage, and then remains unchanged throughout the oil filling torque limit stage; the clutch command pressure directly rises from the first preset pressure value to a value at the beginning of the vehicle entering the oil filling torque limit stage, remains unchanged for a period of time, then directly drops to a new value, remains unchanged for a period of time, and finally linearly drops to the same as the actual clutch pressure. The actual clutch pressure shows a non-linear upward trend when entering the oil filling torque limit stage until it is the same as the clutch command pressure.

[0139] It should be noted that the final actual clutch pressure in the oil filling torque limit stage is the first preset pressure value.

[0140] Optionally, for the specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation manners, and details thereof will not be repeated herein.

[0141] In this embodiment, a vehicle control device is further provided. This device is used to implement the above embodiments and preferred implementation manners, and details that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0142] Figure 4 is a structural block diagram of a vehicle control device according to an embodiment of the present invention. As Figure 4 shown, the device includes: a state detection module 41, configured to detect the driving state of the target vehicle at a preset period based on the vehicle parameters of the target vehicle, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state includes at least a parking state and a starting state; a parking control module 42, configured to, in response to the target vehicle maintaining the parking state within a preset time range, adjust the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from the parking pressure value to a first preset pressure value or the target vehicle switches from the parking state to the starting state; a calculation module 43, configured to, in response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value and the parking pressure value of the clutch pressure; a starting control module 44, configured to, in response to the pressure difference being not less than a second preset pressure value, perform fuel filling start control and torque limit control on the target vehicle.

[0143] Optionally, the above state detection module 41 is further configured to: detect the vehicle parameters of the target vehicle at a preset period; determine that the target vehicle is in the parking state in response to the vehicle parameters satisfying the parking condition; determine that the target vehicle is in the starting state in response to the target vehicle being in the parking state and the vehicle parameters changing from satisfying the parking condition to not satisfying the parking condition; where the parking condition includes: the gear is in a preset lowest gear or reverse gear, the speed is zero, the accelerator pedal opening is zero, the brake master cylinder pressure is higher than the brake pressure threshold, and the transmission oil temperature is not higher than the brake temperature threshold.

[0144] Optionally, the above parking control module 42 is further configured to: determine the first step length according to the transmission oil temperature; execute the pressure down instruction corresponding to the target vehicle according to the first step length, where the pressure down instruction is used to control the adjustment of the clutch pressure; in response to the clutch pressure being adjusted from the parking pressure value to the first preset pressure value, control the clutch pressure to maintain the first preset pressure value and stop executing the pressure down instruction; in response to the target vehicle being in the starting state, stop executing the pressure down instruction.

[0145] Optionally, the above-mentioned starting control module 44 is further configured to: execute the fuel filling start instruction corresponding to the target vehicle, so that the clutch pressure is restored to the parking pressure value, where the fuel filling start instruction is used to perform open-loop fuel filling control on the target vehicle; according to the execution status of the target vehicle for the open-loop fuel filling control, execute the torque limit instruction corresponding to the target vehicle, so that the engine torque of the target vehicle is adjusted to the required torque, where the required torque is determined by the accelerator pedal opening.

[0146] Optionally, the above-mentioned starting control module 44 is further configured to: in response to determining that the target vehicle has not completed the open-loop fuel filling control according to the execution status, execute a first instruction, where the first instruction is used to control the engine torque not to exceed the torque limit threshold; in response to determining that the target vehicle has completed the open-loop fuel filling control according to the execution status, execute a second instruction, where the second instruction is used to control the engine torque to be gradually adjusted to the required torque according to the second step size.

[0147] Optionally, the above-mentioned starting control module 44 is further configured to: in response to the accelerator pedal opening being less than the preset opening value, execute the engine speed control instruction corresponding to the target vehicle, so that the engine speed of the target vehicle is adjusted to the target speed value, where the target speed value is determined by the idle speed corresponding to the target vehicle and the speed compensation value, the idle speed is determined by the engine control unit of the target vehicle, and the speed compensation value is determined according to the transmission oil temperature.

[0148] Optionally, the above-mentioned parking control module 42 is further configured to: in response to the target vehicle enabling the preset parking function, update the first preset pressure value according to the preset coefficient, where the preset parking function is used to assist the target vehicle in automatic parking.

[0149] It should be noted that the above-mentioned various modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above-mentioned modules are all located in the same processor; or, the above-mentioned various modules are respectively located in different processors in any combination form.

[0150] An embodiment of the present invention further provides a storage medium, in which a computer program is stored, where the computer program is set to execute the steps in any one of the above method embodiments when running.

[0151] Optionally, in this embodiment, the above-mentioned storage medium can be set to store a computer program for executing the following steps:

[0152] Step S10, based on the vehicle parameters of the target vehicle, detect the driving state of the target vehicle according to a preset period, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state at least includes a parking state and a starting state;

[0153] Step S12, in response to the target vehicle maintaining a parked state within a preset time range, adjust the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from the parked pressure value to a first preset pressure value or the target vehicle switches from the parked state to the starting state;

[0154] Step S14, in response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value and the parked pressure value of the clutch pressure;

[0155] Step S16, in response to the pressure difference being not less than a second preset pressure value, perform fuel filling start control and torque limit control on the target vehicle.

[0156] Optionally, in this embodiment, the above storage medium may include, but is not limited to: USB flash drive, read-only memory (ROM for short), random access memory (RAM for short), mobile hard disk, magnetic disk or optical disc, etc., various media that can store computer programs.

[0157] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiment and optional implementation manners, and will not be elaborated here.

[0158] An embodiment of the present invention further provides a vehicle, including an in-vehicle memory and an in-vehicle processor. The in-vehicle memory stores a computer program, and the in-vehicle processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0159] Optionally, in this embodiment, the above in-vehicle memory may be configured to store a computer program for performing the following steps:

[0160] Step S10, based on the vehicle parameters of the target vehicle, detect the driving state of the target vehicle according to a preset period, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state includes at least a parked state and a starting state;

[0161] Step S12, in response to the target vehicle maintaining a parked state within a preset time range, adjust the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from the parked pressure value to a first preset pressure value or the target vehicle switches from the parked state to the starting state;

[0162] Step S14, in response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value and the parked pressure value of the clutch pressure;

[0163] Step S16, in response to the pressure difference being not less than a second preset pressure value, perform fuel filling start control and torque limit control on the target vehicle.

[0164] Optionally, in this embodiment, the above vehicle-mounted processor may be configured to perform the following steps through a computer program:

[0165] Step S10: Based on the vehicle parameters of the target vehicle, detect the driving state of the target vehicle at a preset period, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, and the driving state includes at least a parking state and a starting state;

[0166] Step S12: In response to the target vehicle maintaining the parking state within a preset time range, adjust the clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from the parking pressure value to a first preset pressure value or the target vehicle switches from the parking state to the starting state;

[0167] Step S14: In response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value and the parking pressure value of the clutch pressure;

[0168] Step S16: In response to the pressure difference being not less than a second preset pressure value, perform fuel filling start control and torque limit control on the target vehicle.

[0169] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and will not be elaborated herein.

[0170] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0171] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0172] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in an electrical or other form.

[0173] The unit described as a separation component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0174] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0175] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that makes a contribution to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs, etc., which can store program codes.

[0176] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A vehicle control method, characterized in that, Including: Detect the driving state of the target vehicle according to a preset period based on the vehicle parameters of the target vehicle, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, the driving state at least includes a parking state and a starting state, and the vehicle parameters include: accelerator pedal opening and transmission oil temperature; In response to the target vehicle maintaining the parking state within a preset time range, determine a first step length according to the transmission oil temperature; Execute the pressure down instruction corresponding to the target vehicle according to the first step length, where the pressure down instruction is used to control the adjustment of the clutch pressure; In response to the clutch pressure being adjusted from the parking pressure value to the first preset pressure value, control the clutch pressure to maintain the first preset pressure value and stop executing the pressure down instruction; In response to the target vehicle being in the starting state, stop executing the pressure down instruction; In response to the target vehicle being in the starting state, calculate the pressure difference between the current pressure value of the clutch pressure and the parking pressure value; In response to the pressure difference being not less than the second preset pressure value, execute the oil filling start instruction corresponding to the target vehicle, so that the clutch pressure is restored to the parking pressure value, where the oil filling start instruction is used to perform open-loop oil filling control on the target vehicle; according to the execution state of the target vehicle for the open-loop oil filling control, execute the torque limit instruction corresponding to the target vehicle, so that the engine torque of the target vehicle is adjusted to the required torque, where the required torque is determined by the accelerator pedal opening.

2. The method according to claim 1, wherein The vehicle parameters at least further include: gear position, speed, and brake master cylinder pressure. Detecting the driving state of the target vehicle according to the preset period based on the vehicle parameters of the target vehicle includes: Detect the vehicle parameters of the target vehicle according to the preset period; In response to the vehicle parameters satisfying the parking condition, determine that the target vehicle is in the parking state; In response to the target vehicle being in the parking state and the vehicle parameters changing from satisfying the parking condition to not satisfying the parking condition, determine that the target vehicle is in the starting state; Wherein, the parking condition includes: the gear position is in the preset lowest gear position or the reverse gear position, the speed is zero, the accelerator pedal opening is zero, the brake master cylinder pressure is higher than the brake pressure threshold, and the transmission oil temperature is not higher than the brake temperature threshold.

3. The method according to claim 1, wherein The torque limit instruction includes a first instruction and a second instruction. Executing the torque limit instruction corresponding to the target vehicle according to the execution state of the target vehicle for the open-loop oil filling control includes: In response to determining that the target vehicle has not completed the open-loop oil filling control according to the execution state, execute the first instruction, where the first instruction is used to control the engine torque not to exceed the torque limit threshold; In response to determining that the target vehicle has completed the open-loop oil filling control according to the execution state, execute the second instruction, where the second instruction is used to control the engine torque to be gradually adjusted to the required torque according to the second step length.

4. The method according to claim 2, wherein The method further includes: In response to the accelerator pedal opening being less than a preset opening value, executing a rotation speed control instruction corresponding to the target vehicle, so that the engine rotation speed of the target vehicle is adjusted to a target rotation speed value, where the target rotation speed value is determined by an idling rotation speed corresponding to the target vehicle and a rotation speed compensation value, the idling rotation speed is determined by an engine control unit of the target vehicle, and the rotation speed compensation value is determined according to the transmission oil temperature.

5. The method according to claim 1, characterized in that The method further includes: In response to the target vehicle activating a preset parking function, updating the first preset pressure value according to a preset coefficient, where the preset parking function is used to assist the target vehicle in automatic parking.

6. A vehicle control device, characterized in that, It includes: A state detection module, configured to detect a driving state of the target vehicle at a preset period based on vehicle parameters of the target vehicle, where the vehicle parameters are obtained by at least one sensor associated with the target vehicle, the driving state at least includes a parking state and a starting state, and the vehicle parameters at least include: accelerator pedal opening; A parking control module, configured to, in response to the target vehicle maintaining the parking state within a preset time range, adjust a clutch pressure of the target vehicle according to a first step length until the clutch pressure is adjusted from a parking pressure value to a first preset pressure value or the target vehicle switches from the parking state to the starting state; A calculation module, configured to, in response to the target vehicle being in the starting state, calculate a pressure difference between a current pressure value of the clutch pressure and the parking pressure value; A starting control module, configured to, in response to the pressure difference being not less than a second preset pressure value, execute a fuel filling start instruction corresponding to the target vehicle, so that the clutch pressure is restored to the parking pressure value, where the fuel filling start instruction is used to perform open-loop fuel filling control on the target vehicle; and execute a torque limit instruction corresponding to the target vehicle according to an execution state of the target vehicle for the open-loop fuel filling control, so that the engine torque of the target vehicle is adjusted to a required torque, where the required torque is determined by the accelerator pedal opening.

7. A storage medium, characterized in that, The storage medium includes a stored program, where, when the program runs, it controls a device where the storage medium is located to execute the vehicle control method according to any one of claims 1 to 5.

8. A vehicle, characterized in that, It includes an in-vehicle memory and an in-vehicle processor, characterized in that the in-vehicle memory stores a computer program, and the in-vehicle processor is configured to run the computer program to execute the vehicle control method according to any one of claims 1 to 5.

Images