Control Method for Single-Pedal Vehicle, Vehicle Control Terminal and Single-Pedal Vehicle

Abstract

The present invention provides a control method for a single-pedal vehicle, a vehicle control terminal, and a single-pedal vehicle. The above single-pedal vehicle includes two braking modes: electric braking and hydraulic braking; the above control method includes: obtaining the working state of the accelerator pedal of the single-pedal vehicle in real time; wherein, the working state of the accelerator pedal includes: an acceleration state and a non-acceleration state; when it is detected that the working state of the accelerator pedal switches to the non-acceleration state, electric braking is performed on the single-pedal vehicle; when the output electric braking torque reaches a preset torque, electric braking and hydraulic braking are simultaneously performed on the single-pedal vehicle. The present invention first performs electric braking when the vehicle brakes, and then intervenes in hydraulic braking when the electric braking torque reaches the preset torque, so that the vehicle decelerates not too fast, decelerates smoothly, and improves the driving experience.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a control method for a single-pedal vehicle, a vehicle control terminal, and a single-pedal vehicle. Background Art

[0002] In common automobiles, the accelerator pedal and the brake pedal are usually separately arranged. The driver steps on the accelerator pedal to accelerate and steps on the brake pedal to decelerate, which is likely to cause misstep of the pedal and result in traffic accidents. With the development of automotive technology, single-pedal vehicles with a single-pedal mode have emerged. After stepping on the accelerator pedal, the vehicle accelerates; after releasing the accelerator pedal, the braking system intervenes to work to achieve vehicle deceleration and braking.

[0003] Single-pedal hybrid vehicles or pure electric vehicles in the single-pedal mode usually have two braking methods: hydraulic braking and electric braking. After releasing the accelerator pedal, electric braking is performed to recover energy to the battery. However, due to the limited battery recovery power, the electric braking torque may not be able to meet the braking torque requirement, so hydraulic braking is needed to supplement at the same time.

[0004] In the prior art, when the electric braking torque is insufficient, electric braking and hydraulic braking act simultaneously. When the two act simultaneously, it will cause too fast deceleration and affect the driving experience. Summary of the Invention

[0005] Embodiments of the present invention provide a control method for a single-pedal vehicle, a vehicle control terminal, and a single-pedal vehicle, so as to solve the problem that when the electric braking torque of a single-pedal vehicle is insufficient in the prior art, electric braking and hydraulic braking act simultaneously, resulting in too fast deceleration and affecting the driving experience.

[0006] In a first aspect, embodiments of the present invention provide a control method for a single-pedal vehicle. The single-pedal vehicle includes two braking methods: electric braking and hydraulic braking; the control method includes:

[0007] Obtain the working state of the accelerator pedal of the single-pedal vehicle in real time; wherein, the working state of the accelerator pedal includes: an acceleration state and a non-acceleration state;

[0008] When it is detected that the working state of the accelerator pedal switches to the non-acceleration state, perform electric braking on the single-pedal vehicle;

[0009] When the output electric braking torque reaches a preset torque, perform electric braking and hydraulic braking on the single-pedal vehicle simultaneously.

[0010] Optionally, when it is detected that the working state of the accelerator pedal switches to the non-acceleration state, performing electric braking on the single-pedal vehicle includes:

[0011] When it is detected that the working state of the accelerator pedal switches to the non-acceleration state, obtain the target torque of the electric braking;

[0012] Perform drivability filtering on the electric braking torque until the output electric braking torque reaches the target torque of the electric braking.

[0013] Optionally, performing drivability filtering on the electric braking torque until the output electric braking torque reaches the target torque of the electric braking includes:

[0014] Gradually reduce the electric braking torque in accordance with the first step size until the output electric braking torque reaches the target torque of the electric braking; the target torque of the electric braking is negative.

[0015] Wherein, when the output electric braking torque is not less than the demarcation torque, the first step size is equal to the initial value of the step size; when the output electric braking torque is less than the demarcation torque, the first step size gradually decreases from the initial value of the step size in accordance with the preset torque change amount until it is equal to 0.

[0016] Optionally, before performing electric braking on the single-pedal vehicle when it is detected that the operating state of the accelerator pedal switches to a non-accelerating state, the above control method further includes:

[0017] Obtain the vehicle's overall demand torque for the single-pedal vehicle; wherein, both the vehicle's overall demand torque and the preset torque are negative.

[0018] If the absolute value of the vehicle's overall demand torque is greater than the absolute value of the preset torque, then use the preset torque as the target torque of the electric braking;

[0019] If the absolute value of the vehicle's overall demand torque is not greater than the absolute value of the preset torque, then use the vehicle's overall demand torque as the target torque of the electric braking.

[0020] Optionally, when the output electric braking torque reaches the preset torque, perform electric braking and hydraulic braking on the single-pedal vehicle simultaneously, including:

[0021] Output the electric braking torque in accordance with the preset torque, and obtain the vehicle's overall demand torque for the single-pedal vehicle;

[0022] Subtract the preset torque from the vehicle's overall demand torque to obtain the target torque of the hydraulic braking;

[0023] Gradually reduce the hydraulic braking torque in accordance with the second step size until the output hydraulic braking torque reaches the target torque of the hydraulic braking; wherein, the target torque of the hydraulic braking is negative.

[0024] Optionally, the output electric braking torque reaching the preset torque includes:

[0025] If the difference between the output electric braking torque and the preset torque is within the preset threshold range, then determine that the output electric braking torque reaches the preset torque.

[0026] Optionally, the preset torque is the maximum braking recovery torque of the vehicle.

[0027] In a second aspect, an embodiment of the present invention provides a vehicle control terminal, including a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the steps of the control method for a single-pedal vehicle provided in the first aspect above or any possible implementation manner of the first aspect.

[0028] In a third aspect, an embodiment of the present invention provides a single-pedal vehicle, including the vehicle control terminal provided in the third aspect above.

[0029] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, it implements the steps of the control method for a single-pedal vehicle provided in the first aspect above or any possible implementation manner of the first aspect.

[0030] An embodiment of the present invention provides a control method for a single-pedal vehicle, a vehicle control terminal, and a single-pedal vehicle; the above single-pedal vehicle includes two braking methods: electric braking and hydraulic braking; the above control method includes: obtaining the working state of the accelerator pedal of the single-pedal vehicle in real time; wherein, the working state of the accelerator pedal includes: an acceleration state and a non-acceleration state; when it is detected that the working state of the accelerator pedal switches to the non-acceleration state, electric braking is performed on the single-pedal vehicle; when the output electric braking torque reaches a preset torque, electric braking and hydraulic braking are simultaneously performed on the single-pedal vehicle. In the embodiment of the present invention, when the vehicle brakes, electric braking is first performed, and when the electric braking torque reaches the preset torque, hydraulic braking is then intervened, so that the vehicle decelerates not too fast, decelerates smoothly, and improves the driving experience. Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0032] Figure 1 is a flowchart of the implementation of a control method for a single-pedal vehicle provided by an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of the braking torque and deceleration of a single-pedal vehicle in the prior art;

[0034] Figure 3 is a schematic diagram of the braking torque and deceleration of a single-pedal vehicle provided by an embodiment of the present invention;

[0035] Figure 4It is a schematic structural diagram of a control device for a single-pedal vehicle provided by an embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of a vehicle control terminal provided by an embodiment of the present invention. Detailed implementation manners

[0037] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will be described through specific embodiments with reference to the accompanying drawings.

[0039] Refer to Figure 1 , which shows a flowchart of the implementation of a control method for a single-pedal vehicle provided by an embodiment of the present invention. The execution subject of the above method can be a vehicle control terminal. For example, it can be a vehicle braking device or other control devices that can be used to control vehicle braking, and there is no specific limitation.

[0040] The above single-pedal vehicle includes two braking methods: electric braking and hydraulic braking. The control method of the above single-pedal vehicle is described in detail as follows:

[0041] S101: Real-time obtain the working state of the accelerator pedal of the single-pedal vehicle; wherein, the working state of the accelerator pedal includes: an acceleration state and a non-acceleration state;

[0042] For a single-pedal vehicle, stepping on the accelerator pedal accelerates, and releasing the accelerator pedal brakes. Therefore, there are two working states of the accelerator pedal: an acceleration state and a non-acceleration state. When in the acceleration state, the vehicle accelerates, and when in the non-acceleration state, the vehicle acceleration is 0 or the vehicle brakes and decelerates.

[0043] Specifically, a sensor can be set at the accelerator pedal to detect the working state of the accelerator pedal.

[0044] S102: When it is detected that the working state of the accelerator pedal switches to the non-acceleration state, perform electric braking on the single-pedal vehicle;

[0045] S103: When the output electric braking torque reaches a preset torque, perform both electric braking and hydraulic braking on the single-pedal vehicle.

[0046] Pure electric vehicles or hybrid vehicles have two braking methods: electric braking and hydraulic braking. When both braking methods participate in braking together, it may cause too fast acceleration and affect the driving experience. Based on this, in the embodiments of the present invention, when it is detected that the working state of the accelerator pedal switches to a non-accelerating state, that is, when braking is required, electric braking is preferentially started. While braking, electric energy is recovered to improve the energy saving of the vehicle. At the same time, affected by the battery charging power, the electric braking torque is limited. If the braking demand of the vehicle cannot be met, hydraulic braking is then started to supplement it, which can not only ensure that the braking demand of the vehicle can be met, but also prevent the vehicle from decelerating too fast due to the superposition of the two braking torques, effectively improving the driving experience.

[0047] In a possible implementation manner, the preset torque may be the maximum braking recovery torque of the whole vehicle.

[0048] The maximum braking recovery torque of the whole vehicle, that is, the maximum torque that can be recovered by electric braking. Due to the limited charging power of the battery affected by factors such as battery capacity and battery temperature, the braking recovery torque of the vehicle is limited by the battery charging power and has a limit value.

[0049] Specifically, the calculation process of the maximum braking recovery torque of the whole vehicle is as follows:

[0050] 1. Obtain the maximum charging power of the battery and calculate the maximum braking power according to the conversion efficiency;

[0051] The calculation formula is:

[0052] Among them, P thj is the maximum braking power, P bat is the maximum charging power of the battery, η is the conversion efficiency, and η < 1.

[0053] 2. Calculate the motor speed of the vehicle according to the vehicle speed;

[0054] 3. Calculate the maximum braking recovery torque of the whole vehicle according to the motor speed and the maximum braking power.

[0055] The calculation formula is:

[0056] Among them, T is the maximum braking recovery torque, P thj is the maximum braking power, and N is the motor speed.

[0057] Among them, the maximum charging power of the battery can be directly obtained by the BMS (Battery Management System) of the battery.

[0058] The preset torque may also be a value less than the maximum braking recovery torque of the whole vehicle, leaving a certain margin to ensure the accuracy of control.

[0059] Furthermore, in the current technology, when the required torque of the whole vehicle is greater than the maximum braking regeneration torque of the whole vehicle, that is, when the electric braking torque cannot meet the braking requirement, hydraulic braking is started while electric braking is started. At the same time, to ensure the stability of vehicle braking, the motor torque does not directly change from a positive value to a negative value, but gradually decreases smoothly from a positive value (acceleration) to a negative value (braking deceleration) until the preset torque is reached; the hydraulic braking torque gradually decreases from 0 to a negative value, refer to Figure 2 .

[0060] As Figure 2 can be seen, since the motor torque changes slowly from a positive value to a negative value, within a certain period of initial braking, the positive motor torque and the negative hydraulic braking torque will exist simultaneously, which will cause excessive wear of the brake disc and affect the durability of the suspension and the motor. The control method of the single-pedal vehicle provided by the embodiment of the present invention starts hydraulic braking only when the electric braking torque reaches the preset torque, refer to Figure 3 , there is no situation where the positive motor torque and the negative hydraulic braking torque coexist, avoiding the problem of brake disc wear and improving the safety and stability of the vehicle. At the same time, as Figure 2 and Figure 3 can be seen, for the control method provided by the embodiment of the present invention, the actual deceleration of the vehicle is smoother than that of the prior art, the deceleration is not too fast, and the driving comfort is better.

[0061] In a possible implementation manner, S102 may include;

[0062] S1021: When it is detected that the working state of the accelerator pedal switches to a non-accelerating state, obtain the target torque of electric braking;

[0063] S1022: Perform drivability filtering on the electric braking torque until the output electric braking torque reaches the target torque of electric braking.

[0064] In the embodiment of the present invention, when the vehicle needs to brake, drivability filtering can be performed on the electric braking torque to control the motor torque to smoothly transition from a positive value to a negative value.

[0065] Among them, the target torque of electric braking is the torque stably output during electric braking. When the required torque of the whole vehicle is less than the preset torque, the electric braking alone can meet the requirement, and the target torque of electric braking can be the required torque of the whole vehicle; when the required torque of the whole vehicle is not less than the preset torque, the electric braking cannot meet the requirement, and the electric braking torque is output at the maximum torque, that is, output according to the preset torque, and the target torque of electric braking is the preset torque.

[0066] In a possible implementation manner, S1022 specifically includes:

[0067] 1. Gradually decrease the electric braking torque step by step according to the first step size until the output electric braking torque reaches the target torque of electric braking; the target torque of electric braking is negative.

[0068] Among them, when the output electric braking torque is not less than the demarcation torque, the first step size is equal to the initial value of the step size; when the output electric braking torque is less than the demarcation torque, the first step size gradually decreases from the initial value of the step size according to the preset torque change amount until it is equal to 0.

[0069] When the gap between the output electric braking torque and the target torque of electric braking is large, linearly decrease it according to the fixed first step size. When the output electric braking torque approaches the target torque of electric braking, gradually decrease the step size and slowly approach the target torque of electric braking to ensure the smoothness of driving. For details, refer to Figure 2 . Based on this, in a possible implementation manner, before S102, the above control method may further include:

[0070] S104: Obtain the vehicle's total demand torque of the single-pedal vehicle; among them, both the vehicle's total demand torque and the preset torque are negative.

[0071] S105: If the absolute value of the vehicle's total demand torque is greater than the absolute value of the preset torque, then use the preset torque as the target torque of electric braking;

[0072] S106: If the absolute value of the vehicle's total demand torque is not greater than the absolute value of the preset torque, then use the vehicle's total demand torque as the target torque of electric braking.

[0073] Among them, the vehicle's total demand torque can be calculated according to the vehicle's speed, weight, etc.

[0074] In a possible implementation manner, S103 may include:

[0075] S1031: Output the electric braking torque according to the preset torque and obtain the vehicle's total demand torque of the single-pedal vehicle;

[0076] S1032: Subtract the preset torque from the vehicle's total demand torque to obtain the target torque of hydraulic braking;

[0077] S1033: Gradually decrease the hydraulic braking torque step by step according to the second step size until the output hydraulic braking torque reaches the target torque of hydraulic braking.

[0078] In the embodiment of the present invention, when the output electric braking torque reaches the preset torque, to ensure the power recovery rate, it can continue to output according to the preset torque after the output electric braking torque reaches the preset torque to maximize the recovery of electric energy.

[0079] Further, to ensure the smoothness of vehicle braking, the hydraulic braking torque can be gradually reduced until the sum of the electric braking torque and the hydraulic braking torque reaches the vehicle's required torque, which can meet the braking demand. Since hydraulic braking is mechanical braking and there is a delay, in the embodiments of the present invention, the hydraulic braking torque is steadily reduced according to the second step length, avoiding fluctuations in the hydraulic braking torque and improving braking smoothness, resulting in a better driving experience.

[0080] In a possible implementation manner, that the output electric braking torque reaches a preset torque may include:

[0081] 1. If the difference between the output electric braking torque and the preset torque is within a preset threshold range, it is determined that the output electric braking torque reaches the preset torque.

[0082] In the embodiments of the present invention, due to possible errors in torque sampling, a certain threshold range can be set, and the electric braking torque within a certain range near the preset torque can be judged to reach the preset torque.

[0083] In a possible implementation manner, the above method may further include:

[0084] When the output electric braking torque does not reach the preset torque, continue to perform electric braking on the single-pedal vehicle.

[0085] If the absolute value of the vehicle's required torque is less than the absolute value of the preset torque, the step of S103 will not be executed, and only electric braking is used to brake the single-pedal vehicle to recover electric energy and improve the energy efficiency of the vehicle.

[0086] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0087] The following is the device embodiment of the present invention. For the details not described in detail, reference can be made to the corresponding method embodiments above.

[0088] Figure 4 The structural schematic diagram of the control device of the single-pedal vehicle provided by the embodiments of the present invention is shown. For the sake of convenience of description, only the parts related to the embodiments of the present invention are shown and are described in detail as follows:

[0089] As Figure 4 shown, the single-pedal vehicle includes two braking methods: electric braking and hydraulic braking. The control device of the single-pedal vehicle includes:

[0090] A pedal state acquisition module 21, configured to acquire the working state of the accelerator pedal of the single-pedal vehicle in real time; wherein, the working state of the accelerator pedal includes: an acceleration state and a non-acceleration state;

[0091] An electric braking intervention module 22, configured to perform electric braking on a single-pedal vehicle when it is detected that the operating state of the accelerator pedal switches to a non-accelerating state;

[0092] A hydraulic braking intervention module 23, configured to perform both electric braking and hydraulic braking on a single-pedal vehicle simultaneously when the output electric braking torque reaches a preset torque.

[0093] In a possible implementation manner, the electric braking intervention module 22 may include;

[0094] A first torque acquisition unit, configured to acquire the target torque of electric braking when it is detected that the operating state of the accelerator pedal switches to a non-accelerating state;

[0095] A first braking unit, configured to perform drivability filtering on the electric braking torque until the output electric braking torque reaches the target torque of electric braking.

[0096] In a possible implementation manner, the first braking unit is specifically configured to: gradually decrease the electric braking torque in accordance with a first step length until the output electric braking torque reaches the target torque of electric braking; the target torque of electric braking is negative;

[0097] Wherein, when the output electric braking torque is not less than the demarcation torque, the first step length is equal to the initial value of the step length; when the output electric braking torque is less than the demarcation torque, the first step length gradually decreases from the initial value of the step length in accordance with a preset torque change amount until it is equal to 0.

[0098] In a possible implementation manner, the above control device may further include:

[0099] A required torque acquisition module, configured to acquire the vehicle's overall required torque of the single-pedal vehicle; wherein, both the vehicle's overall required torque and the preset torque are negative;

[0100] A first judgment module, configured to use the preset torque as the target torque of electric braking if the absolute value of the vehicle's overall required torque is greater than the absolute value of the preset torque;

[0101] A second judgment module, configured to use the vehicle's overall required torque as the target torque of electric braking if the absolute value of the vehicle's overall required torque is not greater than the absolute value of the preset torque.

[0102] In a possible implementation manner, the hydraulic braking intervention module 23 may include:

[0103] A second torque acquisition unit, configured to output an electric braking torque in accordance with a preset torque and acquire the vehicle's overall required torque of the single-pedal vehicle;

[0104] A torque calculation unit, configured to subtract the preset torque from the vehicle's overall required torque to obtain the target torque of hydraulic braking;

[0105] A second braking unit is configured to gradually reduce the hydraulic braking torque in accordance with a second step length until the output hydraulic braking torque reaches the target torque of the hydraulic braking.

[0106] In a possible implementation manner, the output electric braking torque reaching a preset torque may include:

[0107] If the difference between the output electric braking torque and the preset torque is within a preset threshold range, it is determined that the output electric braking torque reaches the preset torque.

[0108] In a possible implementation manner, the preset torque may be the maximum braking recovery torque of the whole vehicle.

[0109] Figure 5 It is a schematic diagram of a vehicle control terminal provided by an embodiment of the present invention. As Figure 5 shown, the vehicle control terminal 3 of this embodiment includes: a processor 30 and a memory 31. The memory 31 is used to store a computer program 32, and the processor 30 is used to call and run the computer program 32 stored in the memory 31 to execute the steps in the above-mentioned embodiments of the driving mode switching method for a hybrid vehicle, such as Figure 1 the steps S101 to S103 shown. Alternatively, the processor 30 is used to call and run the computer program 32 stored in the memory 31 to implement the functions of each module / unit in the above-mentioned device embodiments, such as Figure 4 the functions of the modules 21 to 23 shown.

[0110] Exemplarily, the computer program 32 may be divided into one or more modules / units. One or more modules / units are stored in the memory 31 and executed by the processor 30 to complete the present invention. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 32 in the vehicle control terminal 3. For example, the computer program 32 may be divided into Figure 4 the modules / units 21 to 23 shown.

[0111] The vehicle control terminal 3 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The vehicle control terminal 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art can understand that Figure 5 this is only an example of the vehicle control terminal 3 and does not constitute a limitation on the vehicle control terminal 3. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the terminal may further include input / output devices, network access devices, a bus, etc.

[0112] The so-called processor 30 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0113] The memory 31 may be an internal storage unit of the vehicle control terminal 3, such as the hard disk or memory of the vehicle control terminal 3. The memory 31 may also be an external storage device of the vehicle control terminal 3, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the vehicle control terminal 3. Further, the memory 31 may also include both the internal storage unit of the vehicle control terminal 3 and the external storage device. The memory 31 is used to store computer programs and other programs and data required by the terminal. The memory 31 may also be used to temporarily store data that has been output or will be output.

[0114] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0115] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] Those of ordinary skill in the art will recognize that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0117] In the embodiments provided by the present invention, it should be understood that the disclosed device / terminal and method can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of modules or units is only 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 is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0118] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0120] When the integrated module / 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 this understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0121] Based on the above, the embodiment of the present invention further provides a single-pedal vehicle, including the vehicle control terminal 3 provided in the above embodiment, and having the advantages of the vehicle control terminal 3, which will not be elaborated here.

[0122] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A control method for a single-pedal vehicle, characterized in that The single-pedal vehicle includes two braking methods: electric braking and hydraulic braking; the control method includes: Obtaining the working state of the accelerator pedal of the single-pedal vehicle in real time; wherein, the working state of the accelerator pedal includes: an acceleration state and a non-acceleration state; When it is detected that the working state of the accelerator pedal switches to the non-acceleration state, electric braking is performed on the single-pedal vehicle; When the output electric braking torque reaches a preset torque, electric braking and hydraulic braking are simultaneously performed on the single-pedal vehicle; wherein, the preset torque is a negative value, and the preset torque is greater than or equal to the maximum braking recovery torque of the whole vehicle; the preset torque being greater than the maximum braking recovery torque of the whole vehicle is used to reserve a certain threshold to ensure the accuracy of control.

2. The control method of the single-pedal vehicle according to claim 1, characterized in that, The step of performing electric braking on the single-pedal vehicle when it is detected that the working state of the accelerator pedal switches to the non-acceleration state includes; When it is detected that the working state of the accelerator pedal switches to the non-acceleration state, obtaining the target torque of electric braking; wherein, when the vehicle demand torque is less than the preset torque, the target torque of electric braking is the vehicle demand torque; when the vehicle demand torque is not less than the preset torque, the target torque of electric braking is the preset torque; Performing drivability filtering on the electric braking torque until the output electric braking torque reaches the target torque of electric braking.

3. The control method of the single-pedal vehicle according to claim 2, wherein, The step of performing drivability filtering on the electric braking torque until the output electric braking torque reaches the target torque of electric braking includes: Gradually reducing the electric braking torque in accordance with a first step size until the output electric braking torque reaches the target torque of electric braking; the target torque of electric braking is a negative value; Wherein, when the output electric braking torque is not less than the demarcation torque, the first step size is equal to the initial value of the step size; when the output electric braking torque is less than the demarcation torque, the first step size gradually decreases from the initial value of the step size in accordance with a preset torque change amount until it is equal to 0; the demarcation torque is greater than the target torque of electric braking.

4. The control method of the single-pedal vehicle according to claim 2, wherein Before performing electric braking on the single-pedal vehicle when it is detected that the working state of the accelerator pedal switches to the non-acceleration state, the control method further includes: Obtaining the vehicle demand torque of the single-pedal vehicle; wherein, both the vehicle demand torque and the preset torque are negative values; If the absolute value of the vehicle demand torque is greater than the absolute value of the preset torque, then taking the preset torque as the target torque of electric braking; If the absolute value of the vehicle demand torque is not greater than the absolute value of the preset torque, then taking the vehicle demand torque as the target torque of electric braking.

5. The control method of a single-pedal vehicle according to any one of claims 1 to 4, characterized in that, The step of simultaneously performing electric braking and hydraulic braking on the single-pedal vehicle when the output electric braking torque reaches the preset torque includes: Outputting the electric braking torque in accordance with the preset torque, and obtaining the vehicle demand torque of the single-pedal vehicle; Subtracting the preset torque from the vehicle demand torque to obtain the target torque of hydraulic braking; Gradually reducing the hydraulic braking torque in accordance with a second step size until the output hydraulic braking torque reaches the target torque of hydraulic braking; wherein, the target torque of hydraulic braking is a negative value.

6. The control method of the single-pedal vehicle according to any one of claims 1 to 4, characterized in that, The output electric braking torque reaches a preset torque, including: If the difference between the output electric braking torque and the preset torque is within a preset threshold range, it is determined that the output electric braking torque reaches the preset torque.

7. The control method of the single-pedal vehicle according to any one of claims 1 to 4, characterized in that, The preset torque is the maximum braking recovery torque of the whole vehicle.

8. A vehicle control terminal, characterized in that, It includes a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the steps of the control method of the single-pedal vehicle according to any one of claims 1 to 7 above.

9. A single-pedal vehicle, characterized in that, Including: The vehicle control terminal according to claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it realizes the steps of the control method of the single-pedal vehicle according to any one of claims 1 to 7 above.

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