Vehicle control method, controller and vehicle

Abstract

The embodiment of the present invention provides a vehicle control method, a controller and a vehicle, including: when it is determined that a vehicle failure occurs, determining whether the vehicle is in an accelerating state; when the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle; when it is detected that the driving speed value is less than a preset speed value, using the preset speed value as the maximum speed limit value of the vehicle; when it is detected that the driving speed value is greater than or equal to the preset speed value, using the driving speed value as the maximum speed limit value of the vehicle; controlling the vehicle to travel at a speed lower than the maximum speed limit value, so that the driving state of the vehicle can be judged after the vehicle failure occurs, and different control strategies can be implemented. After the vehicle failure occurs, by limiting the maximum speed of the vehicle, the vehicle can be gradually decelerated to a lower speed, thereby reducing the probability of an accident caused by the failure.

Description

Technical Field

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

[0002] With the popularization of vehicles, more and more people choose cars as their preferred means of transportation, which also leads to frequent traffic accidents on the road. Among them, a large proportion of traffic accidents are caused by failures of the vehicle itself.

[0003] In order to reduce the rate of traffic accidents caused by vehicle failures, fault detection functions are usually added to vehicles. After the vehicle detects that it has a fault, the vehicle's human-computer interaction system will remind the driver of the type of fault. For example, an engine pattern will be displayed on the dashboard to remind the driver that the vehicle's engine has a fault. Furthermore, for vehicles equipped with intelligent interactive systems, the driver will be reminded through voice, animation, etc. how to deal with vehicle failures, such as reminding the driver to pull over or repair it as soon as possible.

[0004] However, for some more serious faults, simply reminding the driver cannot effectively reduce the probability of a traffic accident caused by the fault. Summary of the invention

[0005] In view of this, the present invention aims to propose a vehicle control method, a controller and a vehicle to solve the problem in the prior art that the probability of a traffic accident caused by a vehicle fault cannot be effectively reduced by simply reminding the driver.

[0006] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0007] A vehicle control method, the method comprising:

[0008] When it is determined that the vehicle fails, determining whether the vehicle is in an accelerating state;

[0009] When the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle;

[0010] When it is detected that the driving speed value is less than a preset speed value, the preset speed value is used as the maximum speed limit value of the vehicle;

[0011] When it is detected that the driving speed value is greater than or equal to the preset speed value, the driving speed value is used as the maximum speed limit value of the vehicle;

[0012] The vehicle is controlled to travel at a speed lower than the maximum speed limit.

[0013] A vehicle controller, the controller comprising:

[0014] A determination module, used for determining whether the vehicle is in an accelerating state when it is determined that the vehicle has a fault;

[0015] An acquisition module, used for acquiring a driving speed value of the vehicle when the vehicle is not in an accelerating state;

[0016] A first speed limit module, configured to use the preset speed value as the maximum speed limit value of the vehicle when it is detected that the driving speed value is less than a preset speed value;

[0017] A second speed limit module, configured to use the driving speed value as the maximum speed limit value of the vehicle when it is detected that the driving speed value is greater than or equal to the preset speed value;

[0018] The driving module is used to control the vehicle to travel at a speed lower than the maximum speed limit.

[0019] A vehicle comprises a vehicle controller, wherein the vehicle controller comprises the above-mentioned vehicle controller.

[0020] Compared with the prior art, the vehicle control method, controller and vehicle described in the present invention have the following advantages:

[0021] In summary, an embodiment of the present invention provides a vehicle control method, including: when it is determined that a vehicle malfunctions, determining whether the vehicle is in an accelerating state; when the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle; when it is detected that the driving speed value is less than a preset speed value, using the preset speed value as the maximum speed limit value of the vehicle; when it is detected that the driving speed value is greater than or equal to the preset speed value, using the driving speed value as the maximum speed limit value of the vehicle; controlling the vehicle to travel at a speed lower than the maximum speed limit value, therefore, the driving state of the vehicle can be judged after a vehicle malfunctions, and different control strategies can be implemented, so that the vehicle can be gradually decelerated to a lower speed by limiting the maximum speed of the vehicle after a vehicle malfunctions, thereby reducing the probability of an accident caused by the malfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 A flow chart of steps of a vehicle control method provided by an embodiment of the present invention;

[0024] Figure 2 A flowchart of another vehicle control method provided by an embodiment of the present invention;

[0025] Figure 3A schematic diagram of a vehicle status timing sequence provided by an embodiment of the present invention;

[0026] Figure 4 The present invention is a structural block diagram of a vehicle controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0028] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0029] Reference Figure 1 , showing a flow chart of steps of a vehicle control method according to an embodiment of the present invention.

[0030] A vehicle control method provided in an embodiment of the present invention is applied to a vehicle controller (VCU, Vehicle control unit), a power domain controller (PDC, Powertrain Domain Control) or other controllers that control the vehicle power system. Among them, the power domain controller is obtained by integrating the vehicle controller, the motor controller and the battery management system (Battery Management System, BMS), etc. Therefore, the method provided in the embodiment of the present application can be directly applied to the power domain controller, and can also be applied to the vehicle controller, the motor controller and the battery management system.

[0031] Step S101, when it is determined that the vehicle fails, determining whether the vehicle is in an accelerating state.

[0032] Vehicles often malfunction during driving, such as brake system failure, insufficient tire pressure, and excessive engine temperature. After a vehicle malfunctions, it will increase the potential safety hazards of the vehicle. For example, after a vehicle's brake system fails, it is easy for the vehicle to lose its brake assist, and the driver needs a lot of force to step on the brakes, which can easily cause the vehicle's braking performance to decline and cause safety hazards; if the vehicle's tire pressure is insufficient, it is easy for the vehicle to deviate and increase the risk of tire blowouts. Therefore, after a vehicle fails, it is necessary to limit the vehicle's driving speed and power output to reduce the probability of an accident.

[0033] The vehicle controller can monitor the operating status of each unit of the vehicle through the vehicle bus and obtain the fault information sent by each unit to determine whether the vehicle has a fault. Specifically, the fault information can be classified and processed, and the fault information can be divided into general faults and safety faults that affect driving safety, wherein general faults can represent faults that do not pose a hidden danger to driving safety, such as air conditioning system faults, electric window faults, audio system faults, etc.; and safety faults can represent faults that pose a hidden danger to driving safety, such as brake system faults (such as weakening and failure of mechanical brake assist function, weakening and failure of electric brake function, etc.), engine faults, transmission system faults, etc. It should be noted that it is also possible to determine whether the vehicle has a fault that affects driving safety by other means, and the embodiment of the present invention does not specifically limit the method of determining whether the vehicle has a safety fault.

[0034] After determining that the vehicle has a safety fault, the vehicle controller first determines whether the vehicle is currently in an accelerating state. Specifically, the acceleration value of the vehicle can be directly obtained through an acceleration sensor set on the vehicle. After determining the acceleration value of the vehicle, if the acceleration value of the vehicle is greater than 0, it means that the vehicle is in an accelerating state. If the acceleration value of the vehicle is less than or equal to 0, it means that the vehicle is not in an accelerating state, that is, it is in a decelerating state. The embodiment of the present invention does not specifically limit the method for determining the acceleration value of the vehicle.

[0035] In an embodiment of the present application, the vehicle controller can determine whether the vehicle has a fault that affects driving safety during the vehicle's driving process, and after determining that the vehicle has a safety fault, determine whether the vehicle is in an acceleration state.

[0036] Step S102, when the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle.

[0037] After determining that the vehicle has a fault, the vehicle may be in an accelerating state or a non-accelerating state. If the vehicle is in an accelerating state, the driver may be overtaking. At this time, it is not appropriate to limit the power of the vehicle to avoid the vehicle suddenly stopping and accelerating during the overtaking process, which may cause danger. For example, if the vehicle is driving at high speed and accelerating to overtake, if the maximum driving speed of the vehicle is limited at this time, it is easy to cause the driver to be unable to complete the overtaking action, and because the vehicle is in a high-speed driving condition, the driver has a short reaction time, which is easy to cause a traffic accident due to the system intervening in the vehicle speed.

[0038] The vehicle is not in an accelerating state, which means that the acceleration value of the vehicle is less than or equal to 0 at the first moment after the vehicle is determined to have a fault. This means that after the vehicle is determined to have a fault, the driver does not take any action such as overtaking at this moment. It is safer to limit the power output of the vehicle. The vehicle's driving speed value can be obtained and the vehicle's speed can be further limited according to the vehicle's driving speed value.

[0039] Specifically, the angular velocity values ​​of each wheel of the vehicle can be obtained by an angular velocity sensor installed on the axle or tire, and the driving speed value of the vehicle can be calculated based on the angular velocity values ​​of each wheel. The driving speed value of the vehicle can also be calculated using a satellite positioning signal. The embodiment of the present invention does not specifically limit the method for determining the driving speed of the vehicle.

[0040] Step S103: when it is detected that the driving speed value is less than a preset speed value, the preset speed value is used as the maximum speed limit value of the vehicle.

[0041] Since the road environment in which a vehicle travels can generally be roughly divided into closed roads (such as expressways) and open roads (such as national roads, provincial roads, etc.), the vehicle's driving speed is generally higher when driving on closed roads, and lower when driving on open roads. Therefore, after a vehicle failure occurs, two different control strategies can be set to cope with high-speed driving conditions and low-speed driving conditions.

[0042] When the vehicle is traveling at a low speed, the maximum speed of the vehicle can be directly limited to keep the faulty vehicle in a low-speed driving condition, thereby avoiding the driver driving the faulty vehicle into a high-speed driving condition and causing greater safety hazards.

[0043] Specifically, technicians can predetermine a preset speed value based on experiments and experience to distinguish between high-speed driving conditions and low-speed driving conditions, and store the preset speed value in the vehicle's memory when the vehicle leaves the vehicle. For example, the preset speed value can be determined to be a value between 50KM / H and 80KM / H, and the embodiment of the present invention does not specifically limit the preset speed value.

[0044] After obtaining the driving speed value of the vehicle, the vehicle controller compares the driving speed value with the preset speed value in the memory. If the driving speed value is less than the preset speed value, it can be determined that the vehicle is in a low-speed driving condition, and the preset speed value can be used as the maximum speed limit of the vehicle. It should be noted that after determining that the vehicle has a fault, the vehicle controller continuously obtains the driving speed value of the vehicle and continuously compares the magnitude relationship between the driving speed value and the preset speed value.

[0045] For example, the driving speed of vehicle A is 70KM / H and continues to decrease, and the preset speed value is 60KM / H. When the driving speed of vehicle A decreases to less than 60KM / H, the vehicle controller immediately limits the maximum driving speed of vehicle A to 60KM / H, even if vehicle A cannot accelerate to a speed exceeding 60KM / H.

[0046] In an embodiment of the present application, when the vehicle speed value is less than a preset speed value, the maximum driving speed of the vehicle can be limited to the preset speed value, so that the vehicle can no longer accelerate at high speed, which greatly improves the driving safety of the vehicle after a failure occurs.

[0047] Step S104: when it is detected that the driving speed value is greater than or equal to the preset speed value, the driving speed value is used as the maximum speed limit value of the vehicle.

[0048] Specifically, after obtaining the driving speed value of the vehicle, the vehicle controller compares the driving speed value with the preset speed value in the memory. If the driving speed value is not less than the preset speed value, that is, the driving speed value is greater than or equal to the preset speed value, it can be determined that the vehicle is in a high-speed driving condition. In the case of determining that the vehicle is in a high-speed driving condition, it is further determined whether the vehicle is in a non-acceleration state. After determining that the vehicle is in a non-acceleration state, that is, the vehicle is driving at a constant speed or decelerating, the current driving speed value of the vehicle is directly used as the maximum speed limit value of the vehicle.

[0049] When the vehicle is in a high-speed driving condition and is in a non-accelerating state, the maximum speed limit value is the vehicle's current driving speed value. Therefore, at any time after the current time, the vehicle's driving speed value can only be equal to the current driving speed value or less than the current driving speed value, and cannot exceed the current driving speed value. Therefore, the vehicle's driving speed value cannot increase, that is, the vehicle cannot accelerate, and can only travel at a constant speed or decelerate.

[0050] For example, the driving speed of vehicle A is 80KM / H and it is in an accelerating state. At this time, no intervention is made to the normal driving of the vehicle. After 5 seconds, the driving speed of vehicle A reaches 90KM / H and stops accelerating to travel at a constant speed. At this time, the maximum speed limit of vehicle A is set to 90KM / H. The driver steps on the accelerator deeply to issue an acceleration command, but the vehicle controller does not respond to the acceleration command and controls vehicle A to maintain a constant speed of 90KM / H. Next, the driver steps on the brake pedal to slow down vehicle A. The maximum speed limit of the vehicle continues to decrease with the driving speed of the vehicle. After 5 seconds, the driving speed of vehicle A is reduced to 80KM / H. At the same time, the maximum speed limit of vehicle A is also reduced to 80KM / H. At this time, the driver steps on the accelerator deeply to issue an acceleration command again, but the vehicle controller also does not respond to the acceleration command and controls vehicle A to maintain a constant speed of 80KM / H.

[0051] In an embodiment of the present application, the vehicle controller can intervene in the speed and power of the vehicle only when the vehicle is in a high-speed driving condition and is not accelerating, so that the vehicle can only travel at a constant speed or decelerate, thereby avoiding further acceleration of the vehicle to worsen the vehicle fault or cause a traffic accident; therefore, when the vehicle is in a high-speed driving condition and accelerating, it will not interfere with the driver's control of the vehicle, will not affect high-speed overtaking, and will significantly improve the safety of the vehicle under high-speed conditions.

[0052] Step S105: Control the vehicle to travel at a speed lower than the maximum speed limit.

[0053] After determining the maximum speed limit of the vehicle, it is necessary to limit the driving speed of the vehicle so that the driving speed of the vehicle does not exceed the maximum speed limit, thereby avoiding the vehicle from driving too fast in the event of a malfunction and increasing the accident rate.

[0054] Specifically, the vehicle controller obtains the driving speed value of the vehicle, and compares the driving speed value of the vehicle with the maximum speed limit value. If the driving speed value is lower than the maximum speed limit value, the driver's power request is not intervened. If the driving speed value reaches the maximum speed limit value, the vehicle controller can determine the uniform driving torque value required to keep the vehicle running at the maximum speed limit value by querying the preset torque relationship in the memory, and limit the maximum torque output by the vehicle power unit to the uniform driving torque value required to keep the vehicle running at the maximum speed limit value. That is to say, after the driving speed value of the vehicle reaches the maximum speed limit value, the torque output by the vehicle power unit will not cause the vehicle to continue to accelerate. Among them, the preset torque relationship stores the corresponding relationship between the vehicle driving speed value and the uniform driving torque value required to keep the vehicle running at a uniform speed at the driving speed value. The preset torque relationship can be determined by technicians through experiments or experience. It should be noted that due to the performance and structural differences of different models, different models will correspond to different uniform driving torque values ​​at the same driving speed, so different models can correspond to different preset torque relationships.

[0055] In summary, an embodiment of the present invention provides a vehicle control method, including: when it is determined that a vehicle malfunctions, determining whether the vehicle is in an accelerating state; when the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle; when it is detected that the driving speed value is less than a preset speed value, using the preset speed value as the maximum speed limit value of the vehicle; when it is detected that the driving speed value is greater than or equal to the preset speed value, using the driving speed value as the maximum speed limit value of the vehicle; controlling the vehicle to travel at a speed lower than the maximum speed limit value, therefore, the driving state of the vehicle can be judged after a vehicle malfunctions, and different control strategies can be implemented, so that the vehicle can be gradually decelerated to a lower speed by limiting the maximum speed of the vehicle after a vehicle malfunctions, thereby reducing the probability of an accident caused by the malfunction.

[0056] Reference Figure 2 , shows a step flow chart of another vehicle control method described in an embodiment of the present invention.

[0057] Step S201, when it is determined that the vehicle fails, determining whether the vehicle is in an accelerating state.

[0058] Step S201 may also include:

[0059] Sub-step S2011, obtaining the driving parameters of the vehicle.

[0060] Driving parameters may include the throttle opening value. In order not to interfere with the driver who has the behavior of accelerating to overtake, it is necessary to determine the acceleration state of the vehicle after determining that the vehicle has a fault. Specifically, the current throttle opening value and the current braking state of the vehicle can be obtained, and then it is determined whether the vehicle is in an accelerating state based on the throttle opening value and the braking state.

[0061] The throttle opening value of a vehicle indicates the extent to which the accelerator pedal of the vehicle is stepped on by the driver. When the driver steps on the accelerator pedal to the bottom, the throttle opening value reaches the maximum, and when the accelerator pedal is fully released, the throttle opening value is 0. It should be noted that the throttle opening value can be determined based on the displacement of the accelerator pedal or the rotation angle of the accelerator pedal around a fixed axis. Specifically, the vehicle controller can determine the depth to which the accelerator pedal is stepped on based on a displacement sensor or an angle sensor provided on the accelerator pedal.

[0062] The driving parameters may include brake pedal parameters, which refer to the depression depth of the brake pedal. According to the depression depth of the brake pedal, it can be determined whether the brake pedal is in a depressed state, wherein the brake pedal being in a depressed state means that the brake pedal is depressed, and the driver intends to decelerate the vehicle.

[0063] Sub-step S2012, determining whether the vehicle is in an accelerating state according to the driving parameters.

[0064] Sub-step S2012 may also include:

[0065] Sub-step A1, judging whether the throttle opening value is less than a first preset opening, and judging whether the brake pedal is in a stepped state according to the brake pedal parameters, wherein the driving parameters include the throttle opening value and the brake pedal parameters.

[0066] When a driver is driving a vehicle, in order to accelerate and overtake, he or she generally expects increased power output, so he or she will step deeply on the accelerator pedal to request a larger power output from the vehicle, so that the power unit drives the vehicle to accelerate at a larger acceleration. When the driver steps on the accelerator pedal shallowly, the vehicle will tend to drive at a constant speed or decelerate. In other words, the vehicle can only accelerate when the throttle opening value of the vehicle is large, and when the throttle opening value is small, the power output of the vehicle is not enough to put the vehicle into an accelerated state. Therefore, a first preset opening can be set, and it can be determined whether the throttle opening value is less than the first preset opening value.

[0067] The specific size of the first preset opening value can be determined through experiments and experience. For example, the first preset opening value can be set to 10%.

[0068] Since the brake pedal generally has a certain "dead zone", that is, the initial section of the brake pedal stroke does not produce a braking effect, the pedal depth at which the brake pedal begins to produce braking force can be used as the preset brake pedal depth value, and when the brake pedal pedal depth value exceeds the preset brake pedal depth value, it is determined that the brake pedal is in a stepped state, and when the brake pedal depth value does not exceed the preset brake pedal depth value, it is determined that the brake pedal is not in a stepped state. Among them, due to different vehicle structures and models, different vehicles may correspond to different preset brake pedal depth values, and technicians can determine the preset brake pedal depth values ​​corresponding to each model based on experiments and experience.

[0069] Sub-step A2: when the throttle opening value is greater than or equal to a first preset opening and the brake pedal is not in a stepped state, determining that the vehicle is in an accelerating state.

[0070] When the throttle opening value is greater than or equal to the first preset opening, it means that the power output by the vehicle can put the vehicle in an accelerating state, and when the brake pedal is not in a stepped state, it means that the driver has no intention of decelerating. At this time, it can be determined that the vehicle is in an accelerating state.

[0071] Sub-step A3: when the throttle opening value is less than a first preset opening, or the brake pedal is in a stepped state, determining that the vehicle is in a non-acceleration state.

[0072] When the throttle opening value is less than the first preset opening, it means that the power output by the vehicle is insufficient to put the vehicle in an accelerating state. At this time, the vehicle will decelerate. Therefore, it can be determined that the vehicle is in a non-accelerating state when the throttle opening value is less than the first preset opening.

[0073] When the vehicle's brake pedal is in a stepped state, it indicates that the driver intends to decelerate. At this time, the vehicle will respond to the deceleration command first to decelerate the vehicle. Therefore, when the vehicle's brake pedal is in a stepped state, it can be determined that the vehicle is in a non-acceleration state.

[0074] Step S202, when the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle.

[0075] This step may refer to sub-step S102 and will not be described in detail in this embodiment of the present application.

[0076] Step S203, when the vehicle is in an accelerating state, obtaining a requested acceleration of the vehicle.

[0077] If the vehicle is determined to be accelerating when a vehicle failure is detected for the first time, the driver may be overtaking. At this time, the vehicle's driving speed and power output will not be intervened to avoid interfering with the driver. At this time, the driver's acceleration request needs to be responded to normally.

[0078] The requested acceleration of the vehicle can be obtained, and the power output of the vehicle can be further determined according to the requested acceleration of the vehicle. The requested acceleration can be determined according to the throttle opening value.

[0079] Specifically, the driver inputs an acceleration request to the vehicle by stepping on the accelerator pedal to change the accelerator opening value, and the vehicle controller determines the requested acceleration of the vehicle according to the accelerator opening value.

[0080] Step S204, controlling the vehicle to accelerate according to the requested acceleration, and monitoring in real time whether the vehicle exits the acceleration state.

[0081] After determining the requested acceleration of the vehicle, the vehicle controller may determine the acceleration torque according to the requested acceleration, and cause the power unit of the vehicle to input the corresponding acceleration torque to drive the vehicle to accelerate at the requested acceleration.

[0082] During the vehicle acceleration process, it is also necessary to monitor in real time whether the vehicle exits the acceleration state, wherein exiting the acceleration state means that the vehicle's acceleration is interrupted, that is, the vehicle enters the non-acceleration state from the acceleration state.

[0083] Step S204 may also include:

[0084] Sub-step S2041, determining whether the throttle opening value is less than a first preset opening, and determining whether the brake pedal is in a stepped state according to the brake pedal parameters, wherein the driving parameters include the throttle opening value and the brake pedal parameters.

[0085] This step can refer to sub-step A1, and will not be described in detail in this embodiment of the present application.

[0086] Sub-step S2042, when the throttle opening value is greater than or equal to a first preset opening, and the brake pedal is not in a stepped state, determining that the vehicle has not exited the acceleration state.

[0087] This step can refer to sub-step A2, and will not be described in detail in this embodiment of the present application.

[0088] Sub-step S2043, when the throttle opening value is less than a first preset opening, or the brake pedal is in a stepped state, determining that the vehicle exits the acceleration state.

[0089] This step can refer to sub-step A3, and will not be described in detail in this embodiment of the present application.

[0090] Step S205, when it is detected that the vehicle exits the acceleration state, the driving speed value of the vehicle is obtained.

[0091] Since the vehicle must be in a non-accelerated state when it is detected that the vehicle exits the accelerated state, the vehicle can be controlled according to the control logic of the vehicle being in the non-accelerated state in step S102, and the vehicle's driving speed value can be obtained to limit the vehicle's speed according to the driving speed value.

[0092] Step S206: when it is detected that the driving speed value is less than a preset speed value, the preset speed value is used as the maximum speed limit value of the vehicle.

[0093] This step may refer to step S103 and will not be described in detail in this embodiment of the present application.

[0094] Step S207: when it is detected that the driving speed value is greater than or equal to the preset speed value, the driving speed value is used as the maximum speed limit value of the vehicle.

[0095] This step may refer to step S104 and will not be described in detail in this embodiment of the present application.

[0096] Step S208: Control the vehicle to travel at a speed lower than the maximum speed limit.

[0097] This step can refer to step S105, and will not be repeated in this embodiment of the application.

[0098] Reference Figure 3 , shows a vehicle state timing diagram provided by an embodiment of the present invention, such as Figure 3As shown, at time t1, the fault signal of the vehicle indicates that the vehicle has a fault f1, and the vehicle controller detects that the vehicle has a fault. Between t1 and t2, the throttle opening signal of the vehicle indicates that the throttle opening value of the vehicle is tr1. The vehicle controller determines that tr1 is not less than the first preset opening, and the braking state is not braking b0. The vehicle controller determines that the vehicle is in an accelerating state at this time, and the driving speed value of the vehicle between t1 and t2 exceeds the preset speed value v1. Therefore, between t1 and t2, the maximum speed value of the vehicle is not limited; at time t2, the throttle opening value becomes 0, and the braking state is braking, then the vehicle enters a non-accelerating state, and the vehicle starts to decelerate; at time t3, the throttle opening signal of the vehicle indicates that the throttle opening value of the vehicle is 0. The vehicle controller determines that the throttle opening value is less than the first preset opening, and the braking state is braking b1. Therefore, the vehicle controller sets the maximum speed limit value of the vehicle to the driving speed value of the vehicle at time t3. Furthermore, although between t3 and t 4, the vehicle controller determines that the vehicle is in an accelerating state, but since the maximum speed limit of the vehicle at this time is the driving speed value at time t3, the vehicle can only travel at a constant speed at the driving speed value at time t3 between t3 and t4; between t4 and t5, the throttle opening value is 0, the vehicle is in a decelerating state, and the driving speed value continues to decrease; between t5 and t6, the vehicle brake pedal is stepped on, the vehicle is in a braking b1 state, the driving speed value continues to decrease, and at time t6, the driving speed value is already lower than the preset driving speed value v1, and the maximum speed limit of the vehicle is now the preset driving speed value; between t6 and t7, the throttle opening value of the vehicle exceeds the preset opening value, the driving speed value of the vehicle continues to rise between t6 and t7, and the driving speed value reaches the maximum speed limit at time t7, therefore, between t7 and t8, the throttle opening is still maintained at tr1, the vehicle continues to be in an accelerating state, but since the driving speed value of the vehicle has reached the maximum speed limit value, the vehicle travels at a constant speed at the maximum speed limit value.

[0099] Step S209, determining a preset acceleration value corresponding to the driving speed value from a preset corresponding relationship, controlling the vehicle to perform an acceleration operation according to the preset acceleration value, and repeating this step until the vehicle speed reaches the preset speed value.

[0100] In the embodiment of the present application, when the vehicle's speed is less than the preset speed value, the vehicle can be accelerated to the preset speed value. However, since the vehicle has a fault, it is not suitable to output a strong power to generate a large acceleration, which may increase the potential for accidents in the event of a fault. It is necessary to limit the maximum acceleration value of the vehicle when the vehicle speed is less than the preset speed value.

[0101] Specifically, after determining that the current speed of the vehicle is less than the preset speed, the vehicle controller determines the preset acceleration value corresponding to the speed from the preset correspondence according to the vehicle's speed. For example, the preset correspondence includes two speed values ​​40KM / H and 50KM / H, where the acceleration value corresponding to 40KM / H is 2M / S 2 , 50KM / H corresponds to an acceleration value of 1M / S 2 , when the vehicle's speed is 50KM / H, the vehicle controller determines the preset acceleration value to be 1M / S through the preset corresponding relationship 2 And limit the maximum acceleration value of the vehicle to 1M / S 2 .

[0102] It should be noted that the acceleration value in the preset corresponding relationship may increase or decrease with the increase of the driving speed value, and one acceleration value may correspond to multiple driving speed values. The embodiment of the present application does not limit the establishment method of the preset corresponding relationship, and those skilled in the art may flexibly adjust it according to actual needs to adapt to different vehicle models.

[0103] For example, if the preset depth value is 60KM / H, in the preset correspondence, the preset acceleration value corresponding to 10KM / H to 60KM / H can be set to 1M / S 2 , set the preset acceleration value corresponding to 0 to 5KM / H to 0.5M / S 2 , set the preset acceleration value corresponding to 5KM / H to 10KM / H from 0.5M / S 2 Up to 1M / S 2 Linear increase.

[0104] In an embodiment of the present application, after a vehicle malfunctions, when the vehicle's driving speed is lower than a preset speed value, the vehicle's maximum driving speed value and the vehicle's maximum acceleration value are limited, so that the vehicle can smoothly accelerate to the preset speed value when driving at a low speed, further reducing the negative impact of the vehicle malfunction on driving safety.

[0105] Step S209 may further include:

[0106] Sub-step S2091, determining a preset torque limit value corresponding to the driving speed value from a preset corresponding relationship.

[0107] In order to control the vehicle to accelerate, the vehicle controller needs to send a torque request to the vehicle power unit to control the torque output by the power unit. Therefore, in essence, the acceleration of the vehicle during driving is actually determined by the torque output by the power unit. A preset torque limit value can be set to limit the maximum acceleration value of the vehicle.

[0108] Specifically, the preset torque limit value corresponding to the driving speed value of the vehicle can be determined from the preset corresponding relationship, and the preset torque limit value represents the maximum torque allowed to be output by the vehicle power unit when the vehicle is driving at a certain driving speed value.

[0109] Sub-step S2092, determining whether the preset torque limit value is greater than the requested torque.

[0110] After determining the preset torque limit value corresponding to the current driving speed value, the preset torque limit value is compared with the requested torque, wherein the requested torque is the torque output by the power unit requested by the driver calculated by the vehicle controller according to the throttle opening value.

[0111] Sub-step S2093: when the preset torque limit value is greater than the requested torque, the acceleration value corresponding to the requested torque is used as the preset acceleration value.

[0112] After comparing the preset torque limit value and the requested torque, if the comparison result shows that the preset torque value is greater than the requested torque, it means that the torque requested by the user at this time does not exceed the maximum torque limit corresponding to the current driving speed value, and the preset acceleration value corresponding to the requested torque value can be used to accelerate the vehicle.

[0113] Sub-step S2094: when the preset torque limit value is less than or equal to the requested torque, the acceleration value corresponding to the preset torque limit value is used as the preset acceleration value.

[0114] After comparing the preset torque limit value and the requested torque, if the comparison result shows that the preset torque value is less than or equal to the requested torque, it means that the torque requested by the user has reached or exceeded the maximum torque limit allowed to be output by the vehicle power unit under the current driving speed value. At this time, the preset acceleration value corresponding to the preset torque limit value can be determined according to the preset torque limit value corresponding to the current driving speed value, so as to control the vehicle to accelerate according to the preset acceleration value.

[0115] In summary, an embodiment of the present invention provides a vehicle control method, including: when it is determined that a vehicle malfunctions, determining whether the vehicle is in an accelerating state; when the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle; when it is detected that the driving speed value is less than a preset speed value, using the preset speed value as the maximum speed limit value of the vehicle; when it is detected that the driving speed value is greater than or equal to the preset speed value, using the driving speed value as the maximum speed limit value of the vehicle; controlling the vehicle to travel at a speed lower than the maximum speed limit value, therefore, the driving state of the vehicle can be judged after a vehicle malfunctions, and different control strategies can be implemented, so that the vehicle can be gradually decelerated to a lower speed by limiting the maximum speed of the vehicle after a vehicle malfunctions, thereby reducing the probability of an accident caused by the malfunction.

[0116] refer to Figure 4 , shows a structural block diagram of a vehicle controller according to an embodiment of the present invention:

[0117] The determination module 401 is used to determine whether the vehicle is in an accelerating state when it is determined that the vehicle has a fault.

[0118] The acquisition module 402 is used to acquire the driving speed value of the vehicle when the vehicle is not in an accelerating state.

[0119] The first speed limit module 403 is configured to use the preset speed value as the maximum speed limit value of the vehicle when it is detected that the driving speed value is less than a preset speed value.

[0120] The second speed limit module 404 is configured to use the driving speed value as the maximum speed limit value of the vehicle when it is detected that the driving speed value is greater than or equal to the preset speed value.

[0121] The driving module 405 is used to control the vehicle to travel at a speed lower than the maximum speed limit.

[0122] Optionally, the vehicle controller may further include:

[0123] The acceleration acquisition module is used to acquire the requested acceleration of the vehicle when the vehicle is in an accelerating state.

[0124] The exit acceleration module is used to control the vehicle to accelerate according to the requested acceleration and monitor in real time whether the vehicle exits the acceleration state.

[0125] The speed acquisition module is used to acquire the driving speed value of the vehicle when it is detected that the vehicle exits the acceleration state.

[0126] Optionally, the determination module may further include:

[0127] The parameter acquisition submodule is used to acquire the driving parameters of the vehicle.

[0128] The acceleration determination submodule is used to determine whether the vehicle is in an accelerating state according to the driving parameters.

[0129] Optionally, the parameter acquisition submodule may also be used to acquire acceleration information of the vehicle through an acceleration sensor.

[0130] Optionally, the acceleration determination submodule may also be used to determine whether the vehicle is in an accelerating state based on the acceleration information.

[0131] Optionally, the acceleration determination submodule may further include:

[0132] The opening state submodule is used to determine whether the throttle opening value is less than a first preset opening, and to determine whether the brake pedal is in a stepped state according to the brake pedal parameters, wherein the driving parameters include the throttle opening value and the brake pedal parameters.

[0133] The acceleration state submodule is used to determine that the vehicle is in an acceleration state when the throttle opening value is greater than or equal to a first preset opening and the brake pedal is not in a stepped state.

[0134] The non-acceleration state submodule is used to determine that the vehicle is in a non-acceleration state when the throttle opening value is less than a first preset opening or the brake pedal is in a stepped state.

[0135] Optionally, the vehicle controller may further include:

[0136] The acceleration module is used to determine a preset acceleration value corresponding to the driving speed value from a preset corresponding relationship, control the vehicle to perform an acceleration operation according to the preset acceleration value, and repeat this step until the vehicle speed reaches the preset speed value.

[0137] Optionally, the acceleration module may include:

[0138] The preset torque submodule is used to determine a preset torque limit value corresponding to the driving speed value from a preset corresponding relationship.

[0139] The torque determination submodule is used to determine whether the preset torque limit value is greater than the requested torque.

[0140] The first acceleration determination submodule is configured to, when the preset torque limit value is greater than the requested torque, use the acceleration value corresponding to the requested torque as the preset acceleration value.

[0141] The second acceleration determination submodule is configured to, when the preset torque limit value is less than or equal to the requested torque, use the acceleration value corresponding to the preset torque limit value as the preset acceleration value.

[0142] Optionally, the exit acceleration module may include:

[0143] The throttle opening submodule is used to determine whether the throttle opening value is less than a first preset opening, and to determine whether the brake pedal is in a stepped state according to the brake pedal parameters, wherein the driving parameters include the throttle opening value and the brake pedal parameters.

[0144] The continuous acceleration submodule is used to determine that the vehicle has not exited the acceleration state when the throttle opening value is greater than or equal to a first preset opening and the brake pedal is not in a stepped state.

[0145] The exit acceleration submodule is used to determine that the vehicle exits the acceleration state when the throttle opening value is less than a first preset opening or the brake pedal is in a stepped state.

[0146] In summary, an embodiment of the present invention provides a vehicle controller, which can determine whether the vehicle is in an accelerating state when it is determined that a vehicle malfunctions; when the vehicle is not in an accelerating state, obtain the vehicle's driving speed value; when it is detected that the driving speed value is less than a preset speed value, use the preset speed value as the vehicle's maximum speed limit value; when it is detected that the driving speed value is greater than or equal to the preset speed value, use the driving speed value as the vehicle's maximum speed limit value; control the vehicle to travel at a speed lower than the maximum speed limit value, therefore, the vehicle's driving state can be judged after a vehicle malfunctions, and different control strategies can be implemented, so that the vehicle can be gradually decelerated to a lower speed by limiting the vehicle's maximum speed after a vehicle malfunctions, thereby reducing the probability of an accident caused by the malfunction.

[0147] An embodiment of the present invention further provides a vehicle, including a vehicle controller, the vehicle controller including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the above-mentioned vehicle control method.

[0148] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0149] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0150] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle control method, applied to a vehicle controller, characterized in that: The method comprises: When it is determined that the vehicle fails, determining whether the vehicle is in an accelerating state; When the vehicle is not in an accelerating state, obtaining a driving speed value of the vehicle; When it is detected that the driving speed value is less than a preset speed value, the preset speed value is used as the maximum speed limit value of the vehicle; When it is detected that the driving speed value is greater than or equal to the preset speed value, the driving speed value is used as the maximum speed limit value of the vehicle; The vehicle is controlled to travel at a speed lower than the maximum speed limit.

2. The method according to claim 1, characterized in that The step of determining whether the vehicle is in an accelerating state comprises: Acquiring driving parameters of the vehicle; It is determined whether the vehicle is in an accelerating state according to the driving parameters.

3. The method according to claim 1, characterized in that After the step of determining whether the vehicle is in an accelerating state, the method further includes: When the vehicle is in an accelerating state, obtaining a requested acceleration of the vehicle; Controlling the vehicle to accelerate according to the requested acceleration, and monitoring in real time whether the vehicle exits the acceleration state; When it is detected that the vehicle exits the acceleration state, the driving speed value of the vehicle is acquired.

4. The method according to claim 3, characterized in that The step of determining whether the vehicle is in an accelerating state comprises: Acquiring driving parameters of the vehicle; It is determined whether the vehicle is in an accelerating state according to the driving parameters.

5. The method according to claim 4, characterized in that The step of obtaining the driving parameters of the vehicle comprises: Acquiring acceleration information of the vehicle through an acceleration sensor; The step of judging whether the vehicle is in an accelerating state according to the driving parameters comprises: It is determined whether the vehicle is in an accelerating state according to the acceleration information.

6. The method according to claim 4, characterized in that The step of judging whether the vehicle is in an accelerating state according to the driving parameters comprises: Determine whether the throttle opening value is less than a first preset opening value, and determine whether the brake pedal is in a stepped state according to the brake pedal parameters, wherein the driving parameters include the throttle opening value and the brake pedal parameters; When the throttle opening value is greater than or equal to a first preset opening value, and the brake pedal is not in a stepped state, determining that the vehicle is in an accelerating state; When the throttle opening value is less than a first preset opening, or the brake pedal is in a stepped state, it is determined that the vehicle is in a non-acceleration state.

7. The method according to claim 1, characterized in that After the step of controlling the vehicle to travel at a speed lower than the maximum speed limit, the method further includes: Determine a preset acceleration value corresponding to the driving speed value from the preset corresponding relationship, control the vehicle to perform an acceleration operation according to the preset acceleration value, and repeat this step until the vehicle speed reaches the preset speed value.

8. The method according to claim 7, characterized in that The step of determining a preset acceleration value corresponding to the driving speed value from a preset corresponding relationship comprises: Determining a preset torque limit value corresponding to the driving speed value from a preset corresponding relationship; determining whether the preset torque limit value is greater than the requested torque; When the preset torque limit value is greater than the requested torque, the acceleration value corresponding to the requested torque is used as the preset acceleration value; When the preset torque limit value is less than or equal to the requested torque, an acceleration value corresponding to the preset torque limit value is used as the preset acceleration value.

9. The method according to claim 4, characterized in that The step of real-time monitoring whether the vehicle exits the acceleration state comprises: Determine whether the throttle opening value is less than a first preset opening value, and determine whether the brake pedal is in a stepped state according to the brake pedal parameters, wherein the driving parameters include the throttle opening value and the brake pedal parameters; When the throttle opening value is greater than or equal to a first preset opening value, and the brake pedal is not in a stepped state, determining that the vehicle has not exited the acceleration state; When the throttle opening value is less than a first preset opening, or the brake pedal is in a stepped state, it is determined that the vehicle exits the acceleration state.

10. A vehicle controller, characterized in that: The controller comprises: A determination module, used for determining whether the vehicle is in an accelerating state when it is determined that the vehicle has a fault; An acquisition module, used for acquiring a driving speed value of the vehicle when the vehicle is not in an accelerating state; A first speed limit module, configured to use the preset speed value as the maximum speed limit value of the vehicle when it is detected that the driving speed value is less than a preset speed value; A second speed limit module, configured to use the driving speed value as the maximum speed limit value of the vehicle when it is detected that the driving speed value is greater than or equal to the preset speed value; The driving module is used to control the vehicle to travel at a speed lower than the maximum speed limit.

11. A vehicle, characterized in that: It includes the vehicle controller as claimed in claim 10.

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