Smooth acceleration method and device of vehicle, vehicle and storage medium

Abstract

The application relates to the technical field of vehicle motor inverters, in particular to a vehicle smooth acceleration method and device, a vehicle and a storage medium, wherein the method comprises the following steps: obtaining an acceleration instruction communication message of a vehicle; identifying acceleration control data of the vehicle in the acceleration instruction communication message, performing smooth processing on the acceleration control data to obtain smooth data, filtering data with a frequency less than or equal to a preset frequency in the smooth data, and obtaining a reshaped acceleration instruction; and controlling the vehicle to accelerate by using the reshaped acceleration instruction, so that the smooth acceleration of the vehicle is realized. Therefore, the abnormal acceleration data caused by CAN communication data transmission errors in the related art is solved, the vehicle is prevented from being in an abnormal acceleration state, the smoothness of the vehicle is improved, and the user experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle motor inverter technology, and in particular to a method, apparatus, vehicle, and storage medium for smooth acceleration of a vehicle. Background Technology

[0002] With the continuous development of the automotive industry, users' requirements for vehicle comfort are constantly increasing. Currently, in the vehicle system, the speed command of the power motor controller is obtained through the CAN (Controller Area Network) bus. However, due to the frequent occurrence of abnormal data transmission in CAN communication, the obtained speed command often contains errors, resulting in excessive vehicle acceleration and causing problems such as vibration of the vehicle's power system. Summary of the Invention

[0003] This application provides a method, apparatus, vehicle, and storage medium for smooth acceleration of a vehicle, in order to solve the problems in the related art where acceleration commands often contain abnormal acceleration data due to errors in CAN communication data transmission, which can easily lead to abnormal acceleration of the vehicle, resulting in poor vehicle smoothness and a poor user experience.

[0004] The first aspect of this application provides a method for smooth acceleration of a vehicle, comprising the following steps: acquiring an acceleration command communication message of the vehicle; identifying the vehicle's acceleration control data in the acceleration command communication message, smoothing the acceleration control data to obtain smoothed data, and filtering data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain a shaped acceleration command; and using the shaped acceleration command to control the vehicle's acceleration to achieve smooth acceleration of the vehicle.

[0005] Based on the above technical means, the embodiments of this application can effectively filter out abnormal acceleration data in acceleration commands by smoothing and filtering the commands, thereby avoiding abnormal acceleration of the vehicle and effectively improving the smoothness of the vehicle acceleration process and enhancing the user experience.

[0006] Optionally, in one embodiment of this application, the vehicle includes a first filter and a second filter connected in series. The smoothing process of the acceleration control data to obtain smoothed data, and filtering out data with frequencies less than or equal to a preset frequency in the smoothed data to obtain a shaped acceleration command, includes: inputting the acceleration control data into the first filter and setting the smoothing time of the first filter to a preset multiple of the communication cycle; outputting the smoothed data of the acceleration control data; outputting the smoothed data into the second filter; and using the second filter to filter out data with frequencies less than or equal to the preset frequency in the smoothed data to obtain a shaped acceleration command.

[0007] Based on the above technical means, the embodiments of this application can first smooth the acceleration control data by setting the smoothing time of the first filter to a multiple of the communication cycle, which can effectively smooth the acceleration command. Then, the data obtained by the smoothing process is filtered by the second filter to obtain the acceleration command. This can effectively correct the impact of communication data transmission errors without affecting the system transmission response, thereby improving the robustness of the vehicle.

[0008] Optionally, in one embodiment of this application, before smoothing the acceleration control data to obtain smoothed data, and filtering out data with frequencies less than or equal to a preset frequency in the smoothed data to obtain a shaped acceleration command, the method further includes: identifying the current acceleration condition of the vehicle; if the current acceleration condition is a first preset condition, increasing the slope time of the first filter to a first target slope time; if the current acceleration condition is a second preset condition, decreasing the slope time of the first filter to a second target slope time, wherein the first target slope time is greater than the second target slope time, and the degree of speed response of the first preset condition is greater than the degree of speed response of the second preset condition.

[0009] Based on the above technical means, the embodiments of this application can increase the slope time of the first filter when the current acceleration condition is the first preset condition, and decrease the slope time of the first filter when the current acceleration condition is the second preset condition, thereby achieving the effect of abnormal error correction of the command and improving the stability of the vehicle system.

[0010] Optionally, in one embodiment of this application, the method further includes: obtaining the target adjustment requirements of the second filter; and adjusting the frequency parameters of the second filter according to the target adjustment requirements.

[0011] Based on the above technical means, the embodiments of this application can adjust the frequency parameters of the second filter according to the target adjustment requirements, thereby meeting the instruction anomaly correction under different requirements and improving the user experience.

[0012] A second aspect of this application provides a smooth acceleration device for a vehicle, comprising: an acquisition module for acquiring an acceleration command communication message of a vehicle; a shaping module for identifying acceleration control data of the vehicle in the acceleration command communication message, smoothing the acceleration control data to obtain smoothed data, and filtering data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain a shaped acceleration command; and a control module for controlling the acceleration of the vehicle using the shaped acceleration command to achieve smooth acceleration of the vehicle.

[0013] Optionally, in one embodiment of this application, the vehicle includes a first filter and a second filter connected in series, and the shaping module is further configured to: input the acceleration control data into the first filter, and set the smoothing time of the first filter to a preset multiple of the communication cycle, and output smoothed data of the acceleration control data; output the smoothed data to the second filter, and use the second filter to filter data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain a shaped acceleration command.

[0014] Optionally, in one embodiment of this application, the apparatus further includes: a judgment module, configured to identify the current acceleration condition of the vehicle before smoothing the acceleration control data to obtain smoothed data, filtering data in the smoothed data whose frequency is less than or equal to a preset frequency, and obtaining a shaped acceleration command; if the current acceleration condition is a first preset condition, then increasing the slope time of the first filter to a first target slope time; if the current acceleration condition is a second preset condition, then decreasing the slope time of the first filter to a second target slope time, wherein the first target slope time is greater than the second target slope time, and the degree of speed response of the first preset condition is greater than the degree of speed response of the second preset condition.

[0015] Optionally, in one embodiment of this application, the apparatus further includes: an adjustment module, configured to acquire a target adjustment requirement for the second filter and adjust the frequency parameters of the second filter according to the target adjustment requirement.

[0016] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the smooth acceleration method of the vehicle as described in the above embodiments.

[0017] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the smooth acceleration method for a vehicle as described in the above embodiments.

[0018] Therefore, this application has at least the following beneficial effects:

[0019] 1. The embodiments of this application can effectively filter out abnormal acceleration data in acceleration commands by smoothing and filtering the commands, thereby avoiding abnormal acceleration of the vehicle and effectively improving the smoothness of the vehicle acceleration process and enhancing the user experience.

[0020] 2. In this embodiment, the acceleration control data can be smoothed by first setting the smoothing time of the first filter to a multiple of the communication cycle, which can effectively smooth the acceleration command. Then, the smoothed data is filtered by the second filter to obtain the acceleration command. This can effectively correct the impact of communication data transmission errors without affecting the system transmission response, thereby improving the robustness of the vehicle.

[0021] 3. In this embodiment of the application, when the current acceleration condition is the first preset condition, the slope time of the first filter can be increased, and when the current acceleration condition is the second preset condition, the slope time of the first filter can be decreased, thereby achieving the effect of error correction of the command and improving the stability of the vehicle system.

[0022] 4. The embodiments of this application can adjust the frequency parameters of the second filter according to the target adjustment requirements, thereby meeting the error correction of instruction anomalies under different requirements and improving the user experience.

[0023] This solves the technical problem in related technologies where acceleration commands often contain abnormal acceleration data due to errors in CAN communication data transmission, which can easily lead to abnormal acceleration of the vehicle, resulting in poor vehicle smoothness and a poor user experience.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 This is a flowchart of a smooth acceleration method for a vehicle according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the filter response characteristics provided according to a specific embodiment;

[0028] Figure 3 This is a schematic diagram of the acceleration command shaping process provided according to a specific embodiment;

[0029] Figure 4 This is an example diagram of a smooth acceleration device for a vehicle provided according to an embodiment of this application;

[0030] Figure 5 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0032] The following description, with reference to the accompanying drawings, describes a method, apparatus, vehicle, and storage medium for smooth vehicle acceleration according to embodiments of this application. Addressing the problems mentioned in the background section, this application provides a method for smooth vehicle acceleration. In this method, an acceleration command communication message of the vehicle is acquired, the vehicle's acceleration control data within the acceleration command communication message is identified, the acceleration control data is smoothed to obtain smoothed data, and data with frequencies less than or equal to a preset frequency in the smoothed data is filtered out to obtain a shaped acceleration command. The shaped acceleration command is then used to control vehicle acceleration, achieving smooth vehicle acceleration. This solves the problem in related technologies where acceleration commands often contain abnormal acceleration data due to CAN communication data transmission errors, easily leading to abnormal vehicle acceleration, poor vehicle smoothness, and a poor user experience.

[0033] Specifically, Figure 1 This is a flowchart illustrating a method for smooth acceleration of a vehicle provided in an embodiment of this application.

[0034] like Figure 1 As shown, the smooth acceleration method for this vehicle includes the following steps:

[0035] In step S101, the vehicle's acceleration command communication message is obtained.

[0036] Among them, communication messages refer to the data structure that enables networks to communicate with each other, including data information such as the source address and destination address of data transmission.

[0037] It is understood that the embodiments of this application can obtain acceleration command communication messages through the CAN bus.

[0038] In step S102, the vehicle's acceleration control data in the acceleration command communication message is identified, the acceleration control data is smoothed to obtain smoothed data, and data with a frequency less than or equal to a preset frequency in the smoothed data is filtered out to obtain the shaped acceleration command.

[0039] The preset frequency can be set according to actual needs without specific limitations.

[0040] It is understood that the embodiments of this application can effectively filter out abnormal acceleration data in acceleration commands by smoothing and filtering the commands, thereby avoiding abnormal acceleration of the vehicle and effectively improving the smoothness of the vehicle acceleration process and enhancing the user experience.

[0041] Optionally, in one embodiment of this application, the vehicle includes a first filter and a second filter connected in series to smooth acceleration control data, obtain smoothed data, and filter out data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain a shaped acceleration command. This includes: inputting the acceleration control data into the first filter and setting the smoothing time of the first filter to a preset multiple of the communication cycle; outputting the smoothed data of the acceleration control data; outputting the smoothed data to the second filter; and using the second filter to filter out data in the smoothed data whose frequency is less than or equal to the preset frequency to obtain a shaped acceleration command.

[0042] The first filter and the second filter are used only to distinguish the types of filters and are not specifically limited. In the embodiments of this application, the first filter can be an FIR (Finite Impulse Response) smoothing filter and the second filter can be an IIR (Infinite Impulse Response) low-pass filter, without specific limitation.

[0043] Taking FIR smoothing filters and IIR low-pass filters as examples, the response characteristics of FIR smoothing filters are as follows: Figure 2 As shown on the left, the FIR smoothing filter has a large transition band, which is beneficial for reducing the acceleration of commands. If the smoothing time is set to a multiple of the CAN communication cycle, the filter slope can be controlled to achieve the effect of smoothing speed commands. The response characteristics of the IIR low-pass filter are as follows: Figure 2 As shown on the right, it can be designed as a first-order or second-order filter. Since the cutoff frequency transition band of the IIR low-pass filter is relatively narrow, if it is designed as a first-order filter, it can effectively correct the impact of command CAN transmission errors without affecting the system transmission response. The effect of the IIR low-pass filter can be adjusted by the frequency parameter. Usually, the filtered command signal can rise to 0.632 times the standard speed. The required time can be calculated by the function: t = 1 / (2*π*f), where f is related to the manually set filtering parameters and t is the step response time of the filter.

[0044] The preset multiplier can be set according to the actual situation of the communication cycle, without specific limitations.

[0045] It is understood that, in the embodiments of this application, the acceleration control data can be smoothed by first setting the smoothing time of the first filter to a multiple of the communication cycle, which can effectively smooth the acceleration command. Then, the data obtained by the smoothing process is filtered by the second filter to obtain the acceleration command. This can effectively correct the impact of communication data transmission errors without affecting the system transmission response, thereby improving the robustness of the vehicle.

[0046] Optionally, in one embodiment of this application, before smoothing the acceleration control data to obtain smoothed data, filtering out data with frequencies less than or equal to a preset frequency in the smoothed data, and obtaining the shaped acceleration command, the method further includes: identifying the current acceleration condition of the vehicle; if the current acceleration condition is a first preset condition, increasing the slope time of the first filter to a first target slope time; if the current acceleration condition is a second preset condition, decreasing the slope time of the first filter to a second target slope time, wherein the first target slope time is greater than the second target slope time, and the degree of speed response of the first preset condition is greater than the degree of speed response of the second preset condition.

[0047] The first preset operating condition and the second preset operating condition can be used to distinguish the category of the current acceleration operating condition without specific limitations. For example, the first preset operating condition can be an operating condition with low acceleration requirements, while the second preset operating condition can be an operating condition with high acceleration requirements.

[0048] It is understood that, in the embodiments of this application, when the current acceleration condition is the first preset condition, the slope time of the first filter can be increased, and when the current acceleration condition is the second preset condition, the slope time of the first filter can be decreased, thereby achieving the effect of error correction of the command and improving the stability of the vehicle system.

[0049] Specifically, in practical applications, the parameters of the two filters are usually adjusted in combination according to the specific system response requirements and abnormal input signal conditions. For operating conditions with low acceleration requirements, the slope time of the FIR smoothing filter can be appropriately increased. If the system speed response requirements are high, the smoothing effect of the FIR smoothing filter can be reduced, and the characteristics of the IIR low-pass filter can be used to achieve the effect of command anomaly correction.

[0050] Optionally, in one embodiment of this application, the method further includes: obtaining the target adjustment requirements of the second filter; and adjusting the frequency parameters of the second filter according to the target adjustment requirements.

[0051] The target adjustment requirement can be set according to the actual situation, without specific limitations.

[0052] It is understood that the frequency parameters of the second filter can be adjusted according to the target adjustment requirements in the embodiments of this application, thereby meeting the instruction anomaly correction under different requirements and improving the user experience.

[0053] In step S103, the vehicle is accelerated using the shaped acceleration command to achieve smooth acceleration.

[0054] It is understood that the embodiments of this application can enable the vehicle to accelerate smoothly through the shaped acceleration command, thereby improving the user's driving experience.

[0055] The smooth acceleration method for vehicles proposed in this application involves acquiring the vehicle's acceleration command communication message, identifying the vehicle's acceleration control data within the message, smoothing the data to obtain smoothed data, and filtering out data with frequencies less than or equal to a preset frequency to obtain a shaped acceleration command. This shaped acceleration command is then used to control vehicle acceleration, achieving smooth vehicle acceleration. This solves the problem in related technologies where acceleration commands often contain abnormal acceleration data due to CAN communication data transmission errors, easily leading to abnormal vehicle acceleration, poor vehicle smoothness, and a poor user experience.

[0056] The smooth acceleration method for vehicles will be further illustrated below with a specific embodiment, such as... Figure 3 As shown, the data before shaping is acquired via CAN communication, and two anomalies exist: CAN communication transmission command errors; and the planned data from the front-end controller exceeds the inverter's response range. Shaping begins with the data first being smoothed by an FIR smoothing filter, then filtered by an IIR low-pass filter, and finally the shaped data is transmitted to the back-end speed control loop. The FIR smoothing filter is an open-loop control; placing it before the IIR low-pass filter effectively improves system stability. Specific steps include:

[0057] Step 1, design a first-order IIR low-pass filter: Yn=K1*(Xn+Xn-1)-K2*Yn-1, where K1 and K2 are calibrated as frequency-dependent parameters K.

[0058] Step 2, design an N-order FIR smoothing filter: Yn=K1*Xn+K2*Xn-1+……+Kn*X1. It should be noted that the FIR smoothing filter can also be replaced by the simplest moving average filter, that is, Yn=(Xn+Xn-1+……+X1) / N, where the parameter is 1 / N, where N is the smoothing order, and the product of N and the CAN communication period is the smoothing time.

[0059] Step 3: Assign the CAN speed command to the input of the FIR smoothing filter every cycle. Assign the output of the FIR smoothing filter to the input of the first-order IIR low-pass filter. The output of the IIR low-pass filter is the result after shaping and filtering, which is output to the back-end control loop. The IIR low-pass filter can be connected in series with two stages of filtering to reduce the cutoff frequency transition band.

[0060] Step 4, parameter adjustment: Adjust the FIR parameter to 1 and the IIR low-pass filter parameter to be greater than 2kHz. This will ignore the low-frequency attenuation effect of the FIR and IIR low-pass filters, achieving the effect of turning off the FIR and IIR low-pass filters. In addition, decrease the frequency parameter K of the IIR low-pass filter to meet the error correction effect, and increase the parameter N of the FIR smoothing filter to meet the requirements of smoothing the acceleration of the CAN speed command.

[0061] This solves the problem in related technologies where acceleration commands often contain abnormal acceleration data due to errors in CAN communication data transmission, which can easily lead to abnormal acceleration of the vehicle, resulting in poor vehicle smoothness and a poor user experience.

[0062] Next, with reference to the accompanying drawings, a smooth acceleration device for a vehicle according to an embodiment of this application is described.

[0063] Figure 4 This is a block diagram of a vehicle smooth acceleration device proposed in an embodiment of this application.

[0064] like Figure 4 As shown, the vehicle's smooth acceleration device 10 includes: an acquisition module 100, a shaping module 200, and a control module 300.

[0065] The acquisition module 100 is used to acquire the vehicle's acceleration command communication message; the shaping module 200 is used to identify the vehicle's acceleration control data in the acceleration command communication message, smooth the acceleration control data to obtain smooth data, and filter the data in the smooth data whose frequency is less than or equal to a preset frequency to obtain the shaped acceleration command; the control module 300 is used to control the vehicle's acceleration using the shaped acceleration command to achieve smooth acceleration of the vehicle.

[0066] Optionally, in one embodiment of this application, the vehicle includes a first filter and a second filter connected in series. The shaping module 200 is further configured to: input acceleration control data into the first filter and set the smoothing time of the first filter to a preset multiple of the communication cycle, and output smoothed data of the acceleration control data; output the smoothed data to the second filter, and use the second filter to filter data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain the shaped acceleration command.

[0067] Optionally, in one embodiment of this application, the apparatus 10 of this application embodiment further includes: a determination module.

[0068] The judgment module is used to identify the current acceleration condition of the vehicle before smoothing the acceleration control data, obtaining smoothed data, filtering out data with frequencies less than or equal to a preset frequency in the smoothed data, and obtaining the shaped acceleration command. If the current acceleration condition is a first preset condition, the slope time of the first filter is increased to a first target slope time. If the current acceleration condition is a second preset condition, the slope time of the first filter is decreased to a second target slope time. The first target slope time is greater than the second target slope time, and the degree of speed response of the first preset condition is greater than the degree of speed response of the second preset condition.

[0069] Optionally, in one embodiment of this application, the apparatus 10 of this application embodiment further includes: an adjustment module.

[0070] The adjustment module is used to obtain the target adjustment requirements of the second filter and adjust the frequency parameters of the second filter according to the target adjustment requirements.

[0071] It should be noted that the explanation of the above-described embodiment of the vehicle smooth acceleration method also applies to the vehicle smooth acceleration device of this embodiment, and will not be repeated here.

[0072] The vehicle smooth acceleration device proposed in this application acquires the vehicle's acceleration command communication message, identifies the vehicle's acceleration control data in the acceleration command communication message, smooths the acceleration control data to obtain smooth data, and filters data in the smooth data whose frequency is less than or equal to a preset frequency to obtain a shaped acceleration command. The shaped acceleration command is then used to control the vehicle's acceleration, achieving smooth vehicle acceleration. This solves the problem in related technologies where acceleration commands often contain abnormal acceleration data due to CAN communication data transmission errors, which can easily lead to abnormal vehicle acceleration, resulting in poor vehicle smoothness and a poor user experience.

[0073] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0074] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0075] When the processor 502 executes the program, it implements the smooth acceleration method for the vehicle provided in the above embodiments.

[0076] Furthermore, the vehicle also includes:

[0077] Communication interface 503 is used for communication between memory 501 and processor 502.

[0078] The memory 501 is used to store computer programs that can run on the processor 502.

[0079] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0080] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0081] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0082] The processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0083] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for smooth acceleration of a vehicle.

[0084] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0087] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0088] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0089] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for smooth acceleration of a vehicle, characterized in that, Includes the following steps: Obtain the vehicle's acceleration command communication message; The acceleration control data of the vehicle in the acceleration command communication message is identified, the acceleration control data is smoothed to obtain smoothed data, and data with a frequency less than or equal to a preset frequency in the smoothed data is filtered out to obtain a shaped acceleration command. The vehicle acceleration is controlled by the shaped acceleration command to achieve smooth acceleration. The vehicle includes a first filter and a second filter connected in series. The acceleration control data is smoothed to obtain smoothed data, and data with frequencies less than or equal to a preset frequency in the smoothed data is filtered out to obtain a shaped acceleration command, including: The acceleration control data is input into the first filter, and the smoothing time of the first filter is set to a preset multiple of the communication period, and the smoothed data of the acceleration control data is output. The smoothed data is output to the second filter, and the second filter is used to filter data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain the shaped acceleration command.

2. The method according to claim 1, characterized in that, Before smoothing the acceleration control data to obtain smoothed data, and filtering out data with frequencies less than or equal to a preset frequency from the smoothed data to obtain the shaped acceleration command, the process further includes: Identify the vehicle's current acceleration condition; If the current acceleration condition is the first preset condition, then the slope time of the first filter is increased to the first target slope time; If the current acceleration condition is the second preset condition, then the slope time of the first filter is reduced to the second target slope time, wherein the first target slope time is greater than the second target slope time, and the degree of speed response of the first preset condition is greater than the degree of speed response of the second preset condition.

3. The method according to claim 1, characterized in that, Also includes: Obtain the target adjustment requirements of the second filter; Adjust the frequency parameters of the second filter according to the target adjustment requirements.

4. A smooth acceleration device for a vehicle, characterized in that, include: The acquisition module is used to acquire the vehicle's acceleration command communication message; The shaping module is used to identify the vehicle's acceleration control data in the acceleration command communication message, smooth the acceleration control data to obtain smoothed data, and filter out data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain the shaped acceleration command. The control module is used to control the vehicle acceleration using the shaped acceleration command to achieve smooth acceleration of the vehicle. The vehicle includes a first filter and a second filter connected in series, and the shaping module is further used for: The acceleration control data is input into the first filter, and the smoothing time of the first filter is set to a preset multiple of the communication period, and the smoothed data of the acceleration control data is output. The smoothed data is output to the second filter, and the second filter is used to filter data in the smoothed data whose frequency is less than or equal to a preset frequency to obtain the shaped acceleration command.

5. The apparatus according to claim 4, characterized in that, Also includes: The judgment module is used to identify the current acceleration condition of the vehicle before smoothing the acceleration control data to obtain smoothed data, filtering out data with a frequency less than or equal to a preset frequency in the smoothed data, and obtaining the shaped acceleration command. If the current acceleration condition is the first preset condition, then the slope time of the first filter is increased to the first target slope time; If the current acceleration condition is the second preset condition, then the slope time of the first filter is reduced to the second target slope time, wherein the first target slope time is greater than the second target slope time, and the degree of speed response of the first preset condition is greater than the degree of speed response of the second preset condition.

6. The apparatus according to claim 4, characterized in that, Also includes: The adjustment module is used to obtain the target adjustment requirements of the second filter and adjust the frequency parameters of the second filter according to the target adjustment requirements.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the smooth acceleration method for a vehicle as described in any one of claims 1-3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the smooth acceleration method for the vehicle as described in any one of claims 1-3.

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