A vehicle control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a vehicle control method and device, electronic equipment and storage medium. The vehicle control method can specifically include: determining a current vehicle state of a vehicle to be controlled; judging the satisfaction of a vehicle torque intervention condition according to the current vehicle state; determining a motor torque reduction request of the vehicle to be controlled according to the satisfaction judgment result; determining a target motor torque according to the motor torque reduction request, so as to control the vehicle to be controlled according to the target motor torque. The technical scheme of the embodiments of the present application can control the motor torque in time, avoid the vehicle from slipping when starting or accelerating on low adhesion road surface, and thus ensure the stability and good steering performance of the vehicle during driving.

Description

Technical Field

[0001] The present invention relates to the field of automotive technology, and in particular to a vehicle control method, device, electronic device and storage medium. Background Technology

[0002] With the rapid development of the automotive industry, cars have become an indispensable tool for people's travel. However, cars, especially electric cars, are prone to slippage when starting or accelerating on surfaces with low traction (i.e., low-traction surfaces).

[0003] Existing technologies typically employ a traction control system (TCS) to reduce motor torque. However, with this method, the drive wheel slippage is already very high when the traction control system is activated. Furthermore, due to the excessively high starting point of the traction control system's torque integral, the drive wheel slippage continues to increase even after the traction control system has just begun operating. This fails to address the problem of excessive slippage when starting or accelerating on low-friction surfaces. Summary of the Invention

[0004] This invention provides a vehicle control method, device, electronic device, and storage medium that can control motor torque in a timely manner to prevent the vehicle from slipping when starting or accelerating on low-friction surfaces, thereby ensuring the vehicle's stability and good steering during driving.

[0005] According to one aspect of the present invention, a vehicle control method is provided, comprising:

[0006] Determine the current vehicle status of the vehicle to be controlled;

[0007] The satisfaction of the vehicle torque intervention conditions is determined based on the current vehicle status.

[0008] Based on the satisfaction judgment result, the motor torque reduction request of the vehicle to be controlled is determined;

[0009] The target motor torque is determined based on the motor torque reduction request, and the vehicle to be controlled is controlled according to the target motor torque.

[0010] According to another aspect of the present invention, a vehicle control device is provided, comprising:

[0011] The vehicle status determination module is used to determine the current vehicle status of the vehicle to be controlled.

[0012] The satisfaction determination module is used to determine the satisfaction of the vehicle torque intervention conditions based on the current vehicle state.

[0013] The motor torque reduction request module is used to determine the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result.

[0014] The vehicle control module is used to determine the target motor torque based on the motor torque reduction request, so as to control the vehicle to be controlled according to the target motor torque.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0020] The technical solution of this invention determines the current vehicle state of the vehicle to be controlled, performs a satisfaction judgment on the vehicle torque intervention conditions based on the current vehicle state, determines the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result, determines the target motor torque based on the motor torque reduction request, and then controls the vehicle to be controlled based on the target motor torque. This solves the problem that the prior art cannot solve when the vehicle starts or accelerates on a low-friction surface. It can control the motor torque in a timely manner, avoid the vehicle from slipping when starting or accelerating on a low-friction surface, and thus ensure the stability and good steering of the vehicle during driving.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is an example flowchart of a vehicle control method provided in Embodiment 2 of the present invention;

[0026] Figure 4 This is a schematic diagram of a vehicle control device provided in Embodiment 3 of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the vehicle control method of this invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where a vehicle slips during start-up or acceleration on a low-friction surface. The method can be executed by a vehicle control device, which can be implemented through software and / or hardware, and is generally directly integrated into the electronic device executing this method. The present invention does not limit the type of electronic device executing the vehicle control method. Specifically, as shown... Figure 1As shown, the vehicle control method may specifically include the following steps:

[0032] S110. Determine the current vehicle status of the vehicle to be controlled.

[0033] The vehicle to be controlled can be any vehicle that slips when starting or accelerating on a low-friction surface and is waiting to be controlled. The current vehicle state can be any state of the vehicle to be controlled, such as the driving state of the vehicle to be controlled, or the state of the various control systems of the vehicle to be controlled, etc. This embodiment of the invention does not impose any limitations on this.

[0034] In this embodiment of the invention, after determining the vehicle to be controlled, the current vehicle state can be further determined. It should be noted that this embodiment of the invention does not limit the specific implementation method for determining the vehicle to be controlled, as long as the determination of the vehicle to be controlled can be achieved.

[0035] S120. Determine whether the vehicle torque intervention conditions are met based on the current vehicle status.

[0036] The vehicle torque intervention condition can be a condition for intervening in the motor torque of the vehicle to be controlled. For example, it could be a condition for the vehicle to reach a certain set driving state, or a condition for a certain control system of the vehicle to reach a preset state. This embodiment of the invention does not impose any limitations on this. The satisfaction judgment can be a judgment on whether the current vehicle state satisfies the vehicle torque intervention condition.

[0037] In this embodiment of the invention, after determining the current vehicle state of the vehicle to be controlled, a satisfaction judgment can be further made on the vehicle torque intervention condition based on the current vehicle state. It is understood that if the current vehicle state satisfies the judgment of the vehicle torque intervention condition, then intervention can be made on the motor torque of the vehicle to be controlled. If the current vehicle state does not satisfy the judgment of the vehicle torque intervention condition, then intervention is not required on the motor torque of the vehicle to be controlled.

[0038] S130. Based on the satisfaction judgment result, determine the motor torque reduction request of the vehicle to be controlled.

[0039] The satisfaction judgment result can be the result obtained after performing a satisfaction judgment, that is, the judgment result of whether the current vehicle state meets the vehicle torque intervention conditions. A motor torque reduction request can be a request to the motor to reduce torque. It can be understood that a motor torque reduction request can be a request sent to the motor to reduce torque, thereby preventing the vehicle under control from slipping when starting or accelerating on low-friction surfaces.

[0040] In this embodiment of the invention, after determining the satisfaction of the vehicle torque intervention conditions based on the current vehicle state, the motor torque reduction request of the vehicle to be controlled can be further determined based on the satisfaction determination result. Specifically, determining the motor torque reduction request of the vehicle to be controlled based on the satisfaction determination result can be done when the satisfaction determination result indicates that the current vehicle state satisfies the vehicle torque intervention conditions.

[0041] Understandably, if the satisfaction judgment result indicates that the current vehicle state meets the vehicle torque intervention conditions, it means that intervention can be made on the motor torque of the vehicle to be controlled, and the request to reduce the motor torque of the vehicle to be controlled can be further determined. Conversely, if the satisfaction judgment result indicates that the current vehicle state does not meet the vehicle torque intervention conditions, it means that intervention on the motor torque of the vehicle to be controlled is not necessary, and the control of the vehicle to be controlled can be terminated, that is, the intervention on the motor torque of the vehicle to be controlled can be terminated.

[0042] S140. Determine the target motor torque based on the motor torque reduction request, and control the vehicle to be controlled based on the target motor torque.

[0043] The target motor torque can be a target value of the motor torque.

[0044] In this embodiment of the invention, after determining the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result, a target motor torque can be further determined based on the motor torque reduction request, so as to control the vehicle to be controlled according to the target motor torque. It is understood that controlling the vehicle to be controlled according to the target motor torque can mean controlling the motor of the vehicle to be controlled to operate at the target motor torque.

[0045] The technical solution of this embodiment determines the current vehicle state of the vehicle to be controlled, performs a satisfaction judgment on the vehicle torque intervention conditions based on the current vehicle state, determines the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result, determines the target motor torque based on the motor torque reduction request, and then controls the vehicle to be controlled based on the target motor torque. This solves the problem that the prior art cannot solve when the vehicle starts or accelerates on a low-friction surface. It can control the motor torque in a timely manner, avoid the vehicle from slipping when starting or accelerating on a low-friction surface, and thus ensure the stability and good steering of the vehicle during driving.

[0046] Example 2

[0047] Figure 2This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention. This embodiment further refines the above-described technical solutions, providing various specific and optional implementation methods for determining the current vehicle state of the vehicle to be controlled and, based on the satisfaction judgment result, determining the motor torque reduction request of the vehicle to be controlled. The technical solution in this embodiment can be combined with various optional solutions in one or more of the above embodiments. For example... Figure 2 As shown, the method may include the following steps:

[0048] S210. Determine the current vehicle status of the vehicle to be controlled.

[0049] Optionally, the current vehicle status may include the current status of the traction control system, the current status of the master cylinder pressure, the current status of the anti-lock braking system, the current status of the accelerator pedal, the current average positive slip of the drive wheels, the current driving force instability coefficient, and the time since the last torque intervention ended.

[0050] Among these, the current state of the traction control system can be the current state of the traction control system. The current state of the master cylinder pressure can be the current state of the master cylinder pressure. The current state of the anti-lock braking system can be the current state of the anti-lock braking system. The current state of the accelerator pedal can be the current state of the accelerator pedal. The current average positive slip of the drive wheels can be the average value of the current positive slip of the drive wheels. The current driving force instability coefficient can be a coefficient characterizing the instability of the current driving force. The time elapsed since the end of the last torque intervention can be the time between the current moment and the end of the last torque intervention.

[0051] Optionally, determining the average positive slip of the current drive wheels of the vehicle to be controlled may include: obtaining the average wheel speed of the current drive wheels and the current vehicle speed of the vehicle to be controlled; and determining the average positive slip of the current drive wheels based on the average wheel speed of the current drive wheels and the current vehicle speed.

[0052] The current average wheel speed of the driving wheels can be the average wheel speed of the driving wheels of the vehicle currently being controlled. The current vehicle speed can be the current speed of the vehicle currently being controlled.

[0053] Specifically, the average wheel speed of the current drive wheels and the current vehicle speed of the vehicle to be controlled are obtained to determine the average positive slip of the current drive wheels based on the average wheel speed of the current drive wheels and the current vehicle speed. Optionally, the average wheel speed of the current drive wheels and the current vehicle speed of the vehicle to be controlled can be obtained in the Electronic Stability Controller (ESC).

[0054] Optionally, the average positive slip of the current drive wheels can be determined based on the average wheel speed of the current drive wheels and the current vehicle speed, using the following formula:

[0055] ΔV=Vf-Vref

[0056] Where ΔV represents the current average positive slip of the drive wheel; Vf represents the current average wheel speed of the drive wheel; and Vref represents the current vehicle speed.

[0057] Optionally, determining the current driving force instability coefficient of the vehicle to be controlled may include: obtaining the current average wheel acceleration of the driving wheels and the current vehicle acceleration of the vehicle to be controlled; determining the current acceleration deviation based on the current average wheel acceleration of the driving wheels and the current vehicle acceleration; and determining the current driving force instability coefficient based on the current acceleration deviation and the current average positive slip of the driving wheels.

[0058] The current average wheel acceleration of the driving wheels can be the average wheel acceleration of the driving wheels of the vehicle currently being controlled. The current vehicle acceleration can be the acceleration of the vehicle currently being controlled. The current acceleration deviation can be the deviation between the current average wheel acceleration of the driving wheels and the current vehicle acceleration.

[0059] Specifically, the average wheel acceleration of the current drive wheels and the current vehicle acceleration of the vehicle under control are obtained. The current acceleration deviation is determined based on these two values, and then the current driving force instability coefficient is determined based on the current acceleration deviation and the average positive slip of the current drive wheels. Optionally, the average wheel acceleration of the current drive wheels and the current vehicle acceleration of the vehicle under control can be obtained within the electronic stability control system.

[0060] Optionally, the current acceleration deviation can be determined based on the current average wheel acceleration of the drive wheels and the current vehicle acceleration, using the following formula:

[0061] Δa=aVf-aVref

[0062] Where Δa represents the current acceleration deviation; aVf represents the current average wheel acceleration of the drive wheels; and aVref represents the current vehicle acceleration.

[0063] Optionally, the current driving force instability coefficient can be determined based on the current acceleration deviation and the current average positive slip of the driving wheels, using the following formula:

[0064] ω=ΔV*Δa

[0065] Where ω represents the current driving force instability coefficient.

[0066] S220. Determine whether the vehicle torque intervention conditions are met based on the current vehicle status.

[0067] Optionally, the vehicle torque intervention conditions include the following: the traction control system is inactive, there is no master cylinder pressure, the anti-lock braking system is inactive, there is accelerator pedal opening, the current average positive slip of the drive wheel is greater than a preset positive slip threshold, the current driving force instability coefficient is greater than a preset coefficient threshold, and the time elapsed since the end of the last torque intervention is greater than a preset time threshold.

[0068] The preset positive slip threshold can be a pre-set threshold for the average positive slip of the drive wheel. The preset coefficient threshold can be a pre-set threshold for the driving force instability coefficient. The preset duration threshold can be a pre-set duration threshold for the time elapsed since the last torque intervention, such as 3 seconds, etc., but this embodiment of the invention does not impose any limitations on this.

[0069] It is understandable that determining the satisfaction of vehicle torque intervention conditions based on the current vehicle state can involve performing a satisfaction check on each of the vehicle torque intervention conditions based on the current vehicle state. Specifically, if the current vehicle state satisfies each of the vehicle torque intervention conditions, the determination that the current vehicle state satisfies the vehicle torque intervention conditions can be made. If the current vehicle state does not satisfy any of the vehicle torque intervention conditions, the determination that the current vehicle state does not satisfy the vehicle torque intervention conditions can be made.

[0070] S230. Determine whether the satisfaction judgment is the first judgment; if yes, execute S240; otherwise, execute S260.

[0071] The first judgment can be the first satisfaction judgment. It is understood that the satisfaction judgment can be performed once or multiple times, and the embodiments of the present invention do not impose any limitation on this.

[0072] In this embodiment of the invention, after determining the satisfaction of the vehicle torque intervention conditions based on the current vehicle state, it can be further determined whether the satisfaction determination is the first determination. Specifically, if the satisfaction determination is the first determination, the first vehicle coefficient of the vehicle to be controlled can be determined based on the result of the first satisfaction determination. If the satisfaction determination is not the first determination, the number of satisfaction determinations and the corresponding satisfaction determination result corresponding to the number of satisfaction determinations can be determined.

[0073] S240. Based on the first satisfaction judgment result, determine the first vehicle coefficient of the vehicle to be controlled.

[0074] The first satisfaction judgment result can be the result obtained from the first satisfaction judgment. The first vehicle coefficient can be a coefficient corresponding to the vehicle to be controlled. Specifically, the first vehicle coefficient can be a constant coefficient less than 1. It can be understood that different vehicles to be controlled can correspond to different coefficients.

[0075] In this embodiment of the invention, after determining that the satisfaction judgment is the first judgment, a first vehicle coefficient of the vehicle to be controlled can be further determined based on the result of the first satisfaction judgment. Specifically, determining the first vehicle coefficient of the vehicle to be controlled based on the result of the first satisfaction judgment can be done when the result of the first satisfaction judgment is that the current vehicle state meets the vehicle torque intervention condition. It is understood that if the result of the first satisfaction judgment is that the current vehicle state does not meet the vehicle torque intervention condition, then control of the vehicle to be controlled can be terminated.

[0076] S250. Obtain the current motor torque and determine the motor torque reduction request based on the current motor torque and the first vehicle coefficient.

[0077] Here, the current motor torque can be the motor torque at the current moment. It can be understood that the current moment can be the moment when the current vehicle state meets the conditions for vehicle torque intervention.

[0078] In this embodiment of the invention, after determining the first vehicle coefficient of the vehicle to be controlled based on the first satisfaction judgment result, the current motor torque can be further obtained to determine the motor torque reduction request based on the current motor torque and the first vehicle coefficient.

[0079] S260. Determine the number of satisfaction judgments and the corresponding satisfaction judgment result corresponding to the number of satisfaction judgments.

[0080] The number of satisfaction checks can be the number of times a satisfaction check is performed. For example, the number of satisfaction checks can be 2, representing a second satisfaction check. The number of satisfaction checks can also be 3, representing a third satisfaction check, etc., and this embodiment of the invention does not impose any limitations on this. It is understood that the number of satisfaction checks can be a positive integer greater than 1. The corresponding satisfaction check result can be the satisfaction check result corresponding to the number of satisfaction checks. For example, when the number of satisfaction checks is 2, the corresponding satisfaction check result can be determined to be the result obtained from the second satisfaction check.

[0081] In this embodiment of the invention, after determining that the satisfaction judgment is not the first judgment, the number of satisfaction judgments and the corresponding satisfaction judgment results can be further determined. It is understood that the corresponding satisfaction judgment result can correspond to the number of satisfaction judgments.

[0082] S270. Determine whether the number of satisfaction judgments is the target number of judgments; if not, proceed to S280; if yes, proceed to S2110.

[0083] The target number of judgments can be a target value for the number of satisfaction judgments performed. For example, the target number of judgments can be 4, representing the fourth satisfaction judgment, etc., but this embodiment of the invention does not impose any limitations on this.

[0084] In this embodiment of the invention, after determining the number of satisfaction judgments and the corresponding satisfaction judgment results, it can be further determined whether the number of satisfaction judgments is the target number of judgments. If the number of satisfaction judgments is not the target number of judgments, the corresponding vehicle coefficient of the vehicle to be controlled can be determined according to the corresponding satisfaction judgment result, so as to determine the motor torque reduction request based on the current motor torque and the corresponding vehicle coefficient. If the number of satisfaction judgments is the target number of judgments, the traction control system can be activated according to the corresponding satisfaction judgment result, so as to control the vehicle to be controlled through the traction control system.

[0085] S280. Based on the corresponding satisfaction judgment result, determine the corresponding vehicle coefficient of the vehicle to be controlled.

[0086] The corresponding vehicle coefficient can be a coefficient of the vehicle to be controlled that corresponds to the corresponding satisfaction judgment result. For example, when the number of satisfaction judgments is 2, the corresponding satisfaction judgment result is the result obtained from the second satisfaction judgment, so the corresponding vehicle coefficient can be determined to be the vehicle coefficient corresponding to the second satisfaction judgment.

[0087] In this embodiment of the invention, after determining that the number of satisfaction judgments is not the target number of judgments, the corresponding vehicle coefficient of the vehicle to be controlled can be further determined based on the corresponding satisfaction judgment result. Specifically, determining the corresponding vehicle coefficient of the vehicle to be controlled based on the corresponding satisfaction judgment result can be done when it is determined that the current vehicle state meets the vehicle torque intervention condition. It is understood that if the corresponding satisfaction judgment result is that the current vehicle state does not meet the vehicle torque intervention condition, then control of the vehicle to be controlled can be terminated.

[0088] S290. Determine the motor torque reduction request based on the current motor torque and the corresponding vehicle coefficient.

[0089] In this embodiment of the invention, after determining the corresponding vehicle coefficient of the vehicle to be controlled based on the corresponding satisfaction judgment result, the motor torque reduction request can be further determined based on the current motor torque and the corresponding vehicle coefficient.

[0090] S2100. Determine the target motor torque based on the motor torque reduction request, and control the vehicle to be controlled based on the target motor torque.

[0091] Optionally, the target motor torque can be determined based on the motor torque reduction request, using the following formula:

[0092] Target motor torque = Mmot0 * factor1

[0093] Where Mmot0 represents the current motor torque; factor1 represents the first vehicle coefficient.

[0094] Optionally, the target motor torque can be determined based on the motor torque reduction request, or it can be determined based on the following formula:

[0095] Target motor torque = Mmot0 * factor2

[0096] Here, factor2 represents the vehicle coefficient corresponding to the second satisfaction judgment.

[0097] Optionally, the target motor torque can be determined based on the motor torque reduction request, or it can be determined based on the following formula:

[0098] Target motor torque = Mmot0 * factor3

[0099] Here, factor3 represents the vehicle coefficient corresponding to the third satisfaction judgment.

[0100] Optionally, after controlling the vehicle to be controlled based on the target motor torque, the process may also include returning to perform an operation to determine the current vehicle state of the vehicle to be controlled.

[0101] S2110. Activate the traction control system according to the corresponding satisfaction judgment result, so as to control the vehicle to be controlled through the traction control system.

[0102] In this embodiment of the invention, after determining the number of satisfaction judgments as the target number of judgments, the traction control system can be further activated based on the corresponding satisfaction judgment result to control the vehicle to be controlled. Specifically, activating the traction control system based on the corresponding satisfaction judgment result can be done when it is determined that the current vehicle state meets the vehicle torque intervention conditions.

[0103] In a specific example of an embodiment of the present invention, the vehicle control method can be applied to the vehicle traction control module in an electronic stability control system. Figure 3 This is an example flowchart of a vehicle control method provided in Embodiment 2 of the present invention, which can be run once every 20ms in the ESC system. Figure 3 The flowchart shown is illustrated. Specifically, this vehicle control method may include the following:

[0104] (1) Obtain the average wheel speed (Vf), average wheel acceleration (aVf), vehicle speed (Vref), vehicle acceleration (aVref), master cylinder pressure, ABS (antilock brake system) status, TCS status, accelerator pedal opening, and the time since the last torque intervention ended in the electronic stability control system.

[0105] (2) Calculate the average positive slip of the drive wheel ΔV, the deviation between the average wheel acceleration of the drive wheel and the vehicle acceleration Δa, and the instability coefficient of the drive wheel ω.

[0106] (3) Determine whether to intervene in the powertrain torque. Specifically, the conditions for powertrain torque intervention include: no TCS torque reduction activation, no master cylinder pressure, no ABS activation, accelerator pedal opening, ΔV greater than the preset constant, ω greater than the preset constant, and more than 3 seconds since the last torque intervention ended.

[0107] (4) If the conditions for powertrain torque intervention are met, the powertrain torque is intervened. The current motor torque Mmot0 is determined, and a torque reduction request is sent to the motor. Specifically, the torque value in the torque reduction request can be Mmot0*factor1. Wherein, factor1 is a preset constant coefficient, which can be determined according to the specific vehicle.

[0108] Specifically, when the conditions for powertrain torque intervention are met, the state machine of the early torque reduction strategy can be activated. The state machine of the early torque reduction strategy can be named TC_Preprocess_state, where 0 represents inactive and 1 represents active.

[0109] (5) Return to steps 1-3, and when the conditions for powertrain torque intervention are met, send a torque reduction request to the motor again. Specifically, the torque value in the torque reduction request can be Mmot0*factor2. Wherein, factor2 is a preset constant coefficient, which can be determined according to the specific vehicle.

[0110] (6) Return to steps 1-3, and when the conditions for powertrain torque intervention are met, send a torque reduction request to the motor again. Specifically, the torque value in the torque reduction request can be Mmot0*factor3. Wherein, factor3 is a preset constant coefficient, which can be determined according to the specific vehicle.

[0111] (7) Return to steps 1-3 and activate TCS when the conditions for powertrain torque intervention are met, so as to transfer torque control to TCS.

[0112] Specifically, in steps 4-7, if the conditions for powertrain torque intervention are not met, torque intervention can be immediately discontinued.

[0113] The above technical solution can intervene and control the power torque in advance when the drive wheels slip but the TCS has not intervened, thereby preventing electric vehicles from slipping when starting or accelerating on low-friction surfaces.

[0114] The technical solution of this embodiment determines the current vehicle state of the vehicle to be controlled, performs a satisfaction judgment on the vehicle torque intervention conditions based on the current vehicle state, and determines whether the satisfaction judgment is the first judgment. If the satisfaction judgment is determined to be the first judgment, a first vehicle coefficient of the vehicle to be controlled is determined based on the first satisfaction judgment result, and then the current motor torque is obtained to determine the motor torque reduction request based on the current motor torque and the first vehicle coefficient. If the satisfaction judgment is determined not to be the first judgment, the number of satisfaction judgments and the corresponding satisfaction judgment results are determined, and it is determined whether the number of satisfaction judgments is the target number of judgments. If the number of satisfaction judgments is determined not to be the target number of judgments, the corresponding vehicle coefficient of the vehicle to be controlled is determined based on the corresponding satisfaction judgment result, and the motor torque reduction request is determined based on the current motor torque and the corresponding vehicle coefficient. Thus, after determining the motor torque reduction request, the target motor torque is determined based on the motor torque reduction request, and then the vehicle to be controlled is controlled based on the target motor torque. If the number of satisfaction judgments is determined to be the target number of judgments, the traction control system is activated based on the corresponding satisfaction judgment result to control the vehicle to be controlled through the traction control system. It solves the problem of vehicle slippage when starting or accelerating on low-friction surfaces, which is a problem that existing technologies cannot solve. It can control the motor torque in time to prevent the vehicle from slipping when starting or accelerating on low-friction surfaces, thereby ensuring the vehicle's stability and good steering during driving.

[0115] Example 3

[0116] Figure 4 This is a schematic diagram of a vehicle control device provided in Embodiment 3 of the present invention, as shown below. Figure 4 As shown, the device includes: a vehicle status determination module 410, a satisfaction judgment module 420, a motor torque reduction request module 430, and a vehicle control module 440, wherein:

[0117] The vehicle status determination module 410 is used to determine the current vehicle status of the vehicle to be controlled.

[0118] Satisfaction determination module 420 is used to determine the satisfaction of vehicle torque intervention conditions based on the current vehicle state;

[0119] The motor torque reduction request module 430 is used to determine the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result.

[0120] The vehicle control module 440 is used to determine the target motor torque based on the motor torque reduction request, so as to control the vehicle to be controlled according to the target motor torque.

[0121] The technical solution of this embodiment determines the current vehicle state of the vehicle to be controlled, performs a satisfaction judgment on the vehicle torque intervention conditions based on the current vehicle state, determines the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result, determines the target motor torque based on the motor torque reduction request, and then controls the vehicle to be controlled based on the target motor torque. This solves the problem that the prior art cannot solve when the vehicle starts or accelerates on a low-friction surface. It can control the motor torque in a timely manner, avoid the vehicle from slipping when starting or accelerating on a low-friction surface, and thus ensure the stability and good steering of the vehicle during driving.

[0122] Optionally, the current vehicle status may include the current status of the traction control system, the current status of the master cylinder pressure, the current status of the anti-lock braking system, the current status of the accelerator pedal, the current average positive slip of the drive wheels, the current driving force instability coefficient, and the time since the last torque intervention ended.

[0123] Optionally, vehicle torque intervention conditions may include the following: traction control system is inactive, no master cylinder pressure, anti-lock braking system is inactive, accelerator pedal opening is present, the current average positive slip of the drive wheels is greater than a preset positive slip threshold, the current driving force instability coefficient is greater than a preset coefficient threshold, and the time elapsed since the last torque intervention is greater than a preset time threshold.

[0124] Optionally, the vehicle state determination module 410 can be specifically used to: obtain the current average wheel speed of the drive wheels and the current vehicle speed of the vehicle to be controlled; and determine the current average positive slip of the drive wheels based on the current average wheel speed and the current vehicle speed.

[0125] Optionally, the vehicle state determination module 410 can also be specifically used to: obtain the current average wheel acceleration of the driving wheels and the current vehicle acceleration of the vehicle to be controlled; determine the current acceleration deviation based on the current average wheel acceleration of the driving wheels and the current vehicle acceleration; and determine the current driving force instability coefficient based on the current acceleration deviation and the current average positive slip of the driving wheels.

[0126] Optionally, the motor torque reduction request module 430 can be specifically used to: determine the first vehicle coefficient of the vehicle to be controlled based on the first satisfaction judgment result when the satisfaction judgment is determined to be the first judgment; obtain the current motor torque, and determine the motor torque reduction request based on the current motor torque and the first vehicle coefficient; correspondingly, the vehicle control module 440 can be specifically used to: return to perform the operation of determining the current vehicle status of the vehicle to be controlled.

[0127] Optionally, the motor torque reduction request module 430 can be specifically used to: determine the number of satisfaction judgments and the corresponding satisfaction judgment result when the satisfaction judgment is not the first judgment; determine the corresponding vehicle coefficient of the vehicle to be controlled based on the corresponding satisfaction judgment result when the number of satisfaction judgments is not the target number of judgments; and determine the motor torque reduction request based on the current motor torque and the corresponding vehicle coefficient. Correspondingly, the vehicle control module 440 can be specifically used to: return to the operation of determining the current vehicle status of the vehicle to be controlled.

[0128] Optionally, the vehicle control device can also be specifically used to: when the number of satisfaction judgments is determined to be the target number of judgments, activate the traction control system according to the corresponding satisfaction judgment result, so as to control the target number of judgments of the vehicle to be controlled through the traction control system.

[0129] The vehicle control device provided in the embodiments of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0130] Example 4

[0131] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0132] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0133] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0134] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0135] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0136] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0138] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0139] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0140] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0141] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0142] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0143] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, include: Determine the current vehicle status of the vehicle to be controlled; The satisfaction of the vehicle torque intervention conditions is determined based on the current vehicle status. Based on the satisfaction judgment result, the motor torque reduction request of the vehicle to be controlled is determined; The target motor torque is determined based on the motor torque reduction request, and the vehicle to be controlled is controlled according to the target motor torque; The step of determining the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result includes: If the satisfaction judgment is determined to be the first judgment, the first vehicle coefficient of the vehicle to be controlled is determined based on the result of the first satisfaction judgment. Obtain the current motor torque, and determine the motor torque reduction request based on the current motor torque and the first vehicle coefficient; If it is determined that the satisfaction judgment is not the first judgment, the number of satisfaction judgments and the corresponding satisfaction judgment result corresponding to the number of satisfaction judgments are determined. If the number of satisfaction judgments is determined to be a non-target number of judgments, the corresponding vehicle coefficient of the vehicle to be controlled is determined based on the corresponding satisfaction judgment result. The motor torque reduction request is determined based on the current motor torque and the corresponding vehicle coefficient; The step of determining the first vehicle coefficient of the vehicle to be controlled based on the first satisfaction judgment result includes: determining the first vehicle coefficient of the vehicle to be controlled when the first satisfaction judgment result is a judgment that the current vehicle state satisfies the vehicle torque intervention condition. After controlling the vehicle to be controlled according to the target motor torque, the method further includes: Return to the operation of determining the current vehicle status of the vehicle to be controlled; The method further includes: if the first satisfaction judgment result is that the current vehicle state does not meet the vehicle torque intervention condition, then exit the control of the vehicle to be controlled.

2. The method according to claim 1, characterized in that, The current vehicle status includes the current status of the traction control system, the current status of the master cylinder pressure, the current status of the anti-lock braking system, the current status of the accelerator pedal, the current average positive slip of the drive wheels, the current driving force instability coefficient, and the time since the last torque intervention ended. The vehicle torque intervention conditions include the following: the traction control system is inactive; there is no master cylinder pressure; the anti-lock braking system is inactive; there is accelerator pedal opening; the current average positive slip of the drive wheels is greater than the preset positive slip threshold; the current driving force instability coefficient is greater than the preset coefficient threshold; and the time elapsed since the end of the last torque intervention is greater than the preset time threshold.

3. The method according to claim 2, characterized in that, Determining the average positive slip of the current drive wheels of the vehicle to be controlled includes: Obtain the average wheel speed of the current drive wheels and the current vehicle speed of the vehicle to be controlled; The average positive slip of the current drive wheel is determined based on the average wheel speed of the current drive wheel and the current vehicle speed.

4. The method according to claim 3, characterized in that, Determining the current driving force instability coefficient of the vehicle to be controlled includes: Obtain the average wheel acceleration of the current drive wheels and the current vehicle acceleration of the vehicle to be controlled; The current acceleration deviation is determined based on the current average wheel acceleration of the drive wheels and the current vehicle acceleration; The current driving force instability coefficient is determined based on the current acceleration deviation and the current average positive slip of the drive wheel.

5. The method according to claim 1, characterized in that, The method also includes: If the number of satisfaction judgments is determined to be the target number of judgments, the traction control system is activated according to the corresponding satisfaction judgment result, so as to control the vehicle to be controlled through the traction control system.

6. A vehicle control device, characterized in that, include: The vehicle status determination module is used to determine the current vehicle status of the vehicle to be controlled. The satisfaction determination module is used to determine the satisfaction of the vehicle torque intervention conditions based on the current vehicle state. The motor torque reduction request module is used to determine the motor torque reduction request of the vehicle to be controlled based on the satisfaction judgment result. The vehicle control module is used to determine the target motor torque based on the motor torque reduction request, so as to control the vehicle to be controlled according to the target motor torque; The motor torque reduction request module is specifically used for: when the satisfaction judgment is determined to be the first judgment, determining the first vehicle coefficient of the vehicle to be controlled based on the first satisfaction judgment result; obtaining the current motor torque, and determining the motor torque reduction request based on the current motor torque and the first vehicle coefficient; If it is determined that the satisfaction judgment is not the first judgment, the number of satisfaction judgments and the corresponding satisfaction judgment result corresponding to the number of satisfaction judgments are determined. If the number of satisfaction judgments is determined to be a non-target number of judgments, the corresponding vehicle coefficient of the vehicle to be controlled is determined based on the corresponding satisfaction judgment result. The motor torque reduction request is determined based on the current motor torque and the corresponding vehicle coefficient; The step of determining the first vehicle coefficient of the vehicle to be controlled based on the first satisfaction judgment result includes: determining the first vehicle coefficient of the vehicle to be controlled when the first satisfaction judgment result is a judgment that the current vehicle state satisfies the vehicle torque intervention condition. The vehicle control module is specifically used to: return to perform the operation of determining the current vehicle status of the vehicle to be controlled; The device further includes: if the first satisfaction judgment result is that the current vehicle state does not meet the vehicle torque intervention condition, then exit the control of the vehicle to be controlled.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle control method of any one of claims 1-5.

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