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

Abstract

The present invention relates to the technical field of vehicle electrical control, and provides a vehicle torque control method, device, equipment and storage medium. The vehicle torque control method includes: real-time collecting the current opening degrees of a stepless paddle and a pedal, and recording the current required torques of the pedal and the stepless paddle; judging whether the braking system activates a torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel; if the braking system is in the torque self-locking state, calculating a self-locking torque according to the current required torques and historical required torques of the pedal and the stepless paddle corresponding to the self-locking state type, and maintaining the acceleration torque or braking torque of the vehicle at the self-locking torque. This vehicle torque control method utilizes the vehicle torque of the stepless paddle participating in pedal control to ensure that the vehicle can also maintain stable control with the self-locking torque when the pedal is not continuously triggered, optimizing the driver's driving experience and ensuring driving safety.

Description

Technical Field

[0001] The present application relates to the field of vehicle electrical control technology, and in particular to a vehicle torque control method, device, equipment and storage medium. Background Art

[0002] At present, in the process of vehicle speed control during vehicle driving, the torque required by the driver to control the vehicle speed is mainly achieved by stepping on the accelerator and brake pedals, among which the required torque of the accelerator and brake pedals (hereinafter referred to as pedals) is called pedal required torque.

[0003] In this torque control method, the driver needs to keep his foot on the accelerator or brake pedal to provide the accelerator or brake pedal required torque required by the driver. However, the driver may not be able to maintain the pedal force at a constant value for a long time due to leg fatigue during long-term driving. For example, stepping on the pedal for a long time while driving will cause the pedal opening to slowly increase or decrease without the driver noticing. At this time, the pedal required torque will deviate from the torque originally expected by the driver; or when the vehicle is driving on a bumpy road, the collision between the bumpy ground and the vehicle reacts on the pedal, making it impossible for the driver to effectively control and maintain a constant pedal opening, thereby causing fluctuations in the pedal required torque, making it impossible for the driver to effectively control the vehicle speed and easily causing safety risks.

[0004] Therefore, it is necessary to provide a vehicle torque control method, device, equipment and storage medium, which can achieve self-locking control of vehicle acceleration and braking torque when the pedal is in the hands-free state by monitoring the opening of the pedal and the stepless paddles integrated on the steering wheel, thereby solving the above technical problems. Summary of the invention

[0005] In view of the shortcomings of the prior art mentioned above, the present invention provides a vehicle torque control method, device, equipment and storage medium, which can respond to the triggering of the stepless paddle and integrate the opening of the stepless paddle and the pedal to complete the self-locking control of the wheel torque, thereby solving the technical problem that the existing vehicle torque control method is out of control of the driver and cannot be stably controlled because the torque is only controlled by the pedal when the driver's legs are tired and the vehicle goes through bumpy roads.

[0006] The present invention provides a vehicle torque control method, which is applied to a vehicle braking system, wherein the braking system includes a steering wheel, a pedal and a stepless paddle, wherein the pedal includes an accelerator pedal and a brake pedal, and the stepless paddle includes an acceleration stepless paddle and a deceleration stepless paddle. The vehicle torque control method includes:

[0007] Real-time acquisition of the current opening of the stepless paddle and the pedal, and recording the current required torque of the pedal and the stepless paddle;

[0008] Determine whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the rotation angles of the stepless paddle and the steering wheel;

[0009] If the braking system is in the torque self-locking state, calculate the self-locking torque according to the current required torque and the historical required torque of the pedal and the stepless paddle corresponding to the self-locking state type, and maintain the acceleration torque or the braking torque of the vehicle at the self-locking torque.

[0010] In an embodiment of the present invention, the determining whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel includes:

[0011] When the opening degree of the acceleration stepless paddle is greater than the preset trigger opening degree, if it is detected that the opening degree of the deceleration stepless paddle or the braking pedal is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state;

[0012] When the opening degree of the acceleration stepless paddle is greater than the preset trigger opening degree, if it is detected that the opening degrees of the deceleration stepless paddle and the braking pedal are less than or equal to the preset trigger opening degree, activate the braking system to enter the acceleration torque self-locking state;

[0013] When the opening degree of the deceleration stepless paddle is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state.

[0014] In an embodiment of the present invention, the determining whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel includes:

[0015] When the opening degrees of both the acceleration stepless paddle and the deceleration stepless paddle are less than or equal to the preset trigger opening degree, drive the braking system to enter the normal driving state;

[0016] Wherein, in the normal driving state, the braking system obtains the acceleration torque or the braking torque of the vehicle according to the current opening degree of the pedal.

[0017] In an embodiment of the present invention, the determining whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel includes:

[0018] When the opening degree of the acceleration stepless paddle is greater than the preset trigger opening degree, if it is detected that the opening degrees of the acceleration pedal, the braking pedal and the deceleration stepless paddle are all less than or equal to the preset trigger opening degree, drive the braking system to enter the constant torque self-locking state;

[0019] In the constant torque self-locking state, the self-locking torque of the vehicle is the historical required torque of the accelerator pedal or the brake pedal.

[0020] In an embodiment of the present invention, the judging whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel includes:

[0021] When the opening degree of the acceleration stepless paddle is greater than a preset trigger opening degree and the rotation angle of the steering wheel is less than a rotation threshold, activate the braking system to enter the first self-locking state;

[0022] In the first self-locking state, if it is detected that the opening degree of the deceleration stepless paddle or the brake pedal is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state;

[0023] In the first self-locking state, if it is detected that the opening degrees of the deceleration stepless paddle and the brake pedal are less than or equal to the preset trigger opening degree, activate the braking system to enter the acceleration torque self-locking state;

[0024] When the opening degree of the acceleration stepless paddle is less than or equal to the preset trigger opening degree or the rotation angle of the steering wheel is greater than or equal to the rotation threshold, activate the braking system to enter the second self-locking state;

[0025] In the second self-locking state, if it is detected that the opening degree of the deceleration stepless paddle is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state.

[0026] In an embodiment of the present invention, the judging whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel includes:

[0027] In the second self-locking state, if it is detected that the opening degree of the deceleration stepless paddle is less than or equal to the preset trigger opening degree, drive the braking system to enter the normal driving state;

[0028] Wherein, in the normal driving state, the braking system obtains the acceleration torque or the braking torque of the vehicle according to the current opening degree of the pedal.

[0029] In an embodiment of the present invention, the judging whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel includes:

[0030] In the first self-locking state, if it is detected that the opening degrees of the accelerator pedal, the brake pedal and the deceleration stepless paddle are all less than or equal to the preset trigger opening degree, drive the braking system to enter the constant torque self-locking state;

[0031] In the constant torque self-locking state, the self-locking torque of the vehicle is the historical required torque of the accelerator pedal or the brake pedal.

[0032] In an embodiment of the present invention, if the braking system is in a torque self-locking state, calculating the self-locking torque according to the current required torque and the historical required torque of the pedal and the stepless paddle of the corresponding type in the self-locking state includes:

[0033] When the braking system is in the accelerating torque self-locking state, obtaining a first accelerating torque according to the current required torque and the historical required torque of the accelerating stepless paddle, obtaining a second accelerating torque according to the current required torque and the historical required torque of the accelerator pedal, and taking the maximum value of the first accelerating torque and the second accelerating torque as the accelerating self-locking torque;

[0034] When the braking system is in the braking torque self-locking state, obtaining a first decelerating torque according to the current required torque and the historical required torque of the decelerating stepless paddle, obtaining a second decelerating torque according to the current required torque and the historical required torque of the brake pedal, and taking the minimum value of the first decelerating torque and the second decelerating torque as the braking self-locking torque.

[0035] In an embodiment of the present invention, the first accelerating torque is the larger value of the current required torque of the accelerating stepless paddle and the historical required torque in the previous change cycle, and the second accelerating torque is the larger value of the current required torque of the accelerator pedal and the historical required torque in the previous change cycle; the first decelerating torque is the smaller value of the current required torque of the decelerating stepless paddle and the historical required torque in the previous change cycle, and the second decelerating torque is the smaller value of the current required torque of the brake pedal and the historical required torque in the previous change cycle.

[0036] The present invention provides a vehicle torque control device, which is applied to the braking system of a vehicle. The braking system includes a steering wheel, pedals and stepless paddles. The pedals include an accelerator pedal and a brake pedal, and the stepless paddles include an accelerating stepless paddle and a decelerating stepless paddle. The vehicle torque control device includes:

[0037] A state monitoring module, which real-time collects the current opening degrees of the stepless paddles and the pedals, and records the current required torques of the pedals and the stepless paddles

[0038] A state determination module, which is used to determine whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel;

[0039] A torque control module, if the braking system is in a torque self-locking state, calculates a self-locking torque according to the current required torque and the historical required torque of the pedal and the stepless paddle corresponding to the self-locking state type, and maintains the acceleration torque or the braking torque of the vehicle at the self-locking torque.

[0040] The present invention provides an electronic device, which includes: a storage device and one or more processors; the storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device realizes the vehicle torque control method as described in any one of the above embodiments.

[0041] The present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the vehicle torque control method as described in any one of the above embodiments.

[0042] The beneficial effects of the present invention: The vehicle torque control method, device, equipment and storage medium provided by the present invention use a stepless paddle with a continuously adjustable opening degree on the steering wheel to participate in the vehicle torque controlled by the pedal, control the vehicle to enter a self-locking state based on the opening degrees of the stepless paddle and the pedal, and comprehensively consider the opening degree changes of the stepless paddle and the pedal and the current required torque and the historical required torque in the self-locking state, and arbitrate to obtain a self-locking torque for stable vehicle driving. Thus, when the opening degree of the pedal does not change according to the driver's will, the vehicle speed change is controlled by the self-locking torque to stabilize the driving state of the vehicle. This vehicle torque control method uses the vehicle torque in which the stepless paddle participates in controlling the pedal, liberates the driver's legs when the vehicle is in the self-locking state, ensures that the vehicle can maintain stable control with the self-locking torque even when the pedal is not continuously triggered, greatly optimizes the driver's driving experience and ensures driving safety.

[0043] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the accompanying drawings in the following description are only some embodiments of this application, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts. In the drawings:

[0045] Figure 1 is a schematic diagram of the application environment for implementing vehicle torque control shown in an exemplary embodiment of this application;

[0046] Figure 2It is a schematic installation diagram of a stepless paddle on a steering wheel shown in an exemplary embodiment of the present application;

[0047] Figure 3 It is a schematic logic diagram of vehicle torque control implementation shown in an exemplary embodiment of the present application;

[0048] Figure 4 It is a flowchart of a vehicle torque control method shown in an exemplary embodiment of the present application;

[0049] Figure 5 It is a flowchart of step S200 shown in an exemplary embodiment of the present application;

[0050] Figure 6 It is a schematic logic diagram of step S200 shown in another exemplary embodiment of the present application;

[0051] Figure 7 It is a flowchart of step S300 shown in an exemplary embodiment of the present application;

[0052] Figure 8 It is a block diagram of a vehicle torque control device shown in an exemplary embodiment of the present application;

[0053] Figure 9 It shows a schematic structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application. Detailed implementation manners

[0054] The following will illustrate the implementation manners of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the protection scope of the present invention.

[0055] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and ratios of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0056] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0057] See also Figures 1 to 7 The present invention provides a vehicle torque control method, device, equipment and storage medium, which can respond to the triggering of a stepless paddle and integrate the opening of the stepless paddle and the pedal to complete the self-locking control of the wheel torque, thereby solving the technical problem that the existing vehicle torque control method cannot stably control the vehicle torque because it only relies on the pedal to control the torque when the driver's legs are tired and the vehicle goes through bumpy roads.

[0058] like Figures 1 to 4 As shown, an embodiment of the present invention provides a vehicle torque control method and device, which are applied to a vehicle braking system, wherein the braking system includes a steering wheel, a pedal and a stepless paddle. The pedal includes an accelerator pedal and a brake pedal, wherein the accelerator pedal is used to control the acceleration torque of the vehicle, and the brake pedal is used to control the braking torque of the vehicle. The stepless paddle includes an acceleration stepless paddle and a deceleration stepless paddle, wherein the stepless paddle is a paddle with continuous position control and detection and automatic return functions, similar to the position detection and return functions of the pedal, wherein the stepless paddle can move in a displacement range at a set position so that its opening varies continuously from 0% to 100%, and the braking system determines the current torque demand of the stepless paddle based on the opening of the stepless paddle in the displacement range, and participates in the torque control of the same type of pedal with the torque demand, such as the acceleration stepless paddle participates in the acceleration torque control, and the deceleration stepless paddle participates in the braking torque control.

[0059] It should be noted that the type of the stepless paddle used in the present invention is not limited. The stepless paddle can be manually controlled by the driver during vehicle driving to indicate the change in opening in the form of displacement, rotation or pressure sensing. For example, the stepless paddle can indicate the change in its own opening in the form of a change in displacement or a change in rotation angle.

[0060] like Figure 2As shown, in one embodiment of the present invention, the stepless paddle 10 is integrated on the steering wheel 20, the stepless acceleration paddle 11 and the stepless deceleration paddle 12 are arranged on the side of the steering wheel 20 facing the front of the vehicle, and the stepless acceleration paddle 11 and the stepless deceleration paddle 12 are respectively arranged on both sides of the steering wheel 20 for the convenience of the driver to operate. Among them, the stepless acceleration paddle 11 and the stepless deceleration paddle 12 move along the central axis of the steering wheel 20, and the stepless acceleration paddle 11 and the stepless deceleration paddle 12 are located at the end of the displacement interval with zero opening in the default state, and move to the specified opening in the displacement interval when affected by the driver's fluctuations. The braking system obtains the current required torque of the stepless acceleration paddle 11 and the stepless deceleration paddle 12 based on the opening of the stepless acceleration paddle 11 and the stepless deceleration paddle 12.

[0061] Among them, when the braking system executes the vehicle torque control method, it records the current required torque and historical required torque of the stepless paddle and pedal by real-time acquisition and detection of the opening of the stepless paddle and pedal, and activates the torque self-locking state based on the opening of the stepless pedal; in the self-locking state, the self-locking torque that can stabilize the vehicle speed control is calculated according to the current required torque and historical required torque of the stepless paddle and pedal, and the vehicle's torque is driven to maintain the self-locking torque.

[0062] For example, in one embodiment, the torque control method is specifically manifested in the following when the driver operates: when the torque self-locking state is activated, the increase of the vehicle's acceleration torque is achieved by stepping on the accelerator pedal or pulling the acceleration stepless paddle backward. In this process, the vehicle's acceleration self-locking torque only takes the larger value of the current required torque of the acceleration stepless paddle and the accelerator pedal and the historical required torque of the previous change cycle, that is, the acceleration stepless paddle and the accelerator pedal can only increase the vehicle's acceleration torque, and cannot reduce the acceleration self-locking torque through a smaller opening value, thereby achieving self-locking when the acceleration torque increases; the vehicle's braking torque The reduction is achieved by releasing the brake pedal or pushing the deceleration stepless paddle forward. During this process, the vehicle's braking self-locking torque only takes the smaller value of the current required torque of the deceleration stepless paddle and brake pedal and the historical required torque of the previous change cycle. That is, the deceleration stepless paddle and brake pedal can only reduce the braking torque, and cannot increase the braking self-locking torque through a larger opening value, thereby achieving self-locking when the braking torque is reduced; in addition, when the vehicle does not adjust the braking torque or acceleration torque through the stepless paddle and pedal, the vehicle's self-locking torque is maintained at the historical required torque of the pedal in the previous change cycle.

[0063] See also Figure 4 , Figure 4 The flowchart of the vehicle torque control method provided by the embodiment of the present invention is shown, and the vehicle torque control method comprises the following steps:

[0064] S100, collecting the current opening of the stepless paddle and the pedal in real time, and recording the current required torque of the pedal and the stepless paddle;

[0065] In step S100, according to the opening degrees of the continuously variable paddle and the pedal in the current change cycle collected, calculate the current required torque of the continuously variable paddle and the pedal for the vehicle, and generate the historical required torque of the continuously variable paddle and the pedal based on the recorded current required torque of the continuously variable paddle and the pedal in each change cycle.

[0066] Next, execute step S200. According to the opening degree of the continuously variable paddle or the opening degree of the continuously variable paddle and the rotation angle of the steering wheel, determine whether the braking system activates the torque self-locking state.

[0067] In an embodiment of the present invention, the braking system monitors the opening degree of the continuously variable paddle in real time to respond when the driver toggles the continuously variable paddle, so as to select to activate the acceleration torque self-locking state or the braking torque self-locking state according to the opening states of the acceleration continuously variable paddle and the deceleration continuously variable paddle.

[0068] Specifically, as Figure 5 shown, in step S200, that is, according to the opening degree of the continuously variable paddle or the opening degree of the continuously variable paddle and the rotation angle of the steering wheel, determining whether the braking system activates the torque self-locking state includes the following steps:

[0069] S211. When the opening degree of the acceleration continuously variable paddle is greater than the preset trigger opening degree, if it is detected that the opening degree of the deceleration continuously variable paddle or the braking pedal is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state;

[0070] S212. When the opening degree of the acceleration continuously variable paddle is greater than the preset trigger opening degree, if it is detected that the opening degrees of the deceleration continuously variable paddle and the braking pedal are less than or equal to the preset trigger opening degree, activate the braking system to enter the acceleration torque self-locking state;

[0071] S213. When the opening degree of the deceleration continuously variable paddle is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state.

[0072] In this embodiment, even when the opening degree of the acceleration continuously variable paddle is greater than the preset trigger opening degree, the braking system will give priority to responding to the trigger of the deceleration continuously variable paddle or the braking pedal, and activate the braking torque self-locking state to self-lock the braking torque of the vehicle. When the opening degrees of both the continuously variable paddle and the braking pedal are less than or equal to the preset trigger opening degree, it will respond to the trigger of the acceleration continuously variable paddle or the acceleration pedal and activate the acceleration torque self-locking state to self-lock the acceleration torque of the vehicle; when the braking system monitors that the opening degree of the deceleration continuously variable paddle is greater than the preset trigger opening degree, regardless of the opening degrees of the acceleration continuously variable paddle or the acceleration pedal, the braking torque self-locking state is activated to decelerate the vehicle.

[0073] Furthermore, in this embodiment, when the openings of the acceleration stepless paddle and the deceleration stepless paddle are both less than or equal to the preset trigger openings, the brake system is driven to enter a normal driving state; wherein, in the normal driving state, the brake system obtains the acceleration torque or braking torque of the vehicle according to the current opening of the pedal. For example, in the normal driving state, in response to the triggering of the accelerator pedal, the acceleration torque of the vehicle is obtained according to the opening of the accelerator pedal, and the vehicle speed is controlled to accelerate with the acceleration torque; or in response to the triggering of the brake pedal, the braking torque of the vehicle is obtained according to the opening of the brake pedal, and the vehicle speed is controlled to decelerate with the braking torque.

[0074] In addition, in an example of the present embodiment, when the opening of the accelerator stepless paddle is greater than the preset trigger opening and the openings of the deceleration stepless paddle and the brake pedal are both less than or equal to the preset trigger opening, the braking system activates the acceleration torque self-locking state only when it is detected that the accelerator pedal opening is greater than the preset trigger opening, and activates the constant torque self-locking state when it is detected that the accelerator pedal opening is less than or equal to the preset trigger opening; wherein, in the constant torque self-locking state, the vehicle's self-locking torque is the historical required torque of the accelerator pedal or the brake pedal in the previous change cycle.

[0075] In any example of this embodiment, the preset trigger opening of the stepless paddle and the pedal is 0%.

[0076] In another embodiment of the present invention, the braking system monitors the opening degree of the continuously variable paddles and the turning angle of the steering wheel in real time to respond to the driver's operation of shifting the continuously variable paddles when the vehicle is not making a sharp turn, thereby selecting to activate the acceleration torque self-locking state or the braking torque self-locking state according to the opening state of the acceleration continuously variable paddles and the deceleration continuously variable paddles; and automatically exits the acceleration torque self-locking state or the braking torque self-locking state when the vehicle makes a sharp turn.

[0077] like Figure 6 As shown, in step S200, that is, according to the opening degree of the stepless paddle or the rotation angle of the stepless paddle and the steering wheel, it is determined whether the braking system activates the torque self-locking state, including the following steps:

[0078] S221, when the opening of the stepless acceleration paddle is greater than a preset trigger opening and the steering wheel rotation angle is less than a rotation threshold, activating the brake system to enter a first self-locking state;

[0079] In the first self-locking state, if it is detected that the opening of the stepless deceleration paddle or the brake pedal is greater than a preset trigger opening, the brake system is activated to enter a brake torque self-locking state;

[0080] In the first self-locking state, if it is detected that the opening degrees of the deceleration continuously variable paddle and the brake pedal are less than or equal to a preset trigger opening degree, the braking system is activated to enter the acceleration torque self-locking state;

[0081] S222. When the opening degree of the acceleration continuously variable paddle is less than or equal to the preset trigger opening degree or the steering wheel rotation angle is greater than or equal to the rotation threshold, the braking system is activated to enter the second self-locking state;

[0082] In the second self-locking state, if it is detected that the opening degree of the deceleration continuously variable paddle is greater than the preset trigger opening degree, the braking system is activated to enter the braking torque self-locking state.

[0083] In this embodiment, when the braking system is in the first self-locking state, it will preferentially respond to the triggers of the deceleration continuously variable paddle or the brake pedal, and activate the braking torque self-locking state to lock the braking torque of the vehicle. Only when the opening degrees of both the continuously variable paddle and the brake pedal are less than or equal to the preset trigger opening degree, will it respond to the triggers of the acceleration continuously variable paddle or the acceleration pedal, and activate the acceleration torque self-locking state to lock the acceleration torque of the vehicle; when the braking system is in the second self-locking state, regardless of the opening degrees of the acceleration continuously variable paddle or the acceleration pedal, it will preferentially respond to the triggers of the deceleration continuously variable paddle or the brake pedal, activate the braking torque self-locking state, and perform deceleration control on the vehicle.

[0084] Moreover, in this embodiment, when the braking system is in the second self-locking state, if it is detected that the opening degree of the deceleration continuously variable paddle is less than or equal to the preset trigger opening degree, the braking system is driven to enter the normal driving state; wherein, in the normal driving state, the braking system obtains the acceleration torque or braking torque of the vehicle according to the current opening degree of the pedal. For example, in the normal driving state, in response to the trigger of the acceleration pedal, the acceleration torque of the vehicle is obtained according to the opening degree of the acceleration pedal, and the vehicle speed is accelerated with this acceleration torque; or in response to the trigger of the brake pedal, the braking torque of the vehicle is obtained according to the opening degree of the brake pedal, and the vehicle speed is decelerated with this braking torque.

[0085] In addition, in an example of this embodiment, when the braking system is in the first self-locking state, the acceleration torque self-locking state is activated only when it is detected that the opening degree of the acceleration pedal is greater than the preset trigger opening degree, and the constant torque self-locking state is activated when it is detected that the opening degree of the acceleration pedal is less than or equal to the preset trigger opening degree; wherein, in the constant torque self-locking state, the self-locking torque of the vehicle is the historical required torque of the acceleration pedal or the brake pedal in the previous change cycle.

[0086] Among them, in any example of this embodiment, the preset trigger opening degrees of the continuously variable paddle and the pedal are 0%.

[0087] Next, perform step S300. If the braking system is in a torque self-locking state, calculate the self-locking torque based on the current required torque and historical required torque of the pedal and the continuously variable paddle corresponding to the self-locking state, and maintain the acceleration torque or braking torque of the vehicle at the self-locking torque.

[0088] Specifically, as Figure 7 shown, in any embodiment of the present invention, in step S300, that is, if the braking system is in a torque self-locking state, calculate the self-locking torque based on the current required torque and historical required torque of the pedal and the continuously variable paddle corresponding to the self-locking state, and maintain the acceleration torque or braking torque of the vehicle at the self-locking torque, including the following steps:

[0089] S311. When the braking system is in an acceleration torque self-locking state, obtain the first acceleration torque based on the current required torque and historical required torque of the acceleration continuously variable paddle, and obtain the second acceleration torque based on the current required torque and historical required torque of the acceleration pedal. Take the maximum value of the first acceleration torque and the second acceleration torque as the acceleration self-locking torque.

[0090] Among them, in step S311, the first acceleration torque takes the larger value of the current required torque of the acceleration continuously variable paddle and the historical required torque in the previous change cycle. The formula is expressed as the first acceleration torque = MAX(current required torque of the acceleration continuously variable paddle, historical required torque of the acceleration continuously variable paddle in the previous change cycle); the second acceleration torque takes the larger value of the current required torque of the acceleration pedal and the historical required torque in the previous change cycle. The formula is expressed as the second acceleration torque = MAX(current required torque of the acceleration pedal, historical required torque of the acceleration pedal in the previous change cycle); and the acceleration self-locking torque takes the maximum value of the first acceleration torque and the second acceleration torque. The formula is expressed as the acceleration self-locking torque = MAX(first acceleration torque, second acceleration torque).

[0091] It can be seen that when the braking system is in the acceleration torque self-locking state, the locked acceleration self-locking torque only takes the larger value of the current required torque of the acceleration continuously variable paddle and the acceleration pedal and the historical required torque in the previous change cycle, that is, the acceleration continuously variable paddle and the acceleration pedal can only increase the acceleration torque of the vehicle and cannot reduce the acceleration self-locking torque through a smaller opening value, so as to achieve the self-locking of the vehicle acceleration torque, and then maintain the acceleration trend of the vehicle when the acceleration pedal is not effectively controlled by the driver, and avoid safety risks such as rear-end collisions caused by a sudden drop in vehicle acceleration.

[0092] S312. When the braking system is in the braking torque self-locking state, obtain the first deceleration torque according to the current required torque and the historical required torque of the continuously variable deceleration paddle, and obtain the second deceleration torque according to the current required torque and the historical required torque of the brake pedal. Take the minimum value of the first deceleration torque and the second deceleration torque as the braking self-locking torque.

[0093] Among them, in step S312, the first deceleration torque takes the smaller value between the current required torque of the continuously variable deceleration paddle and the historical required torque in the previous change cycle. The formula is expressed as the first deceleration torque = MIN (the current required torque of the continuously variable deceleration paddle, the historical required torque of the continuously variable deceleration paddle in the previous change cycle); the second deceleration torque takes the smaller value between the current required torque of the brake pedal and the historical required torque in the previous change cycle. The formula is expressed as the second deceleration torque = MIN (the current required torque of the brake pedal, the historical required torque of the brake pedal in the previous change cycle); and the braking self-locking torque takes the minimum value of the first deceleration torque and the second deceleration torque. The formula is expressed as the braking self-locking torque = MIN (the first deceleration torque, the second deceleration torque).

[0094] It can be seen that when the braking system is in the braking torque self-locking state, only the smaller values of the current required torque of the continuously variable deceleration paddle and the brake pedal and the historical required torque in the previous change cycle are taken as the braking self-locking torque. That is, the continuously variable deceleration paddle and the brake pedal can only reduce the braking torque, and cannot increase the braking self-locking torque through a larger opening value, so as to achieve the self-locking of the vehicle braking torque, and then maintain the minimum deceleration trend of the vehicle when the brake pedal is not effectively controlled by the driver, and avoid the phenomenon of sudden braking or stopping braking of the vehicle due to pedal out of control.

[0095] Moreover, the continuously variable acceleration paddle is provided with an automatic return function. When the displacement of the continuously variable paddle moved by the driver in the return direction (that is, the direction of moving towards the 0% opening end) is greater than the adjustment distance threshold, the continuously variable paddle will trigger the automatic return function and automatically return to the 0% opening position. Therefore, in an embodiment of the present invention, when the braking system detects that the continuously variable paddle automatically returns, it will exit the torque self-locking state corresponding to the returned continuously variable paddle; in addition, in another embodiment of the present invention, when the braking system detects that the continuously variable paddle automatically returns or the steering wheel rotation angle is greater than the rotation threshold, it will exit the torque self-locking state corresponding to the returned continuously variable paddle.

[0096] Advantages of the present invention: The vehicle torque control method, device, equipment, and storage medium provided by the present invention involve using a continuously variable paddle on the steering wheel to participate in controlling the vehicle torque of the pedal. Based on the opening degrees of the continuously variable paddle and the pedal, the vehicle is controlled to enter a self-locking state, and in the self-locking state, by comprehensively considering the changes in the opening degrees of the continuously variable paddle and the pedal, as well as the current required torque and the historical required torque, the self-locking torque for stable vehicle driving is arbitrated and obtained. Thus, when the opening degree of the pedal does not change as per the driver's intention, the vehicle speed change is controlled with the self-locking torque to stabilize the driving state of the vehicle. This vehicle torque control method utilizes the vehicle torque in which the continuously variable paddle participates in controlling the pedal, enabling the driver's legs to be liberated in the self-locking state of the vehicle, ensuring that the vehicle can maintain stable control with the self-locking torque even when the pedal is not continuously triggered, greatly optimizing the driver's driving experience and ensuring driving safety.

[0097] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not imply the order of execution. The execution order of each process should be determined based on its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0098] Figure 8 It is a block diagram of a vehicle torque control device 1100 shown in an exemplary embodiment of the present application. This device is specifically configured in the braking system of the vehicle. This device can also be applicable to other exemplary implementation environments and can be specifically configured in other devices. The present embodiment does not limit the implementation environment applicable to this device.

[0099] As Figure 8 shown, this exemplary vehicle torque control device 1100 includes: a state monitoring module 1101, a state determination module 1102, and a torque control module 1103. The detailed descriptions of each functional module are as follows:

[0100] The state monitoring module 1101 collects the current opening degrees of the continuously variable paddle and the pedal in real time, and records the current required torques of the pedal and the continuously variable paddle.

[0101] The state determination module 1102 is used to determine whether the braking system activates the torque self-locking state according to the opening degree of the continuously variable paddle or the opening degree of the continuously variable paddle and the rotation angle of the steering wheel.

[0102] The torque control module 1103, if the braking system is in the torque self-locking state, calculates the self-locking torque according to the current required torque and the historical required torque of the pedal and the continuously variable paddle corresponding to the self-locking state type, and maintains the acceleration torque or the braking torque of the vehicle at the self-locking torque.

[0103] It should be noted that the vehicle torque control device provided in the above embodiments and the vehicle torque control method provided in the above embodiments belong to the same concept. The specific ways in which each module and unit perform operations have been described in detail in the method embodiments and will not be elaborated here. In practical applications, the vehicle torque control device provided in the above embodiments can, as needed, allocate the above functions to different functional modules, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this will not be limited here either.

[0104] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the flow data sequence quality detection method provided in each of the above embodiments.

[0105] Figure 9 The structural diagram of a computer system suitable for implementing the electronic device of the embodiments of the present application is shown. It should be noted that Figure 9 The computer system 1200 of the shown electronic device is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0106] As Figure 9 shown, the computer system 1200 includes a central processing unit (CPU) 1201, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1202 or the program loaded from the storage section 1208 into the random access memory (RAM) 1203, such as executing the method described in the above embodiments. In the RAM 1203, various programs and data required for system operation are also stored. The CPU 1201, ROM 1202, and RAM 1203 are connected to each other through a bus 1204. The input / output (I / O) interface 1205 is also connected to the bus 1204.

[0107] The following components are connected to the I / O interface 1205: an input section 1206 including a keyboard, a mouse, etc.; an output section 1207 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the I / O interface 1205 as needed. A removable medium 1211, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1210 as needed so that a computer program read from it can be installed into the storage section 1208 as needed.

[0108] Specifically, according to an embodiment of the present application, the processes described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 1209, and / or installed from the removable medium 1211. When the computer program is executed by a central processing unit (CPU) 1201, various functions defined in the system of the present application are executed.

[0109] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0110] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0111] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation on the units themselves.

[0112] Another aspect of this application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is caused to execute the foregoing flow data sequence quality detection method. The computer-readable storage medium may be included in the electronic device described in the foregoing embodiments, or may exist alone without being assembled into the electronic device.

[0113] Another aspect of this application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the flow data sequence quality detection method provided in the foregoing various embodiments.

[0114] The foregoing embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the foregoing embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A vehicle torque control method, characterized in that Applied to a braking system of a vehicle, the braking system includes a steering wheel, pedals and stepless paddles. The pedals include an accelerator pedal and a brake pedal. The stepless paddles include an accelerator stepless paddle and a deceleration stepless paddle. The method includes: Real-time collect the current opening degrees of the stepless paddles and the pedals, and record the current required torques of the pedals and the stepless paddles; Judge whether the braking system activates a torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel; If the braking system is in a torque self-locking state, calculate the self-locking torque according to the current required torque and the historical required torque of the corresponding type of the pedals and the stepless paddles in the self-locking state, and maintain the acceleration torque or the braking torque of the vehicle at the self-locking torque; Among them, the judging whether the braking system activates a torque self-locking state according to the opening degree of the stepless paddle includes: When the opening degree of the accelerator stepless paddle is greater than a preset trigger opening degree, if it is detected that the opening degree of the deceleration stepless paddle or the brake pedal is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state; When the opening degree of the accelerator stepless paddle is greater than a preset trigger opening degree, if it is detected that the opening degrees of the deceleration stepless paddle and the brake pedal are less than or equal to the preset trigger opening degree, activate the braking system to enter the acceleration torque self-locking state; When the opening degree of the deceleration stepless paddle is greater than a preset trigger opening degree, activate the braking system to enter the braking torque self-locking state.

2. The vehicle torque control method according to claim 1, wherein The judging whether the braking system activates a torque self-locking state according to the opening degree of the stepless paddle includes: When the opening degrees of both the accelerator stepless paddle and the deceleration stepless paddle are less than or equal to the preset trigger opening degree, drive the braking system to enter the normal driving state; Among them, in the normal driving state, the braking system obtains the acceleration torque or the braking torque of the vehicle according to the current opening degree of the pedal.

3. The vehicle torque control method according to claim 1, wherein The judging whether the braking system activates a torque self-locking state according to the opening degree of the stepless paddle includes: When the opening degree of the accelerator stepless paddle is greater than a preset trigger opening degree, if it is detected that the opening degrees of the accelerator pedal, the brake pedal and the deceleration stepless paddle are all less than or equal to the preset trigger opening degree, drive the braking system to enter the constant torque self-locking state; In the constant torque self-locking state, the self-locking torque of the vehicle is the historical required torque of the accelerator pedal or the brake pedal.

4. The vehicle torque control method according to claim 1, wherein The judging whether the braking system activates a torque self-locking state according to the opening degree of the stepless paddle and the rotation angle of the steering wheel includes: When the opening degree of the accelerator stepless paddle is greater than a preset trigger opening degree and the rotation angle of the steering wheel is less than the rotation threshold, activate the braking system to enter the first self-locking state; In the first self-locking state, if it is detected that the opening degree of the deceleration stepless paddle or the brake pedal is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state; In the first self-locking state, if it is detected that the opening degrees of the deceleration stepless paddle and the brake pedal are less than or equal to the preset trigger opening degree, activate the braking system to enter the acceleration torque self-locking state; When the opening degree of the acceleration stepless paddle is less than or equal to a preset trigger opening degree or the steering wheel rotation angle is greater than or equal to a rotation threshold, activate the braking system to enter the second self-locking state; In the second self-locking state, if it is detected that the opening degree of the deceleration stepless paddle is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state.

5. The vehicle torque control method according to claim 4, wherein Judging whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle and the rotation angle of the steering wheel includes: In the second self-locking state, if it is detected that the opening degree of the deceleration stepless paddle is less than or equal to the preset trigger opening degree, drive the braking system to enter the normal driving state; Wherein, in the normal driving state, the braking system obtains the acceleration torque or braking torque of the vehicle according to the current opening degree of the pedal.

6. The vehicle torque control method according to claim 4, wherein Judging whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle and the rotation angle of the steering wheel includes: In the first self-locking state, if it is detected that the opening degrees of the acceleration pedal, the braking pedal and the deceleration stepless paddle are all less than or equal to the preset trigger opening degree, drive the braking system to enter the constant torque self-locking state; In the constant torque self-locking state, the self-locking torque of the vehicle is the historical demand torque of the acceleration pedal or the braking pedal.

7. The vehicle torque control method according to claim 1 or 4, characterized in that, If the braking system is in the torque self-locking state, calculating the self-locking torque according to the current demand torque and the historical demand torque of the pedal and the stepless paddle corresponding to the type of the self-locking state includes: When the braking system is in the acceleration torque self-locking state, obtain the first acceleration torque according to the current demand torque and the historical demand torque of the acceleration stepless paddle, obtain the second acceleration torque according to the current demand torque and the historical demand torque of the acceleration pedal, and take the maximum value of the first acceleration torque and the second acceleration torque as the acceleration self-locking torque; When the braking system is in the braking torque self-locking state, obtain the first deceleration torque according to the current demand torque and the historical demand torque of the deceleration stepless paddle, obtain the second deceleration torque according to the current demand torque and the historical demand torque of the braking pedal, and take the minimum value of the first deceleration torque and the second deceleration torque as the braking self-locking torque.

8. The vehicle torque control method according to claim 7, wherein The first acceleration torque is the larger value of the current demand torque of the acceleration stepless paddle and the historical demand torque in the previous change cycle, and the second acceleration torque is the larger value of the current demand torque of the acceleration pedal and the historical demand torque in the previous change cycle; the first deceleration torque is the smaller value of the current demand torque of the deceleration stepless paddle and the historical demand torque in the previous change cycle, and the second deceleration torque is the smaller value of the current demand torque of the braking pedal and the historical demand torque in the previous change cycle.

9. A vehicle torque control device, characterized in that, Applied to the braking system of a vehicle, the braking system includes a steering wheel, a pedal and a stepless paddle, the pedal includes an acceleration pedal and a braking pedal, the stepless paddle includes an acceleration stepless paddle and a deceleration stepless paddle, and the vehicle torque control device includes: The status monitoring module collects the current opening degrees of the stepless paddle and the pedal in real time, and records the current required torques of the pedal and the stepless paddle. The status determination module is used to determine whether the braking system activates the torque self-locking state according to the opening degree of the stepless paddle or the opening degree of the stepless paddle and the rotation angle of the steering wheel. The torque control module, if the braking system is in the torque self-locking state, calculates the self-locking torque according to the current required torque and the historical required torque of the pedal and the stepless paddle corresponding to the self-locking state type, and maintains the acceleration torque or the braking torque of the vehicle at the self-locking torque. Wherein, the status determination module is further used to activate the braking system to enter the braking torque self-locking state when the opening degree of the acceleration stepless paddle is greater than the preset trigger opening degree and it is detected that the opening degree of the deceleration stepless paddle or the braking pedal is greater than the preset trigger opening degree; when the opening degree of the acceleration stepless paddle is greater than the preset trigger opening degree and it is detected that the opening degrees of the deceleration stepless paddle and the braking pedal are less than or equal to the preset trigger opening degree, activate the braking system to enter the acceleration torque self-locking state; when the opening degree of the deceleration stepless paddle is greater than the preset trigger opening degree, activate the braking system to enter the braking torque self-locking state.

10. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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