Vehicle control method, device and vehicle

Abstract

The present application provides a vehicle control method, device and vehicle, which relates to the field of vehicle control technology. The method includes: during the operation of the vehicle, obtaining the initial throttle opening and the throttle change rate of the vehicle; determining the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; filtering the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening. The vehicle control method, device and vehicle provided by the present application can dynamically adjust the filter parameters according to different throttle openings, so that the control system responds more promptly and accurately, ensuring the consistency of different vehicle operations.

Description

Technical Field

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

[0002] With the development of vehicle control technology, most electronically controlled engines are used to control vehicle braking on the market. The driver's acceleration and deceleration operations are performed by stepping on the accelerator to different degrees, converting the position of the accelerator pedal into a voltage signal, and then converting the voltage signal into the throttle opening, and calculating the desired torque based on the throttle opening.

[0003] In the related technology, the electronic throttle itself has the characteristics of light structure, small resistance and sensitive response. However, the overly sensitive throttle characteristics can also bring adverse effects. For example, it may cause the engine's torque output to be unstable, especially in some bumpy road conditions, which will cause high-frequency throttle fluctuations, and then cause problems such as severe torque output fluctuations, large vibration and noise, and high fuel consumption.

[0004] In order to alleviate the adverse effects of throttle fluctuations, the existing technical solutions generally set up segmented filtering based on throttle opening. However, because the filtering constant after the group setting is confirmed is fixed and cannot be adjusted according to the throttle fluctuation, it is impossible to meet the responsiveness of acceleration and deceleration and take into account the usage requirements of different scenarios. Summary of the invention

[0005] The purpose of this application is to provide a vehicle control method, device and vehicle, which can dynamically adjust the filtering parameters according to different throttle openings, so that the control system responds more promptly and accurately, ensuring the consistency of different vehicle operations.

[0006] The present application provides a vehicle control method, comprising:

[0007] During the operation of the vehicle, the initial throttle opening and the throttle change rate of the vehicle are obtained; the target filter coefficient of the throttle is determined according to the throttle change rate and the initial throttle opening; the initial throttle opening is subjected to signal filtering according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening.

[0008] Optionally, obtaining the throttle change rate includes: sampling the throttle opening according to a preset period to obtain multiple throttle openings; calculating a target difference based on the difference between a first throttle opening obtained by a most recent sample among the multiple throttle openings and a second throttle opening obtained by an earliest sample among the multiple throttle openings, and calculating a target duration based on the product of the sampling interval time and the preset number; and determining the quotient of the target difference and the target duration as the throttle change rate.

[0009] Optionally, after determining the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening, the method further includes: performing signal filtering on the throttle opening according to the target filter coefficient to obtain the filtered throttle opening and the fluctuation value of the throttle opening; when the running state of the vehicle meets the preset conditions and continues for more than a preset duration, determining the filtered throttle opening at the current moment as the target static throttle value; wherein the preset conditions include: the current throttle opening of the vehicle is less than a preset opening threshold, the current speed of the vehicle is less than a preset speed threshold, and the fluctuation value of the throttle opening is less than a threshold fluctuation threshold; the target static throttle value is used to indicate the throttle opening of the vehicle when no one is operating.

[0010] Optionally, when the running state of the vehicle satisfies a preset condition and continues for more than a preset duration, the filtered throttle opening at the current moment is determined as a target static throttle value. After determining the target static throttle value, the method further includes: storing the target static throttle value in a controller of the vehicle, and updating the target static throttle value when the running state of the vehicle satisfies the preset condition and continues for more than a preset duration.

[0011] Optionally, the signal filtering of the initial throttle opening according to the target filter coefficient to obtain the target throttle opening includes: obtaining a first target throttle opening after signal filtering the initial throttle opening according to the target filter coefficient; correcting the first target throttle opening based on the target static throttle value to obtain a second throttle opening, and determining the second throttle opening as the target throttle opening.

[0012] The present application also provides a vehicle control device, comprising:

[0013] An acquisition module is used to acquire an initial throttle opening and a throttle change rate of the vehicle during vehicle operation; a determination module is used to determine a target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; a filtering module is used to perform signal filtering on the initial throttle opening according to the target filter coefficient to obtain a target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; and the target filter coefficient is negatively correlated with the initial throttle opening.

[0014] Optionally, the acquisition module is further used to sample the throttle opening according to a preset period to obtain multiple throttle openings; the determination module is further used to calculate a target difference based on the difference between a first throttle opening obtained by the most recent sample among the multiple throttle openings and a second throttle opening obtained by the earliest sample among the multiple throttle openings, and to calculate a target duration based on the product of the sampling interval time and the preset number; the determination module is further used to determine the quotient of the target difference and the target duration as the throttle change rate.

[0015] Optionally, the filtering module is further used to perform signal filtering on the throttle opening according to the target filtering coefficient to obtain the filtered throttle opening and the fluctuation value of the throttle opening; the determination module is further used to determine the filtered throttle opening at the current moment as the target static throttle value when the operating state of the vehicle meets the preset conditions and continues for more than a preset duration; wherein the preset conditions include: the current throttle opening of the vehicle is less than a preset opening threshold, the current speed of the vehicle is less than a preset speed threshold, and the fluctuation value of the throttle opening is less than a threshold fluctuation threshold; the target static throttle value is used to indicate the throttle opening of the vehicle when no one is operating.

[0016] Optionally, the device also includes: an updating module; the updating module is used to store the target static throttle value in the vehicle controller, and update the target static throttle value when the vehicle's operating state meets the preset condition and continues for more than a preset duration.

[0017] Optionally, the filtering module is specifically used to perform signal filtering on the initial throttle opening according to the target filtering coefficient to obtain a first target throttle opening; the determination module is also used to correct the first target throttle opening based on the target static throttle value to obtain a second throttle opening, and determine the second throttle opening as the target throttle opening.

[0018] The present application also provides a computer program product, comprising a computer program / instruction, which implements the steps of any of the above-mentioned vehicle control methods when executed by a processor.

[0019] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the above-described vehicle control methods when executing the program.

[0020] The present application also provides a vehicle, comprising a computer program / instruction, which, when executed by a processor, follows the steps of any of the vehicle control methods described above.

[0021] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the vehicle control methods described above are implemented.

[0022] The vehicle control method, device and vehicle provided by the present application first obtain the initial throttle opening and the throttle change rate of the vehicle during the operation of the vehicle; then, determine the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; finally, perform signal filtering on the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening. In this way, the vehicle can dynamically adjust the filter parameters according to different throttle openings, making the control system respond more timely and accurately, which can not only meet the timeliness of acceleration and deceleration response in various road sections, ensure the consistency of different vehicle controls, but also take into account the use requirements of different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is one of the flow charts of the vehicle control method provided by the present application;

[0025] Figure 2 It is a schematic diagram of the relationship between the filter coefficient provided by the present application and the throttle change rate and throttle opening;

[0026] Figure 3 This is the second flow chart of the vehicle control method provided by this application;

[0027] Figure 4 It is a structural schematic diagram of the vehicle control device provided by the present application;

[0028] Figure 5 It is a structural schematic diagram of the electronic device provided by this application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0031] In the related technology, the electronic throttle has the following technical problems: 1. The original signal noise signal output by the electronic throttle is relatively large, and it needs to be filtered, otherwise it will affect the torque output of the engine, and thus affect the drivability and fuel consumption of the vehicle. However, if a larger filter coefficient is used, the stability under the condition of stable throttle is met, but it will cause untimely response during sudden acceleration or deceleration. 2. When the throttle is small, the driver hopes to be able to control the vehicle as stably as possible, and should avoid violent fluctuations in the throttle. However, in the state of large throttle, the driver hopes that the throttle response is timely, such as the typical working condition of overtaking in the middle of the road. 3. Because of system errors, the initial throttle state of the vehicle in the free state is different, so the difference needs to be processed to facilitate subsequent refined control.

[0032] In view of the above technical problems existing in the related technologies, the embodiment of the present application provides a vehicle control method, which can dynamically adjust the filter parameters according to the throttle opening and the opening change rate, so that the system response is more timely and accurate, and is more flexible and effective than the traditional stage filtering method. At the same time, it also takes into account the throttle response speed and stability, which is more in line with the driver's intention. The throttle self-learning method also avoids manual system adjustment work, ensuring the consistency of different vehicle controls.

[0033] The vehicle control method provided in the embodiment of the present application is described in detail below through specific embodiments and their application scenarios in conjunction with the accompanying drawings.

[0034] like Figure 1 As shown, an embodiment of the present application provides a vehicle control method, which may include the following steps 101 to 103:

[0035] Step 101: During the operation of the vehicle, obtain the initial throttle opening and the throttle change rate of the vehicle.

[0036] For example, during the operation of the vehicle, a throttle signal generated by the electronic throttle, ie, the initial throttle opening, may be acquired in real time.

[0037] For example, the throttle change rate of a vehicle can reflect the intensity of the driver's driving to a certain extent. According to the throttle change rate, the filter coefficient of the throttle signal can be dynamically adjusted to adapt the vehicle to different driving scenarios.

[0038] Specifically, in the above step 101, the step of obtaining the throttle change rate of the vehicle may include the following steps 101a1 to 101a3:

[0039] Step 101a1, sampling the throttle opening according to a preset period to obtain multiple throttle openings.

[0040] Step 101a2, calculating a target difference value based on a difference between a first throttle opening obtained by a most recent sampling among the multiple throttle openings and a second throttle opening obtained by an earliest sampling among the multiple throttle openings, and calculating a target duration based on a product of a sampling interval and the preset number.

[0041] Step 101a3: Determine the quotient of the target difference and the target duration as the throttle change rate.

[0042] For example, during the operation of the vehicle, the controller of the vehicle may periodically sample the throttle opening of the vehicle, that is, sample the throttle opening once every certain period of time (for example, 0.01 seconds) to obtain multiple throttle openings.

[0043] For example, after obtaining multiple throttle openings, the throttle change rate can be calculated based on the following formula 1:

[0044]

[0045] Where α is the throttle change rate; f(a) t is the throttle opening at time t; a is the number of sampling intervals; dt is the sampling period.

[0046] Exemplarily, based on the above formula 1, the throttle change rate at the current moment can be calculated in real time.

[0047] Step 102: Determine a target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening.

[0048] Wherein, the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening.

[0049] Exemplarily, based on the throttle change rate calculated in the above steps and the throttle opening at the current moment (ie, the above initial throttle opening), the target filter coefficient of the throttle can be determined.

[0050] Specifically, in the embodiment of the present application, the filter coefficient is set with the idea of ​​giving priority to ensuring the sensitivity of the throttle change and the stability of the throttle in static state. Therefore, the filter coefficient at a larger absolute value throttle change rate is significantly smaller than the filter coefficient at a smaller throttle change rate. At the same time, the influence of the throttle opening is taken into account, and the filter coefficient corresponding to the smaller throttle opening is greater than the filter coefficient corresponding to the larger throttle opening.

[0051] For example, Figure 2 As shown, based on the above setting ideas, when the absolute value of the throttle change rate is small and the throttle opening is small, the throttle filter coefficient is the largest; when the absolute value of the throttle change rate is large and the throttle opening is small, the throttle filter coefficient is small; when the absolute value of the throttle change rate is large and the throttle opening is large, the throttle filter coefficient is the smallest; when the absolute value of the throttle change rate is small and the throttle opening is large, the throttle filter coefficient is large. Figure 2 It can be seen that the influence of throttle opening on throttle filter coefficient is smaller than the influence of throttle change rate on throttle filter coefficient.

[0052] Step 103: Perform signal filtering on the initial throttle opening according to the target filter coefficient to obtain a target throttle opening.

[0053] For example, after the target filter coefficient is determined in real time according to the throttle change rate and the throttle opening, the throttle opening can be subjected to signal filtering processing based on the target filter coefficient to obtain the processed target throttle opening.

[0054] For example, controlling the vehicle based on the target throttle opening can make the vehicle respond to the throttle more quickly and stably.

[0055] Optionally, in an embodiment of the present application, due to system errors, the initial throttle opening of the vehicle in a free state is different, and therefore the difference needs to be processed to facilitate subsequent refined control.

[0056] Specifically, after the above step 102, the vehicle control method provided in the embodiment of the present application may further include the following steps 102a1 and 102a2:

[0057] Step 102a1, performing signal filtering on the throttle opening according to the target filtering coefficient to obtain the filtered throttle opening and the fluctuation value of the throttle opening.

[0058] For example, after the throttle opening is subjected to signal filtering based on the target filter coefficient, the fluctuation value of the throttle opening is close to zero when the vehicle is not operated. Based on this, it can be determined whether the vehicle's throttle is in a free state according to the fluctuation value of the throttle opening.

[0059] Step 102a2: When the running state of the vehicle meets the preset condition and lasts for more than the preset duration, the filtered throttle opening at the current moment is determined as the target static throttle value to determine the target static throttle value.

[0060] Among them, the preset conditions include: the vehicle's current throttle opening is less than a preset opening threshold, the vehicle's current speed is less than a preset speed threshold, and the throttle opening fluctuation value is less than a threshold fluctuation threshold; the static throttle value is used to indicate the throttle opening of the vehicle under unmanned operation.

[0061] It is understandable that when the throttle of the vehicle is in a free state, the throttle opening after filtering will not have any fluctuation in value.

[0062] For example, when it is determined that the throttle of the vehicle is in a free state, the throttle opening at this time may be recorded and determined as the static throttle value.

[0063] Exemplarily, the above static throttle value may be stored in the controller, so that the controller can call it at any time.

[0064] Exemplarily, after the above step 102a3, the vehicle control method provided in the embodiment of the present application may further include the following step 102a4:

[0065] Step 102a4: store the static throttle value in the controller of the vehicle, and update the static throttle value when the running state of the vehicle meets the preset condition and lasts for more than a preset duration.

[0066] For example, each time the vehicle is powered on, the stored static throttle value can be read from the controller, and the read throttle value can be calculated according to the following formula 2 to obtain the processed throttle opening:

[0067]

[0068] Among them, B is the throttle opening after eliminating the static error, that is, the above-mentioned target throttle opening; b is the throttle opening after filtering; and b0 is the static throttle opening to be updated and stored in the controller.

[0069] Specifically, the above step 103 may include the following steps 103a1 and 103a2:

[0070] Step 103a1: After performing signal filtering on the initial throttle opening according to the target filtering coefficient, a first target throttle opening is obtained.

[0071] Step 103a2: correct the first target throttle opening based on the target static throttle value to obtain a second throttle opening, and determine the second throttle opening as the target throttle opening.

[0072] For example, Figure 3 As shown, after the vehicle starts running, the throttle signal (i.e., throttle opening) is sampled and the throttle change rate is calculated. Afterwards, the filter coefficient (i.e., the above-mentioned target filter coefficient) is determined according to the throttle change rate and the throttle opening. Based on the given filter coefficient, the static throttle value can be updated when it is recognized that the throttle is in a free state. Finally, the throttle signal is filtered based on the filter coefficient, and the filtered throttle signal is corrected based on the static throttle value to output the final throttle signal.

[0073] The vehicle control method provided in the embodiment of the present application first obtains the initial throttle opening and the throttle change rate of the vehicle during the operation of the vehicle; then, determines the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; finally, performs signal filtering on the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening. In this way, the vehicle can dynamically adjust the filter parameters according to different throttle openings, making the control system respond more timely and accurately, which can not only meet the timeliness of the response of acceleration and deceleration in various road sections, ensure the consistency of different vehicle controls, but also take into account the use requirements of different scenarios.

[0074] It should be noted that the vehicle control method provided in the embodiment of the present application can be executed by a vehicle control device or a control module in the vehicle control device for executing the vehicle control method. In the embodiment of the present application, the vehicle control device provided in the embodiment of the present application is described by taking the vehicle control method executed by the vehicle control device as an example.

[0075] It should be noted that in the embodiments of the present application, the vehicle control methods shown in the above-mentioned method drawings are all illustrated by combining one of the drawings in the embodiments of the present application as an example. In specific implementation, the vehicle control methods shown in the above-mentioned method drawings can also be implemented in combination with any other drawings that can be combined as shown in the above-mentioned embodiments, which will not be repeated here.

[0076] The vehicle control device provided in the present application is described below, and the vehicle control method described below and above can be referenced to each other.

[0077] Figure 4 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, specifically including:

[0078] The acquisition module 401 is used to obtain the initial throttle opening and the throttle change rate of the vehicle during the operation of the vehicle; the determination module 402 is used to determine the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; the filtering module 403 is used to perform signal filtering on the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening.

[0079] Optionally, the acquisition module 401 is further used to sample the throttle opening according to a preset period to obtain multiple throttle openings; the determination module 402 is further used to calculate a target difference based on the difference between a first throttle opening obtained by the most recent sample among the multiple throttle openings and a second throttle opening obtained by the earliest sample among the multiple throttle openings, and to calculate a target duration based on the product of the sampling interval time and the preset number; the determination module 402 is further used to determine the quotient of the target difference and the target duration as the throttle change rate.

[0080] Optionally, the filtering module 403 is further used to perform signal filtering on the throttle opening according to the target filtering coefficient to obtain the filtered throttle opening and the fluctuation value of the throttle opening; the determination module 402 is further used to determine the filtered throttle opening at the current moment as the target static throttle value when the operating state of the vehicle meets the preset conditions and continues for more than a preset duration; wherein the preset conditions include: the current throttle opening of the vehicle is less than a preset opening threshold, the current speed of the vehicle is less than a preset speed threshold, and the fluctuation value of the throttle opening is less than a threshold fluctuation threshold; the target static throttle value is used to indicate the throttle opening of the vehicle when no one is operating.

[0081] Optionally, the device also includes: an updating module; the updating module is used to store the target static throttle value in the vehicle controller, and update the target static throttle value when the vehicle's operating state meets the preset condition and continues for more than a preset duration.

[0082] Optionally, the filtering module 403 is specifically used to obtain a first target throttle opening after performing signal filtering on the initial throttle opening according to the target filtering coefficient; the determination module 402 is also used to correct the first target throttle opening based on the target static throttle value to obtain a second throttle opening, and determine the second throttle opening as the target throttle opening.

[0083] The vehicle control device provided by the present application first obtains the initial throttle opening and the throttle change rate of the vehicle during the operation of the vehicle; then, according to the throttle change rate and the initial throttle opening, the target throttle filter coefficient is determined; finally, according to the target filter coefficient, the initial throttle opening is subjected to signal filtering to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening. In this way, the vehicle can dynamically adjust the filter parameters according to different throttle openings, making the control system more timely and accurate in response, which can not only meet the timeliness of the response of acceleration and deceleration in various road sections, ensure the consistency of different vehicle controls, but also take into account the use requirements of different scenarios.

[0084] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 430 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call the logic instructions in the memory 530 to execute the vehicle control method, which includes: obtaining the initial throttle opening and the throttle change rate of the vehicle during the operation of the vehicle; determining the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; performing signal filtering on the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; and the target filter coefficient is negatively correlated with the initial throttle opening.

[0085] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0086] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the vehicle control method provided by the above-mentioned methods, and the method includes: during the operation of the vehicle, obtaining the initial throttle opening and the throttle change rate of the vehicle; determining the target filter coefficient of the throttle based on the throttle change rate and the initial throttle opening; performing signal filtering on the initial throttle opening according to the target filter coefficient to obtain the target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening.

[0087] On the other hand, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned vehicle control methods, the methods comprising: during the operation of the vehicle, obtaining an initial throttle opening and a throttle change rate of the vehicle; determining a target filter coefficient of the throttle based on the throttle change rate and the initial throttle opening; performing signal filtering on the initial throttle opening based on the target filter coefficient to obtain a target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening.

[0088] On the other hand, the present application also provides a vehicle, including a computer program / instruction, which, when executed by a processor, is executed in accordance with the steps of any of the above-mentioned vehicle control methods, the method including: during the operation of the vehicle, obtaining an initial throttle opening and a throttle change rate of the vehicle; determining a target filter coefficient of the throttle based on the throttle change rate and the initial throttle opening; performing signal filtering on the initial throttle opening according to the target filter coefficient to obtain a target throttle opening; wherein the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening.

[0089] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: include: During the operation of the vehicle, the initial throttle opening and the throttle change rate of the vehicle are obtained; Determining a target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; Performing signal filtering on the initial throttle opening according to the target filter coefficient to obtain a target throttle opening; Wherein, the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening; After determining the target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening, the method further includes: Performing signal filtering on the throttle opening according to the target filtering coefficient to obtain a filtered throttle opening and a fluctuation value of the throttle opening; When the running state of the vehicle meets the preset conditions and lasts for more than the preset duration, the filtered throttle opening at the current moment is determined as the target static throttle value; The preset conditions include: the current throttle opening of the vehicle is less than a preset opening threshold, the current speed of the vehicle is less than a preset speed threshold, and the fluctuation value of the throttle opening is less than a threshold fluctuation threshold; the target static throttle value is used to indicate the throttle opening of the vehicle under unmanned operation; The step of performing signal filtering on the initial throttle opening according to the target filter coefficient to obtain a target throttle opening includes: After performing signal filtering on the initial throttle opening according to the target filtering coefficient, a first target throttle opening is obtained; The first target throttle opening is corrected based on the target static throttle value to obtain a second throttle opening, and the second throttle opening is determined as the target throttle opening.

2. The method according to claim 1, characterized in that Get the throttle change rate, including: Sampling the throttle opening according to a preset period to obtain multiple throttle openings; Calculating a target difference value according to a difference between a first throttle opening obtained by a most recent sampling among the plurality of throttle openings and a second throttle opening obtained by an earliest sampling among the plurality of throttle openings, and calculating a target duration according to a product of a sampling interval and a preset number; The quotient of the target difference and the target duration is determined as the throttle change rate.

3. The method according to claim 1, characterized in that When the running state of the vehicle satisfies a preset condition and lasts for more than a preset duration, the filtered throttle opening at the current moment is determined as the target static throttle value. After determining the target static throttle value, the method further includes: The target static throttle value is stored in a controller of the vehicle, and when the running state of the vehicle meets the preset condition and lasts for more than a preset duration, the target static throttle value is updated.

4. A vehicle control device, characterized in that: The device comprises: An acquisition module is used to acquire the initial throttle opening and the throttle change rate of the vehicle during the operation of the vehicle; A determination module, used for determining a target filter coefficient of the throttle according to the throttle change rate and the initial throttle opening; A filtering module, used for performing signal filtering on the initial throttle opening according to the target filtering coefficient to obtain a target throttle opening; Wherein, the target filter coefficient is negatively correlated with the absolute value of the throttle change rate; the target filter coefficient is negatively correlated with the initial throttle opening; The filtering module is further used to perform signal filtering on the throttle opening according to the target filtering coefficient to obtain the filtered throttle opening and the fluctuation value of the throttle opening; The determination module is further configured to determine the filtered throttle opening at the current moment as the target static throttle value when the running state of the vehicle meets a preset condition and lasts for more than a preset duration; The preset conditions include: the current throttle opening of the vehicle is less than a preset opening threshold, the current speed of the vehicle is less than a preset speed threshold, and the fluctuation value of the throttle opening is less than a threshold fluctuation threshold; the target static throttle value is used to indicate the throttle opening of the vehicle under unmanned operation; The filtering module is specifically used to obtain a first target throttle opening after performing signal filtering on the initial throttle opening according to the target filtering coefficient; The determination module further corrects the first target throttle opening based on the target static throttle value to obtain a second throttle opening, and determines the second throttle opening as the target throttle opening.

5. The device according to claim 4, characterized in that The acquisition module is further used to sample the throttle opening according to a preset period to obtain multiple throttle openings; The determination module is further configured to calculate a target difference value based on a difference between a first throttle opening obtained by a most recent sampling among the multiple throttle openings and a second throttle opening obtained by an earliest sampling among the multiple throttle openings, and to calculate a target duration based on a product of a sampling interval and a preset number; The determination module is further configured to determine the quotient of the target difference and the target duration as the throttle change rate.

6. The device according to claim 4, characterized in that The device further comprises: an updating module; The updating module is used to store the target static throttle value in the controller of the vehicle, and update the target static throttle value when the running state of the vehicle meets the preset condition and lasts for more than a preset duration.

7. A vehicle, characterized in that: The method comprises a computer program / instruction, which, when executed by a processor, performs the steps of the vehicle control method according to any one of claims 1 to 3.

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