Acceleration Adjustment Method, Adjustment Device, Processor, and Vehicle

Abstract

The present application provides an acceleration adjustment method, an adjustment device, a processor, and a vehicle. The method includes: entering an acceleration self-adjustment mode when all acceleration self-adjustment conditions are met, where the acceleration self-adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the transmission is in gear, and the difference between the actual engine speed and the required speed is less than a speed threshold; calculating a first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period, calculating a second acceleration threshold of the vehicle according to the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine, and the second acceleration threshold is positively correlated with the current actual load torque; determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold; adjusting the acceleration of the vehicle to the required acceleration threshold, which solves the problem in the prior art that deceleration braking depends on the subjective driving operation of the driver.

Description

Technical Field

[0001] The present invention relates to the field of vehicle acceleration control, and more particularly, to an acceleration adjustment method, an adjustment device, a computer-readable storage medium, a processor, and a vehicle. Background Art

[0002] When driving the whole vehicle, in different road conditions such as flat roads, uphill, and downhill, the driver has different requirements for braking time and braking distance. When the driver releases the accelerator pedal and the whole vehicle slides freely, if only relying on the friction between the wheels and the ground and the gravitational acceleration, it is impossible to control the braking of the whole vehicle, and there may be situations such as vehicle slipping or inability to brake for a long time.

[0003] Currently, the current gearbox relies on the braking pedal opening and the acceleration knob to achieve different deceleration brakings during deceleration, but it cannot distinguish different operating conditions, and there may be the same braking time and braking distance under different conditions, relying on the driver's subjective driving operation.

[0004] Over-relying on the driver's subjective intention on the braking pedal, when operating under different conditions, in order to ensure that the braking distance is consistent with the driver's expected braking distance, the driver needs to constantly adjust the opening of the braking pedal, increasing the extra driving burden. Summary of the Invention

[0005] The main purpose of the present application is to provide an acceleration adjustment method, an adjustment device, a computer-readable storage medium, a processor, and a vehicle, so as to at least solve the problem that deceleration braking in the prior art relies on the driver's subjective driving operation.

[0006] To achieve the above object, according to one aspect of the present application, an acceleration adjustment method is provided, including: entering an acceleration self-adjustment mode when all acceleration self-adjustment conditions are met, where the acceleration self-adjustment conditions include that the opening degrees of the acceleration pedal and the braking pedal are both 0, the gearbox is in the in-gear state, and the difference between the actual engine speed and the required speed is less than the speed threshold; calculating a first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period, where the first acceleration threshold is positively correlated with the speed difference, the speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration; calculating a second acceleration threshold of the vehicle according to the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine, where the second acceleration threshold is positively correlated with the current actual load torque; determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold; adjusting the acceleration of the vehicle to the required acceleration threshold.

[0007] Optionally, calculating a first acceleration threshold of the vehicle according to a speed difference and an acceleration adjustment period includes: calculating a difference between the target vehicle speed and the current actual vehicle speed to obtain the speed difference; calculating a ratio of the speed difference to the acceleration adjustment period to obtain the first acceleration threshold.

[0008] Optionally, calculating a second acceleration threshold of the vehicle according to the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine includes: determining a first acceleration calculation parameter according to a difference between the current actual load torque and the maximum output torque and the speed difference, where the first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the maximum output torque, and the first acceleration calculation parameter is positively correlated with the speed difference; calculating a change rate of the current actual load torque according to the acceleration adjustment period to obtain a second acceleration calculation parameter; calculating a product of the first acceleration calculation parameter and the second acceleration calculation parameter to obtain the second acceleration threshold.

[0009] Optionally, determining a first acceleration calculation parameter according to a difference between the current actual load torque and the maximum output torque and the speed difference includes: calculating a difference between the current actual load torque and the maximum output torque to obtain a torque difference; calculating a ratio of the torque difference to the maximum output torque to obtain a torque ratio; calculating a product of the torque ratio, the speed difference, and a calibration parameter to obtain the first acceleration calculation parameter, where the calibration parameter is an adjustment parameter of the acceleration threshold determined according to a calibration test.

[0010] Optionally, calculating a change rate of the current actual load torque according to the acceleration adjustment period to obtain a second acceleration calculation parameter includes: calculating a difference between the load torque at the previous acceleration adjustment moment and the current actual load torque to obtain a load torque change amount; calculating a ratio of the load torque change amount to the acceleration adjustment period to obtain the second acceleration calculation parameter.

[0011] Optionally, after adjusting the acceleration of the vehicle to the required acceleration threshold, the method further includes: a first adjustment step of controlling the current required acceleration threshold to be adjusted by a predetermined value when the current actual acceleration is not equal to the current required acceleration threshold; a second adjustment step of adjusting the current acceleration according to the adjusted required acceleration threshold; sequentially repeating the first adjustment step and the second adjustment step at least once until the current actual acceleration is equal to the current required acceleration threshold.

[0012] Optionally, determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold includes: querying an acceleration - engine speed comparison table according to the current engine speed to obtain an acceleration allowable range, where the acceleration - engine speed comparison table is a comparison table of the engine speed and the acceleration allowable range without engine stall; when both the first acceleration threshold and the second acceleration threshold are within the acceleration allowable range, determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold, and when any one of the first acceleration threshold and the second acceleration threshold is not within the acceleration allowable range, determining the minimum value of the acceleration allowable range as the required acceleration threshold.

[0013] According to another aspect of the present application, there is provided an acceleration adjustment device, including: a control unit configured to enter an acceleration self - adjustment mode when all acceleration self - adjustment conditions are met, where the acceleration self - adjustment conditions include that the opening degrees of the accelerator pedal and the brake pedal are both 0, the gearbox is in the in - gear state, and the difference between the actual engine speed and the required engine speed is less than a speed threshold; a first calculation unit configured to calculate a first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period, where the first acceleration threshold is positively correlated with the speed difference, the speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration adjustment period is the time interval between two adjacent adjustments of the vehicle's acceleration; a second calculation unit configured to calculate a second acceleration threshold of the vehicle according to the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine, where the second acceleration threshold is positively correlated with the current actual load torque; a determination unit configured to determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold; and a first adjustment unit configured to adjust the acceleration of the vehicle to the required acceleration threshold.

[0014] According to still another aspect of the present application, there is provided a computer - readable storage medium, where the computer - readable storage medium includes a stored program, and when the program runs, it controls the device where the computer - readable storage medium is located to execute any of the above - described methods.

[0015] According to yet another aspect of the present application, there is provided a processor, where the processor is used to run a program, and when the program runs, it executes any of the above - described methods.

[0016] According to another aspect of the present application, a vehicle is provided, including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include those for executing any one of the methods described above.

[0017] Applying the technical solution of the present application, first, when all the acceleration self-regulation conditions are met, enter the acceleration self-regulation mode. The acceleration self-regulation conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the transmission is in gear, and the difference between the actual engine speed and the required engine speed is less than the speed threshold. Then, calculate the first acceleration threshold of the vehicle according to the speed difference and the acceleration regulation period. The first acceleration threshold is positively correlated with the speed difference. The speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration regulation period is the interval time between two adjacent adjustments of the vehicle's acceleration. After that, calculate the second acceleration threshold of the vehicle according to the speed difference, the acceleration regulation period, the current actual load torque, and the maximum output torque of the engine. The second acceleration threshold is positively correlated with the current actual load torque. Then, determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold. Finally, adjust the acceleration of the vehicle to the required acceleration threshold. This method enters the acceleration self-regulation mode when all the acceleration self-regulation conditions are met, that is, it performs acceleration self-regulation under the deceleration condition where the driver has no operation and the working condition is normal, without affecting the driver's operation and without performing self-regulation in dangerous working conditions to avoid safety accidents. By calculating the first acceleration threshold and the second acceleration threshold, the first acceleration threshold is positively correlated with the speed difference, and the second acceleration threshold is positively correlated with the current actual load torque. Select the smaller acceleration threshold for acceleration adjustment to ensure rapid deceleration and judge the actual load of the whole vehicle, so as to adapt to different road conditions, achieve different braking times and braking distances under different working conditions, and can achieve the same as the driver's subjective intention without the driver's operation. Figure 1 It solves the problem in the prior art that deceleration braking depends on the driver's subjective driving operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It shows a hardware structure block diagram of a mobile terminal for executing an acceleration adjustment method provided in an embodiment of the present application;

[0019] Figure 2 It shows a flowchart of an acceleration adjustment method provided in an embodiment of the present application;

[0020] Figure 3 It shows a flowchart of calculating the first acceleration threshold provided in an embodiment of the present application;

[0021] Figure 4 Shows a schematic flowchart of calculating a second acceleration threshold provided according to an embodiment of the present application;

[0022] Figure 5 Shows a schematic flowchart of demand acceleration threshold correction provided according to an embodiment of the present application;

[0023] Figure 6 Shows a schematic flowchart of determining a demand acceleration threshold provided according to an embodiment of the present application;

[0024] Figure 7 Shows a schematic flowchart of another acceleration adjustment method provided according to an embodiment of the present application;

[0025] Figure 8 Shows a structural block diagram of an acceleration adjustment device provided according to an embodiment of the present application. Detailed implementation manners

[0026] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of the present application described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] For the convenience of description, some nouns or terms related to the embodiments of the present application are described below:

[0030] Acceleration knob: An acceleration threshold adjustment knob available for the driver to adjust in the cab of the whole vehicle, which can directly control the maximum acceleration of the whole vehicle to meet the different driving styles of different drivers.

[0031] As introduced in the background art, in the prior art, deceleration braking depends on the subjective driving operation of the driver. To solve this problem, embodiments of the present application provide an acceleration adjustment method, an adjustment device, a computer-readable storage medium, a processor, and a vehicle.

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] The method embodiments provided in the embodiments of the present application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 is a hardware structure block diagram of a mobile terminal of an acceleration adjustment method according to an embodiment of the present invention. As Figure 1 shown, the mobile terminal may include one or more ( Figure 1 only one is shown in Figure 1 a processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Among them, the above mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 the structure shown in Figure 1 is only schematic and does not limit the structure of the above mobile terminal. For example, the mobile terminal may further include more or fewer components than

[0034] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiments of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implements the above-mentioned method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the mobile terminal through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal. In one instance, the transmission device 106 includes a network adapter (abbreviated as NIC), which can be connected to other network devices through a base station and thus can communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0035] In this embodiment, an acceleration adjustment method running on a mobile terminal, a computer terminal, or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0036] Figure 2 is a flowchart of the acceleration adjustment method according to the embodiments of the present application. As Figure 2 shown, the method includes the following steps:

[0037] Step S201, when all the acceleration self-adjustment conditions are met, enter the acceleration self-adjustment mode, and the above acceleration self-adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the transmission is in the engaged state, and the difference between the actual engine speed and the required engine speed is less than the speed threshold;

[0038] Specifically, since the acceleration self-regulation mode only takes effect when the driver releases the accelerator pedal and the vehicle is in free coasting, and to ensure the safety of the driver, it can only be enabled to enter the acceleration self-regulation mode under safe conditions. In case of special situations, this function will not be enabled, and the driver's subjective operation shall prevail. The specific enabling conditions are as follows: 1. It is recognized that the vehicle has a parking requirement and no active braking is performed, that is, the driver completely releases the accelerator pedal and does not step on the brake pedal; 2. During the free coasting process after releasing the brake pedal, according to different road conditions, to protect the normal operation of the engine, the actual engine speed and the required engine speed are detected in real time. If the difference between the two (actual speed - required speed) is less than the speed threshold, the application conditions for acceleration automatic regulation are met; if the difference between the two exceeds the speed threshold, it means that the actual engine speed is much higher than the required engine speed at this time, and the engine may have lost the ability to automatically regulate the speed. In order to ensure the safety of the vehicle, the acceleration automatic regulation function will not be enabled in such cases; 3. To ensure that the vehicle can have a basic power output and torque transmission, the gearbox needs to be in gear. Therefore, when any one of the acceleration self-regulation conditions is not met, the acceleration self-regulation function will not be enabled and will not enter the acceleration self-regulation mode, and the driver's subjective operation shall prevail. For example, the vehicle performance including the engine speed is monitored in real time. If the vehicle performance shows abnormalities, the acceleration automatic regulation function will no longer be enabled, and the acceleration threshold normally calculated by the vehicle will continue to be used, which can reduce the driver's driving operation while ensuring the safety of the driver and the vehicle.

[0039] Step S202: Calculate the first acceleration threshold of the vehicle based on the speed difference and the acceleration adjustment period. The above first acceleration threshold is positively correlated with the above speed difference. The above speed difference is the difference between the target vehicle speed and the current actual vehicle speed. The above acceleration adjustment period is the interval time between two adjacent adjustments of the acceleration of the vehicle.

[0040] Specifically, the first acceleration threshold during vehicle deceleration is calculated using conditions such as the speed difference between the target vehicle speed and the actual vehicle speed, the engine speed, and the acceleration knob. The first acceleration threshold is positively correlated with the speed difference. This threshold does not consider the working conditions of the vehicle, that is, whether it is driving uphill, downhill, or on a flat road, the calculated acceleration threshold is the same.

[0041] Step S203: Calculate the second acceleration threshold of the vehicle based on the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The above second acceleration threshold is positively correlated with the above current actual load torque.

[0042] Specifically, a second acceleration threshold is calculated based on the speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine, such that the second acceleration threshold is positively correlated with the above current actual load torque. By implementing acceleration self-adjustment through the second acceleration threshold, it is possible to determine the actual load of the entire vehicle and thereby adapt to different road conditions, achieving different braking times and braking distances under different working conditions. For example, the vehicle can achieve rapid and stable stopping under different road conditions such as uphill, downhill, and flat roads. At the same time, it can achieve a short stopping time and a short braking distance on the uphill section, a longer coasting distance and a longer braking time on the flat road, which is consistent with the driver's subjective intention. Figure 1 Consistent.

[0043] Step S204: Determine the minimum value of the above first acceleration threshold and the above second acceleration threshold as the required acceleration threshold.

[0044] Specifically, the two calculated acceleration thresholds are compared, and the smaller acceleration threshold is taken as the required acceleration threshold during the actual vehicle deceleration process (since the acceleration thresholds here are not absolute values and are all negative numbers, the smaller the acceleration threshold, the larger the absolute value) to achieve a faster deceleration purpose.

[0045] Step S205: Adjust the acceleration of the above vehicle to the above required acceleration threshold.

[0046] Specifically, the vehicle controller sends an acceleration control command to the transmission to adjust the acceleration of the vehicle to the required acceleration threshold, without the need for driver operation, thus achieving consistency with the driver's subjective intention and realizing different braking times and braking distances under different working conditions. Figure 1 Consistent.

[0047] Through the above embodiments, first, when all the acceleration self-adjustment conditions are met, the acceleration self-adjustment mode is entered. The above acceleration self-adjustment conditions include that the opening degrees of the accelerator pedal and the brake pedal are both 0, the gearbox is in the engaged state, and the difference between the actual engine speed and the required engine speed is less than the speed threshold. Then, a first acceleration threshold of the vehicle is calculated according to the speed difference and the acceleration adjustment period. The above first acceleration threshold is positively correlated with the above speed difference. The above speed difference is the difference between the target vehicle speed and the current actual vehicle speed. The above acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration. After that, a second acceleration threshold of the vehicle is calculated according to the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The above second acceleration threshold is positively correlated with the above current actual load torque. After that, the minimum value of the above first acceleration threshold and the above second acceleration threshold is determined as the required acceleration threshold. Finally, the acceleration of the vehicle is adjusted to the required acceleration threshold. When all the acceleration self-adjustment conditions are met, the method enters the acceleration self-adjustment mode, that is, the acceleration self-adjustment is carried out under the deceleration condition that the driver has no operation and the working condition is normal, without affecting the driver's operation and without self-adjusting in dangerous working conditions to avoid safety accidents. By calculating the first acceleration threshold and the second acceleration threshold, the first acceleration threshold is positively correlated with the speed difference, and the second acceleration threshold is positively correlated with the current actual load torque. The smaller acceleration threshold is selected for acceleration adjustment to ensure rapid deceleration and by judging the actual load of the whole vehicle, so as to adapt to different road conditions, realize different braking times and braking distances under different working conditions, and without the driver's operation, it can achieve the same as the driver's subjective intention. Figure 1 It solves the problem in the prior art that the deceleration braking depends on the driver's subjective driving operation.

[0048] To ensure the smoothness of acceleration adjustment, in an optional implementation, as Figure 3 shown, the above step S202 includes:

[0049] Step S2021, calculate the difference between the above target vehicle speed and the above current actual vehicle speed to obtain the above speed difference;

[0050] Step S2022, calculate the ratio of the above speed difference to the above acceleration adjustment period to obtain the above first acceleration threshold.

[0051] Specifically, it is obtained by taking the derivative of the product of the difference between the target vehicle speed V0 and the actual vehicle speed V with respect to time. The time is the acceleration adjustment period TC, and the first acceleration threshold Acc1 = (V0 - V) / TC. The current actual vehicle speed is measured every acceleration adjustment period. The target vehicle speed is 0, and a first acceleration threshold is calculated, that is, an acceleration adjustment is completed every acceleration adjustment period. The first acceleration threshold is the minimum acceleration required to adjust the current actual vehicle speed to the target vehicle speed within an acceleration adjustment period. Exceeding this threshold will cause the acceleration adjustment to get out of control, ensuring the smoothness of the acceleration adjustment.

[0052] To ensure the adaptability of the acceleration self-adjustment, in an alternative implementation, as Figure 4 shown, the above step S203 includes:

[0053] Step S2031, determining a first acceleration calculation parameter according to the difference between the current actual load torque and the maximum output torque and the speed difference. The first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the maximum output torque, and the first acceleration calculation parameter is positively correlated with the speed difference;

[0054] Step S2032, calculating the change rate of the current actual load torque according to the acceleration adjustment period to obtain a second acceleration calculation parameter;

[0055] Step S2033, calculating the product of the first acceleration calculation parameter and the second acceleration calculation parameter to obtain the second acceleration threshold.

[0056] Specifically, when this function is enabled, a first acceleration calculation parameter is calculated according to the current actual output torque of the whole vehicle (affected by the actual load, the greater the load, the greater the actual output torque). At the same time, the change rate of the load torque is calculated according to the magnitude of the output torque. When the acceleration automatic adjustment enable condition is always satisfied, the second acceleration calculation parameter is continuously accumulated, and the absolute value of the maximum threshold is 1. The first acceleration calculation parameter and the second acceleration calculation parameter are multiplied to obtain the second acceleration threshold during vehicle coasting, making the second acceleration threshold positively correlated with the current actual load torque. By using the actual load of the whole vehicle as the benchmark for calculating the acceleration threshold, the current state of the whole vehicle can be obtained more accurately, achieving a more comprehensive coverage of working conditions, that is, adapting to different road conditions and realizing different braking times and braking distances under different working conditions. Moreover, the second acceleration threshold calculated by the acceleration automatic adjustment function will be compared with the first acceleration threshold calculated by the normal deceleration of the whole vehicle to ensure that the whole vehicle can more stably meet the requirements of deceleration braking.

[0057] To further ensure the adaptability of the acceleration self-adjustment, in an alternative implementation, the above step S2031 includes:

[0058] Step S20311: Calculate the difference between the current actual load torque and the maximum output torque to obtain a torque difference.

[0059] Step S20312: Calculate the ratio of the torque difference to the maximum output torque to obtain a torque ratio.

[0060] Step S20313: Calculate the product of the torque ratio, the speed difference, and the calibration parameter to obtain the first acceleration calculation parameter. The calibration parameter is an adjustment parameter for the acceleration threshold determined according to a calibration test.

[0061] Specifically, use the current actual load torque Trq0, the maximum engine torque Trq max and the speed difference V between the target vehicle speed and the actual vehicle speed Dlt to calculate the first acceleration calculation parameter. The first acceleration calculation parameter Dec1 = (Trq0 - Trq max ) / Trq max * V Dlt * k, where the calibration parameter k needs to be calibrated for the whole vehicle according to the actual driving experience and is also a coefficient for unit conversion. The first acceleration calculation parameter is related to the current actual load torque, so that the second acceleration threshold is positively correlated with the current actual load torque. By judging the actual load of the whole vehicle, different braking times and braking distances can be achieved for different road conditions.

[0062] To further ensure the adaptability of the acceleration self - adjustment, in an optional implementation, the above step S2032 includes:

[0063] Step S20321: Calculate the difference between the load torque at the previous acceleration adjustment moment and the current actual load torque to obtain a load torque change amount.

[0064] Step S20322: Calculate the ratio of the load torque change amount to the acceleration adjustment period to obtain the second acceleration calculation parameter.

[0065] Specifically, according to the change rate of the current actual load torque Trq0, the second acceleration calculation parameter Dec2 = (Trq0' - Trq0) / TC can be calculated, where Trq0' is the current actual load torque in the previous acceleration adjustment period. Further considering the change of the actual load of the whole vehicle, the acceleration adjustment can better adapt to different road conditions, and different braking times and braking distances can be achieved for different road conditions.

[0066] To ensure the smooth deceleration of the whole vehicle, in an optional implementation, as Figure 5 shown, after step S205, the above method further includes:

[0067] Step S301, the first adjustment step: when the current actual acceleration is not equal to the current required acceleration threshold, control the current required acceleration threshold to be adjusted by a predetermined value;

[0068] Step S302, the second adjustment step: adjust the current acceleration according to the adjusted required acceleration threshold;

[0069] Step S303, repeat the above first adjustment step and the above second adjustment step at least once in sequence until the current actual acceleration is equal to the current required acceleration threshold.

[0070] Specifically, if there is a difference between the actual acceleration and the required acceleration threshold, calculate the acceleration compensation coefficient according to the difference between the actual acceleration and the required acceleration, and use this compensation coefficient to correct the required acceleration threshold, that is, control the current required acceleration threshold to be adjusted by a predetermined value until the required acceleration threshold is consistent with the actual acceleration to achieve smooth deceleration of the whole vehicle.

[0071] In order to ensure the normal operation of the engine, in an optional implementation, as Figure 6 shown, the above step S204 includes:

[0072] Step S2041, query the acceleration - speed conversion table according to the current engine speed to obtain the acceleration allowable range. The above acceleration - speed conversion table is a conversion table of the above engine speed and the acceleration allowable range where the engine speed does not stall;

[0073] Step S2042, when both the above first acceleration threshold and the above second acceleration threshold are within the above acceleration allowable range, determine the minimum value of the above first acceleration threshold and the above second acceleration threshold as the above required acceleration threshold. When any one of the above first acceleration threshold and the above second acceleration threshold is not within the above acceleration allowable range, determine the minimum value of the above acceleration allowable range as the above required acceleration threshold.

[0074] Specifically, during the deceleration process of the whole vehicle, the engine speed decreases accordingly. To avoid damage to the engine caused by the engine speed getting out of control due to too fast deceleration, it is necessary to limit the upper and lower limits of the acceleration according to the current engine speed. The calculated required acceleration must be within the controllable range of the engine. Query the acceleration - speed conversion table, and each speed corresponds to an acceleration allowable range. The required acceleration threshold should fall within the acceleration allowable range to ensure that the engine does not stall.

[0075] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the acceleration adjustment method of the present application will be described in detail below in combination with specific embodiments.

[0076] This embodiment relates to a specific acceleration adjustment method, as Figure 7 shown, including the following steps:

[0077] Step S1: When all acceleration self-adjustment conditions are met, enter the acceleration self-adjustment mode. The above acceleration self-adjustment conditions include that the opening degrees of the accelerator pedal and the brake pedal are both 0, the transmission is in gear, and the difference between the actual engine speed and the required speed is less than the speed threshold;

[0078] Step S2: Calculate the difference between the above target vehicle speed V0 and the above current actual vehicle speed V to obtain the above speed difference V Dlt ; Calculate the ratio of the above speed difference V Dlt and the above acceleration adjustment period TC to obtain the above first acceleration threshold. The first acceleration threshold Acc1 = (V0 - V) / TC = V Dlt / TC. The above first acceleration threshold Acc1 is positively correlated with the above speed difference V Dlt . The above acceleration adjustment period TC is the interval time between two adjacent adjustments of the vehicle's acceleration;

[0079] Step S3: Determine the first acceleration calculation parameter according to the above current actual load torque Trq0, the above maximum output torque Trq max and the above speed difference V Dlt . The first acceleration calculation parameter Dec1 = (Trq0 - Trq max ) / Trq max *V Dlt *k, where the calibration parameter k needs to be calibrated for the whole vehicle according to the actual driving experience. The above first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the above maximum output torque, and the above first acceleration calculation parameter is positively correlated with the above speed difference; Calculate the change rate of the above current actual load torque according to the above acceleration adjustment period to obtain the second acceleration calculation parameter. The second acceleration calculation parameter Dec2 = (Trq0′ - Trq0) / TC; Calculate the product of the above first acceleration calculation parameter Dec1 and the above second acceleration calculation parameter Dec2 to obtain the above second acceleration threshold Acc2, that is, Acc2 = Dec1*Dec2. The above second acceleration threshold Acc2 is positively correlated with the above current actual load torque;

[0080] Step S4: Query the acceleration - speed comparison table according to the current engine speed to obtain the allowable acceleration range. The above acceleration - speed comparison table is a comparison table of the above engine speed and the allowable acceleration range where the engine speed does not stall. When both the first acceleration threshold Acc1 and the second acceleration threshold are within the allowable acceleration range, determine the minimum value of the first acceleration threshold Acc1 and the second acceleration threshold Acc2 as the required acceleration threshold Acc0. When any one of the first acceleration threshold Acc1 and the second acceleration threshold Acc2 is not within the allowable acceleration range, determine the minimum value of the allowable acceleration range as the required acceleration threshold Acc0;

[0081] Step S5: Adjust the acceleration of the vehicle to the required acceleration threshold Acc0;

[0082] Step S6: Monitor the actual acceleration in real time. If there is a difference between the actual acceleration and the required acceleration threshold Acc0, calculate the acceleration compensation coefficient according to the difference between the actual acceleration and the required acceleration threshold Acc0; use this compensation coefficient to correct the required acceleration threshold Acc0 until the required acceleration threshold Acc0 is consistent with the actual acceleration to achieve smooth deceleration of the whole vehicle.

[0083] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer - executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0084] The embodiment of the present application also provides an acceleration adjustment device. It should be noted that the acceleration adjustment device of the embodiment of the present application can be used to execute the acceleration adjustment method provided by the embodiment of the present application. The device is used to implement the above - mentioned embodiment and the preferred implementation manner, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0085] The following introduces the acceleration adjustment device provided by the embodiment of the present application.

[0086] Figure 8 is a schematic diagram of the acceleration adjustment device according to the embodiment of the present application. As Figure 8 shown, the device includes:

[0087] The control unit 10 is configured to enter the acceleration self - adjustment mode when all the acceleration self - adjustment conditions are met. The above - mentioned acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in the engaged state, and the difference between the actual engine speed and the required engine speed is less than the speed threshold.

[0088] Specifically, since the acceleration self - adjustment mode only takes effect when the driver releases the accelerator pedal and the vehicle is in free coasting, and to ensure the safety of the driver, it can only be enabled to enter the acceleration self - adjustment mode under safe conditions. In case of special situations, this function will not be enabled, and the driver's subjective operation will prevail. The specific enabling conditions are as follows: 1. It is recognized that the vehicle has a parking requirement and no active braking is performed, that is, the driver completely releases the accelerator pedal and does not step on the brake pedal; 2. During the free coasting process after releasing the brake pedal, according to different road conditions, to protect the normal operation of the engine, the actual engine speed and the required engine speed are detected in real time. If the difference between the two (actual speed - required speed) is less than the speed threshold, the acceleration automatic adjustment application condition is met; if the difference between the two exceeds the speed threshold, it means that the actual engine speed is much higher than the required engine speed at this time, and the engine may have lost the ability to automatically adjust the speed. In this case, to ensure the safety of the whole vehicle, the acceleration automatic adjustment function will no longer be enabled; 3. To ensure that the vehicle can have basic power output and torque transmission, the gearbox needs to be in the engaged state. Therefore, when any one of the acceleration self - adjustment conditions is not met, the acceleration self - adjustment function will not be enabled, and it will not enter the acceleration self - adjustment mode, and the driver's subjective operation will prevail. For example, the vehicle performance including the engine speed is monitored in real time. If the vehicle performance shows abnormal conditions, the acceleration automatic adjustment function will no longer be enabled, and the normal acceleration threshold calculated by the vehicle will continue to be used, which can reduce the driver's driving operation while ensuring the safety of the driver and the whole vehicle.

[0089] The first calculation unit 20 is configured to calculate the first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period. The above - mentioned first acceleration threshold is positively correlated with the above - mentioned speed difference. The above - mentioned speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the above - mentioned acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration.

[0090] Specifically, the first acceleration threshold during vehicle deceleration is calculated using conditions such as the speed difference between the target vehicle speed and the actual vehicle speed, the engine speed, and the acceleration knob. The first acceleration threshold is positively correlated with the speed difference, and this threshold does not consider the vehicle's operating conditions, that is, whether it is driving uphill, downhill, or on a flat road, the calculated acceleration threshold is the same.

[0091] A second calculation unit 30 is configured to calculate a second acceleration threshold of the vehicle based on the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The second acceleration threshold is positively correlated with the above current actual load torque.

[0092] Specifically, the second acceleration threshold is calculated through the speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine, so that the second acceleration threshold is positively correlated with the above current actual load torque. By realizing acceleration self-adjustment through the second acceleration threshold, it is possible to judge the actual load of the whole vehicle and thus adapt to different road conditions, achieving different braking times and braking distances under different working conditions. For example, the whole vehicle can achieve fast and stable parking under different road conditions such as uphill, downhill, and flat roads. At the same time, it can achieve a short parking time and a short braking distance on the uphill section, a longer coasting distance and a longer braking time on the flat road, which is consistent with the driver's subjective intention. Figure 1 Consistent.

[0093] A determination unit 40 is configured to determine the minimum value of the above first acceleration threshold and the above second acceleration threshold as the required acceleration threshold.

[0094] Specifically, the two calculated acceleration thresholds are compared, and the smaller acceleration threshold is taken as the required acceleration threshold during the actual deceleration process of the whole vehicle (since the acceleration thresholds here are not absolute values, they are all negative numbers, and the smaller the acceleration threshold, the larger the absolute value) to achieve a faster deceleration purpose.

[0095] A first adjustment unit 50 is configured to adjust the acceleration of the above vehicle to the above required acceleration threshold.

[0096] Specifically, the vehicle controller sends an acceleration control command to the gearbox to adjust the acceleration of the vehicle to the required acceleration threshold, without the driver's operation, which is consistent with the driver's subjective intention and realizes different braking times and braking distances under different working conditions. Figure 1 Consistent.

[0097] Through the above embodiments, when the control unit meets all the acceleration self - adjustment conditions, it enters the acceleration self - adjustment mode. The above acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in the in - gear state, and the difference between the actual engine speed and the required engine speed is less than the speed threshold; the first calculation unit calculates the first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period. The above first acceleration threshold is positively correlated with the above speed difference. The above speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the above acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration; the second calculation unit calculates the second acceleration threshold of the vehicle according to the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The above second acceleration threshold is positively correlated with the above current actual load torque; the determination unit determines the minimum value of the above first acceleration threshold and the above second acceleration threshold as the required acceleration threshold; the adjustment unit adjusts the acceleration of the vehicle to the required acceleration threshold. When the device meets all the acceleration self - adjustment conditions, it enters the acceleration self - adjustment mode, that is, the acceleration self - adjustment is performed under the deceleration condition where the driver has no operation and the working condition is normal, without affecting the driver's operation and without self - adjustment in dangerous working conditions to avoid safety accidents. By calculating the first acceleration threshold and the second acceleration threshold, the first acceleration threshold is positively correlated with the speed difference, and the second acceleration threshold is positively correlated with the current actual load torque. The smaller acceleration threshold is selected for acceleration adjustment to ensure rapid deceleration and by judging the actual load of the whole vehicle, so as to adapt to different road conditions, realize different braking times and braking distances under different working conditions, and without the driver's operation, it can achieve the same as the driver's subjective intention Figure 1 and solve the problem in the prior art that deceleration braking depends on the driver's subjective driving operation.

[0098] To ensure the smoothness of acceleration adjustment, in an optional implementation, the above first calculation unit includes:

[0099] A first calculation module, configured to calculate the difference between the above target vehicle speed and the above current actual vehicle speed to obtain the above speed difference;

[0100] A second calculation module, configured to calculate the ratio of the above speed difference and the above acceleration adjustment period to obtain the above first acceleration threshold.

[0101] Specifically, it is obtained by taking the derivative of the product of the difference between the target vehicle speed V0 and the actual vehicle speed V with respect to time. The time is the acceleration adjustment period TC, and the first acceleration threshold Acc1 = (V0 - V) / TC. The current actual vehicle speed is measured every acceleration adjustment period. The target vehicle speed is 0, and a first acceleration threshold is calculated, that is, an acceleration adjustment is completed every acceleration adjustment period. The first acceleration threshold is the minimum acceleration required to adjust the current actual vehicle speed to the target vehicle speed within one acceleration adjustment period. Exceeding this threshold will cause the acceleration adjustment to get out of control, ensuring the smoothness of the acceleration adjustment.

[0102] To ensure the adaptability of the acceleration self-adjustment, in an optional implementation, the above second calculation unit includes:

[0103] A third calculation module, configured to determine a first acceleration calculation parameter according to the difference between the current actual load torque and the maximum output torque and the speed difference. The first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the maximum output torque, and the first acceleration calculation parameter is positively correlated with the speed difference;

[0104] A fourth calculation module, configured to calculate the change rate of the current actual load torque according to the acceleration adjustment period to obtain a second acceleration calculation parameter;

[0105] A fifth calculation module, configured to calculate the product of the first acceleration calculation parameter and the second acceleration calculation parameter to obtain the second acceleration threshold.

[0106] Specifically, when this function is enabled, the first acceleration calculation parameter is calculated according to the current actual output torque of the whole vehicle (affected by the actual load, the greater the load, the greater the actual output torque). At the same time, the change rate of the load torque is calculated according to the magnitude of the output torque. When the acceleration automatic adjustment enabling condition is always satisfied, the second acceleration calculation parameter is continuously accumulated, and the absolute value of the maximum threshold is 1. The first acceleration calculation parameter and the second acceleration calculation parameter are multiplied to obtain the second acceleration threshold during vehicle coasting, so that the second acceleration threshold is positively correlated with the current actual load torque. By using the actual load of the whole vehicle as the basis for calculating the acceleration threshold, the current state of the whole vehicle can be obtained more accurately, and a more comprehensive working condition coverage can be achieved, that is, different road conditions can be adapted, and different braking times and braking distances can be realized under different working conditions. Moreover, the second acceleration threshold calculated by the acceleration automatic adjustment function will be compared with the first acceleration threshold calculated by the normal deceleration of the whole vehicle to ensure that the whole vehicle can more stably meet the requirements of deceleration braking.

[0107] To further ensure the adaptability of the acceleration self-adjustment, in an optional implementation, the above third calculation module includes:

[0108] The first calculation sub-module is used to calculate the difference between the current actual load torque and the maximum output torque to obtain a torque difference;

[0109] The second calculation sub-module is used to calculate the ratio of the torque difference to the maximum output torque to obtain a torque ratio;

[0110] The third calculation sub-module is used to calculate the product of the torque ratio, the speed difference, and the calibration parameter to obtain the first acceleration calculation parameter, where the calibration parameter is an adjustment parameter for the acceleration threshold determined according to the calibration test.

[0111] Specifically, using the current actual load torque Trq0, the maximum engine torque Trq max and the speed difference V between the target vehicle speed and the actual vehicle speed Dlt the first acceleration calculation parameter is calculated. The first acceleration calculation parameter Dec1 = (Trq0 - Trq max ) / Trq max * V Dlt * k, where the calibration parameter k needs to be calibrated for the whole vehicle according to the actual driving experience and is also a coefficient for unit conversion. The first acceleration calculation parameter is related to the current actual load torque, so that the second acceleration threshold is positively correlated with the current actual load torque. By judging the actual load of the whole vehicle, different road conditions are adapted to achieve different braking times and braking distances under different conditions.

[0112] In order to further ensure the adaptability of the acceleration self-regulation, in an optional implementation, the fourth calculation module includes:

[0113] The fourth calculation sub-module is used to calculate the difference between the load torque at the previous acceleration adjustment moment and the current actual load torque to obtain a load torque change;

[0114] The fifth calculation sub-module is used to calculate the ratio of the load torque change to the acceleration adjustment period to obtain the second acceleration calculation parameter.

[0115] Specifically, according to the change rate of the current actual load torque Trq0, the second acceleration calculation parameter Dec2 = (Trq0' - Trq0) / TC can be calculated, where Trq0' is the current actual load torque in the previous acceleration adjustment period. Further considering the change of the actual load of the whole vehicle, the acceleration adjustment further adapts to different road conditions to achieve different braking times and braking distances under different conditions.

[0116] In order to ensure the smooth deceleration of the whole vehicle, in an optional implementation, the device further includes:

[0117] A second adjustment unit for performing an adjustment step of controlling the current required acceleration threshold to be adjusted by a predetermined value when the current actual acceleration is not equal to the current required acceleration threshold;

[0118] A third adjustment unit for adjusting the current acceleration according to the adjusted required acceleration threshold;

[0119] A repetition unit for repeating the above adjustment step at least once until the current actual acceleration is equal to the current required acceleration threshold.

[0120] Specifically, if there is a difference between the actual acceleration and the required acceleration threshold, an acceleration compensation coefficient is calculated based on the difference between the actual acceleration and the required acceleration, and this compensation coefficient is used to correct the required acceleration threshold, that is, to control the current required acceleration threshold to be adjusted by a predetermined value until the required acceleration threshold is consistent with the actual acceleration, so as to achieve smooth deceleration of the whole vehicle.

[0121] In order to ensure the normal operation of the engine, in an optional implementation manner, the above determination unit includes:

[0122] A query module for querying an acceleration - speed conversion table according to the current engine speed to obtain an acceleration allowable range, where the acceleration - speed conversion table is a conversion table between the above engine speed and the acceleration allowable range where the engine speed does not stall;

[0123] A determination module for determining the minimum value of the above first acceleration threshold and the above second acceleration threshold as the above required acceleration threshold when both the above first acceleration threshold and the above second acceleration threshold are within the above acceleration allowable range, and determining the minimum value of the above acceleration allowable range as the above required acceleration threshold when any one of the above first acceleration threshold and the above second acceleration threshold is not within the above acceleration allowable range.

[0124] Specifically, during the deceleration process of the whole vehicle, the engine speed decreases accordingly. To avoid damage to the engine caused by the engine speed getting out of control due to too fast deceleration, it is necessary to limit the upper and lower limits of the acceleration according to the current engine speed. The calculated required acceleration must be within the controllable range of the engine. By querying the acceleration - speed conversion table, each speed corresponds to an acceleration allowable range, and the required acceleration threshold should fall within the acceleration allowable range to ensure that the engine does not stall.

[0125] The above acceleration adjustment device includes a processor and a memory. The control unit, the first calculation unit, the second calculation unit, the determination unit, the first adjustment unit, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions. The above modules are all located in the same processor; alternatively, the above modules are separately located in different processors in any combination form.

[0126] The processor contains a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the problem that deceleration braking in the prior art depends on the driver's subjective driving operation can be solved.

[0127] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one storage chip.

[0128] An embodiment of the present invention provides a computer-readable storage medium, and the above computer-readable storage medium includes a stored program. Wherein, when the above program runs, it controls the device where the computer-readable storage medium is located to execute the above acceleration adjustment method.

[0129] Specifically, the acceleration adjustment method includes:

[0130] Step S201, when all the acceleration self-adjustment conditions are met, enter the acceleration self-adjustment mode. The above acceleration self-adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in the in-gear state, and the difference between the actual speed and the required speed of the engine is less than the speed threshold;

[0131] Specifically, since the acceleration self-regulation mode only takes effect when the driver releases the accelerator pedal and the vehicle is in free coasting, and to ensure the driver's safety, it can only be enabled to enter the acceleration self-regulation mode under safe conditions. In case of special situations, this function will not be enabled, and the driver's subjective operation shall prevail. The specific enabling conditions are as follows: 1. It is recognized that the vehicle has a parking requirement and no active braking is performed, that is, the driver completely releases the accelerator pedal and does not step on the brake pedal; 2. During the free coasting process after releasing the brake pedal, according to different road conditions, to protect the normal operation of the engine, the actual engine speed and the required engine speed are detected in real time. If the difference between the two (actual speed - required speed) is less than the speed threshold, the application conditions for acceleration automatic adjustment are met; if the difference between the two exceeds the speed threshold, it means that the actual engine speed is much higher than the required engine speed at this time, and the engine may have lost the ability to automatically adjust the speed. To ensure the safety of the vehicle, the acceleration automatic adjustment function will not be enabled in such cases; 3. To ensure that the vehicle can have a basic power output and torque transmission, the transmission needs to be in gear.

[0132] Step S202: Calculate the first acceleration threshold of the vehicle based on the speed difference and the acceleration adjustment period. The first acceleration threshold is positively correlated with the speed difference. The speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration.

[0133] Specifically, the first acceleration threshold during vehicle deceleration is calculated using conditions such as the speed difference between the target vehicle speed and the actual vehicle speed, the engine speed, and the acceleration knob. The first acceleration threshold is positively correlated with the speed difference. This threshold does not consider the working conditions of the vehicle, that is, whether it is driving uphill, downhill, or on a flat road, the calculated acceleration threshold is the same.

[0134] Step S203: Calculate the second acceleration threshold of the vehicle based on the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine. The second acceleration threshold is positively correlated with the current actual load torque.

[0135] Specifically, the second acceleration threshold is calculated through the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine, so that the second acceleration threshold is positively correlated with the current actual load torque. By using the second acceleration threshold to achieve acceleration self-regulation, it is possible to achieve different braking times and braking distances by judging the actual load of the vehicle to adapt to different road conditions. For example, the vehicle can achieve fast and stable parking under different road conditions such as uphill, downhill, and flat roads, and at the same time, it can achieve the purpose of short parking time and short braking distance on uphill sections, longer coasting distance and longer braking time on flat roads, which is in line with the driver's subjective intention. Figure 1To.

[0136] Step S204, determine the minimum value of the above first acceleration threshold and the above second acceleration threshold as the required acceleration threshold;

[0137] Specifically, compare the two calculated acceleration thresholds, and take the smaller acceleration threshold as the required acceleration threshold during the actual vehicle deceleration process (since the acceleration thresholds here are not absolute values, they are all negative numbers, and the smaller the acceleration threshold, the larger the absolute value), so as to achieve a faster deceleration purpose.

[0138] Step S205, adjust the acceleration of the above vehicle to the above required acceleration threshold.

[0139] Specifically, the vehicle controller sends an acceleration control command to the gearbox to adjust the acceleration of the vehicle to the required acceleration threshold, without the driver's operation, it can achieve the same as the driver's subjective intention Figure 1 To achieve different braking times and braking distances under different working conditions.

[0140] Optionally, the above step S202 includes: step S2021, calculate the difference between the above target vehicle speed and the above current actual vehicle speed to obtain the above speed difference; step S2022, calculate the ratio of the above speed difference and the above acceleration adjustment period to obtain the above first acceleration threshold.

[0141] Optionally, the above step S203 includes: step S2031, determine the first acceleration calculation parameter according to the difference between the above current actual load torque and the above maximum output torque and the above speed difference, the above first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the above maximum output torque, and the above first acceleration calculation parameter is positively correlated with the above speed difference; step S2032, calculate the change rate of the above current actual load torque according to the above acceleration adjustment period to obtain the second acceleration calculation parameter; step S2033, calculate the product of the above first acceleration calculation parameter and the above second acceleration calculation parameter to obtain the above second acceleration threshold.

[0142] Optionally, the above step S2031 includes: step S20311, calculate the difference between the above current actual load torque and the above maximum output torque to obtain the torque difference; step S20312, calculate the ratio of the above torque difference to the above maximum output torque to obtain the torque ratio; step S20313, calculate the product of the above torque ratio, the above speed difference and the calibration parameter to obtain the above first acceleration calculation parameter, the above calibration parameter is an adjustment parameter for the acceleration threshold determined according to the calibration test.

[0143] Optionally, the above step S2032 includes: step S20321, calculating the difference between the load torque at the previous acceleration adjustment moment and the current actual load torque to obtain the load torque change amount; step S20322, calculating the ratio of the load torque change amount to the acceleration adjustment period to obtain the second acceleration calculation parameter.

[0144] Optionally, after step S205, the above method further includes: step S301, the first adjustment step, when the current actual acceleration is not equal to the current required acceleration threshold, controlling the current required acceleration threshold to be adjusted by a predetermined value; step S302, the second adjustment step, adjusting the current acceleration according to the adjusted required acceleration threshold; step S303, sequentially repeating the above first adjustment step and the above second adjustment step at least once until the current actual acceleration is equal to the current required acceleration threshold.

[0145] Optionally, the above step S204 includes: step S2041, querying an acceleration - speed conversion table according to the current engine speed to obtain an acceleration allowable range, where the acceleration - speed conversion table is a conversion table between the engine speed and the acceleration allowable range without engine stall; step S2043, when both the first acceleration threshold and the second acceleration threshold are within the acceleration allowable range, determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold, and when any one of the first acceleration threshold and the second acceleration threshold is not within the acceleration allowable range, determining the minimum value of the acceleration allowable range as the required acceleration threshold.

[0146] An embodiment of the present invention provides a processor, where the processor is used to run a program, and when the program runs, it executes the above acceleration adjustment method.

[0147] Specifically, the acceleration adjustment method includes:

[0148] Step S201, when all acceleration self - adjustment conditions are met, entering the acceleration self - adjustment mode, where the acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in gear, and the difference between the actual speed and the required speed of the engine is less than the speed threshold;

[0149] Specifically, since the acceleration self-regulation mode only takes effect when the driver releases the accelerator pedal and the vehicle is in free coasting, and to ensure the safety of the driver, it can only be enabled to enter the acceleration self-regulation mode under safe conditions. In case of special situations, this function will not be enabled, and the driver's subjective operation shall prevail. The specific enabling conditions are as follows: 1. It is recognized that the vehicle has a parking requirement and no active braking is performed, that is, the driver completely releases the accelerator pedal and does not step on the brake pedal; 2. During the free coasting process after releasing the brake pedal, according to different road conditions, to protect the normal operation of the engine, the actual engine speed and the required engine speed are detected in real time. If the difference between the two (actual speed - required speed) is less than the speed threshold, the application conditions for acceleration automatic regulation are met; if the difference between the two exceeds the speed threshold, it means that the actual engine speed is much higher than the required engine speed at this time, and the engine may have lost the ability to automatically regulate the speed. In this case, to ensure the safety of the vehicle, the acceleration automatic regulation function will no longer be enabled; 3. To ensure that the vehicle can have a basic power output and torque transmission, the transmission needs to be in gear.

[0150] Step S202: Calculate the first acceleration threshold of the vehicle based on the speed difference and the acceleration adjustment period. The above first acceleration threshold is positively correlated with the above speed difference. The above speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the above acceleration adjustment period is the interval time between two adjacent adjustments of the acceleration of the vehicle.

[0151] Specifically, the first acceleration threshold during vehicle deceleration is calculated using conditions such as the speed difference between the target vehicle speed and the actual vehicle speed, the engine speed, and the acceleration knob. The first acceleration threshold is positively correlated with the speed difference. This threshold does not consider the working conditions of the vehicle, that is, whether it is driving uphill, downhill, or on a flat road, the calculated acceleration threshold is the same.

[0152] Step S203: Calculate the second acceleration threshold of the vehicle based on the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The above second acceleration threshold is positively correlated with the above current actual load torque.

[0153] Specifically, the second acceleration threshold is calculated through the speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine, so that the second acceleration threshold is positively correlated with the above current actual load torque. By using the second acceleration threshold to achieve acceleration self-regulation, it is possible to realize judging the actual load of the vehicle, so as to adapt to different road conditions and achieve different braking times and braking distances under different working conditions. For example, the vehicle can achieve fast and stable parking under different road conditions such as uphill, downhill, and flat roads. At the same time, it can achieve a short parking time and a short braking distance on the uphill section, and a longer coasting distance and a longer braking time on the flat road, which is in line with the driver's subjective intention. Figure 1To.

[0154] Step S204, determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold;

[0155] Specifically, the two calculated acceleration thresholds are compared, and the smaller one is taken as the required acceleration threshold during the actual vehicle deceleration process (because the acceleration thresholds here are not absolute values, they are all negative numbers, and the smaller the acceleration threshold, the larger the absolute value), so as to achieve faster deceleration.

[0156] Step S205, adjusting the acceleration of the vehicle to the required acceleration threshold.

[0157] Specifically, the vehicle controller sends an acceleration control command to the gearbox to adjust the vehicle's acceleration to the required acceleration threshold, without the driver's operation, to achieve the driver's subjective intention. Figure 1 To achieve different braking time and braking distance under different working conditions.

[0158] Optionally, the step S202 includes: step S2021, calculating the difference between the target vehicle speed and the current actual vehicle speed to obtain the speed difference; step S2022, calculating the ratio of the speed difference to the acceleration adjustment period to obtain the first acceleration threshold.

[0159] Optionally, the above-mentioned step S203 includes: step S2031, determining a first acceleration calculation parameter according to the difference between the above-mentioned current actual load torque and the above-mentioned maximum output torque and the above-mentioned speed difference, the above-mentioned first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the above-mentioned maximum output torque, and the above-mentioned first acceleration calculation parameter is positively correlated with the above-mentioned speed difference; step S2032, calculating the change rate of the above-mentioned current actual load torque according to the above-mentioned acceleration adjustment period to obtain a second acceleration calculation parameter; step S2033, calculating the product of the above-mentioned first acceleration calculation parameter and the above-mentioned second acceleration calculation parameter to obtain the above-mentioned second acceleration threshold.

[0160] Optionally, the above step S2031 includes: step S20311, calculating the difference between the above current actual load torque and the above maximum output torque to obtain the torque difference; step S20312, calculating the ratio of the above torque difference to the above maximum output torque to obtain the torque ratio; step S20313, calculating the product of the above torque ratio, the above speed difference and the calibration parameter to obtain the above first acceleration calculation parameter, and the above calibration parameter is an adjustment parameter of the acceleration threshold determined according to the calibration test.

[0161] Optionally, the above step S2032 includes: step S20321, calculating the difference between the load torque at the previous acceleration adjustment moment and the current actual load torque to obtain the load torque change amount; step S20322, calculating the ratio of the load torque change amount to the acceleration adjustment period to obtain the second acceleration calculation parameter.

[0162] Optionally, after step S205, the above method further includes: step S301, the first adjustment step, when the current actual acceleration is not equal to the current required acceleration threshold, controlling the current required acceleration threshold to be adjusted by a predetermined value; step S302, the second adjustment step, adjusting the current acceleration according to the adjusted required acceleration threshold; step S303, sequentially repeating the above first adjustment step and the above second adjustment step at least once until the current actual acceleration is equal to the current required acceleration threshold.

[0163] Optionally, the above step S204 includes: step S2041, querying an acceleration - speed conversion table according to the current engine speed to obtain an acceleration allowable range, where the acceleration - speed conversion table is a conversion table of the engine speed and the acceleration allowable range without engine stall; step S2043, when both the first acceleration threshold and the second acceleration threshold are within the acceleration allowable range, determining the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold, and when any one of the first acceleration threshold and the second acceleration threshold is not within the acceleration allowable range, determining the minimum value of the acceleration allowable range as the required acceleration threshold.

[0164] An embodiment of the present invention provides a vehicle. The device includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements at least the following steps:

[0165] Step S201, when all acceleration self - adjustment conditions are met, enter the acceleration self - adjustment mode. The acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in gear, and the difference between the actual speed and the required speed of the engine is less than the speed threshold;

[0166] Step S202, calculating a first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period. The first acceleration threshold is positively correlated with the speed difference. The speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration;

[0167] Step S203: Calculate a second acceleration threshold of the vehicle based on the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The second acceleration threshold is positively correlated with the current actual load torque;

[0168] Step S204: Determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold;

[0169] Step S205: Adjust the acceleration of the vehicle to the required acceleration threshold.

[0170] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program initialized with at least the following method steps:

[0171] Step S201: Enter the acceleration self - adjustment mode when all acceleration self - adjustment conditions are met. The acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the transmission is in gear, and the difference between the actual engine speed and the required engine speed is less than the speed threshold;

[0172] Step S202: Calculate a first acceleration threshold of the vehicle based on the speed difference and the acceleration adjustment period. The first acceleration threshold is positively correlated with the speed difference. The speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration adjustment period is the time interval between two adjacent adjustments of the vehicle's acceleration;

[0173] Step S203: Calculate a second acceleration threshold of the vehicle based on the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The second acceleration threshold is positively correlated with the current actual load torque;

[0174] Step S204: Determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold;

[0175] Step S205: Adjust the acceleration of the vehicle to the required acceleration threshold.

[0176] Obviously, those skilled in the art should understand that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. They can be implemented by program code executable by the computing device. Thus, they can be stored in a storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order than here, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. In this way, the present invention is not limited to any specific combination of hardware and software.

[0177] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0178] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one or more of the flows Figure 1 or a combination of multiple flows and / or blocks

[0179] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified functions in Figure 1 one or more of the flows Figure 1 or a combination of multiple flows and / or blocks

[0180] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide for implementing in the processFigure 1 one or more processes and / or blocks Figure 1 steps of the functions specified in one or more blocks

[0181] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0182] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0183] Computer-readable media includes permanent and non-permanent, removable and non-removable media implemented by any method or technology for information storage. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0184] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0185] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0186] 1) In the acceleration adjustment method of the present application, first, when all the acceleration self-adjustment conditions are met, enter the acceleration self-adjustment mode. The above acceleration self-adjustment conditions include that the opening degrees of the accelerator pedal and the brake pedal are both 0, the gearbox is in the engaged state, and the difference between the actual engine speed and the required speed is less than the speed threshold. Then, calculate the first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period. The above first acceleration threshold is positively correlated with the above speed difference. The above speed difference is the difference between the target vehicle speed and the current actual vehicle speed. The above acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration. After that, calculate the second acceleration threshold of the vehicle according to the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The above second acceleration threshold is positively correlated with the above current actual load torque. After that, determine the minimum value of the above first acceleration threshold and the above second acceleration threshold as the required acceleration threshold. Finally, adjust the acceleration of the vehicle to the above required acceleration threshold. This method enters the acceleration self-adjustment mode when all the acceleration self-adjustment conditions are met, that is, the acceleration self-adjustment is carried out under the deceleration condition where the driver has no operation and the working condition is normal, without affecting the driver's operation and without self-adjustment in dangerous working conditions to avoid safety accidents. By calculating the first acceleration threshold and the second acceleration threshold, the first acceleration threshold is positively correlated with the speed difference, and the second acceleration threshold is positively correlated with the current actual load torque. Select the smaller acceleration threshold for acceleration adjustment to ensure rapid deceleration and judge the actual load of the whole vehicle, so as to adapt to different road conditions, realize different braking times and braking distances under different working conditions, and achieve the same as the driver's subjective intention without the driver's operation. Figure 1 It solves the problem in the prior art that deceleration braking depends on the driver's subjective driving operation.

[0187] 2) In the acceleration adjustment device of the present application, when the control unit meets all the acceleration self-adjustment conditions, it enters the acceleration self-adjustment mode. The above acceleration self-adjustment conditions include that the opening degrees of the accelerator pedal and the brake pedal are both 0, the gearbox is in the engaged state, and the difference between the actual engine speed and the required speed is less than the speed threshold; the first calculation unit calculates the first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period. The above first acceleration threshold is positively correlated with the above speed difference. The above speed difference is the difference between the target vehicle speed and the current actual vehicle speed. The above acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration; the second calculation unit calculates the second acceleration threshold of the vehicle according to the above speed difference, the above acceleration adjustment period, the current actual load torque, and the maximum output torque of the above engine. The above second acceleration threshold is positively correlated with the above current actual load torque; the determination unit determines the minimum value of the above first acceleration threshold and the above second acceleration threshold as the required acceleration threshold; the adjustment unit adjusts the acceleration of the vehicle to the required acceleration threshold. When the device meets all the acceleration self-adjustment conditions, it enters the acceleration self-adjustment mode, that is, the acceleration self-adjustment is carried out under the deceleration condition where the driver has no operation and the working condition is normal, without affecting the driver's operation and without self-adjusting in dangerous working conditions to avoid safety accidents. By calculating the first acceleration threshold and the second acceleration threshold, the first acceleration threshold is positively correlated with the speed difference, and the second acceleration threshold is positively correlated with the current actual load torque. The smaller acceleration threshold is selected for acceleration adjustment to ensure rapid deceleration and by judging the actual load of the whole vehicle, so as to adapt to different road conditions, realize different braking times and braking distances under different working conditions, and can achieve the same as the driver's subjective intention without the driver's operation. Figure 1 It solves the problem in the prior art that deceleration braking depends on the driver's subjective driving operation.

[0188] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An acceleration adjustment method, characterized in that, Including: When all the acceleration self - adjustment conditions are met, enter the acceleration self - adjustment mode. The acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in gear, and the difference between the actual engine speed and the required speed is less than the speed threshold; Calculate the difference between the target vehicle speed and the current actual vehicle speed to obtain the speed difference, and calculate the ratio of the speed difference to the acceleration adjustment period to obtain the first acceleration threshold. The first acceleration threshold is positively correlated with the speed difference. The acceleration adjustment period is the interval time between two adjacent adjustments of the vehicle's acceleration; Determine the first acceleration calculation parameter according to the difference between the current actual load torque and the maximum output torque and the speed difference. The first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the maximum output torque, and the first acceleration calculation parameter is positively correlated with the speed difference. Calculate the change rate of the current actual load torque according to the acceleration adjustment period to obtain the second acceleration calculation parameter. Calculate the product of the first acceleration calculation parameter and the second acceleration calculation parameter to obtain the second acceleration threshold. The second acceleration threshold is positively correlated with the current actual load torque; Determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold; Adjust the acceleration of the vehicle to the required acceleration threshold.

2. The method according to claim 1, wherein Determine the first acceleration calculation parameter according to the difference between the current actual load torque and the maximum output torque and the speed difference, including: Calculate the difference between the current actual load torque and the maximum output torque to obtain the torque difference; Calculate the ratio of the torque difference to the maximum output torque to obtain the torque ratio; Calculate the product of the torque ratio, the speed difference, and the calibration parameter to obtain the first acceleration calculation parameter. The calibration parameter is the adjustment parameter of the acceleration threshold determined according to the calibration test.

3. The method according to claim 1, wherein Calculate the change rate of the current actual load torque according to the acceleration adjustment period to obtain the second acceleration calculation parameter, including: Calculate the difference between the load torque at the previous acceleration adjustment moment and the current actual load torque to obtain the load torque change amount; Calculate the ratio of the load torque change amount to the acceleration adjustment period to obtain the second acceleration calculation parameter.

4. The method according to claim 1, wherein After adjusting the acceleration of the vehicle to the required acceleration threshold, the method further includes: The first adjustment step, when the current actual acceleration is not equal to the current required acceleration threshold, control the current required acceleration threshold to be adjusted by a predetermined value; The second adjustment step, adjust the current acceleration according to the adjusted required acceleration threshold; Repeat the first adjustment step and the second adjustment step at least once in sequence until the current actual acceleration is equal to the current required acceleration threshold.

5. The method according to claim 1, wherein Determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold, including: Query the acceleration - engine speed comparison table according to the current engine speed to obtain the allowable acceleration range. The acceleration - engine speed comparison table is a comparison table of the engine speed and the allowable acceleration range where the engine speed does not stall. When both the first acceleration threshold and the second acceleration threshold are within the allowable acceleration range, determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold. When any one of the first acceleration threshold and the second acceleration threshold is not within the allowable acceleration range, determine the minimum value of the allowable acceleration range as the required acceleration threshold.

6. An acceleration adjusting device, characterized in that, Comprising: A control unit, configured to enter the acceleration self - adjustment mode when all acceleration self - adjustment conditions are met. The acceleration self - adjustment conditions include that the opening degrees of both the accelerator pedal and the brake pedal are 0, the gearbox is in the engaged state, and the difference between the actual engine speed and the required engine speed is less than the speed threshold. A first calculation unit, configured to calculate the first acceleration threshold of the vehicle according to the speed difference and the acceleration adjustment period. The first acceleration threshold is positively correlated with the speed difference. The speed difference is the difference between the target vehicle speed and the current actual vehicle speed, and the acceleration adjustment period is the time interval between two adjacent adjustments of the vehicle's acceleration. A second calculation unit, configured to calculate the second acceleration threshold of the vehicle according to the speed difference, the acceleration adjustment period, the current actual load torque, and the maximum output torque of the engine. The second acceleration threshold is positively correlated with the current actual load torque. A determination unit, configured to determine the minimum value of the first acceleration threshold and the second acceleration threshold as the required acceleration threshold. A first adjustment unit, configured to adjust the acceleration of the vehicle to the required acceleration threshold. The first calculation unit includes: a first calculation module, configured to calculate the difference between the target vehicle speed and the current actual vehicle speed to obtain the speed difference; a second calculation module, configured to calculate the ratio of the speed difference and the acceleration adjustment period to obtain the first acceleration threshold. The second calculation unit includes: a third calculation module, configured to determine a first acceleration calculation parameter according to the difference between the current actual load torque and the maximum output torque and the speed difference. The first acceleration calculation parameter is positively correlated with the difference between the current actual load torque and the maximum output torque, and the first acceleration calculation parameter is positively correlated with the speed difference; a fourth calculation module, configured to calculate the change rate of the current actual load torque according to the acceleration adjustment period to obtain a second acceleration calculation parameter; a fifth calculation module, configured to calculate the product of the first acceleration calculation parameter and the second acceleration calculation parameter to obtain the second acceleration threshold.

7. A processor, characterized in that, The processor is used to run a program. When the program runs, it executes the method according to any one of claims 1 to 5.

8. A vehicle, characterized in that, Comprising: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include those for performing the method according to any one of claims 1 to 5.

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