Vehicle control method and device, electronic equipment and storage medium

Abstract

The present disclosure relates to a vehicle control method, device, electronic equipment and storage medium, the method comprising: detecting whether the vehicle is slipping; if the vehicle is detected to be slipping, determining a target torque and a torque limiting range corresponding to the target torque; the target torque is within the torque limiting range corresponding thereto; sending a one-time torque limiting request to the engine, the one-time torque limiting request comprising the target torque; obtaining an output torque of the vehicle engine; based on the output torque of the engine and the torque limiting range, judging whether secondary torque limiting is needed to form a judgment result; if the judgment result is that secondary torque limiting is needed, sending a secondary torque limiting request to the engine to make the output torque of the engine less than or equal to the upper limit value of the torque limiting range. It can limit the large jump of engine torque, effectively prevent tire slip, and improve the driving stability and safety of the vehicle.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more particularly to a vehicle control method, apparatus, electronic device, and storage medium. Background Technology

[0002] When a vehicle starts with a heavy throttle, it often generates a large amount of torque. On wet roads, the tires may slip, affecting the acceleration time from 0 to 100 km / h and even causing the vehicle to lose control, posing a significant safety hazard.

[0003] In existing technologies, when a vehicle slips, the TCU sends a torque-limiting request to the engine, reducing the engine's output torque to stop the slippage. After the vehicle stops slipping, the torque limiter is released, and the engine's actual output torque increases. However, if, for some reason (such as not leaving the slippery surface), the vehicle slips again, and the TCU will again send a torque-limiting request to the engine, reducing the engine's output torque to stop the slippage. This repeated cycle causes drastic torque fluctuations and sudden torque changes, affecting driving stability and posing a safety hazard to the driver. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this disclosure provides a vehicle control method, apparatus, electronic device, and storage medium.

[0005] In a first aspect, this disclosure provides a vehicle control method, including:

[0006] Check if the vehicle is skidding;

[0007] If vehicle slippage is detected, a target torque and a corresponding torque limit range are determined; the target torque is within the corresponding torque limit range.

[0008] Send a torque limiting request to the engine, the torque limiting request including the target torque;

[0009] Obtain the output torque of the vehicle's engine;

[0010] Based on the engine's output torque and torque limiting range, determine whether secondary torque limiting is required, and form a determination result;

[0011] If the determination result indicates that secondary torque limiting is required, a secondary torque limiting request is sent to the engine to make the engine's output torque less than or equal to the upper limit of the torque limiting range.

[0012] Secondly, this disclosure also provides a vehicle control device, comprising:

[0013] The first detection module is used to detect whether the vehicle is slipping.

[0014] The first determining module is used to determine a target torque and a torque limit range corresponding to the target torque if vehicle slippage is detected; the target torque is within the torque limit range corresponding to it.

[0015] The first sending module is used to send a torque limiting request to the engine, the torque limiting request including the target torque;

[0016] The first acquisition module is used to acquire the output torque of the vehicle engine;

[0017] The first judgment module is used to determine whether secondary torque limiting is required based on the output torque of the engine and the torque limiting range, and to form a judgment result.

[0018] The second sending module is used to send a secondary torque limiting request to the engine if the judgment result indicates that secondary torque limiting is required, so that the output torque of the engine is less than or equal to the upper limit of the torque limiting range.

[0019] Thirdly, this disclosure also provides an electronic device, including: a processor and a memory;

[0020] The processor executes the steps of any of the above methods by calling programs or instructions stored in memory.

[0021] Fourthly, this disclosure also provides a computer-readable storage medium that stores a program or instructions that cause a computer to perform the steps of any of the above methods.

[0022] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0023] The technical solution provided in this disclosure determines whether secondary torque limiting is needed based on the engine's output torque and torque limiting range, and forms a determination result. If the determination result is that secondary torque limiting is needed, a secondary torque limiting request is sent to the engine. In essence, after the first torque limiting, the engine torque is controlled to be maintained at or below the upper limit of the torque limiting range, limiting large jumps in engine torque, effectively preventing tire slippage, and improving the driving stability and safety of the vehicle. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0025] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of this disclosure;

[0027] Figure 2 A flowchart of another vehicle control method provided in this disclosure embodiment;

[0028] Figure 3 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of the present disclosure;

[0029] Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0030] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0031] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0032] Figure 1 This is a flowchart of a vehicle control method provided in an embodiment of this disclosure. The method is applicable to situations where the vehicle is slipping. The method can be executed by a transmission control unit (TCU) and includes the following steps:

[0033] S110, Check if the vehicle is skidding.

[0034] There are multiple ways to implement this step, and this application does not limit this one. For example, the implementation method of this step includes: obtaining the rotational speed change rate of the output shaft in the gearbox and the wheel speed difference between the two drive wheels of the vehicle; and determining whether the vehicle is slipping based on the rotational speed change rate of the output shaft in the gearbox and the wheel speed difference between the two drive wheels of the vehicle.

[0035] The rotational speed of the transmission output shaft directly determines the vehicle speed. The faster the output shaft rotates, the faster the vehicle speed. To obtain the rate of change of the output shaft rotational speed in the transmission, the output shaft rotational speed can be measured at set time intervals. The ratio of the rotational speed values ​​of the two output shafts obtained before and after the interval is the rate of change of the transmission output shaft rotational speed. The rotational speed of the transmission output shaft can be detected by a sensor installed on the corresponding output shaft. The sensor can send the detected rotational speed of the transmission output shaft to the transmission controller in the vehicle, so that the transmission controller can obtain the rate of change of the transmission output shaft rotational speed.

[0036] The vehicle includes front-wheel drive vehicles and rear-wheel drive vehicles. The two front wheels of the front-wheel drive vehicle are the drive wheels, and the two rear wheels of the rear-wheel drive vehicle are the drive wheels. The embodiments of the present invention are applicable to both front-wheel drive vehicles and rear-wheel drive vehicles. During the vehicle's operation, the wheel speed difference between the two drive wheels can be obtained. The TCU can directly obtain the wheel speed difference between the drive wheels based on the control of the transmission in the vehicle.

[0037] After obtaining the output shaft speed change rate and the wheel speed difference between the two drive wheels, the speed change rate and wheel speed difference can be compared with the corresponding calibration values, and the vehicle can be judged whether it is currently slipping based on the comparison results.

[0038] During smooth driving, the rate of change of the output shaft speed and the wheel speed difference between the two drive wheels remain relatively stable. When the vehicle slips, the rate of change of the output shaft speed and the wheel speed difference between the two drive wheels will undergo significant changes. Therefore, by comparing the rate of change of the output shaft speed with the set rate of change of the output shaft speed and by comparing the wheel speed difference with the set wheel speed difference, it can be determined that the vehicle is currently in a slipping state.

[0039] S120. If vehicle slippage is detected, determine the target torque and the torque limit range corresponding to the target torque; the target torque is within its corresponding torque limit range.

[0040] If vehicle slippage is detected, the actual output torque of the vehicle needs to be adjusted to suppress slippage and thus ensure driving safety.

[0041] The target torque is the torque that the engine is expected to output after adjustment. Subsequently, the TCU will send a torque limiting request, including the target torque, to the engine so that the engine's actual output torque equals the target torque.

[0042] The torque limiting range is the range associated with the target torque. It assists the TCU in determining whether secondary torque limiting is necessary to prevent large fluctuations in engine torque. The torque limiting range is determined by an upper and lower limit. The target torque is less than the upper limit of its associated torque limiting range and greater than the lower limit.

[0043] For example, the target torque is 300 N·m, and the torque limiting range associated with this target torque is [250 N·m, 350 N·m]. It should be noted that in this example, the torque limiting range is centered on the associated target torque and has a floating range of 50 N·m. This is merely a specific example of this application and not a limitation thereof. In practice, the target torque may or may not be the center value of the associated torque limiting range. If the target torque can be the center value of the associated torque limiting range, the floating range can be any value greater than 0.

[0044] When performing this step, a fixed target torque can be preset. Simply read the preset fixed target torque during this step.

[0045] Alternatively, the specific implementation method of this step includes: obtaining the engine output torque at the moment of slippage; and determining the target torque and the torque limit range corresponding to the target torque based on the engine output torque at the moment of slippage.

[0046] There are several methods to obtain the engine's output torque at the moment of slippage. For example, the TCU can obtain the engine's output torque at the moment of slippage through the CAN network.

[0047] There are several methods for determining the target torque and its corresponding torque-limiting range. For example, a table can be pre-established to correspond to the target torque, its corresponding torque-limiting range, and the output torque. During this step, the engine's output torque at the moment of slippage is matched with the output torque in this table to obtain the target torque corresponding to the engine's output torque at the moment of slippage, and the corresponding torque-limiting range. The advantage of this approach is that it ensures a reasonable target torque design, guarantees vehicle stability during slippage, and ensures smooth vehicle operation.

[0048] S130, Send a torque limiting request to the engine. The torque limiting request includes the target torque.

[0049] In one embodiment, the TCU transmits a torque limiting request to the CAN network so that the engine receives the torque limiting request from the CAN network and adjusts its output torque to the target torque based on the torque limiting request.

[0050] S140: Obtain the output torque of the vehicle's engine.

[0051] In this step, the output torque of the vehicle engine obtained is the engine output torque after adjusting the engine output torque to the target torque.

[0052] After adjusting the engine output torque to the target torque, the engine output torque will change as the vehicle travels, road conditions change, and the driver's control over the vehicle. This step obtains the engine output torque during this change process.

[0053] S150. Based on the engine's output torque and torque limiting range, determine whether secondary torque limiting is required and form a judgment result.

[0054] There are multiple ways to implement this step, and this application does not limit any particular method. For example, the implementation method of this step includes: if the output torque of the engine is greater than the upper limit of the torque limiting range, determining that a secondary torque limiting is required.

[0055] S160. If the determination result is that secondary torque limiting is required, send a secondary torque limiting request to the engine so that the engine's output torque is less than or equal to the upper limit of the torque limiting range.

[0056] The secondary torque limit request may or may not include a specific torque value; this application does not impose any restrictions on this.

[0057] If the secondary torque limiting request includes a specific torque value, optionally, the secondary torque limiting request includes the target torque mentioned above.

[0058] The above technical solution determines whether secondary torque limiting is needed based on the engine's output torque and torque limiting range, and forms a judgment result. If the judgment result is that secondary torque limiting is needed, a secondary torque limiting request is sent to the engine. In essence, after the first torque limiting, the engine torque is controlled to be maintained at or below the upper limit of the torque limiting range, limiting large jumps in engine torque, effectively preventing tire slippage, and improving the driving stability and safety of the vehicle.

[0059] Based on the above technical solution, the method may optionally further include: if the engine's output torque is less than the lower limit of the torque limiting range, determining that torque limiting is not required; if the determination result is that torque limiting is not required, sending a request to cancel torque limiting to the engine. This setting can control the vehicle to exit the torque limiting mode in a timely manner, thereby ensuring that the driver has a better driving experience.

[0060] Building upon the aforementioned technical solutions, it is also possible to configure the system to send a request to the engine to cancel torque limiting if the duration of the vehicle's non-slip condition exceeds a set time. This configuration allows the vehicle to exit torque limiting mode promptly, thereby ensuring a better driving experience for the driver.

[0061] Figure 2 A flowchart of another vehicle control method provided in this embodiment of the disclosure. Figure 2 for Figure 1 A specific example. See [the source]. Figure 2 The vehicle control method includes:

[0062] S210, Check if the vehicle is slipping, then proceed with S220.

[0063] S220. If vehicle slippage is detected, determine the target torque and the torque limit range corresponding to the target torque; if the target torque is within the corresponding torque limit range, execute S230.

[0064] S230, Send a torque limiting request to the engine, the torque limiting request includes the target torque, and execute S240.

[0065] S240: Obtain the output torque of the vehicle engine, then execute S250.

[0066] S250: Determine whether the engine's output torque is greater than the upper limit of the torque limit range; if yes, proceed to S260; if no, proceed to S270.

[0067] S260: Send a secondary torque limiting request to the engine so that the engine's output torque is less than or equal to the upper limit of the torque limiting range.

[0068] S270: Determine whether the engine's output torque is less than the lower limit of the torque limit range; if yes, proceed to S280; if no, proceed to S240.

[0069] S280 sends a request to the engine to cancel torque limiting.

[0070] The above technical solution involves periodically monitoring the engine's output torque after the initial torque limiting and dynamically adjusting it based on the monitoring results to limit the engine torque within a reasonable range, prevent large fluctuations in engine torque, effectively prevent tire slippage, and improve vehicle driving stability and safety.

[0071] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0072] Figure 3 This is a schematic diagram of the structure of a vehicle control device according to an embodiment of the present disclosure, as shown below. Figure 3 As shown, the device includes:

[0073] The first detection module 410 is used to detect whether the vehicle is slipping.

[0074] The first determining module 420 is used to determine a target torque and a torque limit range corresponding to the target torque if vehicle slippage is detected; the target torque is within the torque limit range corresponding to it.

[0075] The first sending module 430 is used to send a torque limiting request to the engine, the torque limiting request including the target torque;

[0076] The first acquisition module 440 is used to acquire the output torque of the vehicle engine;

[0077] The first judgment module 450 is used to determine whether secondary torque limiting is required based on the output torque of the engine and the torque limiting range, and to form a judgment result.

[0078] The second sending module 460 is used to send a secondary torque limiting request to the engine if the judgment result indicates that secondary torque limiting is required, so that the output torque of the engine is less than or equal to the upper limit of the torque limiting range.

[0079] Furthermore, the first determining module 420 is used for:

[0080] Obtain the engine's output torque at the moment of slippage;

[0081] Based on the engine's output torque at the moment of slippage, a target torque and a torque limit range corresponding to the target torque are determined.

[0082] Furthermore, the first judgment module 450 is used for:

[0083] If the output torque of the engine is greater than the upper limit of the torque limiting range, the determination result indicates that a second torque limiting is required.

[0084] Furthermore, the device also includes an exit module, which is used for:

[0085] If the output torque of the engine is less than the lower limit of the torque limiting range, the determination result is that torque limiting is not required.

[0086] If the determination result is that torque limiting is not required, a request to cancel torque limiting is sent to the engine.

[0087] Furthermore, the first detection module 410 is used for:

[0088] Obtain the rate of change of the output shaft speed in the gearbox and the wheel speed difference between the two drive wheels of the vehicle;

[0089] Based on the rate of change of the output shaft speed in the gearbox and the wheel speed difference between the two drive wheels of the vehicle, it is determined whether the vehicle is slipping.

[0090] Furthermore, the device also includes an exit module, which is used for:

[0091] If the duration of the vehicle's non-slippage exceeds a set time, a request to cancel the torque limiting is sent to the engine.

[0092] The apparatus disclosed in the above embodiments can implement the process flow of the methods disclosed in the above method embodiments and has the same or corresponding beneficial effects. To avoid repetition, it will not be described again here.

[0093] Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this disclosure, such as... Figure 4 As shown, the electronic device can be a TCU, and the electronic device includes:

[0094] One or more processors 301, Figure 4 Taking processor 301 as an example;

[0095] Memory 302;

[0096] The electronic device may further include an input device 303 and an output device 304.

[0097] The processor 301, memory 302, input device 303, and output device 304 in the electronic device can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0098] The memory 302, as a non-transitory computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle control method in the embodiments of this disclosure. The processor 301 executes various functional applications and data processing of the server by running the software programs, instructions, and modules stored in the memory 302, thereby implementing the vehicle control method of the above-described method embodiments.

[0099] The memory 302 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 302 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 302 may optionally include memory remotely located relative to the processor 301, and these remote memories can be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0100] Input device 303 can be used to receive input digital or character information, and to generate signal inputs related to user settings and function control of the electronic device. Output device 304 may include display devices such as a display screen.

[0101] This disclosure also provides a computer-readable storage medium storing a program or instructions that, when executed by a computer, perform a vehicle control method comprising:

[0102] Check if the vehicle is skidding;

[0103] If vehicle slippage is detected, a target torque and a corresponding torque limit range are determined; the target torque is within the corresponding torque limit range.

[0104] Send a torque limiting request to the engine, the torque limiting request including the target torque;

[0105] Obtain the output torque of the vehicle's engine;

[0106] Based on the engine's output torque and torque limiting range, determine whether secondary torque limiting is required, and form a determination result;

[0107] If the determination result indicates that secondary torque limiting is required, a secondary torque limiting request is sent to the engine to make the engine's output torque less than or equal to the upper limit of the torque limiting range.

[0108] Optionally, when executed by a computer processor, the computer-executable instructions can also be used to execute the technical solutions of the vehicle control methods provided in any embodiment of this disclosure.

[0109] Based on the above description of the implementation methods, those skilled in the art will clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0110] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0111] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that, include: Check if the vehicle is skidding; If vehicle slippage is detected, determine the target torque and the torque limiting range corresponding to the target torque; The target torque is within its corresponding torque limiting range; Send a torque limiting request to the engine, the torque limiting request including the target torque; Obtain the output torque of the vehicle's engine; Based on the engine's output torque and torque limiting range, determine whether secondary torque limiting is required, and form a determination result; If the determination result indicates that secondary torque limiting is required, a secondary torque limiting request is sent to the engine to make the engine's output torque less than or equal to the upper limit of the torque limiting range.

2. The method according to claim 1, characterized in that, The determination of the target torque and the corresponding torque limiting range includes: Obtain the engine's output torque at the moment of slippage; Based on the engine's output torque at the moment of slippage, a target torque and a torque limit range corresponding to the target torque are determined.

3. The method according to claim 1, characterized in that, The determination of whether secondary torque limiting is needed based on the engine's output torque and the torque limiting range, and the formation of a determination result, includes: If the output torque of the engine is greater than the upper limit of the torque limiting range, the determination result indicates that a second torque limiting is required.

4. The method according to claim 1, characterized in that, Also includes: If the output torque of the engine is less than the lower limit of the torque limiting range, the determination result is that torque limiting is not required. If the determination result is that torque limiting is not required, a request to cancel torque limiting is sent to the engine.

5. The method according to claim 1, characterized in that, The detection of whether the vehicle is skidding includes: Obtain the rate of change of the output shaft speed in the gearbox and the wheel speed difference between the two drive wheels of the vehicle; Based on the rate of change of the output shaft speed in the gearbox and the wheel speed difference between the two drive wheels of the vehicle, it is determined whether the vehicle is slipping.

6. The method according to claim 1, characterized in that, Also includes: If the duration of the vehicle's non-slippage exceeds a set time, a request to cancel the torque limiting is sent to the engine.

7. A vehicle control device, characterized in that, include: The first detection module is used to detect whether the vehicle is slipping. The first determining module is used to determine the target torque and the torque limiting range corresponding to the target torque if vehicle slippage is detected. The target torque is within its corresponding torque limiting range; The first sending module is used to send a torque limiting request to the engine, the torque limiting request including the target torque; The first acquisition module is used to acquire the output torque of the vehicle engine; The first judgment module is used to determine whether secondary torque limiting is required based on the output torque of the engine and the torque limiting range, and to form a judgment result. The second sending module is used to send a secondary torque limiting request to the engine if the judgment result indicates that secondary torque limiting is required, so that the output torque of the engine is less than or equal to the upper limit of the torque limiting range.

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