Single pedal mode monitoring method, device, electronic device and computer-readable storage medium

Abstract

The present application relates to a single-pedal mode monitoring method, a single-pedal mode monitoring device, an electronic device, and a computer-readable storage medium. The single-pedal mode monitoring method includes: when it is monitored that the operating state of the vehicle meets a preset condition, controlling the vehicle to enter the single-pedal mode; obtaining the target torque value of the vehicle in the single-pedal mode; judging whether the operating condition of the vehicle in the single-pedal mode meets the preset target condition based on the target torque value; when the judgment result is yes, controlling the vehicle through a safety control strategy corresponding to the target condition. The use of the single-pedal mode monitoring method can solve the problem of damage to components of new energy vehicles or safety accidents caused by failure to monitor the single-pedal mode, avoid the occurrence of dangerous accidents, and protect the personal safety of people in the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a single-pedal mode monitoring method, a single-pedal mode monitoring device, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the development of new energy vehicle technology, the safety requirements of new energy vehicles are receiving increasing attention. Currently, single-pedal management algorithms are gradually being developed for the vehicle control unit (VCU) in new energy vehicles. However, due to human factors and testing factors during the development process, if single-pedal mode is not monitored, new energy vehicle components may be damaged or safety accidents may occur, leading to dangerous accidents and endangering personal safety. Summary of the Invention

[0003] Based on this, a single-pedal mode monitoring method, a single-pedal mode monitoring device, an electronic device and a computer-readable storage medium are provided to solve the problem in the prior art that components of new energy vehicles may be damaged or safety accidents may occur due to the failure to monitor the single-pedal mode.

[0004] On the one hand, a monitoring method for a single-pedal mode is provided, and the monitoring method for the single-pedal mode includes: when it is monitored that the operating status of the vehicle meets a preset condition, controlling the vehicle to enter the single-pedal mode; the single-pedal mode is a mode in which the acceleration and deceleration of the vehicle are controlled by an accelerator pedal; obtaining a target torque value of the vehicle in the single-pedal mode; the target torque value includes at least one of a braking demand torque value, an energy recovery torque value and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; judging whether the operating condition of the vehicle in the single-pedal mode meets the preset target condition based on the target torque value; when the judgment result is yes, controlling the vehicle through a safety control strategy corresponding to the target condition.

[0005] In one embodiment, the target torque value includes a braking demand torque value, the target part condition includes a first target condition, and the safety control strategy includes a first safety control strategy corresponding to the first target condition, wherein the first target condition is: the braking demand torque value is greater than or equal to a preset torque threshold; and the first safety control strategy is: stop sending an energy recovery torque request to the motor, or / and, stop sending a torque compensation request to the hydraulic compensation system.

[0006] In one embodiment, the target torque value includes a hydraulic compensation torque value and a braking requirement torque value, the target part condition includes a second target condition, and the safety control strategy includes a second safety control strategy corresponding to the second target condition, and the second target condition includes: the duration of the simultaneous occurrence of the first torque request event and the second torque request event is greater than a preset duration threshold; the first torque request event is: sending a compensation torque request to the hydraulic system according to the hydraulic compensation torque value, and the second torque request event is: sending an energy recovery torque request to the motor according to the braking requirement torque value; the second safety control strategy is: stop sending torque requests to the motor or stop sending torque compensation requests to the hydraulic system.

[0007] In one embodiment, the second target condition further includes: during the occurrence of the first torque request event and the second torque request event, the vehicle speed is greater than a preset vehicle speed threshold.

[0008] In one embodiment, judging whether the operation of the vehicle in the single-pedal mode meets the preset target conditions based on the target torque value includes: calculating the first target torque value of the vehicle by a first calculation method, and calculating the second target torque value of the vehicle by a second calculation method; judging whether the operation of the vehicle in the single-pedal mode meets the preset target conditions based on the first target torque value and the second target torque value.

[0009] In one embodiment, the target part condition includes a third target condition, and the safety control strategy includes a third safety control strategy corresponding to the third target condition, wherein the third target condition is: the difference between the absolute value of the first target torque value and the absolute value of the second target torque value is not within a preset range, and / or the direction of the first target torque value is opposite to the direction of the second target torque value; the third safety control strategy is: stop providing power to the vehicle.

[0010] In one embodiment, the target torque value includes an energy recovery torque value and a hydraulic compensation torque value, and the first target torque value of the vehicle is calculated by a first calculation method, and the second target torque value of the vehicle is calculated by a second calculation method, including: calculating the first target torque value of the vehicle by a first calculation method at the functional layer of the vehicle, and calculating the second target torque value of the vehicle by a second calculation method at the safety monitoring layer of the vehicle; wherein, the functional layer of the vehicle is used to parse the torque, and the safety monitoring layer of the vehicle is used to monitor the torque parsing result output by the functional layer.

[0011] On the other hand, a monitoring device for a single-pedal mode is provided, which includes: a first control module, an acquisition module, a judgment module and a second control module, wherein the first control module is used to control the vehicle to enter the single-pedal mode when it is monitored that the operating status of the vehicle meets the preset conditions; the single-pedal mode is a mode in which the acceleration and deceleration of the vehicle are controlled by an accelerator pedal; the acquisition module is used to obtain the target torque value of the vehicle in the single-pedal mode; the target torque value includes at least one of a braking demand torque value, an energy recovery torque value and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; the judgment module is used to judge whether the operating condition of the vehicle in the single-pedal mode meets the preset target conditions based on the target torque value; the second control module is used to control the vehicle through a safety control strategy corresponding to the target condition when the judgment result is yes.

[0012] On the other hand, an electronic device is provided, which includes a processor, a memory, a communication interface and a bus, wherein the processor, the memory and the communication interface are connected via the bus, the memory is used to store instructions and computer programs of the above-mentioned single-pedal mode monitoring method, the processor is used to read the instructions and computer programs stored in the memory and execute them to implement the above-mentioned single-pedal mode monitoring method, and the communication interface is used to realize information interaction.

[0013] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the single-pedal mode monitoring method described above is implemented.

[0014] The above-mentioned single-pedal mode monitoring method, single-pedal mode monitoring device, electronic device and computer-readable storage medium control the vehicle to enter the single-pedal mode when it is monitored that the operating status of the vehicle meets the preset conditions; obtain the target torque value of the vehicle in the single-pedal mode; the target torque value includes at least one of the braking demand torque value, the energy recovery torque value and the hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; judge whether the operating status of the vehicle in the single-pedal mode meets the preset target conditions based on the target torque value; when the judgment result is yes, control the vehicle through the safety control strategy corresponding to the target condition, thereby solving the problem of damage to components of new energy vehicles or safety accidents caused by failure to monitor the single-pedal mode, avoiding the occurrence of dangerous accidents, and protecting the personal safety of people in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flowchart of a single-pedal mode monitoring method disclosed in an embodiment of the present application;

[0016] Figure 2 This is a schematic structural diagram of a monitoring device in a single-pedal mode disclosed in an embodiment of the present application;

[0017] Figure 3 This is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0019] It should be noted that the diagrams provided in the present embodiment are only schematic illustrations of the basic concept of the present invention. The diagrams only show the components related to the present invention and are not drawn according to the number, shape and size of the components during actual implementation. The type, quantity and ratio of each component during actual implementation can be changed at will, and the component layout type may also be more complex. The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose of the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be considered as the scope of the implementation of the present invention without substantially changing the technical content.

[0020] With the development of new energy vehicle technology, the safety requirements of new energy vehicles are receiving increasing attention. Currently, single-pedal management algorithms are being gradually developed for the vehicle control unit (VCU) in new energy vehicles. However, due to factors such as human factors and testing during the development process, failure to monitor the single-pedal mode can lead to component damage or safety accidents, potentially endangering personal safety. Therefore, how to address the risks of component damage or safety accidents caused by failure to monitor the single-pedal mode is an urgent problem for those skilled in the art.

[0021] Based on this, this application hopes to provide a solution that can solve the above technical problems, which can solve the problem of damage to components of new energy vehicles or safety accidents caused by failure to monitor the single-pedal mode. The details will be explained in subsequent embodiments.

[0022] The present application provides a detailed description of a single-pedal mode monitoring method, a single-pedal mode monitoring device, an electronic device, and a computer-readable storage medium.

[0023] See also Figure 1 , which is a flow chart of a single-pedal mode monitoring method disclosed in an embodiment of the present application. In the embodiment of the present application, the flow of the single-pedal mode monitoring method includes at least the following steps.

[0024] S10. When it is monitored that the running state of the vehicle meets a preset condition, control the vehicle to enter a single-pedal mode; the single-pedal mode is a mode in which acceleration and deceleration of the vehicle are controlled by a single accelerator pedal.

[0025] In the embodiment of the present application, the preset conditions include: the vehicle is in a high-voltage power-on state, the vehicle's driving mode is ECO mode, the vehicle's driving gear is D gear, the vehicle meets energy recovery conditions, the vehicle's accelerator pedal signal is normal, and the vehicle's motor torque output is normal. When all of the preset conditions are met, the vehicle is controlled to enter the single-pedal mode.

[0026] When the vehicle is in a high-voltage power-off state, or the driving mode of the vehicle exits the ECO energy-saving mode, or the driving gear of the vehicle is in R gear, or the vehicle does not meet the energy recovery conditions, or the signal of the accelerator pedal of the vehicle is abnormal, or the motor torque execution output of the vehicle is abnormal, or the automatic driving function of the vehicle is turned on, the vehicle is controlled to exit the single-pedal mode.

[0027] S20. Obtain a target torque value of the vehicle in single-pedal mode; the target torque value includes at least one of a braking demand torque value, an energy recovery torque value, and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value.

[0028] In an embodiment of the present application, specifically, the target torque value in the single-pedal mode is analyzed and obtained based on the current vehicle speed and the accelerator pedal opening of the vehicle, wherein the target torque value includes at least one of a braking demand torque value, an energy recovery torque value, and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value.

[0029] After the vehicle enters the single-pedal mode, the accelerator pedal opening of the vehicle is within the range of 0% to 30% (TBC). When it is recognized that the driver has released the accelerator pedal to decelerate, the vehicle's motor can be used to recover coasting energy. After the single-pedal mode is turned on, the maximum intensity of the coasting energy recovery is 0.2g (TBC), and the time to establish the required braking torque is less than 800ms (TBC). During the process of decelerating the vehicle by single-pedal control, when it is recognized that the driver has the intention to accelerate, the driving torque should be controlled quickly in response to the driver's acceleration intention.

[0030] During the deceleration of the vehicle, when the vehicle speed is less than 15 kph (TBC), the energy recovery torque value of the vehicle's motor begins to decrease; when the vehicle speed is less than 7 kph (TBC), the energy recovery torque value of the vehicle's motor decays to zero.

[0031] When the accelerator pedal is completely released, the vehicle speed gradually decreases to the creeping speed in the single-pedal mode. It is understandable that the creeping speed in the embodiment of the present application can be flexibly set by the developer, or can be customized by the user according to his or her own needs in the human-computer interaction interface of the vehicle. The human-computer interaction interface of the vehicle can be a display screen provided on the vehicle. When the user needs to adjust the creeping speed, the creeping speed can be set through the display screen provided on the vehicle. The way in which the user sets the creeping speed through the display screen provided on the vehicle can be touch setting, button setting or voice setting. Among them, the creeping speed in the single-pedal mode can be 3kph (TBC).

[0032] During the deceleration process of the vehicle, if the currently available energy recovery torque does not meet the braking demand torque (i.e., the target wheel-end demand) in the pedalmap diagram, the difference between the braking demand torque value and the current energy recovery torque value analyzed in the current pedalmap diagram is judged, and according to the hydraulic compensation available state fed back by the electronic stability control system (ESC), the ESC is actively requested to perform hydraulic compensation after the conditions are met. The hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value. The active hydraulic compensation request signal and the hydraulic compensation torque value are sent to the ESC according to a certain slope. After receiving the active hydraulic compensation request signal, the ESC responds and feeds back the braking torque to ensure the consistency of the vehicle deceleration.

[0033] In the embodiment of the present application, the hydraulic compensation torque value does not exceed the braking demand torque value analyzed from the current pedalmap.

[0034] During the driving of the vehicle, if the driver turns on the automatic driving function, the ability of gliding energy recovery is taken over by the automatic driving, and the vehicle exits the single-pedal mode; if the driver turns off the automatic driving function, the vehicle returns to the single-pedal mode.

[0035] When the driving gear of the vehicle is R gear, if the driving mode of the vehicle is ECO energy-saving mode, the vehicle exits the single-pedal mode, the vehicle does not perform coasting energy recovery, and the creeping speed is 3kph (TBC). The brake pedal needs to be stepped on to stop the vehicle. After the vehicle stops, stepping on the brake pedal will not enter automatic parking (AutoHold).

[0036] S30: Determine, based on the target torque value, whether the operation of the vehicle in the single-pedal mode meets a preset target condition.

[0037] In the embodiment of the present application, specifically, the target torque value includes a braking requirement torque value, and the target condition includes a first target condition, which is: the braking requirement torque value is greater than or equal to a preset torque threshold.

[0038] The target torque value includes a hydraulic compensation torque value and a brake demand torque value. The target condition includes a second target condition, which includes: a first torque request event and a second torque request event occurring simultaneously for a duration greater than a preset duration threshold. The first torque request event includes sending a compensation torque request to the hydraulic system based on the hydraulic compensation torque value, and the second torque request event includes sending an energy recovery torque request to the motor based on the brake demand torque value.

[0039] The second target condition also includes: during the occurrence of the first torque request event and the second torque request event, the vehicle speed is greater than a preset speed threshold. In this embodiment of the present application, the preset speed threshold can be flexibly set by the developer. Specifically, the preset speed threshold can be greater than 10 km / h.

[0040] In an embodiment of the present application, the target torque value includes an energy recovery torque value and a hydraulic compensation torque value. The first target torque value of the vehicle is calculated by a first calculation method, and the second target torque value of the vehicle is calculated by a second calculation method. According to the first target torque value and the second target torque value, it is judged whether the operation of the vehicle in the single-pedal mode meets the preset target conditions. The target condition includes a third target condition, and the third target condition is: the difference between the absolute value of the first target torque value and the absolute value of the second target torque value is not within a preset range, and / or the direction of the first target torque value is opposite to the direction of the second target torque value. Wherein, the first target torque value of the vehicle is calculated by the first calculation method at the functional layer of the vehicle, and the second target torque value of the vehicle is calculated by the second calculation method at the safety monitoring layer of the vehicle.

[0041] The functional layer of the vehicle is used to analyze the torque, and the safety monitoring layer of the vehicle is used to monitor the torque analysis result output by the functional layer.

[0042] S40: When the judgment result is yes, the vehicle is controlled using a safety control strategy corresponding to the target condition.

[0043] In an embodiment of the present application, specifically, the safety control strategy includes a first safety control strategy corresponding to the first target condition, and the first safety control strategy is: stop sending an energy recovery torque request to the motor, or / and, stop sending a torque compensation request to the hydraulic compensation system.

[0044] The safety control strategy includes a second safety control strategy corresponding to the second target condition, and the second safety control strategy is: stopping sending a torque request to the motor or stopping sending a torque compensation request to the hydraulic system.

[0045] The safety control strategy includes a third safety control strategy corresponding to the third target condition, and the third safety control strategy is: stopping power supply to the vehicle.

[0046] To sum up, in the monitoring method of the single-pedal mode of the present application, when it is monitored that the operating status of the vehicle meets the preset conditions, the vehicle is controlled to enter the single-pedal mode; the target torque value of the vehicle in the single-pedal mode is obtained; the target torque value includes at least one of the braking demand torque value, the energy recovery torque value and the hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; according to the target torque value, it is judged whether the operating status of the vehicle in the single-pedal mode meets the preset target conditions; when the judgment result is yes, the vehicle is controlled by a safety control strategy corresponding to the target condition, thereby solving the problem of damage to components of new energy vehicles or safety accidents caused by failure to monitor the single-pedal mode, avoiding the occurrence of dangerous accidents, and protecting the personal safety of people in the vehicle.

[0047] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0048] See also Figure 2 , which is a schematic diagram of the structure of a single-pedal mode monitoring device disclosed in an embodiment of the present application. The present application provides a single-pedal mode monitoring device 100, which may include at least a first control module 110, an acquisition module 120, a judgment module 130, and a second control module 140. The first control module 110 is connected to the acquisition module 120, the acquisition module 120 is connected to the judgment module 130, and the judgment module 130 is connected to the second control module 140.

[0049] When the vehicle's operating state is detected to meet preset conditions, the first control module 110 is configured to control the vehicle to enter single-pedal mode. The single-pedal mode is a mode in which the vehicle's acceleration and deceleration are controlled by a single accelerator pedal. Specifically, the preset conditions include: the vehicle is in a high-voltage power-on state, the vehicle's driving mode is ECO energy-saving mode, the vehicle's driving gear is in D gear, the vehicle meets energy recovery conditions, the vehicle's accelerator pedal signal is normal, and the vehicle's motor torque output is normal. When all of the preset conditions are met, the vehicle is controlled to enter single-pedal mode.

[0050] When the vehicle is in a high-voltage power-off state, or the driving mode of the vehicle exits the ECO energy-saving mode, or the driving gear of the vehicle is in R gear, or the vehicle does not meet the energy recovery conditions, or the signal of the accelerator pedal of the vehicle is abnormal, or the motor torque execution output of the vehicle is abnormal, or the automatic driving function of the vehicle is turned on, the vehicle is controlled to exit the single-pedal mode.

[0051] The acquisition module 120 is configured to acquire a target torque value of the vehicle in single-pedal mode. In this embodiment of the present application, the target torque value in single-pedal mode is obtained by analyzing the current vehicle speed and the accelerator pedal opening. The target torque value includes at least one of a braking demand torque value, an energy recovery torque value, and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value.

[0052] After the vehicle enters the single-pedal mode, the accelerator pedal opening of the vehicle is within the range of 0% to 30% (TBC). When it is recognized that the driver has released the accelerator pedal to decelerate, the vehicle's motor can be used to recover coasting energy. After the single-pedal mode is turned on, the maximum intensity of the coasting energy recovery is 0.2g (TBC), and the time to establish the required braking torque is less than 800ms (TBC). During the process of decelerating the vehicle by single-pedal control, when it is recognized that the driver has the intention to accelerate, the driving torque should be controlled quickly in response to the driver's acceleration intention.

[0053] During vehicle deceleration, when the vehicle speed is less than 15 kph (TBC), the energy regeneration torque value of the vehicle's motor begins to decrease; when the vehicle speed is less than 7 kph (TBC), the energy regeneration torque value of the vehicle's motor decays to zero. When the accelerator pedal is fully released, the vehicle speed gradually decreases to the creeping speed in single-pedal mode, which can be 3 kph (TBC).

[0054] During the deceleration process of the vehicle, if the currently available energy recovery torque does not meet the braking demand torque (i.e., the target wheel-end demand) in the pedalmap diagram, the difference between the braking demand torque value and the current energy recovery torque value analyzed in the current pedalmap diagram is judged, and according to the hydraulic compensation available state fed back by the electronic stability control system (ESC), the ESC is actively requested to perform hydraulic compensation after the conditions are met. The hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value. The active hydraulic compensation request signal and the hydraulic compensation torque value are sent to the ESC according to a certain slope. After receiving the active hydraulic compensation request signal, the ESC responds and feeds back the braking torque to ensure the consistency of the vehicle deceleration.

[0055] In the embodiment of the present application, the hydraulic compensation torque value does not exceed the braking demand torque value analyzed from the current pedalmap.

[0056] During the driving of the vehicle, if the driver turns on the automatic driving function, the ability of gliding energy recovery is taken over by the automatic driving, and the vehicle exits the single-pedal mode; if the driver turns off the automatic driving function, the vehicle returns to the single-pedal mode.

[0057] When the driving gear of the vehicle is R gear, if the driving mode of the vehicle is ECO energy-saving mode, the vehicle exits the single-pedal mode, the vehicle does not perform coasting energy recovery, and the creeping speed is 3kph (TBC). The brake pedal needs to be stepped on to stop the vehicle. After the vehicle stops, stepping on the brake pedal will not enter automatic parking (AutoHold).

[0058] The determination module 130 is configured to determine whether the vehicle's operation in the single-pedal mode satisfies a preset target condition based on the target torque value. In this embodiment of the present application, the target torque value includes a braking demand torque value, and the target condition includes a first target condition, wherein the first target condition is that the braking demand torque value is greater than or equal to a preset torque threshold.

[0059] The target torque value includes a hydraulic compensation torque value and a brake demand torque value. The target condition includes a second target condition, which includes: a first torque request event and a second torque request event occurring simultaneously for a duration greater than a preset duration threshold. The first torque request event includes sending a compensation torque request to the hydraulic system based on the hydraulic compensation torque value, and the second torque request event includes sending an energy recovery torque request to the motor based on the brake demand torque value.

[0060] The second target condition further includes: during the occurrence of the first torque request event and the second torque request event, the vehicle speed is greater than a preset vehicle speed threshold. In the embodiment of the present application, the preset vehicle speed threshold may be greater than 10 km / h.

[0061] In an embodiment of the present application, the target torque value includes an energy recovery torque value and a hydraulic compensation torque value. The first target torque value of the vehicle is calculated by a first calculation method, and the second target torque value of the vehicle is calculated by a second calculation method. According to the first target torque value and the second target torque value, it is judged whether the operation of the vehicle in the single-pedal mode meets the preset target conditions. The target condition includes a third target condition, and the third target condition is: the difference between the absolute value of the first target torque value and the absolute value of the second target torque value is not within a preset range, and / or the direction of the first target torque value is opposite to the direction of the second target torque value. Wherein, the first target torque value of the vehicle is calculated by the first calculation method at the functional layer of the vehicle, and the second target torque value of the vehicle is calculated by the second calculation method at the safety monitoring layer of the vehicle.

[0062] If the judgment result is yes, the second control module 140 is configured to control the vehicle using a safety control strategy corresponding to the target condition. In the embodiment of the present application, the safety control strategy specifically includes a first safety control strategy corresponding to the first target condition, wherein the first safety control strategy is to stop sending energy recovery torque requests to the motor and / or to stop sending torque compensation requests to the hydraulic compensation system.

[0063] The safety control strategy includes a second safety control strategy corresponding to the second target condition, and the second safety control strategy is: stopping sending a torque request to the motor or stopping sending a torque compensation request to the hydraulic system.

[0064] The safety control strategy includes a third safety control strategy corresponding to the third target condition, and the third safety control strategy is: stopping power supply to the vehicle.

[0065] To sum up, in the single-pedal mode monitoring device of the present application, when it is monitored that the operating status of the vehicle meets the preset conditions, the first control module 110 is used to control the vehicle to enter the single-pedal mode; the acquisition module 120 obtains the target torque value of the vehicle in the single-pedal mode; the target torque value includes at least one of the braking demand torque value, the energy recovery torque value and the hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; the judgment module 130 judges whether the operating status of the vehicle in the single-pedal mode meets the preset target conditions based on the target torque value; when the judgment result is yes, the second control module 140 controls the vehicle through a safety control strategy corresponding to the target condition, thereby solving the problem of damage to components of new energy vehicles or safety accidents caused by failure to monitor the single-pedal mode, avoiding the occurrence of dangerous accidents, and protecting the personal safety of people in the vehicle.

[0066] See also Figure 3 , which is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. The present application also provides an electronic device 10, including a processor 11, a memory 12, a communication interface 13 and a bus 14, wherein the processor 11, the memory 12 and the communication interface 13 are connected via the bus 14.

[0067] The processor 11 is used to read the instructions and computer programs stored in the memory 12 and execute them to achieve Figure 1 The monitoring method of the single pedal mode described in the illustrated embodiment.

[0068] The memory 12 is used to store Figure 1 The communication interface 13 is used to realize information exchange.

[0069] The bus 14 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0070] The processor 11 may be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or any combination of a CPU, NP, and GPU. It may also be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0071] The present application also provides a computer-readable storage medium having a computer program stored thereon, which implements Figure 1 The monitoring method of the single pedal mode described in the illustrated embodiment.

[0072] These computer programs 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 produce an article of manufacture including an instruction device that implements the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0073] These computer programs can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0074] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A monitoring method for a single pedal mode, characterized in that: The monitoring method of the single pedal mode includes: When it is monitored that the running state of the vehicle meets a preset condition, the vehicle is controlled to enter a single-pedal mode; the single-pedal mode is a mode in which the acceleration and deceleration of the vehicle are controlled by a single accelerator pedal; Obtaining a target torque value of the vehicle in single-pedal mode; the target torque value includes a braking demand torque value, an energy recovery torque value, and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; determining whether the operation of the vehicle in the single-pedal mode meets a preset target condition according to the target torque value; The target condition includes a second target condition, wherein the second target condition includes: a first torque request event and a second torque request event occurring simultaneously for a duration greater than a preset duration threshold; the first torque request event is: sending a compensation torque request to a hydraulic compensation system based on the hydraulic compensation torque value; and the second torque request event is: sending an energy recovery torque request to a motor based on the braking demand torque value. When the judgment result is yes, controlling the vehicle through a safety control strategy corresponding to the target condition; The safety control strategy includes a second safety control strategy corresponding to the second target condition, and the second safety control strategy is: stopping sending a torque request to the motor or stopping sending a torque compensation request to the hydraulic compensation system.

2. The monitoring method of the single pedal mode according to claim 1, characterized in that: The target condition further includes a first target condition, and the security control strategy includes a first security control strategy corresponding to the first target condition. The first target condition is: the braking demand torque value is greater than or equal to a preset torque threshold; The first safety control strategy is: stop sending an energy recovery torque request to the motor, or / and stop sending a torque compensation request to the hydraulic compensation system.

3. The monitoring method of the single pedal mode according to claim 1, characterized in that: The second target condition further includes: during the occurrence of the first torque request event and the second torque request event, a vehicle speed of the vehicle is greater than a preset vehicle speed threshold.

4. The monitoring method of the single pedal mode according to claim 1, characterized in that: The determining, based on the target torque value, whether the operation of the vehicle in the single-pedal mode meets a preset target condition includes: Calculating a first target torque value of the vehicle by a first calculation method, and calculating a second target torque value of the vehicle by a second calculation method; Whether the operation of the vehicle in the single-pedal mode meets a preset target condition is determined according to the first target torque value and the second target torque value.

5. The single-pedal mode monitoring method according to claim 4, characterized in that: The target condition further includes a third target condition, and the security control strategy includes a third security control strategy corresponding to the third target condition. The third target condition is: a difference between the absolute value of the first target torque value and the absolute value of the second target torque value is not within a preset range, and / or a direction of the first target torque value is opposite to a direction of the second target torque value; The third safety control strategy is: stopping supplying power to the vehicle.

6. The monitoring method of the single pedal mode according to claim 4, characterized in that: The target torque value includes an energy recovery torque value and a hydraulic compensation torque value. Calculating the first target torque value of the vehicle by the first calculation method and calculating the second target torque value of the vehicle by the second calculation method include: The first target torque value of the vehicle is calculated by a first calculation method at the functional layer of the vehicle, and the second target torque value of the vehicle is calculated by a second calculation method at the safety monitoring layer of the vehicle; wherein, the functional layer of the vehicle is used to analyze the torque, and the safety monitoring layer of the vehicle is used to monitor the torque analysis result output by the functional layer.

7. A monitoring device in single pedal mode, characterized in that: The single-pedal mode monitoring device includes: a first control module, an acquisition module, a determination module, and a second control module, wherein the first control module is configured to control the vehicle to enter the single-pedal mode when detecting that the vehicle's operating state meets a preset condition; the single-pedal mode is a mode in which the acceleration and deceleration of the vehicle are controlled by a single accelerator pedal; The acquisition module is used to acquire a target torque value of the vehicle in the single-pedal mode; the target torque value includes a braking demand torque value, an energy recovery torque value, and a hydraulic compensation torque value; the hydraulic compensation torque value is the difference between the braking demand torque value and the energy recovery torque value; the determination module being configured to determine, based on the target torque value, whether the operation of the vehicle in the single-pedal mode satisfies a preset target condition; the target condition including a second target condition, the second target condition including: a duration of simultaneous occurrence of a first torque request event and a second torque request event being greater than a preset duration threshold; the first torque request event being: sending a compensation torque request to a hydraulic compensation system based on the hydraulic compensation torque value; and the second torque request event being: sending an energy recovery torque request to a motor based on the brake demand torque value; The second control module, when the judgment result is yes, is used to control the vehicle through a safety control strategy corresponding to the target condition; the safety control strategy includes a second safety control strategy corresponding to the second target condition, and the second safety control strategy is: stop sending a torque request to the motor or stop sending a torque compensation request to the hydraulic compensation system.

8. An electronic device, characterized in that: It includes a processor, a memory, a communication interface and a bus, wherein the processor, the memory and the communication interface are connected via the bus, the memory is used to store instructions and computer programs of the single-pedal mode monitoring method as described in any one of claims 1 to 6, the processor is used to read the instructions and computer programs stored in the memory and execute them to implement the single-pedal mode monitoring method as described in any one of claims 1 to 6, and the communication interface is used to realize information interaction.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the single-pedal mode monitoring method according to any one of claims 1 to 6 is implemented.

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