Torque Control Method, Device, Vehicle Controller and Medium under Unintended Acceleration

Abstract

The present application relates to a torque control method, device, vehicle controller and medium under unexpected acceleration. Among them, the torque control method under unexpected acceleration includes: when the flag bit of unexpected acceleration is obtained, output the current user demand torque; after the flag bit of unexpected acceleration is obtained, monitor the vehicle speed of the vehicle; after it is monitored that the vehicle speed of the vehicle is greater than the first threshold, gradually decrease the torque upper limit, and output the current user demand torque according to the gradually decreased torque upper limit to reduce the vehicle speed. By adopting the torque control method provided by the present application, the problem of low safety of vehicles under unexpected acceleration in the prior art is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle control, and particularly to a torque control method, device, vehicle controller and medium under unexpected acceleration. Background Art

[0002] During the driving process of an automobile, unexpected acceleration may occur. Unexpected acceleration refers to abnormal acceleration of an automobile against the will of the driver. For example, after the driver releases the accelerator pedal, the automobile is still in an accelerating state.

[0003] Currently, when unexpected acceleration occurs in an automobile, the power output of the automobile can be interrupted to control the automobile to stop accelerating. However, this method may cause accidents such as rear-end collisions with the following vehicle or loss of control during cornering, so there is still a problem of low safety. Summary of the Invention

[0004] Based on this, this application provides a torque control method, device, vehicle controller and medium under unexpected acceleration, which improves the problem of low safety of an automobile under unexpected acceleration in the prior art.

[0005] In a first aspect, this application provides a torque control method, which includes: when the flag bit of unexpected acceleration is obtained, output the current user demand torque; after obtaining the flag bit of unexpected acceleration, monitor the vehicle speed of the automobile; after monitoring that the vehicle speed of the automobile is greater than the first threshold, gradually decrease the torque upper limit, and output the current user demand torque according to the gradually decreased torque upper limit to reduce the vehicle speed.

[0006] In combination with the first aspect, in the first first feasible implementation manner of the first aspect, the step of gradually decreasing the torque upper limit and outputting the current user demand torque according to the gradually decreased torque upper limit includes: outputting the minimum value of the torque upper limit and the current user demand torque; assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit.

[0007] In combination with the first first feasible implementation manner of the first aspect, in the second second feasible implementation manner of the first aspect, before performing the step of assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit, it further includes: judging whether the minimum value of the torque upper limit and the current user demand torque is less than the creep torque; if the minimum value is less than the creep torque, assign the creep torque to the torque upper limit; if the minimum value is greater than or equal to the creep torque, perform the step of assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit.

[0008] In combination with the first aspect, in the third feasible implementation manner of the first aspect, before it is monitored that the vehicle speed of the vehicle is greater than the first threshold, the method further includes: assigning the maximum value of the creep torque and the initial torque to the torque upper limit, where the initial torque is the user demand torque output when the flag bit of unexpected acceleration is obtained; outputting the current user demand torque according to the torque upper limit to ensure driving efficiency.

[0009] In combination with the first aspect, in the fourth feasible implementation manner of the first aspect, after it is monitored that the vehicle speed of the vehicle is greater than the first threshold, the method further includes: continuously monitoring the vehicle speed of the vehicle; after it is monitored that the vehicle speed of the vehicle is less than or equal to the second threshold, outputting the current user demand torque, where the first threshold is greater than the second threshold.

[0010] In combination with the first aspect, in the fifth feasible implementation manner of the first aspect, after the flag bit of unexpected acceleration is obtained, the method further includes: prompting the current existence of an unexpected acceleration risk through voice or text to prompt deceleration and repair; and / or, turning on the power limit light to prompt that the torque output is limited.

[0011] In a second aspect, the present application further provides a torque control device, which includes an acquisition unit, an output unit, and a monitoring unit, where: the acquisition unit is used to acquire the flag bit of unexpected acceleration; the output unit is used to output the current user demand torque when the flag bit is obtained; the monitoring unit is used to monitor the vehicle speed of the vehicle after the flag bit is obtained; the output unit is further used to, after it is monitored that the vehicle speed of the vehicle is greater than the first threshold, gradually decrease the torque upper limit and output the current user demand torque according to the gradually decreased torque upper limit to reduce the vehicle speed.

[0012] In combination with the second aspect, in the first feasible implementation manner of the second aspect, the above output unit is specifically used to: output the minimum value of the torque upper limit and the current user demand torque; assign the minimum value to the torque upper limit to gradually decrease the torque upper limit.

[0013] In combination with the first feasible implementation manner of the second aspect, in the second feasible implementation manner of the second aspect, the above output unit is further used to: determine whether the minimum value of the torque upper limit and the current user demand torque is less than the creep torque; if the minimum value is less than the creep torque, assign the creep torque to the torque upper limit; if the minimum value is greater than or equal to the creep torque, execute the step of assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit.

[0014] In combination with the second aspect, in the third implementable manner of the second aspect, the above output unit is further configured to: assign the maximum value of the creep torque and the initial torque to the torque upper limit, where the initial torque is the user demand torque output when the flag bit of unexpected acceleration is obtained; output the current user demand torque according to the torque upper limit to ensure driving efficiency.

[0015] In combination with the second aspect, in the fourth implementable manner of the second aspect, the above output unit is further configured to: continuously monitor the vehicle speed of the vehicle; after monitoring that the vehicle speed of the vehicle is less than or equal to the second threshold, output the current user demand torque, where the first threshold is greater than the second threshold.

[0016] In combination with the second aspect, in the fifth implementable manner of the second aspect, the above torque control device further includes a prompting unit, and the prompting unit is configured to: prompt the existence of an unexpected acceleration risk currently through voice or text to prompt deceleration and repair; and / or, turn on the power limit lamp to prompt that the torque output is limited.

[0017] In a third aspect, the present application further provides a torque control device, which includes a processor, a transceiver, and a memory. The processor and the memory are connected through a bus; the processor is configured to execute multiple instructions; the storage medium is configured to store multiple instructions, and the instructions are suitable for being loaded and executed by the processor to perform the torque control method under unexpected acceleration as described in the first aspect or any implementable manner of the first aspect.

[0018] In a fourth aspect, the present application further provides a vehicle controller, which includes: a function layer for implementing torque control under expected acceleration; a safety layer for monitoring the torque control of the function layer and, when unexpected acceleration occurs, performing the torque control method under unexpected acceleration as described in the first aspect or any implementable manner of the first aspect.

[0019] In a fifth aspect, the present application further provides a computer-readable storage medium, in which multiple instructions are stored, and the instructions are suitable for being loaded and executed by the processor to perform the torque control method under unexpected acceleration as described in the first aspect or any implementable manner of the first aspect.

[0020] In summary, the present application provides a torque control method, device, vehicle controller, and medium under unexpected acceleration. Among them, the torque control method first stabilizes the power output of the vehicle when the vehicle undergoes unexpected acceleration, and when the vehicle is traveling at a high speed, outputs the current user demand torque according to the torque upper limit that decreases in a gradient manner to reduce the vehicle speed, rather than directly interrupting the power output of the vehicle. It can be seen that the torque control method of the present application can improve the safety under unexpected acceleration and improve the problem of low safety of vehicles under unexpected acceleration in the prior art. Description of the Drawings

[0021] Figure 1 Schematic flowchart of a torque control method provided in an embodiment of the present application;

[0022] Figure 2 Schematic flowchart of another torque control method provided in an embodiment of the present application;

[0023] Figure 3 Schematic block diagram of a torque control device provided in an embodiment of the present application;

[0024] Figure 4 Structural block diagram of a torque control device provided in an embodiment of the present application;

[0025] Figure 5 Schematic block diagram of a vehicle controller provided in an embodiment of the present application. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0027] It should be noted that the torque values involved in the present application are all values without gear judgment. Gear judgment will be performed before outputting the torque. For example, if it is in the D gear (forward gear), it will be multiplied by the gain +1, and if it is in the R gear (reverse gear), it will be multiplied by the gain -1. The present application will not elaborate on this hereinafter.

[0028] Currently, in order to cope with the unexpected acceleration that may occur during the driving of an automobile, the vehicle controller can interrupt the power output of the automobile when the automobile experiences unexpected acceleration to control the automobile to stop accelerating. Specifically, the architecture of the vehicle controller includes the L1SW layer (i.e., the functional layer) and the L2SW layer (i.e., the safety layer), etc. The vehicle controller can use the functional layer to implement torque control and use the safety layer to monitor the torque control of the functional layer. If the safety layer monitors unexpected acceleration, it controls the automobile to output zero torque to interrupt the torque output of the automobile. Although this method stops the unexpected acceleration of the automobile, it may cause accidents such as rear-end collisions or out-of-control during cornering of the following vehicle. Therefore, there is still a problem of low safety.

[0029] In response to this, the present application proposes a torque control method under unexpected acceleration. When unexpected acceleration occurs, the power output of the vehicle is first maintained, and then the current user demand torque is output according to a torque upper limit that decreases in a gradient manner when the vehicle is traveling at a high speed, so as to reduce the vehicle speed, thereby improving the problem of low safety under unexpected acceleration in the prior art. It should be noted that the torque control method under unexpected acceleration proposed by the present application can be applied not only to the safety layer of the vehicle control unit (VCU), but also to other torque control devices. Data interaction can be carried out between the various layers inside the vehicle control unit, as well as between the vehicle control unit and other torque control devices. Among them, other torque control devices can be existing controllers in the vehicle, or controllers or processors dedicated to executing the torque control method provided by the present application. The processor can include, but is not limited to, a graphics processing unit (GPU), a central processing unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor can implement the torque control method described in the present application, such as outputting the current user demand torque according to a torque upper limit that decreases in a gradient manner, etc., which will not be elaborated in the present application.

[0030] It should be noted that when this method is applied to other torque control devices, it can be considered to adopt a hardware redundancy method, because other torque control devices can take over the work of the vehicle control unit when faults such as unexpected acceleration occur in the vehicle control unit to achieve torque control under unexpected acceleration. When this method is applied to the safety layer of the vehicle control unit, it can be considered to adopt a software redundancy method, because the safety layer adopted by the present application not only has the original monitoring function, etc., but also adds a torque control function under unexpected acceleration, so that the safety layer can not only monitor faults such as unexpected acceleration in the functional layer, but also take over the work of the functional layer to achieve torque control under unexpected acceleration. In addition, the functional layer and the safety layer are not only independent of each other in software design, but also run on different kernels, so the functional layer and the safety layer operate independently and do not interfere with each other.

[0031] To better understand the torque control method under unexpected acceleration provided by this application, this application provides an embodiment, as Figure 1 shown. Next, this application will take the safety layer of the vehicle control unit as an example of the execution subject to Figure 1 describe the torque control method. Specifically:

[0032] 101: When the flag bit of unexpected acceleration is obtained, output the current user demand torque.

[0033] Among them, when the safety layer of the vehicle control unit obtains the flag bit of unexpected acceleration, it outputs power according to the user demand torque requested by the user to maintain the power output of the vehicle without directly interrupting the power, thereby improving the safety under unexpected acceleration. The user demand torque is the torque requested by the user by stepping on the accelerator pedal. The safety layer can look up the user demand torque corresponding to the current vehicle speed and accelerator pedal opening according to the PedalMap (accelerator pedal characteristic table). In addition, after obtaining the flag bit of unexpected acceleration, the safety layer can also prompt the user that there is a risk of unexpected acceleration in the current vehicle through voice or text to prompt deceleration and repair, and / or turn on the power limit light to prompt that the torque output is limited. For example, after obtaining the flag bit of unexpected acceleration, the safety layer of the vehicle control unit controls the audio or screen on the vehicle to display a prompt message, which can be "There is a risk of unexpected acceleration, please decelerate immediately or go to the repair shop".

[0034] It should be noted that before obtaining the flag bit of unexpected acceleration, the safety layer of the vehicle control unit will continuously monitor the torque value output by the function layer. If the magnitude of the monitored torque value is abnormal, a flag bit is generated, and this flag bit is used to indicate that there is a risk of unexpected acceleration currently. To improve the accuracy of monitoring and reduce misjudgment, the safety layer can continue to monitor the torque value for a period of time after detecting that the magnitude of the torque value is abnormal. If the magnitude of the torque value remains abnormal during this period, a flag bit is generated. For example, a debounce function can be used to improve the accuracy of monitoring.

[0035] 102: After obtaining the flag bit of unexpected acceleration, monitor the vehicle speed of the vehicle.

[0036] Among them, after the safety layer of the vehicle control unit obtains the flag bit of unexpected acceleration, it monitors the vehicle speed of the vehicle. The higher the current vehicle speed, the higher the probability of danger currently.

[0037] 103: After monitoring that the vehicle speed of the vehicle is greater than the first threshold, gradually decrease the torque upper limit and output the current user demand torque according to the gradually decreasing torque upper limit to reduce the vehicle speed.

[0038] Among them, the first threshold is used to measure whether the vehicle speed of the car is relatively high. If the vehicle speed of the car is greater than the first threshold, it indicates that the vehicle speed is relatively high and the probability of danger is relatively high. Therefore, when the vehicle is driving at a high speed, the safety layer of the vehicle control unit reduces the torque upper limit by a gradient, so that the maximum torque that the car is allowed to output becomes smaller and smaller, thereby reducing the vehicle speed. It should be noted that when the safety layer of the vehicle control unit reduces the torque upper limit by a gradient, it can decrease the torque upper limit according to the default value, such as reducing by 100 N each time, or it can also decrease the torque upper limit according to the historically output torque value. For the latter method, this application proposes an implementable method. Specifically, the steps of reducing the torque upper limit by a gradient and outputting the current user demand torque according to the reduced torque upper limit by a gradient include: the safety layer of the vehicle control unit outputs the minimum value between the torque upper limit and the current user demand torque, and assigns the minimum value to the torque upper limit to reduce the torque upper limit by a gradient. The initial value of the torque upper limit can be a preset value, or the user demand torque output when it is detected that the vehicle speed is greater than the first threshold.

[0039] For example, after obtaining the flag bit of unexpected acceleration, if the safety layer of the vehicle control unit detects that the vehicle speed of the car is greater than 30 km / h, it assigns the currently output user demand torque N1 to the torque upper limit N, so that N = N1. Then, after 1 second, it outputs the minimum value between the currently output user demand torque N2 and the torque upper limit N. If N2 < N, it outputs N2 and makes N = N2. After another 1 second, it outputs the minimum value between the currently output user demand torque N3 and the torque upper limit N. If N3 < N, it outputs N3 and makes N = N3.... As the foregoing steps are repeated, the value of the torque upper limit becomes smaller and smaller, and the maximum torque that the car is allowed to output also becomes smaller and smaller. Therefore, the speed of the car also becomes smaller and smaller.

[0040] In addition, if the vehicle speed of the car is less than or equal to the first threshold, it indicates that the vehicle speed is relatively low and the probability of danger is relatively small. In order to balance the driving efficiency under safe conditions and enable the car to drive to the repair point faster, when the vehicle is driving at a low speed, the safety layer of the vehicle control unit can directly output the current user demand torque, or assign the initial torque to the torque upper limit, and then output the current user demand torque according to the torque upper limit. The initial torque is the user demand torque output when the flag bit of unexpected acceleration is obtained.

[0041] To ensure the basic driving efficiency of the car, the foregoing torque upper limit can be set to a value not less than the creep torque. In this regard, this application provides an implementable method for the cases of the car driving at a high speed and the car driving at a low speed respectively. Specifically:

[0042] When the vehicle is traveling at high speed: Before the safety layer of the vehicle control unit executes the step of assigning the minimum value to the torque upper limit and gradually decreasing the torque upper limit in a gradient manner, it first determines whether the minimum value of the torque upper limit and the current user demand torque is less than the creep torque. If the minimum value is less than the creep torque, the creep torque is assigned to the torque upper limit; if the minimum value is greater than or equal to the creep torque, the step of assigning the minimum value to the torque upper limit and gradually decreasing the torque upper limit in a gradient manner is executed. Among them, when the vehicle is traveling at high speed, the vehicle control unit will not infinitely decrease the torque upper limit in a gradient manner, and at most the torque upper limit is gradually decreased to the creep torque. Before the vehicle control unit assigns the minimum value of the torque upper limit and the current user demand torque to the torque upper limit, it first compares the creep torque with this minimum value, and assigns the larger value of the creep torque and this minimum value to the torque upper limit. For example, assume that the torque upper limit N > creep torque N0 > current user demand torque N1. At this time, N1 is output, and N = N0 is set; assume that the torque upper limit N > current user demand torque N1 ≥ creep torque N0. At this time, N1 is output, and N = N1 is set.

[0043] When the vehicle is traveling at low speed: Before the safety layer of the vehicle control unit monitors that the vehicle speed is greater than the first threshold, it first assigns the larger value of the creep torque and the initial torque to the torque upper limit, and then outputs the current user demand torque according to this torque upper limit to ensure driving efficiency. It can be seen that in this embodiment, when the vehicle is traveling at low speed, since the user demand torque is output according to the torque upper limit not less than the creep torque, driving efficiency can be ensured. At the same time, because the torque upper limit is not greater than the creep torque and the initial torque, safety is also improved, so that the vehicle speed will not soar in a short time.

[0044] In summary, when the vehicle experiences unexpected acceleration, the safety layer of the vehicle control unit improves the problem of low safety in the prior art by stabilizing the power output of the vehicle and reducing the vehicle speed when the vehicle speed is judged to be relatively high, rather than directly interrupting the power output of the vehicle.

[0045] In another embodiment, the present application also provides a torque control method under unexpected acceleration, as Figure 2 shown. Next, the present application will take the safety layer of the vehicle control unit as the execution subject as an example to illustrate Figure 2 the described torque control method. Specifically:

[0046] 201: When the flag bit of unexpected acceleration is obtained, output the current user demand torque.

[0047] 202: After the flag bit of unexpected acceleration is obtained, monitor the vehicle speed of the vehicle.

[0048] 203: After detecting that the vehicle speed of the vehicle is greater than the first threshold, reduce the torque upper limit in a gradient manner, and output the current user demand torque according to the torque upper limit that decreases in a gradient manner, so as to reduce the vehicle speed.

[0049] Among them, steps 201 to 203 can refer to steps 101 to 103 of the foregoing embodiment, and will not be elaborated here.

[0050] 204: After detecting that the vehicle speed of the vehicle is greater than the first threshold, continuously monitor the vehicle speed of the vehicle.

[0051] 205: After detecting that the vehicle speed of the vehicle is less than or equal to the second threshold, output the current user demand torque.

[0052] Among them, in order to further improve safety and torque control efficiency, after the safety layer of the vehicle control unit detects that the vehicle speed of the vehicle is greater than the first threshold (for example, 30 km / h), continuously monitor the vehicle speed of the vehicle until the vehicle speed is less than or equal to the second threshold (for example, 10 km / h), and then output the current user demand torque. It should be noted that since the first threshold is greater than the second threshold, the repeated switching between the torque control methods at low speed and high speed is reduced, the torque control efficiency is improved, and the safety is further improved.

[0053] Regarding step 205, the present application also proposes an implementable method. After the safety layer of the vehicle control unit detects that the vehicle speed of the vehicle is less than or equal to the second threshold, stop executing the step of reducing the torque upper limit in a gradient manner, and compare the torque upper limit obtained when stopping the gradient reduction with the creep torque to obtain the maximum value, and then output the current user demand torque according to the maximum value. It can be seen that in this embodiment, after the vehicle speed drops, since the user demand torque is output according to the torque upper limit that is not less than the creep torque, the driving efficiency can be guaranteed. At the same time, since the torque upper limit is not greater than the creep torque and the torque upper limit when stopping the gradient reduction, the safety is also improved, so that the vehicle speed will not soar in a short time.

[0054] In summary, compared with the previous embodiment, the embodiment of the present application can not only improve the problem of low safety under unexpected acceleration in the prior art, but also improve the torque control efficiency by reducing the repeated switching between the torque control methods at low speed and high speed, and further improve the safety.

[0055] It should be understood that although Figure 1 and 2 the steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,Figure 1 and 2 At least a part of the steps in 2 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed and completed at the same moment, but can be executed at different moments. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0056] In another embodiment, the present application also provides a torque control device. Refer to Figure 3 . Embodiments of the present application can divide the device into functional units according to the above method examples. For example, each functional unit can be corresponding to each function, or two or more functions can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation. As Figure 3 shown, the torque control device includes an acquisition unit 310, an output unit 320, and a monitoring unit 330. Specifically: The acquisition unit 310 is used to acquire a flag bit of unexpected acceleration; the output unit 320 is used to output the current user demand torque when the flag bit is acquired; the monitoring unit 330 is used to monitor the vehicle speed of the vehicle after the flag bit is acquired; the output unit 320 is further used to, after monitoring that the vehicle speed of the vehicle is greater than a first threshold, gradually decrease the torque upper limit, and output the current user demand torque according to the gradually decreased torque upper limit to reduce the vehicle speed.

[0057] In an implementable manner, the above output unit 320 is specifically used to: output the minimum value of the torque upper limit and the current user demand torque; assign the minimum value to the torque upper limit to gradually decrease the torque upper limit.

[0058] In an implementable manner, the above output unit 320 is further used to: determine whether the minimum value of the torque upper limit and the current user demand torque is less than the creep torque; if the minimum value is less than the creep torque, assign the creep torque to the torque upper limit; if the minimum value is greater than or equal to the creep torque, execute the step of assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit.

[0059] In an implementable manner, the above output unit 320 is further used to: assign the maximum value of the creep torque and the initial torque to the torque upper limit, where the initial torque is the user demand torque output when the flag bit of unexpected acceleration is acquired; output the current user demand torque according to the torque upper limit to ensure driving efficiency.

[0060] In an implementable manner, the above output unit 320 is further configured to: continuously monitor the vehicle speed of the vehicle; and output the current user demand torque after detecting that the vehicle speed of the vehicle is less than or equal to a second threshold, where the first threshold is greater than the second threshold.

[0061] In an implementable manner, the above torque control device further includes a prompting unit 340, and the prompting unit 340 is configured to: prompt the existence of an unexpected acceleration risk through voice or text to prompt deceleration and repair; and / or turn on a power limit lamp to prompt that the torque output is limited.

[0062] In another embodiment, the present application further provides a torque control device, see Figure 4 . The torque control device in this embodiment as shown in the figure may include: a processor 410 and a memory 420. The above processor 410 and memory 420 are connected through a bus 430. The processor 410 is configured to execute multiple instructions; the memory 420 is configured to store multiple instructions, and the instructions are adapted to be loaded and executed by the processor 410 to perform the torque control method under unexpected acceleration as in the above embodiment.

[0063] Among them, the processor 410 can be an Electronic Control Unit (ECU), a central processing unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 410 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of 5SP and a microprocessor, etc. In this embodiment, the processor 410 can adopt a single-chip microcomputer. By programming the single-chip microcomputer, various control functions can be realized. For example, in this embodiment, functions such as determining the angular interval to which the gradient value belongs can be realized. The processor has the advantages of strong computing power and fast processing speed. Specifically: The processor 410 is used to execute the function of the acquisition unit 310 to acquire the flag bit of unexpected acceleration; it is also used to execute the function of the output unit 320 to output the current user demand torque when the flag bit is acquired; it is also used to execute the function of the monitoring unit 330 to monitor the vehicle speed of the vehicle after the flag bit is acquired; it is also used to reduce the torque upper limit in a gradient manner and output the current user demand torque according to the gradient-reduced torque upper limit to reduce the vehicle speed after it is detected that the vehicle speed is greater than the first threshold.

[0064] In an implementable manner, the above-mentioned processor 410 is specifically used to: output the minimum value between the torque upper limit and the current user demand torque; assign the minimum value to the torque upper limit to reduce the torque upper limit in a gradient manner.

[0065] In an implementable manner, the above-mentioned processor 410 is further used to: determine whether the minimum value between the torque upper limit and the current user demand torque is less than the creep torque; if the minimum value is less than the creep torque, assign the creep torque to the torque upper limit; if the minimum value is greater than or equal to the creep torque, execute the step of assigning the minimum value to the torque upper limit to reduce the torque upper limit in a gradient manner.

[0066] In an implementable manner, the above-mentioned processor 410 is further used to: assign the maximum value between the creep torque and the initial torque to the torque upper limit, where the initial torque is the user demand torque output when the flag bit of unexpected acceleration is acquired; output the current user demand torque according to the torque upper limit to ensure driving efficiency.

[0067] In one implementable manner, the above-mentioned processor 410 is further configured to continuously monitor the vehicle speed of the vehicle; after detecting that the vehicle speed of the vehicle is less than or equal to a second threshold, output the current user demand torque, where the first threshold is greater than the second threshold.

[0068] In one implementable manner, the above-mentioned processor 410 is further configured to execute the function of the prompt unit 340, and is configured to: prompt the existence of an unexpected acceleration risk currently through voice or text to prompt deceleration and repair; and / or turn on a power limit light to prompt that the torque output is limited.

[0069] It should be noted that the foregoing processor may be an electronic control unit (ECU), a central processing unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor may also be a combination for implementing computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, and so on. In this embodiment, the processor may adopt a single-chip microcomputer, and various control functions can be realized by programming the single-chip microcomputer. For example, in this embodiment, functions such as acquisition, processing, and demodulation of vehicle speed are realized. The processor has the advantages of powerful computing ability and fast processing speed.

[0070] In one embodiment, the present application further provides a computer-readable storage medium, in which multiple instructions are stored, and the instructions are suitable for being loaded and executed by a processor to execute the method in any of the foregoing embodiments. The processor is configured to execute multiple instructions; the memory is configured to store multiple instructions, and the instructions are suitable for being loaded and executed by the processor to execute the torque control method under unexpected acceleration as in the above embodiment.

[0071] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, 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, it should be considered as the scope recorded in this specification.

[0072] The above embodiments only illustrate several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A torque control method under unexpected acceleration, characterized in that, The method includes: When the flag bit of unexpected acceleration of the function layer is obtained, output the current user demand torque; After obtaining the flag bit of the unexpected acceleration, monitor the vehicle speed of the vehicle; After monitoring that the vehicle speed of the vehicle is greater than the first threshold, gradually decrease the torque upper limit, and output the minimum value between the torque upper limit and the current user demand torque to reduce the vehicle speed.

2. The method according to claim 1, characterized in that, After outputting the minimum value between the torque upper limit and the current user demand torque, the method further includes: Assign the minimum value to the torque upper limit to gradually decrease the torque upper limit.

3. The method according to claim 2, wherein Before performing the step of assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit, it further includes: Judge whether the minimum value between the torque upper limit and the current user demand torque is less than the creep torque; If the minimum value is less than the creep torque, assign the creep torque to the torque upper limit; If the minimum value is greater than or equal to the creep torque, perform the step of assigning the minimum value to the torque upper limit to gradually decrease the torque upper limit.

4. The method according to claim 1, characterized in that, Before monitoring that the vehicle speed of the vehicle is greater than the first threshold, the method further includes: Assign the maximum value between the creep torque and the initial torque to the torque upper limit, where the initial torque is the user demand torque output when the flag bit of unexpected acceleration is obtained; Output the current user demand torque according to the torque upper limit to ensure driving efficiency.

5. The method according to claim 1, wherein After monitoring that the vehicle speed of the vehicle is greater than the first threshold, the method further includes: Continuously monitor the vehicle speed of the vehicle; After monitoring that the vehicle speed of the vehicle is less than or equal to the second threshold, output the current user demand torque, where the first threshold is greater than the second threshold.

6. The method according to claim 1, wherein After obtaining the flag bit of unexpected acceleration, the method further includes: Prompt the current existence of unexpected acceleration risk through voice or text to prompt deceleration and repair; And / or, turn on the power limit light to prompt that the torque output is limited.

7. A torque control device, characterized in that, It includes: An acquisition unit for acquiring the flag bit of unexpected acceleration of the function layer; An output unit for outputting the current user demand torque when the flag bit is obtained; A monitoring unit for monitoring the vehicle speed of the vehicle after obtaining the flag bit; The output unit is further configured to gradually decrease the torque upper limit after monitoring that the vehicle speed of the vehicle is greater than the first threshold, and output the minimum value between the torque upper limit and the current user demand torque to reduce the vehicle speed.

8. A torque control device, characterized in that, The torque control device includes a processor, a transceiver, and a memory, and the processor and the memory are connected through a bus; the processor is configured to execute multiple instructions; the memory is configured to store the multiple instructions, and the instructions are adapted to be loaded and executed by the processor to perform the torque control method under unexpected acceleration as described in any one of claims 1 to 6.

9. A vehicle controller, characterized in that, The vehicle controller includes: A function layer for implementing torque control under expected acceleration; A safety layer for monitoring the torque control of the function layer and performing the torque control method under unexpected acceleration as described in any one of claims 1 to 6 when unexpected acceleration occurs.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions, and the instructions are adapted to be loaded and executed by a processor to perform the torque control method under unexpected acceleration as described in any one of claims 1 to 6.

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