Torque control method, device, equipment and vehicle

Abstract

The present application provides a torque control method, device, equipment and vehicle, which can obtain monitoring information of the vehicle during driving when it is detected that the accelerator pedal anti-misstepping function of the vehicle is turned on, the monitoring information including the vehicle's operating condition information and at least one of the auxiliary monitoring information of the vehicle's auxiliary system. When it is determined according to the monitoring information that the vehicle currently meets the preset accelerator pedal anti-misstepping condition, the current torque attenuation factor is determined according to the pre-set accelerator pedal anti-misstepping strategy corresponding to the accelerator pedal anti-misstepping condition, and the current output torque of the vehicle is limited based on the torque attenuation factor to prevent the vehicle from unexpected acceleration due to the driver's misstepping on the accelerator pedal.

Description

Technical Field

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

[0002] Against the backdrop of the 21st century's global economic boom, cars have become a household necessity. New energy vehicles, particularly electric vehicles, are particularly popular among consumers due to their emerging technological concepts and excellent energy efficiency. "Single-pedal mode" is a representative example of this emerging technology. In this mode, the vehicle can maximize electric braking to achieve deceleration, thereby improving vehicle range. However, due to its significant differences from traditional vehicle operation, the single-pedal mode is prone to driver error, resulting in numerous traffic accidents. Therefore, preventing unintended acceleration caused by driver error in accelerator pedal operation has become a pressing technical challenge. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a torque control method, device, equipment and vehicle to solve the above-mentioned technical problems.

[0004] In one aspect, a torque control method is provided, the method comprising:

[0005] When detecting that an accelerator pedal mis-stepping prevention function of a vehicle is enabled, obtaining monitoring information of the vehicle during driving; the monitoring information includes at least one of operating condition information of the vehicle and auxiliary monitoring information of an auxiliary system of the vehicle;

[0006] When it is determined according to the monitoring information that the vehicle currently meets a preset accelerator pedal anti-misstepping condition, a current torque attenuation factor is determined according to a preset accelerator pedal anti-misstepping strategy corresponding to the accelerator pedal anti-misstepping condition;

[0007] A current output torque of the vehicle is limited based on the torque reduction factor.

[0008] In one embodiment, limiting the current output torque of the vehicle based on the torque attenuation factor includes:

[0009] Determine the torque decay time;

[0010] determining a target torque of the vehicle according to the torque attenuation factor;

[0011] The output torque of the vehicle is controlled to decay to the target torque within the torque decay time.

[0012] In one embodiment, when it is determined based on the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, determining a current torque attenuation factor based on a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition includes:

[0013] When it is detected that the duration of the accelerator pedal opening of the vehicle being greater than a preset first opening threshold is greater than a preset duration threshold, using the preset first torque attenuation factor as the current torque attenuation factor;

[0014] and / or,

[0015] When it is detected that the accelerator pedal opening of the vehicle is greater than a preset second opening threshold, and the brake pedal opening of the vehicle is greater than a preset third opening threshold, the preset second torque attenuation factor is used as the current torque attenuation factor;

[0016] and / or,

[0017] and, upon detecting that an accelerator pedal opening of the vehicle is greater than a preset fourth opening threshold, and a current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold, and receiving a target request, using a preset third torque attenuation factor as the current torque attenuation factor; the target request including at least one of a parking brake request and a target gear shift request; the target gear shift request being a request to control the vehicle to shift from a forward gear to a non-forward gear;

[0018] and / or,

[0019] When it is monitored that the accelerator pedal opening of the vehicle is greater than a preset fifth opening threshold and the absolute value of the steering wheel angle of the vehicle is greater than a preset angle threshold, the current torque attenuation factor is determined based on the accelerator pedal opening, the current vehicle speed and the absolute value of the steering wheel angle.

[0020] In one embodiment, when it is determined based on the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, determining a current torque attenuation factor based on a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition includes:

[0021] When it is detected that the vehicle is in a target driving state, and the absolute value of the tilt angle of the vehicle is greater than a tilt angle absolute value threshold corresponding to the target driving state, and the accelerator pedal opening of the vehicle is greater than a sixth opening threshold corresponding to the target driving state, determining a torque attenuation factor corresponding to the target driving state based on the current vehicle speed, the absolute value of the tilt angle, and the accelerator pedal opening; the target driving state being a downhill forward state or a reverse downhill state;

[0022] and / or,

[0023] monitoring a road type on which the vehicle is traveling, and determining a current torque attenuation factor according to the road type;

[0024] and / or,

[0025] When it is detected that the facial features of the driver in the cockpit of the vehicle meet a preset feature condition and it is determined that the rate of change of the accelerator pedal opening of the vehicle is greater than a preset accelerator pedal opening rate change threshold, a preset fourth torque attenuation factor is used as the current torque attenuation factor;

[0026] and / or,

[0027] When it is monitored that the number of times the target voice content is uttered in the cockpit of the car within a preset time period reaches a preset number threshold, the preset fifth torque attenuation factor is used as the current torque attenuation factor.

[0028] In one embodiment, monitoring the road type of the vehicle and determining the current torque attenuation factor according to the road type includes:

[0029] When the auxiliary system detects that the road type on which the vehicle is traveling is a special road surface and that the target torque difference when traveling on the special road surface is greater than a preset torque difference threshold, a road adhesion coefficient corresponding to the special road surface is determined based on a correspondence between a preset special road surface and a preset road adhesion coefficient, and a current torque attenuation factor is determined based on the road adhesion coefficient, the target torque difference, and the current vehicle speed; the target torque difference being the difference between the current required torque of the vehicle and the actual output torque of the previous cycle;

[0030] and / or,

[0031] When the auxiliary system monitors that the road type on which the vehicle is traveling is a special-shaped road, a torque attenuation factor corresponding to the special-shaped road is determined according to a correspondence between a preset special-shaped road and a preset torque attenuation factor.

[0032] In one embodiment, monitoring the road type of the vehicle and determining the current torque attenuation factor according to the road type includes:

[0033] When the auxiliary system detects that the road type on which the vehicle is traveling is a road with an obstacle ahead, and the current steering wheel angle or steering wheel angle change rate of the vehicle is less than a preset angle threshold or angle change rate threshold, a preset sixth torque attenuation factor is used as the current torque attenuation factor;

[0034] and / or,

[0035] When the auxiliary system detects that the road type on which the vehicle is traveling is a road with a speed limit sign ahead, and determines that the difference between the current speed of the vehicle and the maximum speed limit indicated by the speed limit sign is greater than a preset second speed threshold, a preset seventh torque attenuation factor is used as the current torque attenuation factor;

[0036] and / or,

[0037] When the auxiliary system monitors that the road type on which the vehicle is traveling is a road with a target warning sign ahead, and determines that the current target torque difference of the vehicle is greater than a preset torque difference threshold, the preset eighth torque attenuation factor is used as the current torque attenuation factor; the target torque difference is the difference between the current required torque of the vehicle and the actual output torque of the previous cycle.

[0038] In one embodiment, after determining the current torque attenuation factor according to the road adhesion coefficient, the target torque difference, and the current speed of the vehicle, determining the torque attenuation duration includes:

[0039] The torque attenuation time corresponding to the special road surface is determined according to the correspondence between the preset special road surface and the preset torque attenuation time; the smaller the road adhesion coefficient of the special road surface, the longer the corresponding torque attenuation time.

[0040] In another aspect, a torque control device is provided, comprising:

[0041] an acquisition module, configured to acquire monitoring information of the vehicle during driving when detecting that the accelerator pedal mis-stepping prevention function of the vehicle is activated; the monitoring information includes at least one of operating condition information of the vehicle and auxiliary monitoring information of an auxiliary system of the vehicle;

[0042] a determination module, configured to, when determining based on the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, determine a current torque attenuation factor based on a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition;

[0043] A limiting module is configured to limit a current output torque of the vehicle based on the torque attenuation factor.

[0044] On the other hand, an electronic device is provided, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the above methods.

[0045] On the other hand, a vehicle is provided, comprising an auxiliary system and the electronic device described above.

[0046] Through the torque control method, device, equipment and vehicle provided by the present application, when it is detected that the accelerator pedal anti-misstepping function of the vehicle is turned on, monitoring information of the vehicle during driving can be obtained, and the monitoring information includes at least one of the vehicle's operating condition information and auxiliary monitoring information of the vehicle's auxiliary system. When it is determined according to the monitoring information that the vehicle currently meets the preset accelerator pedal anti-misstepping condition, the current torque attenuation factor is determined according to the pre-set accelerator pedal anti-misstepping strategy corresponding to the accelerator pedal anti-misstepping condition, and the current output torque of the vehicle is limited based on the torque attenuation factor to prevent the vehicle from unexpected acceleration due to the driver's accidental stepping on the accelerator pedal. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flowchart of the torque control method provided in Example 1 of the present application;

[0048] Figure 2 A schematic diagram of a process for limiting the current output torque of a vehicle provided in Example 1 of the present application;

[0049] Figure 3 A flowchart of the torque control method provided in Example 1 of the present application;

[0050] Figure 4 A schematic structural diagram of a torque control device provided in Example 2 of the present application;

[0051] Figure 5 A schematic diagram of the structure of an electronic device provided in Example 3 of the present application;

[0052] Figure 6 This is a schematic structural diagram of the vehicle provided in Example 3 of the present application. DETAILED DESCRIPTION

[0053] 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.

[0054] Example 1:

[0055] This application embodiment provides a torque control method, see Figure 1 As shown, the method may include the following steps:

[0056] S11: When it is detected that the accelerator pedal anti-misstepping function of the vehicle is turned on, monitoring information of the vehicle during driving is obtained; the monitoring information includes at least one of the vehicle's operating condition information and auxiliary monitoring information of the vehicle's auxiliary system.

[0057] S12: When it is determined according to the monitoring information that the vehicle currently meets the preset accelerator pedal anti-misstepping condition, a current torque attenuation factor is determined according to a preset accelerator pedal anti-misstepping strategy corresponding to the accelerator pedal anti-misstepping condition.

[0058] S13: Limiting the current output torque of the vehicle based on the torque attenuation factor.

[0059] The specific process of the above steps is described in detail below.

[0060] The car can be pre-set with an accelerator pedal anti-accidental step function. Steps S11-S13 are only executed when this function is turned on. When the driver has other special driving needs, such as track driving, the function can be turned off. It should be noted that the user can choose to turn on this function in single-pedal mode. Of course, the user can also choose to turn on this function in non-single-pedal mode. The user can send an on or off command through the large display screen on the on-board terminal in the car to turn on or off the accelerator pedal anti-accidental step function. When the function is turned off, the user can be prompted to drive safely.

[0061] Since the accelerator pedal is operated more frequently in single-pedal mode, it is more likely to cause misoperation and unexpected acceleration. Therefore, in some embodiments, the accelerator pedal anti-misoperation function can be automatically turned on after detecting that the car has turned on the single-pedal mode.

[0062] The monitoring information in the embodiment of the present application includes at least one of the operating condition information of the automobile and the auxiliary monitoring information of the auxiliary system of the automobile. Among them, the operating condition information includes but is not limited to the accelerator pedal opening, the brake pedal opening, and the speed of the automobile. The gear position of the automobile, the braking status of the EPB handbrake, the steering wheel angle of the automobile, the current required torque of the automobile and the actual output torque of the previous cycle, etc. The auxiliary system in the embodiment of the present application refers to a system on the automobile that can monitor or collect external information, including but not limited to the ADS auxiliary system, the DMS auxiliary system and the voice assistance system. Among them, the ADS auxiliary system, that is, the intelligent driving assistance system, can monitor the road-related information of the road on which the car is traveling, and use it as auxiliary monitoring information, such as the road type. The DMS auxiliary system, that is, the driver monitoring system, can monitor the facial features of the driver in the cockpit of the car, and use it as auxiliary monitoring information. The voice assistance system can monitor the voice content in the cockpit and use it as auxiliary monitoring information.

[0063] For step S13, see Figure 2 As shown, the following steps may be included:

[0064] S131: Determine the torque decay time.

[0065] S132: Determine the target torque of the vehicle according to the torque attenuation factor.

[0066] S133: Control the output torque of the vehicle to decay to the target torque within the torque decay time.

[0067] In an optional embodiment, a fixed torque decay time may be pre-set on the vehicle, and the output torque is decayed based on the torque decay time regardless of the value of the determined torque decay factor.

[0068] In another optional embodiment, a correspondence between a preset torque attenuation factor and a preset torque attenuation duration can be pre-set for the vehicle. In step S131, the torque attenuation duration corresponding to the current torque attenuation factor can be determined based on the correspondence between the preset torque attenuation factor and the preset torque attenuation duration. A smaller preset torque attenuation factor corresponds to a longer preset torque attenuation duration. A smaller torque attenuation factor indicates a greater torque attenuation amount, and therefore a longer corresponding attenuation time is required, thereby preventing rapid attenuation of the vehicle's output torque.

[0069] In this embodiment of the present application, the torque decay duration refers to the time it takes for the torque decay factor to decrease from 1 to the value determined in step S12, i.e., the time it takes for the vehicle's output torque to decrease from the required torque to the target torque. The required torque here can be the torque required by the vehicle estimated based on the accelerator pedal position. In step S132, the target torque can be calculated using the formula "target torque = required torque * torque decay factor."

[0070] It is understood that the torque decay duration essentially represents the speed of torque decay. In some embodiments, a correspondence between a preset torque decay factor and a preset torque decay speed can be pre-set for the vehicle. The torque decay speed corresponding to the current torque decay factor can then be determined based on this correspondence. The smaller the preset torque decay factor, the smaller the corresponding preset torque decay speed. A smaller torque decay factor indicates a greater torque decay. Setting a smaller torque decay speed can slow torque decay, preventing unintended vehicle acceleration when the accelerator pedal is suddenly or accidentally depressed.

[0071] It should be noted that multiple accelerator pedal anti-misstepping conditions can be preset on the car, and a corresponding accelerator pedal anti-misstepping strategy can be preset for each accelerator pedal anti-misstepping condition, so that when it is determined based on monitoring information that the car currently meets the preset accelerator pedal anti-misstepping condition, the current torque attenuation factor can be determined based on the pre-set accelerator pedal anti-misstepping strategy corresponding to the accelerator pedal anti-misstepping condition.

[0072] According to the preset accelerator pedal mis-pressing prevention conditions and the corresponding accelerator pedal mis-pressing prevention strategy, step S12 may include the following:

[0073] Condition 1 + Strategy 1: When it is detected that the accelerator pedal opening of the vehicle is greater than a preset first opening threshold for a duration greater than a preset duration threshold, the preset first torque attenuation factor A1 is used as the current torque attenuation factor;

[0074] and / or,

[0075] Condition 2 + Strategy 2: When it is detected that the accelerator pedal opening of the vehicle is greater than a preset second opening threshold, and the brake pedal opening of the vehicle is greater than a preset third opening threshold, the preset second torque attenuation factor A2 is used as the current torque attenuation factor;

[0076] and / or,

[0077] Condition 3 + Strategy 3: When it is detected that the accelerator pedal opening of the vehicle is greater than a preset fourth opening threshold, and the current vehicle speed is greater than a preset first vehicle speed threshold, and a target request is received, a preset third torque attenuation factor A3 is used as the current torque attenuation factor; the target request includes at least one of a parking brake request and a target gear shift request; the target gear shift request is a request to control the vehicle to shift from a forward gear to a non-forward gear;

[0078] and / or,

[0079] Condition 4 + Strategy 4: When it is detected that the accelerator pedal opening of the vehicle is greater than a preset fifth opening threshold and the absolute value of the steering wheel angle of the vehicle is greater than a preset angle threshold, a current torque attenuation factor is determined based on the accelerator pedal opening, the current vehicle speed, and the absolute value of the steering wheel angle;

[0080] and / or,

[0081] Condition 5 + Strategy 5: When it is detected that the vehicle is in a target driving state, the absolute value of the vehicle's tilt angle is greater than a tilt angle absolute value threshold corresponding to the target driving state, and the accelerator pedal opening of the vehicle is greater than a sixth opening threshold corresponding to the target driving state, a torque attenuation factor corresponding to the target driving state is determined based on the vehicle's current speed, the absolute value of the tilt angle, and the accelerator pedal opening; the target driving state is a downhill forward state or a reverse downhill state;

[0082] and / or,

[0083] Condition 6+Strategy 6: monitoring the road type of the road on which the vehicle is traveling, and determining a current torque attenuation factor according to the road type;

[0084] And / or

[0085] Condition 7 + Strategy 7: When it is detected that the facial features of the driver in the cockpit of the vehicle satisfy the preset feature conditions and it is determined that the change rate of the accelerator pedal opening of the vehicle is greater than the preset accelerator pedal opening change rate threshold, the preset fourth torque attenuation factor A4 is used as the current torque attenuation factor;

[0086] And / or

[0087] Condition 8 + Strategy 8: When it is detected that the number of times the target voice content is issued in the cockpit of the vehicle reaches the preset number threshold within the preset duration, the preset fifth torque attenuation factor A5 is used as the current torque attenuation factor.

[0088] For the above Condition 1 + Strategy 1, the first opening threshold and the preset duration threshold in Condition 1 can be flexibly set by developers, and the first torque attenuation factor in Strategy 1 can also be flexibly set by developers. Exemplarily, the first opening threshold can be set to 90%, the preset duration threshold can be set to 5s, and 0 < A1 < 1. Through Strategy 1, it is possible to prevent the vehicle from accelerating unexpectedly when the accelerator pedal is suddenly depressed or mis-depressed.

[0089] For the above Condition 2 + Strategy 2, the second opening threshold and the third opening threshold in Condition 2, and the second torque attenuation factor in Strategy 2 can be flexibly set by developers. Exemplarily, the second opening threshold can be set to 5%, the third opening threshold can be set to 10%, and the second torque attenuation factor A2 can be set to 0. Through Strategy 2, it is possible to avoid unexpected acceleration of power output when the driver mis-operations the accelerator pedal or depresses the accelerator pedal and the brake pedal simultaneously.

[0090] For the above Condition 3 + Strategy 3, the fourth opening threshold, the first vehicle speed threshold in Condition 3, and the third torque attenuation factor in Strategy 3 can be flexibly set by developers. Exemplarily, the fourth opening threshold can be set to 50%, the first vehicle speed threshold can be set to 30 km / h, and the second torque attenuation factor A3 can be set to 0. Exemplarily, the target gear shifting request can be a request to control the vehicle to shift from D gear to R gear, a request to shift from S gear to P gear, etc. Through Strategy 3, it is possible to avoid torque output when the driver has a deceleration request under emergency conditions.

[0091] For Condition 4 + Strategy 4 above, the fifth opening threshold and preset angle threshold in Condition 4 can be flexibly set by the developer. For example, the fifth opening threshold can be set to 50%, and the preset angle threshold can be set to 100°. In Strategy 4, a torque attenuation factor corresponding to the monitored accelerator pedal opening, steering wheel angle absolute value, and vehicle speed can be determined based on a correspondence table that lists the preset accelerator pedal opening, vehicle speed, and steering wheel angle absolute value with the preset torque attenuation factor. The torque attenuation factor in this correspondence table can be calibrated based on actual vehicle drivability and safety. Based on this correspondence table, the corresponding torque attenuation factor can be determined based on three-dimensional data of vehicle speed, steering wheel angle absolute value, and accelerator pedal opening value. This can prevent unintended acceleration caused by accidental accelerator pedal depression during sharp turns, U-turns, and other large corners. In this embodiment of the present application, optionally, the first opening threshold > the fourth opening threshold > the third opening threshold > the second opening threshold. The first opening threshold > the fifth opening threshold > the third opening threshold > the second opening threshold.

[0092] For the above-mentioned condition 5+strategy 5, the absolute value threshold of the tilt angle and the sixth opening threshold in condition 5 can be flexibly set by the developer. For example, different absolute value thresholds of the tilt angle and the sixth opening threshold can be set for different target driving states. Of course, the same absolute value threshold of the tilt angle and the sixth opening threshold can also be set. For example, for the downhill forward state and the reverse downhill state, the corresponding absolute value threshold of the tilt angle can be set to 15°, and the corresponding sixth opening threshold can be set to 50%. In strategy 5, the torque attenuation factor can be determined based on the correspondence table corresponding to the target driving state. The correspondence table here contains the correspondence between the preset vehicle speed, the preset absolute value of the tilt angle, the preset accelerator pedal opening and the torque attenuation factor under the target driving state. It should be noted that the data in the correspondence table can be calibrated based on the drivability of the actual vehicle going forward downhill and the actual vehicle reversing downhill.

[0093] It is understood that in the embodiment of the present application, the vehicle longitudinal acceleration signal and speed can be measured based on the sensors on the vehicle, thereby estimating the absolute value of the vehicle's tilt angle. You can get: );in, Indicates the tilt angle of the car, a g represents the longitudinal acceleration of the vehicle body, and g represents the acceleration due to gravity.

[0094] It should be noted that the downhill forward state in condition 5 refers to the state in which the front of the car is facing downhill and the gear is in the D gear or other forward gear, and the reverse downhill state refers to the state in which the front of the car is facing uphill and the gear is in the R gear or reverse gear.

[0095] For the above Condition 6 + Strategy 6, at least one of the following shall be included but not limited to:

[0096] When it is detected through an auxiliary system, such as an ADS auxiliary system, that the road type on which the vehicle is traveling is a special road, and the target torque difference when traveling on the special road is greater than a preset torque difference threshold, the road adhesion coefficient corresponding to the special road is determined based on the correspondence between the preset special road and the preset road adhesion coefficient, and the current torque attenuation factor is determined based on the road adhesion coefficient, the target torque difference and the current vehicle speed; the target torque difference is the difference between the current required torque of the vehicle and the actual output torque of the previous cycle. The special road in the embodiment of the present application includes but is not limited to icy and snowy roads, slippery roads, gravel roads, cement roads, and asphalt roads. In some embodiments, when it is identified that the vehicle is traveling on a conventional road, such as a cement road or an asphalt road, torque limitation may not be performed. When it is identified that the vehicle is traveling on a low-adhesion road such as an icy and snowy road, a slippery road, a gravel road, etc., torque limitation may be performed. Calculate the driver's required torque T analyzed by the accelerator pedal opening at this time. drv The difference ΔT from the actual output torque T of the previous cycle, that is, if ΔT is greater than the preset torque difference threshold at this time, the torque attenuation factor corresponding to the current road adhesion coefficient, target torque difference, and vehicle speed is determined according to the correspondence table of the preset road adhesion coefficient, the preset target torque difference, the preset vehicle speed, and the preset torque attenuation factor. Each data in the correspondence table can be confirmed based on the actual vehicle drivability calibration. In some embodiments, the correspondence between the preset special road surface and the preset torque attenuation time can also be pre-set. For example, the smaller the road adhesion coefficient of the special road surface, the smaller the corresponding torque attenuation time. Avoid the risk of vehicle instability caused by sudden acceleration instability and sudden torque limitation on low-adhesion roads. The basic trend of the road adhesion coefficient is: μ 冰雪路面 <μ 湿滑路面 <μ 砂石路面 <μ 水泥路面 <μ 沥青路面 , the corresponding torque attenuation time trend is: t 冰雪路面 >t 湿滑路面 >t 砂石路面 >t 水泥路面 >t 沥青路面 At this time, in step S131, the torque decay time corresponding to the special road surface may be determined according to the correspondence between the preset special road surface and the preset torque decay time length.

[0097] When an auxiliary system, such as an ADS, detects that the vehicle is traveling on a road of a special shape, a torque attenuation factor corresponding to the special shape is determined based on a preset correspondence between special shape roads and preset torque attenuation factors. For example, torque attenuation factors corresponding to different special shape roads, such as horizontal curves and narrow roads, can be preset. In some embodiments, when the vehicle is traveling on a straight, unobstructed road, torque limitation may not be applied.

[0098] When an auxiliary system, such as an ADS, detects that the vehicle is traveling on a road with an obstacle ahead and that the vehicle's current steering wheel angle or steering wheel angle change rate is less than a preset angle threshold or angle change rate threshold, a preset sixth torque attenuation factor A6 is used as the current torque attenuation factor. The sixth torque attenuation factor A6 can be set to 0 to avoid unintended acceleration caused by driver error in poor road conditions.

[0099] When an auxiliary system, such as an ADS, detects that the road type on which the vehicle is traveling is a road with a speed limit sign ahead and determines that the difference between the current speed of the vehicle and the maximum speed limit indicated by the speed limit sign is greater than a preset second speed threshold, the preset seventh torque attenuation factor A7 is used as the current torque attenuation factor. The value range of the seventh torque attenuation factor in the embodiment of the present application can be 0 <A7<1。

[0100] When it is detected through an auxiliary system, such as an ADS auxiliary system, that the road type on which the car is traveling is a road with a target warning sign in front, and it is determined that the current target torque difference of the car is greater than the preset torque difference threshold, the preset eighth torque attenuation factor A8 is used as the current torque attenuation factor; the target torque difference is the difference between the current required torque of the car and the actual output torque of the previous cycle. The target warning sign can be a school town sign, a zebra crossing sign at an intersection, etc. The value range of the eighth torque attenuation factor in the embodiment of the present application can be 0 <A8<1。

[0101] For the above-mentioned condition 7 + strategy 7, the preset characteristic conditions in condition 7 can be arbitrarily set by the developer. For example, when an auxiliary system, such as a DMS auxiliary system, monitors the driver's facial features such as drowsiness, fatigue, or panic, and determines that the rate of change of the accelerator pedal opening of the vehicle is greater than a preset accelerator pedal opening rate change threshold, the preset fourth torque attenuation factor A4 is used as the current torque attenuation factor, and the fourth torque attenuation A4 in strategy 4 can be set to 0 to avoid unexpected acceleration of the vehicle caused by misoperation when the driver is in an abnormal mental state.

[0102] For Condition 8 + Strategy 8 above, if an auxiliary system, such as a voice assistance system, recognizes that the driver or passenger has clearly stated "brake" or "slow down" and that this is triggered a predetermined number of times or more within a predetermined period T, the preset fifth torque attenuation factor A5 will be used as the current torque attenuation factor. This fifth torque attenuation factor A5 can be set to 0, meaning that the driver's requested torque, as interpreted by the accelerator pedal position, will not be output, thus preventing unexpected torque output in emergency situations. Furthermore, if the recognized voice information is not part of a continuous conversation, torque limitation according to Strategy 8 may be omitted to avoid misjudgment.

[0103] It should be noted that when the vehicle satisfies multiple of the above conditions simultaneously, the torque attenuation factors can be determined separately based on the strategies corresponding to each condition, and each torque attenuation factor can be multiplied by the required torque to obtain the target torque.

[0104] In the embodiment of the present application, after the accelerator pedal anti-misstep function is turned on, the vehicle controller of the vehicle can make a final arbitration judgment on the vehicle demand torque based on various monitoring information, thereby attenuating and limiting the vehicle torque output. The corresponding logic control block diagram can be as follows: Figure 3 As shown, based on basic vehicle information such as the driving pedal opening, opening change rate, brake pedal status, gear position, and EPB status, the driver's required torque is arbitrated and limited in output, thereby effectively avoiding unexpected acceleration problems caused by basic driver's accelerator pedal misoperation; based on the state recognition of the accelerator pedal under vehicle cornering conditions and slope conditions, the driver's required torque is arbitrated and limited in output, thereby effectively avoiding unexpected acceleration problems caused by driver's accelerator pedal misoperation in driving conditions such as curves / slopes; based on the state recognition of the accelerator pedal by vehicle auxiliary systems such as ADS system road condition information, DMS system driver facial features, and voice recognition system feature vocabulary recognition, the driver's required torque is arbitrated and limited in output, thereby effectively assisting the vehicle auxiliary system to avoid unexpected acceleration problems caused by driver's accelerator pedal misoperation.

[0105] In addition, when the accelerator pedal anti-misstep function is triggered, prompts or warning messages can be displayed on the IVI large screen and IC instrument to prompt and warn the driver.

[0106] It should be understood that, although the various steps in the above flow chart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the above flow chart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0107] Example 2:

[0108] Based on the same inventive concept, the present application provides a torque control device, see Figure 4 As shown, the device includes:

[0109] an acquisition module 401 for acquiring monitoring information of the vehicle during driving when detecting that the accelerator pedal mis-stepping prevention function of the vehicle is activated; the monitoring information includes at least one of operating condition information of the vehicle and auxiliary monitoring information of an auxiliary system of the vehicle;

[0110] a determination module 402 for determining, when determining based on the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, a current torque attenuation factor based on a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition;

[0111] The limiting module 403 is configured to limit the current output torque of the vehicle based on the torque attenuation factor.

[0112] It should be noted that, for the sake of brevity, some of the contents described in the above embodiments will not be repeated in this embodiment.

[0113] Example 3:

[0114] This embodiment provides an electronic device 50, see Figure 5 As shown, the electronic device 50 includes a processor 501 and a memory 502, the memory 502 stores a computer program, the processor 501 and the memory 502 communicate via a communication bus, and the processor 501 executes the computer program to implement the steps of the method in the above embodiment, which will not be repeated here. It can be understood that Figure 5 The structure shown is only for illustration, and the electronic device may also include Figure 5 More or fewer components than shown, or with Figure 5It should be noted that the electronic device 50 in the embodiment of the present application can be set in a car.

[0115] The processor 501 can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0116] The memory 502 may include, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), and the like.

[0117] This embodiment further provides a vehicle, including an auxiliary system 51 and the aforementioned electronic device 50. The auxiliary system 51 can monitor or collect external information of the vehicle, including but not limited to an ADS auxiliary system, a DMS auxiliary system, and a voice auxiliary system.

[0118] This embodiment also provides a computer-readable storage medium, such as a floppy disk, a CD, a hard disk, a flash memory, a USB flash drive, an SD card, an MMC card, etc., in which one or more programs for implementing the above steps are stored. These one or more programs can be executed by one or more processors 301 to implement the steps of the method in the above embodiment, which will not be repeated here.

[0119] 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.

[0120] 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.

[0121] 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 torque control method, characterized in that: include: When detecting that the accelerator pedal mis-stepping prevention function of the vehicle is turned on, obtaining monitoring information of the vehicle during driving; The monitoring information includes at least one of operating condition information of the vehicle and auxiliary monitoring information of an auxiliary system of the vehicle; When it is determined according to the monitoring information that the vehicle currently meets a preset accelerator pedal anti-misstepping condition, a current torque attenuation factor is determined according to a preset accelerator pedal anti-misstepping strategy corresponding to the accelerator pedal anti-misstepping condition; limiting the current output torque of the vehicle based on the torque attenuation factor; When it is determined according to the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, a current torque attenuation factor is determined according to a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition, including: When it is detected that the vehicle is in a target driving state, and the absolute value of the tilt angle of the vehicle is greater than a tilt angle absolute value threshold corresponding to the target driving state, and the accelerator pedal opening of the vehicle is greater than a sixth opening threshold corresponding to the target driving state, determining a torque attenuation factor corresponding to the target driving state based on the current vehicle speed, the absolute value of the tilt angle, and the accelerator pedal opening; the target driving state being a downhill forward state or a reverse downhill state; and / or, A road type of the road on which the vehicle is traveling is monitored, and a current torque attenuation factor is determined according to the road type.

2. The torque control method according to claim 1, wherein: The step of limiting the current output torque of the vehicle based on the torque attenuation factor includes: Determine the torque decay time; determining a target torque of the vehicle according to the torque attenuation factor; The output torque of the vehicle is controlled to decay to the target torque within the torque decay time.

3. The torque control method according to claim 2, wherein: When it is determined according to the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, determining a current torque attenuation factor according to a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition includes: When it is detected that the duration of the accelerator pedal opening of the vehicle being greater than a preset first opening threshold is greater than a preset duration threshold, using the preset first torque attenuation factor as the current torque attenuation factor; and / or, When it is detected that the accelerator pedal opening of the vehicle is greater than a preset second opening threshold, and the brake pedal opening of the vehicle is greater than a preset third opening threshold, the preset second torque attenuation factor is used as the current torque attenuation factor; and / or, and, upon detecting that an accelerator pedal opening of the vehicle is greater than a preset fourth opening threshold, and a current vehicle speed of the vehicle is greater than a preset first vehicle speed threshold, and receiving a target request, using a preset third torque attenuation factor as the current torque attenuation factor; the target request including at least one of a parking brake request and a target gear shift request; the target gear shift request being a request to control the vehicle to shift from a forward gear to a non-forward gear; and / or, When it is monitored that the accelerator pedal opening of the vehicle is greater than a preset fifth opening threshold and the absolute value of the steering wheel angle of the vehicle is greater than a preset angle threshold, the current torque attenuation factor is determined based on the accelerator pedal opening, the current vehicle speed and the absolute value of the steering wheel angle.

4. The torque control method according to claim 2, wherein: When it is determined according to the monitoring information that the vehicle currently meets a preset accelerator pedal mis-pressing prevention condition, determining a current torque attenuation factor according to a preset accelerator pedal mis-pressing prevention strategy corresponding to the accelerator pedal mis-pressing prevention condition includes: When it is detected that the facial features of the driver in the cockpit of the vehicle meet a preset feature condition and it is determined that the rate of change of the accelerator pedal opening of the vehicle is greater than a preset accelerator pedal opening rate change threshold, a preset fourth torque attenuation factor is used as the current torque attenuation factor; and / or, When it is monitored that the number of times the target voice content is uttered in the cockpit of the car within a preset time period reaches a preset number threshold, the preset fifth torque attenuation factor is used as the current torque attenuation factor.

5. The torque control method according to claim 1, wherein: The monitoring of the road type on which the vehicle is traveling and determining the current torque attenuation factor according to the road type includes: When the auxiliary system detects that the road type on which the vehicle is traveling is a special road surface and that the target torque difference when traveling on the special road surface is greater than a preset torque difference threshold, a road adhesion coefficient corresponding to the special road surface is determined based on a correspondence between a preset special road surface and a preset road adhesion coefficient, and a current torque attenuation factor is determined based on the road adhesion coefficient, the target torque difference, and the current vehicle speed; the target torque difference being the difference between the current required torque of the vehicle and the actual output torque of the previous cycle; and / or, When the auxiliary system monitors that the road type on which the vehicle is traveling is a special-shaped road, a torque attenuation factor corresponding to the special-shaped road is determined according to a correspondence between a preset special-shaped road and a preset torque attenuation factor.

6. The torque control method according to claim 1, wherein: The monitoring of the road type on which the vehicle is traveling and determining the current torque attenuation factor according to the road type includes: When the auxiliary system detects that the road type on which the vehicle is traveling is a road with an obstacle ahead, and the current steering wheel angle or steering wheel angle change rate of the vehicle is less than a preset angle threshold or angle change rate threshold, a preset sixth torque attenuation factor is used as the current torque attenuation factor; and / or, When the auxiliary system detects that the road type on which the vehicle is traveling is a road with a speed limit sign ahead, and determines that the difference between the current speed of the vehicle and the maximum speed limit indicated by the speed limit sign is greater than a preset second speed threshold, a preset seventh torque attenuation factor is used as the current torque attenuation factor; and / or, When the auxiliary system monitors that the road type on which the vehicle is traveling is a road with a target warning sign ahead, and determines that the current target torque difference of the vehicle is greater than a preset torque difference threshold, the preset eighth torque attenuation factor is used as the current torque attenuation factor; the target torque difference is the difference between the current required torque of the vehicle and the actual output torque of the previous cycle.

7. The torque control method according to claim 5, wherein: After determining the current torque attenuation factor according to the road adhesion coefficient, the target torque difference, and the current speed of the vehicle, determining the torque attenuation duration includes: The torque attenuation time corresponding to the special road surface is determined according to the correspondence between the preset special road surface and the preset torque attenuation time; the smaller the road adhesion coefficient of the special road surface, the longer the corresponding torque attenuation time.

8. A torque control device, characterized in that: The device comprises: an acquisition module, configured to acquire monitoring information of the vehicle during driving when detecting that the accelerator pedal mis-stepping prevention function of the vehicle is activated; the monitoring information includes at least one of operating condition information of the vehicle and auxiliary monitoring information of an auxiliary system of the vehicle; a determination module, configured to determine, based on the monitoring information, that the vehicle is in a target driving state, and when the absolute value of the vehicle's tilt angle is greater than a tilt angle absolute value threshold corresponding to the target driving state, and the accelerator pedal opening of the vehicle is greater than a sixth opening threshold corresponding to the target driving state, determine a current torque attenuation factor corresponding to the target driving state based on the vehicle's current speed, the absolute value of the tilt angle, and the accelerator pedal opening; the target driving state being a downhill forward state or a reverse downhill state; and / or determining, based on the monitoring information, a road type on which the vehicle is traveling, and determining a current torque attenuation factor based on the road type; A limiting module is configured to limit a current output torque of the vehicle based on the torque attenuation factor.

9. An electronic device, characterized in that: The system comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The invention comprises an auxiliary system and the electronic device according to claim 9.

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