Vehicle control method, device, vehicle and medium

Abstract

The present invention discloses a vehicle control method, device, vehicle and medium. The method is applied to an electric vehicle, which includes a motor and a hydraulic brake system. The method includes: obtaining the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front and the indicator light distance information of the signal indicator light; when the acceleration and deceleration pedal position information meets the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic brake system are determined according to the motor operation status information, the vehicle driving status information and the indicator light distance information; and the own vehicle is controlled. By automatically determining the target braking recovery torque and the hydraulic braking target torque when the acceleration and deceleration pedal position information meets the speed determination condition, the own vehicle is controlled. Automatic control of vehicle deceleration is achieved, reducing the driver's operation, while making more use of coasting recovery, which is more energy-saving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle and medium. Background Art

[0002] The increasingly serious energy crisis, environmental pollution and greenhouse effect have made new energy vehicles, especially pure electric vehicles, an inevitable trend in the automotive industry. Pure electric vehicles use electric motors as a power source, and the reverse drag of the motor can convert the vehicle's kinetic energy into electrical energy for recovery, achieving a deceleration and braking effect on the vehicle's movement.

[0003] In the prior art, the deceleration control of pure electric vehicles is mainly carried out through braking energy recovery and coasting energy recovery. Braking energy recovery means that the driver presses the brake pedal, determines the braking torque requirement based on the brake pedal, and brakes are achieved by the joint participation of hydraulic braking and motor braking; coasting energy recovery means that the driver releases the accelerator and the brake pedal at the same time, the vehicle slides forward, and the electric drive generates a certain negative torque to brake the vehicle, and hydraulic braking is not involved.

[0004] However, there is a scenario where, when a driver encounters a red light in front of him while driving, he usually releases the accelerator pedal first to let the vehicle slide for a distance, and then when the vehicle is close to the red light (or the vehicle in front), he steps on the brake pedal, and the vehicle slowly brakes to stop. The driver then stops the vehicle manually. During the entire deceleration and parking process, the driver has many operation steps, which is not convenient enough. Summary of the invention

[0005] The present invention provides a vehicle control method, a device, a vehicle and a medium to realize automatic deceleration control of an electric vehicle.

[0006] According to a first aspect of the present invention, a vehicle control method is provided, which is applied to an electric vehicle, wherein the electric vehicle comprises a motor and a hydraulic brake system, and the method comprises:

[0007] Obtain the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light;

[0008] When the acceleration / deceleration pedal position information satisfies the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system are determined according to the motor operation state information, the vehicle driving state information and the indicator light distance information;

[0009] The own vehicle is controlled based on the target braking recovery torque and the hydraulic braking target torque.

[0010] According to a second aspect of the present invention, there is provided a vehicle control device, comprising:

[0011] An information acquisition module is used to obtain the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light;

[0012] a torque determination module, configured to determine a target braking recovery torque of the motor and a hydraulic braking target torque of the hydraulic braking system according to the motor operation state information, the vehicle driving state information and the indicator light distance information when the acceleration / deceleration pedal position information satisfies a speed determination condition;

[0013] A vehicle control module is used to control the own vehicle based on the target braking recovery torque and the hydraulic braking target torque.

[0014] According to a third aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0015] at least one controller; and

[0016] A memory in communication with the at least one controller; wherein,

[0017] The memory stores a computer program that can be executed by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can execute the vehicle control method described in any embodiment of the present invention.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a controller to implement the vehicle control method described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention is applied to an electric vehicle through the method. The electric vehicle includes a motor and a hydraulic brake system. The method includes: obtaining the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light; when the acceleration and deceleration pedal position information meets the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic brake system are determined according to the motor operation status information, the vehicle driving status information and the indicator light distance information; and the own vehicle is controlled. When the driver encounters a stopped vehicle or a red light in front, the target braking recovery torque and the hydraulic braking target torque are automatically determined when the acceleration and deceleration pedal position information meets the speed determination condition, and the own vehicle is controlled. Automatic control of vehicle deceleration is achieved, reducing driver operations, while making more use of coasting recovery, which is more energy-efficient.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a flow chart of a vehicle control method provided according to Embodiment 1 of the present invention;

[0023] Figure 2 is a flow chart of a vehicle control method provided according to Embodiment 2 of the present invention;

[0024] Figure 3 is a structural schematic diagram of a vehicle control device provided according to Embodiment 3 of the present invention;

[0025] Figure 4 Schematic diagram of the structure of a vehicle implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 A flow chart of a vehicle control method is provided for the first embodiment of the present invention. This embodiment is applicable to the deceleration control of electric vehicles and is applied to electric vehicles. The electric vehicles include motors and hydraulic brake systems. The method can be executed by a vehicle control device. The vehicle control device can be implemented in the form of hardware and / or software. The vehicle control device can be configured in a vehicle. Figure 1 As shown, the method includes:

[0030] S110, obtaining acceleration and deceleration pedal position information of the own vehicle, motor operation status information, vehicle driving status information of the vehicle ahead, and indicator light distance information from the signal indicator light.

[0031] In this embodiment, the acceleration and deceleration pedal position information can be understood as the accelerator pedal position and the decelerator pedal position, that is, the position information reflects the depth of the accelerator pedal or the decelerator pedal. The motor operation status information can be understood as information reflecting the current state of the motor, such as power generation torque, actual motor speed, and motor fault status. The vehicle in front can be understood as the vehicle in front of the own vehicle. The vehicle driving status information can be understood as information such as the distance, speed, and acceleration of the vehicle in front. The signal indicator light can be understood as a traffic light. The indicator light distance information can be understood as the distance between the own vehicle and the signal indicator light in front.

[0032] Specifically, the controller can obtain the acceleration and deceleration pedal position information transmitted by the acceleration and deceleration pedal, the motor operation status information transmitted by the camera or radar system, the vehicle driving status information of the vehicle in front, and the indicator light distance information from the signal indicator light.

[0033] S120. When the acceleration / deceleration pedal position information satisfies the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system are determined according to the motor operation status information, the vehicle driving status information and the indicator light distance information.

[0034] In this embodiment, the speed determination condition can be understood as a condition for determining whether to perform deceleration control, which can be that the accelerator pedal and the decelerator pedal are not depressed. The target braking recovery torque can be understood as a value for adjusting the motor torque. The hydraulic braking target torque can be understood as a torque value for adjusting the hydraulic braking system.

[0035] Specifically, when the accelerator pedal position and the decelerator pedal position in the acceleration / deceleration pedal position information both correspond to not stepping on the pedal, the speed determination condition is met, and the controller can determine which of the vehicle ahead or the signal indicator light is closer to the vehicle ahead according to the vehicle driving state information and the indicator light distance information. When the vehicle ahead is closer, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic brake system are determined by combining the vehicle driving state information of the vehicle ahead with the motor running state information. When the signal indicator light is closer, the target braking recovery torque and the hydraulic braking target torque are determined by combining the indicator light distance with the motor running state information.

[0036] S130: Control the own vehicle based on the target braking recovery torque and the hydraulic braking target torque.

[0037] Specifically, the controller can transmit the target braking recovery torque to the MCU through a bus or the like to control the motor through the target braking recovery torque, and send the hydraulic braking target torque to the hydraulic braking system through the bus to control the hydraulic braking system through the hydraulic braking target torque.

[0038] The technical solution of the embodiment of the present invention is applied to an electric vehicle through the method. The electric vehicle includes a motor and a hydraulic brake system. The method includes: obtaining the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light; when the acceleration and deceleration pedal position information meets the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic brake system are determined according to the motor operation status information, the vehicle driving status information and the indicator light distance information; and the own vehicle is controlled. When the driver encounters a stopped vehicle or a red light in front, the target braking recovery torque and the hydraulic braking target torque are automatically determined when the acceleration and deceleration pedal position information meets the speed determination condition, and the own vehicle is controlled. Automatic control of vehicle deceleration is achieved, reducing driver operations, while making more use of coasting recovery, which is more energy-efficient.

[0039] As a first optional embodiment of the first embodiment, after controlling the own vehicle based on the target braking recovery torque and the hydraulic braking target torque, it also includes:

[0040] When the vehicle speed of the own vehicle is zero, the own vehicle is controlled to stop.

[0041] Specifically, when the vehicle speed of the own vehicle drops to zero, the controller can send a parking lock command to the EPB (Electrical Park Brake) to park the vehicle, and display the EPB activated on the instrument panel of the own vehicle. The parking lock command can be understood as a command for controlling the EPB to park the vehicle. The EPB can be understood as an electronic parking brake system for automatic parking.

[0042] In the first optional embodiment of the first embodiment, through such a setting, when the speed of the vehicle itself is zero, the vehicle is automatically controlled to park, which reduces the parking steps for the driver and improves the driver's experience.

[0043] As a second optional embodiment of the first embodiment, based on the above embodiment, it also includes:

[0044] When the acceleration / deceleration pedal position information does not satisfy the speed determination condition, the own vehicle is controlled according to the acceleration / deceleration pedal position information.

[0045] Specifically, when the acceleration / deceleration pedal position information does not meet the speed determination condition, that is, the vehicle is in the acceleration or deceleration process, the controller can control the acceleration or deceleration of the vehicle according to the acceleration / deceleration pedal position information.

[0046] Embodiment 2

[0047] Figure 2 This is a flow chart of a vehicle control method provided in Embodiment 2 of the present invention. This embodiment is a further refinement based on the above embodiment. Figure 2 As shown, the method includes:

[0048] S210, obtaining acceleration and deceleration pedal position information of the own vehicle, motor operation status information, vehicle driving status information of the vehicle ahead, and indicator light distance information from the signal indicator light.

[0049] S220: When the indicator light distance information is greater than the front vehicle distance information in the vehicle driving status information, determine first deceleration information of the own vehicle according to the speed information of the own vehicle and the indicator light distance information, and use the first deceleration information as the target deceleration information.

[0050] In this embodiment, the front vehicle distance information can be understood as the distance information between the front vehicle and the own vehicle. The speed information can be understood as the current speed value of the own vehicle. The first deceleration information can be understood as the deceleration information determined when the indicator light distance information is greater than the front vehicle distance. The target deceleration information can be understood as the numerical information used to decelerate the own vehicle.

[0051] Specifically, when the indicator light distance information is greater than the front vehicle distance information in the vehicle driving status information, the processor can determine the first deceleration information of the own vehicle based on the speed information of the own vehicle and the indicator light distance information, and use the first deceleration information as the target deceleration information.

[0052] Exemplarily, the first deceleration information may be determined by the following formula:

[0053] a dec =V 2 / 2 / S_light

[0054] Among them, the first deceleration information speed is a dec , S_light is the indicator light distance information, and V is the speed information of the own vehicle.

[0055] S230: When the indicator light distance information is less than or equal to the front vehicle distance information, determine the target deceleration information according to the front vehicle speed value in the vehicle driving state information.

[0056] In this embodiment, the front vehicle speed value may be understood as the current speed of the front vehicle.

[0057] Specifically, when the indicator light distance information is less than or equal to the front vehicle distance information, the target deceleration information is determined according to whether the front vehicle speed value in the vehicle driving state information is zero.

[0058] Further, based on the above embodiment, the target deceleration information can be determined based on the preceding vehicle speed value in the vehicle driving state information and optimized as follows:

[0059] a1. Determine whether the speed of the vehicle ahead is zero.

[0060] b1. If yes, determine the second deceleration information of the own vehicle according to the speed information and the distance information of the vehicle in front, and use the second deceleration information as the target deceleration information.

[0061] In this embodiment, the second deceleration information may be understood as deceleration information determined when the indicator light distance information is less than or equal to the preceding vehicle distance.

[0062] Specifically, when the speed of the preceding vehicle is 0, the controller may determine the second deceleration information of the own vehicle according to the speed information of the own vehicle and the distance information of the preceding vehicle, and use the second deceleration information as the target deceleration information.

[0063] Exemplarily, the second deceleration information may be determined by the following formula:

[0064] a dec2 =V 2 / 2 / S_car

[0065] Among them, the second deceleration information speed is a dec2 , S_car is the distance information of the vehicle ahead.

[0066] c1. If not, determine the target deceleration information according to the acceleration value of the preceding vehicle in the vehicle driving state information.

[0067] Specifically, when the speed of the preceding vehicle is not 0, the controller may determine the target deceleration information according to the preceding vehicle acceleration value in the vehicle driving state information.

[0068] Among them, based on the above embodiment, the step of determining the target deceleration information according to the acceleration value of the preceding vehicle in the vehicle driving state information can be optimized as follows:

[0069] If the acceleration value of the preceding vehicle is greater than or equal to zero, zero is used as the target deceleration information; otherwise, the acceleration value of the preceding vehicle is used as the target deceleration information.

[0070] Specifically, when the acceleration value of the leading vehicle is greater than or equal to zero, zero is used as the target deceleration information. At this time, the corresponding target braking recovery torque is 0, the hydraulic braking target torque is also 0, and the vehicle itself slides forward freely; if the acceleration value of the leading vehicle is less than 0, the leading vehicle is decelerating at this time, and the controller can use the acceleration value of the leading vehicle as the target deceleration information.

[0071] S240: Determine the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system according to the target deceleration information and the motor operating state information.

[0072] Specifically, the controller may determine the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system according to the target deceleration information and the motor operating state information in accordance with a set calculation method.

[0073] Further, based on the above embodiment, the step of determining the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system according to the target deceleration information and the motor operating state information can be optimized as follows:

[0074] a2. Determine the motor braking torque information of the motor according to the target deceleration information and the preset vehicle parameter information.

[0075] In this embodiment, the preset vehicle parameter information can be understood as information related to the vehicle's own parameters, such as wheel radius, vehicle weight, and information related to the reducer.

[0076] Specifically, the controller may obtain preset vehicle parameter information from a corresponding storage medium, and determine the motor braking torque information of the motor through the target deceleration information and the preset vehicle parameter information.

[0077] For example, the motor braking torque information T can be determined by the following formula: set :

[0078] T set =m*|a|*r / i / η_gear

[0079] Among them, a is the target deceleration information, r is the wheel radius, m is the vehicle weight, i is the reducer speed ratio, and η_gear is the reducer efficiency.

[0080] b2. Determine the motor's power generation torque limit information based on the motor's operating status information.

[0081] Specifically, the controller can extract the battery charging power limit, current electric drive efficiency and current motor speed from the motor operating status information, and determine the motor's power generation torque limit information through the battery charging power limit, current electric drive efficiency and current motor speed.

[0082] Exemplarily, the power generation torque limit information T_batt may be determined by the following formula:

[0083] T_batt=P_batt*η_motor*9549 / n_motor

[0084] Among them, P_batt is the battery charging power limit, η_motor is the current electric drive efficiency, and n_motor is the current motor speed.

[0085] c2. The minimum value among the set power generation torque limit information of the own vehicle, the motor braking torque information and the power generation torque limit information is used as the target braking recovery torque.

[0086] In this embodiment, the setting of the power generation torque limit information can be understood as the current power generation torque limit of the motor.

[0087] Specifically, the controller can obtain the set power generation torque limit information of the own vehicle fed back by the click, and use the minimum value among the set power generation torque limit information of the own vehicle, the motor braking torque information and the power generation torque limit information as the target braking recovery torque. Among them, when the motor has no fault and the battery has no fault, the motor outputs the above target braking recovery torque T_motor_dmd, and when one of the motor or the battery has a fault, the target braking recovery torque is 0.

[0088] For example, the target braking recovery torque T_motor_dmd may be determined by the following formula:

[0089] T_motor_dmd=min(Tset,T_batt,T_motor_max)

[0090] Among them, T_motor_max is the information for setting the power generation torque limit.

[0091] d2. Determine the hydraulic brake target torque based on the actual motor output torque and target deceleration information of the own vehicle.

[0092] Specifically, the controller may obtain the actual output torque of the motor of the vehicle through the bus, and determine the hydraulic braking target torque according to the actual output torque of the motor and the target deceleration information.

[0093] Exemplarily, the hydraulic brake target torque may be determined by the following formula:

[0094] T hydraulic =m*|a|*r-T_motor*i*η_gear

[0095] Among them, T_motor is the actual output torque of the motor.

[0096] S250: Control the own vehicle based on the target braking recovery torque and the hydraulic braking target torque.

[0097] The technical solution of the embodiment of the present invention compares the indicator light distance information with the front vehicle distance information. When the indicator light distance information is greater than the front vehicle distance information, the target deceleration information is determined by the speed information of the own vehicle and the indicator light distance information. When the indicator light distance information is less than or equal to the front vehicle distance information, when the speed value of the front vehicle is zero, the target deceleration information is determined according to the speed information and the front vehicle distance information. When the speed value of the front vehicle is not zero, the target deceleration information is determined by the acceleration value of the front vehicle. Then, according to the target deceleration information, the motor operating state information, the actual output torque of the motor and the preset vehicle parameter information, the target braking recovery torque and the hydraulic braking target torque are determined, and then the own vehicle is controlled. Automatic judgment of deceleration determination is realized, and automatic determination and automatic parking of the target braking recovery torque and the hydraulic braking target torque are realized, which reduces the driver's operation, and at the same time makes more use of coasting recovery, which is more energy-saving.

[0098] Embodiment 3

[0099] Figure 3 This is a schematic diagram of the structure of a vehicle control device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device includes: an information acquisition module 31, a torque determination module 32 and a vehicle control module 33.

[0100] The information acquisition module 31 is used to acquire the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front and the indicator light distance information of the signal indicator light;

[0101] a torque determination module 32, configured to determine a target braking recovery torque of the motor and a hydraulic braking target torque of the hydraulic braking system according to the motor operation state information, the vehicle driving state information and the indicator light distance information when the acceleration / deceleration pedal position information satisfies a speed determination condition;

[0102] The vehicle control module 33 is used to control the own vehicle based on the target braking recovery torque and the hydraulic braking target torque.

[0103] The technical solution of the embodiment of the present invention is applied to an electric vehicle through the method. The electric vehicle includes a motor and a hydraulic brake system. The method includes: obtaining the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light; when the acceleration and deceleration pedal position information meets the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic brake system are determined according to the motor operation status information, the vehicle driving status information and the indicator light distance information; and the own vehicle is controlled. When the driver encounters a stopped vehicle or a red light in front, the target braking recovery torque and the hydraulic braking target torque are automatically determined when the acceleration and deceleration pedal position information meets the speed determination condition, and the own vehicle is controlled. Automatic control of vehicle deceleration is achieved, reducing driver operations, while making more use of coasting recovery, which is more energy-efficient.

[0104] Furthermore, the torque determination module 32 includes:

[0105] a first determining unit, configured to determine first deceleration information of the own vehicle according to the speed information of the own vehicle and the indicator light distance information when the indicator light distance information is greater than the front vehicle distance information in the vehicle driving state information, and use the first deceleration information as the target deceleration information;

[0106] a second determining unit, configured to determine the target deceleration information according to a front vehicle speed value in the vehicle driving state information when the indicator light distance information is less than or equal to the front vehicle distance information;

[0107] The third determining unit is used to determine the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system according to the target deceleration information and the motor operation state information.

[0108] Wherein, the second determining unit includes:

[0109] A speed judgment subunit, used for judging whether the speed value of the preceding vehicle is zero;

[0110] a first determining subunit, configured to determine, if yes, second deceleration information of the own vehicle according to the speed information and the distance information of the vehicle ahead, and use the second deceleration information as the target deceleration information;

[0111] The second determining subunit is used to determine the target deceleration information according to the acceleration value of the preceding vehicle in the vehicle driving state information if no.

[0112] The second determining subunit is specifically used for:

[0113] If the acceleration value of the preceding vehicle is greater than or equal to zero, zero is used as the target deceleration information;

[0114] Otherwise, the preceding vehicle acceleration value is used as the target deceleration information.

[0115] Further, the third determining unit is specifically configured to:

[0116] Determining motor braking torque information of the motor according to the target deceleration information and preset vehicle parameter information;

[0117] Determining the power generation torque limit information of the motor according to the motor operation state information;

[0118] The minimum value among the set power generation torque limit information of the own vehicle, the motor braking torque information and the power generation torque limit information is used as the target braking recovery torque;

[0119] The hydraulic brake target torque is determined according to the actual output torque of the motor of the own vehicle and the target deceleration information.

[0120] Optionally, the device also includes: a parking control module.

[0121] The parking control module is used to control the own vehicle to park when the vehicle speed of the own vehicle is zero after controlling the own vehicle based on the target braking recovery torque and the hydraulic braking target torque.

[0122] Optionally, the device further comprises:

[0123] The driving control module is used to control the own vehicle according to the acceleration / deceleration pedal position information when the acceleration / deceleration pedal position information does not meet the speed determination condition.

[0124] The vehicle control device provided in the embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0125] Embodiment 4

[0126] Figure 4 A schematic diagram of the structure of a vehicle provided in the fourth embodiment of the present invention is shown in FIG. Figure 4 As shown, the vehicle includes a controller 41, a memory 42, an input device 43 and an output device 44; the number of controllers 41 in the vehicle can be one or more. Figure 4 A controller 41 is taken as an example; the controller 41, the memory 42, the input device 43 and the output device 44 in the vehicle can be connected by a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0127] The memory 42 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the vehicle control method in the embodiment of the present invention (for example, the information acquisition module 31, the torque determination module 32 and the vehicle control module 33 in the vehicle control device). The controller 41 executes various functional applications and data processing of the vehicle by running the software programs, instructions and modules stored in the memory 42, that is, realizes the above-mentioned vehicle control method.

[0128] The memory 42 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 42 may further include a memory remotely arranged relative to the controller 41, and these remote memories may be connected to the vehicle via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The input device 43 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the cloud platform. The output device 44 may include a display device such as a display screen.

[0130] Embodiment 5

[0131] Embodiment 5 of the present invention further provides a storage medium including computer executable instructions, wherein the computer executable instructions are used to execute a vehicle control method when executed by a computer processor, and the method is applied to an electric vehicle, wherein the electric vehicle includes a motor and a hydraulic brake system, and the method includes:

[0132] Obtain the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light;

[0133] When the acceleration / deceleration pedal position information satisfies the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system are determined according to the motor operation state information, the vehicle driving state information and the indicator light distance information;

[0134] The own vehicle is controlled based on the target braking recovery torque and the hydraulic braking target torque.

[0135] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0136] It is worth noting that in the embodiment of the above-mentioned vehicle control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0137] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle control method, characterized in that: Applied to an electric vehicle, the electric vehicle includes a motor and a hydraulic brake system, and the method includes: Obtain the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information from the signal indicator light; When the acceleration / deceleration pedal position information satisfies the speed determination condition, the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system are determined according to the motor operation state information, the vehicle driving state information and the indicator light distance information; controlling the own vehicle based on the target braking recovery torque and the hydraulic braking target torque; Wherein, determining the target braking recovery torque of the motor and the hydraulic braking target torque of the hydraulic braking system according to the motor operation state information, the vehicle driving state information and the indicator light distance information includes: When the indicator light distance information is greater than the front vehicle distance information in the vehicle driving state information, first deceleration information of the own vehicle is determined according to the speed information of the own vehicle and the indicator light distance information, and the first deceleration information is used as the target deceleration information; when the indicator light distance information is less than or equal to the front vehicle distance information, the target deceleration information is determined according to the front vehicle speed value in the vehicle driving state information; Determine the motor braking torque information of the motor according to the target deceleration information and the preset vehicle parameter information; determine the power generation torque limit information of the motor according to the motor operation state information; The minimum value among the set power generation torque limit information of the own vehicle, the motor braking torque information and the power generation torque limit information is used as the target braking recovery torque; the hydraulic braking target torque is determined according to the actual output torque of the motor of the own vehicle and the target deceleration information; wherein the set power generation torque limit information is the current power generation torque limit of the motor.

2. The method according to claim 1, characterized in that The step of determining the target deceleration information according to the preceding vehicle speed value in the vehicle driving state information includes: Determining whether the speed value of the preceding vehicle is zero; If yes, determining the second deceleration information of the own vehicle according to the speed information and the distance information of the front vehicle, and using the second deceleration information as the target deceleration information; If not, the target deceleration information is determined according to the acceleration value of the preceding vehicle in the vehicle driving state information.

3. The method according to claim 2, characterized in that The step of determining the target deceleration information according to the acceleration value of the preceding vehicle in the vehicle driving state information includes: If the acceleration value of the preceding vehicle is greater than or equal to zero, zero is used as the target deceleration information; Otherwise, the preceding vehicle acceleration value is used as the target deceleration information.

4. The method according to claim 1, characterized in that: After the vehicle is controlled based on the target braking recovery torque and the hydraulic braking target torque, the method further includes: When the vehicle speed of the own vehicle is zero, the own vehicle is controlled to stop.

5. The method according to claim 1, characterized in that Also includes: When the acceleration / deceleration pedal position information does not satisfy the speed determination condition, the own vehicle is controlled according to the acceleration / deceleration pedal position information.

6. A vehicle control device, characterized in that: include: An information acquisition module is used to obtain the acceleration and deceleration pedal position information of the own vehicle, the motor operation status information, the vehicle driving status information of the vehicle in front, and the indicator light distance information of the signal indicator light; a torque determination module, configured to determine a target braking recovery torque of the motor and a hydraulic braking target torque of the hydraulic braking system according to the motor operation state information, the vehicle driving state information and the indicator light distance information when the acceleration / deceleration pedal position information satisfies a speed determination condition; A vehicle control module, configured to control the vehicle based on the target braking recovery torque and the hydraulic braking target torque; Wherein, the torque determination module comprises: a first determining unit, configured to determine first deceleration information of the own vehicle according to the speed information of the own vehicle and the indicator light distance information when the indicator light distance information is greater than the front vehicle distance information in the vehicle driving state information, and use the first deceleration information as the target deceleration information; a second determining unit, configured to determine the target deceleration information according to a front vehicle speed value in the vehicle driving state information when the indicator light distance information is less than or equal to the front vehicle distance information; The third determination unit is used to determine the motor braking torque information of the motor according to the target deceleration information and the preset vehicle parameter information; determine the power generation torque limit information of the motor according to the motor operating state information; use the minimum value among the set power generation torque limit information of the own vehicle, the motor braking torque information and the power generation torque limit information as the target braking recovery torque; determine the hydraulic braking target torque according to the actual output torque of the motor of the own vehicle and the target deceleration information; wherein the set power generation torque limit information is the current power generation torque limit of the motor.

7. A vehicle, characterized in that: The vehicle comprises: at least one controller; and A memory in communication with the at least one controller; wherein, The memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can perform the vehicle control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a controller to implement the vehicle control method according to any one of claims 1 to 5 when executed.

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