Single-pedal vehicle control method, device, equipment and readable storage medium

Abstract

The present application provides a single-pedal vehicle control method, device, equipment and readable storage medium, the method comprising: determining the pedal stroke segmentation according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large, and when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large; if the pedal opening is in the sliding segment, it is determined that the basic torque and the first correction torque are both zero; if the pedal opening is in the braking segment or the driving segment, the basic torque is determined according to the vehicle speed and the pedal opening, and the first correction torque is determined according to the vehicle speed and the rate of change of the pedal opening; the motor torque is obtained by summing the basic torque and the target correction torque, wherein the target correction torque at least includes the first correction torque. The present application provides a more complete single-pedal vehicle control strategy, thereby meeting diverse driving needs, thereby improving the driver's driving experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a single-pedal vehicle control method, device, equipment and readable storage medium. Background Art

[0002] Usually, the accelerator pedal and brake pedal of a vehicle are set separately and operated by the driver with the same foot. When the accelerator pedal is pressed, the driving torque is output to accelerate the vehicle, and when the brake pedal is pressed, the braking torque is output to decelerate the vehicle. In actual use, it is easy to accidentally step on the pedal or step on it late. In the related art, some electric vehicles have a single-pedal control mode. The pedal stroke is divided into a braking section and a driving section according to the different pedal openings, and the braking torque and the driving torque are respectively output in proportion to the corresponding pedal openings, thereby reducing the possibility of accidentally stepping on the pedal or stepping on it late. However, the current control strategy of single-pedal vehicles is relatively simple and difficult to meet diverse driving needs. Summary of the invention

[0003] The present application provides a single-pedal vehicle control method, device, equipment and readable storage medium, which can solve the technical problem that the single-pedal vehicle control strategy in the prior art is difficult to meet diverse driving needs.

[0004] In a first aspect, an embodiment of the present application provides a single-pedal vehicle control method, the single-pedal vehicle control method comprising:

[0005] Determine the pedal stroke segmentation according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large, and when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large;

[0006] If the pedal opening is in the coasting section, it is determined that the basic torque and the first correction torque are both zero;

[0007] If the pedal opening is in the braking section or the driving section, the basic torque is determined according to the vehicle speed and the pedal opening, and the first correction torque is determined according to the vehicle speed and the pedal opening change rate, wherein, at the same vehicle speed, the basic torque increases with the increase of the pedal opening, and at any vehicle speed, the basic torque corresponding to the braking section is less than or equal to zero, and the basic torque corresponding to the driving section is greater than or equal to zero, when the pedal opening change rate is greater than the positive correction threshold, the first correction torque is greater than zero, and when the pedal opening change rate is less than the reverse correction threshold, the first correction torque is less than zero, wherein the positive correction threshold is greater than zero, and the reverse correction threshold is less than zero;

[0008] The motor torque is obtained by summing the basic torque and the target correction torque, wherein the target correction torque includes at least the first correction torque.

[0009] Furthermore, in one embodiment, the step of determining the first correction torque according to the vehicle speed and the pedal opening change rate includes:

[0010] Multiple pedal opening change rates are calculated based on multiple time granularities;

[0011] determining a plurality of sub-torques according to a vehicle speed and a plurality of pedal opening change rates;

[0012] A first correction torque is obtained by performing weight calculation on the multiple sub-torques.

[0013] Furthermore, in one embodiment, when the pedal opening change rate is less than or equal to the positive correction threshold, and the pedal opening change rate is greater than or equal to the reverse correction threshold, the first correction torque is equal to zero.

[0014] Furthermore, in one embodiment, when the pedal opening change rate is greater than the positive correction threshold, the pedal opening change rate corresponds to multiple positive correction levels from small to large, and at the same vehicle speed, the higher the positive correction level, the greater the corresponding first correction torque.

[0015] Furthermore, in one embodiment, when the pedal opening change rate is less than the reverse correction threshold, the pedal opening change rate corresponds to multiple reverse correction levels from large to small, and at the same vehicle speed, the higher the reverse correction level, the smaller the corresponding first correction torque.

[0016] Further, in one embodiment, the target correction torque also includes a second correction torque;

[0017] Before the step of summing the basic torque and the target correction torque to obtain the motor torque, the method further includes:

[0018] The second correction torque is determined according to the slope on which the vehicle is located.

[0019] In a second aspect, an embodiment of the present application further provides a single-pedal vehicle control device, the single-pedal vehicle control device comprising:

[0020] A stroke segmentation module is used to determine the pedal stroke segmentation according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large; when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large;

[0021] A first torque determination module, configured to determine that both the basic torque and the first correction torque are zero if the pedal opening is in the coasting section;

[0022] A second torque determination module is used to determine the basic torque according to the vehicle speed and the pedal opening if the pedal opening is in the braking section or the driving section, and determine the first correction torque according to the vehicle speed and the pedal opening change rate, wherein, at the same vehicle speed, the basic torque increases with the increase of the pedal opening, and at any vehicle speed, the basic torque corresponding to the braking section is less than or equal to zero, and the basic torque corresponding to the driving section is greater than or equal to zero, when the pedal opening change rate is greater than a positive correction threshold, the first correction torque is greater than zero, and when the pedal opening change rate is less than a reverse correction threshold, the first correction torque is less than zero, wherein the positive correction threshold is greater than zero, and the reverse correction threshold is less than zero;

[0023] The output module is used to sum the basic torque and the target correction torque to obtain the motor torque, wherein the target correction torque at least includes a first correction torque.

[0024] Further, in one embodiment, the second torque determination module is used to:

[0025] Multiple pedal opening change rates are calculated based on multiple time granularities;

[0026] determining a plurality of sub-torques according to a vehicle speed and a plurality of pedal opening change rates;

[0027] A first correction torque is obtained by performing weight calculation on the plurality of sub-torques.

[0028] In the third aspect, an embodiment of the present application also provides a single-pedal vehicle control device, which includes a processor, a memory, and a single-pedal vehicle control program stored in the memory and executable by the processor, wherein when the single-pedal vehicle control program is executed by the processor, the steps of the above-mentioned single-pedal vehicle control method are implemented.

[0029] In a fourth aspect, an embodiment of the present application further provides a readable storage medium, on which a single-pedal vehicle control program is stored, wherein when the single-pedal vehicle control program is executed by a processor, the steps of the above-mentioned single-pedal vehicle control method are implemented.

[0030] In the present application, a coasting section is added between the braking section and the driving section when the pedal is released, and the basic torque and the first correction torque corresponding to the coasting section are both zero, so that the vehicle can coast and brake through its own resistance. When the pedal opening is in the braking section or the driving section, the first correction torque is used to correct the driving intention. The pedal opening change rate is greater than the positive correction threshold, indicating that the driver quickly steps on the pedal and the acceleration demand is urgent. The motor torque is quickly increased by the first correction torque greater than zero. The pedal opening change rate is less than the reverse correction threshold, indicating that the driver quickly releases the pedal and the deceleration demand is urgent. The motor torque is quickly reduced by the first correction torque less than zero. The present application provides a more complete single-pedal vehicle control strategy to meet diverse driving needs, thereby improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of a single-pedal vehicle control method in one embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of the pedal stroke segmentation when pedaling;

[0033] Figure 3 It is a schematic diagram of the pedal travel segmentation when the pedal is released;

[0034] Figure 4 This is a schematic diagram of the functional modules of a single-pedal vehicle control device in one embodiment of the present application;

[0035] Figure 5 This is a schematic diagram of the hardware structure of a single-pedal vehicle control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0038] In a first aspect, an embodiment of the present application provides a single-pedal vehicle control method.

[0039] Figure 1 A schematic flow chart of a single-pedal vehicle control method in an embodiment of the present application is shown; Figure 2 A schematic diagram showing the segmentation of the pedal stroke when pedaling is shown; Figure 3 A schematic diagram showing the pedal travel segments when releasing the pedal is shown.

[0040] Reference Figures 1 to 3 In one embodiment, the single-pedal vehicle control method comprises the following steps:

[0041] S11. Determine the pedal stroke segments according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large; when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large.

[0042] In this embodiment, the release pedal has an additional sliding section compared to the stepping pedal, so the brake section and the driving section when the pedal is stepped on are different from the brake section and the driving section when the pedal is released. For example, when the pedal is stepped on, the brake section corresponds to a pedal opening range of 0-A, and the driving section corresponds to a pedal opening range of A-100%. When the pedal is released, the brake section corresponds to a pedal opening range of 0-B, the sliding section corresponds to a pedal opening range of BC, and the driving end corresponds to a pedal opening range of C-100%.

[0043] It can be understood that the gliding stage exists only when the pedal action is to release the pedal, and does not exist when the pedal action is to step on the pedal. For example, if the pedal opening decreases from 100% to x, x∈(B,C), the pedal opening is in the gliding stage, and if the pedal opening increases from 0 to x, the pedal opening is not in the gliding stage.

[0044] Specifically, the pedal action can be identified by the change trend of the pedal opening. When the pedal opening gradually increases, the pedal action is pedal pressing, and when the pedal opening gradually decreases, the pedal action is pedal releasing.

[0045] S12: If the pedal opening is in the coasting section, determine that the basic torque and the first correction torque are both zero.

[0046] S13. If the pedal opening is in the braking section or the driving section, the basic torque is determined according to the vehicle speed and the pedal opening, and the first correction torque is determined according to the vehicle speed and the pedal opening change rate, wherein, at the same vehicle speed, the basic torque increases with the increase of the pedal opening, and at any vehicle speed, the basic torque corresponding to the braking section is less than or equal to zero, and the basic torque corresponding to the driving section is greater than or equal to zero, when the pedal opening change rate is greater than the positive correction threshold, the first correction torque is greater than zero, and when the pedal opening change rate is less than the reverse correction threshold, the first correction torque is less than zero, wherein the positive correction threshold is greater than zero, and the reverse correction threshold is less than zero.

[0047] In this embodiment, stepping on the pedal is used to meet the demand of increasing the driving torque or reducing the braking torque, and releasing the pedal is used to meet the demand of reducing the driving torque or increasing the braking torque.

[0048] It should be noted that the basic torque, corrected torque and motor torque in the present application have positive and negative signs. A positive sign represents a driving torque, and a negative sign represents a braking torque. The absolute value determines the torque size. Therefore, when the basic torque, corrected torque or motor torque is less than zero, the smaller the torque, the greater the corresponding braking torque.

[0049] The basic torque is used to meet basic driving needs, that is, positive torque is output for driving in the driving section, negative torque is output for braking in the braking section, and no torque is output in the sliding section so that the vehicle can slide and brake through its own resistance. Specifically, when the pedal opening gradually increases from 0 to A, the basic torque gradually increases from a negative value to 0, indicating that the braking torque gradually decreases. When the pedal opening gradually increases from A to 100%, the basic torque gradually increases from 0 to a positive value, indicating that the driving torque gradually increases. When the pedal opening gradually decreases from 100% to C, the basic torque gradually decreases from a positive value to zero, indicating that the driving torque gradually decreases. When the pedal opening gradually decreases from C to B, the basic torque remains zero. When the pedal opening gradually decreases from B to 0, the basic torque zero gradually decreases to a negative value, indicating that the braking torque gradually increases.

[0050] The first correction torque is used to correct the driving intention. If the pedal opening change rate is greater than the positive correction threshold, it means that the driver quickly steps on the pedal and has an urgent need to accelerate. An additional positive torque is output to intensify the drive. If the pedal opening change rate is less than the reverse correction threshold, it means that the driver quickly releases the pedal and has an urgent need to decelerate. An additional negative torque is output to intensify braking. No torque is output in the gliding section, allowing the vehicle to glide and brake through its own resistance.

[0051] S14. Summing the basic torque and the target correction torque to obtain the motor torque, wherein the target correction torque includes at least the first correction torque.

[0052] In this embodiment, under the action of the first correction torque, on the one hand, when the pedal is stepped on quickly, the negative basic torque in the braking stage is superimposed on the positive first correction torque, and finally a positive motor torque is output, and the vehicle starts to accelerate in the braking stage. On the other hand, when the pedal is released quickly, the positive basic torque in the driving stage is superimposed on the negative first correction torque, and finally a negative motor torque is output, and the vehicle starts to decelerate in the driving stage.

[0053] Therefore, in this embodiment, when the pedal is released, a coasting section is added between the braking section and the driving section, and the basic torque and the first correction torque corresponding to the coasting section are both zero, so that the vehicle can coast and brake through its own resistance. When the pedal opening is in the braking section or the driving section, the first correction torque is used to correct the driving intention. The change rate of the pedal opening is greater than the positive correction threshold, indicating that the driver quickly steps on the pedal and the acceleration demand is urgent. The motor torque is quickly increased by the first correction torque greater than zero. The change rate of the pedal opening is less than the reverse correction threshold, indicating that the driver quickly releases the pedal and the deceleration demand is urgent. The motor torque is quickly reduced by the first correction torque less than zero. This embodiment provides a more complete single-pedal vehicle control strategy, thereby meeting diverse driving needs and improving the driver's driving experience.

[0054] Further, in one embodiment, the step of determining the first correction torque according to the vehicle speed and the pedal opening change rate includes:

[0055] Multiple pedal opening change rates are calculated based on multiple time granularities;

[0056] determining a plurality of sub-torques according to a vehicle speed and a plurality of pedal opening change rates;

[0057] A first correction torque is obtained by performing weight calculation on the multiple sub-torques.

[0058] It is understandable that the calculation result of the pedal opening change rate will be affected by the time granularity. For example, the pedal opening change rate within 100ms and the pedal opening change rate within 200ms are usually different. This embodiment takes into account the influence of time granularity, determines the sub-torques respectively by the pedal opening change rates at different time granularities, and then performs weight calculation on multiple sub-torques to obtain the first correction torque, thereby improving the accuracy of the first correction torque. For example, the various time granularities are 100ms, 200ms and 300ms, and the corresponding sub-torque weight coefficients are 20%, 30% and 50%, respectively.

[0059] Furthermore, in one embodiment, when the pedal opening change rate is less than or equal to the positive correction threshold, and the pedal opening change rate is greater than or equal to the reverse correction threshold, the first correction torque is equal to zero.

[0060] In this embodiment, when the rate of pedaling or releasing the pedal is not high, the driver does not have an urgent need to accelerate or decelerate, and the basic torque can meet the driving demand, so the first correction torque is equal to zero, and the basic torque is not corrected.

[0061] Furthermore, in one embodiment, when the pedal opening change rate is greater than the positive correction threshold, the pedal opening change rate corresponds to multiple positive correction levels from small to large, and at the same vehicle speed, the higher the positive correction level, the greater the corresponding first correction torque.

[0062] In this embodiment, when the pedal opening change rate is greater than the positive correction threshold, the urgency of the acceleration demand is graded based on the size of the pedal opening change rate, and different positive correction levels are set respectively, and different first correction torques are output, so as to meet diverse driving needs. For example, the positive correction threshold is a1, and three positive grading points a2, a3, and a4 are set from small to large, and a1-a2 is defined as a first-level positive correction, a2-a3 is a second-level positive correction, a3-a4 is a third-level positive correction, and a4 and above are fourth-level positive correction.

[0063] Furthermore, in one embodiment, when the pedal opening change rate is less than the reverse correction threshold, the pedal opening change rate corresponds to multiple reverse correction levels from large to small, and at the same vehicle speed, the higher the reverse correction level, the smaller the corresponding first correction torque.

[0064] In this embodiment, when the pedal opening change rate is less than the reverse correction threshold, the urgency of the deceleration demand is graded based on the absolute value of the pedal opening change rate, and different reverse correction levels are set respectively to output different first correction torques, thereby meeting diverse driving needs. For example, the reverse correction threshold is b1, and two reverse classification points b2 and b3 are set from large to small, and b1-b2 is defined as a first-level reverse correction, b2-b3 is a second-level reverse correction, and b3 and below are a third-level reverse correction.

[0065] In particular, since the speed of pedaling can be determined by the driver's pedaling force, the range of the pedal opening rate is relatively large, while the maximum speed of releasing the pedal is limited by the mechanical structure of the pedal. The driver can only reduce the speed of pedal rebound, but cannot increase the speed of pedal rebound. The range of the pedal opening rate is relatively small. Therefore, the number of positive correction levels can be set to be more than the reverse correction level. In addition, braking involves safety and requires short-term and rapid operation, while acceleration is related to driving experience and can be divided more finely. The first correction torque during positive correction at the same correction level is usually smaller than the absolute value of the first correction torque during reverse correction.

[0066] In particular, at the same vehicle speed, the first correction torque corresponding to the same pedal opening change rate can be set differently in the braking area and the driving area. For example, when the vehicle speed is V1 and the pedal opening change rate is P1', if the pedal opening is in the braking area, the first correction torque is T1, and if the pedal opening is in the driving area, the first correction torque is T2. T1 and T2 can be the same or different.

[0067] Further, in one embodiment, the target correction torque also includes a second correction torque;

[0068] Before the step of summing the basic torque and the target correction torque to obtain the motor torque, the method further includes:

[0069] The second correction torque is determined according to the slope on which the vehicle is located.

[0070] In this embodiment, the second correction torque is used to correct the driving intention. Different slopes have different requirements on the power of the whole vehicle. The second correction torque is determined only by the slope and has nothing to do with the vehicle speed, the segment of the pedal opening, etc. It can be understood that in this embodiment, when the pedal opening is in the gliding segment, the basic torque and the first correction torque are both zero, but the second correction torque is not necessarily zero due to the influence of the slope, and the final output motor torque is not necessarily zero. The role of the motor torque is to balance the influence of the slope, so as to maintain the stability of the vehicle during the gliding braking process.

[0071] In a second aspect, an embodiment of the present application also provides a single-pedal vehicle control device.

[0072] Figure 4 A schematic diagram of the functional modules of a single-pedal vehicle control device in one embodiment of the present application is shown.

[0073] Reference Figure 4 In one embodiment, a single-pedal vehicle control device comprises:

[0074] The stroke segmentation module 10 is used to determine the pedal stroke segmentation according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large, and when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large;

[0075] A first torque determination module 20, configured to determine that the basic torque and the first correction torque are both zero if the pedal opening is in the coasting section;

[0076] The second torque determination module 30 is used to determine the basic torque according to the vehicle speed and the pedal opening if the pedal opening is in the braking section or the driving section, and determine the first correction torque according to the vehicle speed and the pedal opening change rate, wherein, at the same vehicle speed, the basic torque increases with the increase of the pedal opening, and at any vehicle speed, the basic torque corresponding to the braking section is less than or equal to zero, and the basic torque corresponding to the driving section is greater than or equal to zero, when the pedal opening change rate is greater than a positive correction threshold, the first correction torque is greater than zero, and when the pedal opening change rate is less than a reverse correction threshold, the first correction torque is less than zero, wherein the positive correction threshold is greater than zero, and the reverse correction threshold is less than zero;

[0077] The output module 40 is used to obtain the motor torque by summing the basic torque and the target correction torque, wherein the target correction torque at least includes the first correction torque.

[0078] Furthermore, in one embodiment, the second torque determination module 30 is used to:

[0079] Multiple pedal opening change rates are calculated based on multiple time granularities;

[0080] determining a plurality of sub-torques according to a vehicle speed and a plurality of pedal opening change rates;

[0081] A first correction torque is obtained by performing weight calculation on the multiple sub-torques.

[0082] Furthermore, in one embodiment, when the pedal opening change rate is less than or equal to the positive correction threshold, and the pedal opening change rate is greater than or equal to the reverse correction threshold, the first correction torque is equal to zero.

[0083] Furthermore, in one embodiment, when the pedal opening change rate is greater than the positive correction threshold, the pedal opening change rate corresponds to multiple positive correction levels from small to large, and at the same vehicle speed, the higher the positive correction level, the greater the corresponding first correction torque.

[0084] Furthermore, in one embodiment, when the pedal opening change rate is less than the reverse correction threshold, the pedal opening change rate corresponds to multiple reverse correction levels from large to small, and at the same vehicle speed, the higher the reverse correction level, the smaller the corresponding first correction torque.

[0085] Further, in one embodiment, the target correction torque also includes a second correction torque;

[0086] The single-pedal vehicle control device further includes a third torque determination module, configured to determine a second correction torque according to a slope of the vehicle.

[0087] Among them, the functional implementation of each module in the above-mentioned single-pedal vehicle control device corresponds to the various steps in the above-mentioned single-pedal vehicle control method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0088] In a third aspect, an embodiment of the present application provides a single-pedal vehicle control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0089] Figure 5 A schematic diagram of the hardware structure of a single-pedal vehicle control device involved in an embodiment of the present application is shown.

[0090] Reference Figure 5 In an embodiment of the present application, a single-pedal vehicle control device may include a processor, a memory, a communication interface, and a communication bus.

[0091] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0092] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the devices inside the single-pedal vehicle control device, and an interface for interconnecting the single-pedal vehicle control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0093] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0094] The processor may be a general-purpose processor, which may call the single-pedal vehicle control program stored in the memory and execute the single-pedal vehicle control method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the single-pedal vehicle control program is called may refer to the various embodiments of the single-pedal vehicle control method of the present application, which will not be described in detail here.

[0095] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0096] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0097] A single-pedal vehicle control program is stored on a readable storage medium of the present application, wherein when the single-pedal vehicle control program is executed by a processor, the steps of the single-pedal vehicle control method as described above are implemented.

[0098] Among them, the method implemented when the single-pedal vehicle control program is executed can refer to the various embodiments of the single-pedal vehicle control method of the present application, and will not be repeated here.

[0099] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0100] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings 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 limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0101] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0102] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0103] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0105] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A single-pedal vehicle control method, characterized in that: The single-pedal vehicle control method comprises: Determine the pedal stroke segmentation according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large, and when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large; If the pedal opening is in the coasting section, it is determined that the basic torque and the first correction torque are both zero; If the pedal opening is in the braking section or the driving section, the basic torque is determined according to the vehicle speed and the pedal opening, and the first correction torque is determined according to the vehicle speed and the pedal opening change rate, wherein, at the same vehicle speed, the basic torque increases with the increase of the pedal opening, and at any vehicle speed, the basic torque corresponding to the braking section is less than or equal to zero, and the basic torque corresponding to the driving section is greater than or equal to zero, when the pedal opening change rate is greater than the positive correction threshold, the first correction torque is greater than zero, and when the pedal opening change rate is less than the reverse correction threshold, the first correction torque is less than zero, wherein the positive correction threshold is greater than zero, and the reverse correction threshold is less than zero; Summing the basic torque and the target correction torque to obtain the motor torque, wherein the target correction torque at least includes a first correction torque; The step of determining the first correction torque according to the vehicle speed and the pedal opening change rate comprises: Multiple pedal opening change rates are calculated based on multiple time granularities; determining a plurality of sub-torques according to a vehicle speed and a plurality of pedal opening change rates; Performing weight calculation on the multiple sub-torques to obtain a first correction torque; When the pedal opening change rate is greater than the positive correction threshold, the pedal opening change rate corresponds to multiple positive correction levels from small to large. At the same vehicle speed, the higher the positive correction level, the greater the corresponding first correction torque; When the pedal opening change rate is less than the reverse correction threshold, the pedal opening change rate corresponds to multiple reverse correction levels from large to small. At the same vehicle speed, the higher the reverse correction level, the smaller the corresponding first correction torque; Among them, the number of positive correction levels is set to be greater than that of negative correction levels.

2. The single-pedal vehicle control method according to claim 1, characterized in that: When the pedal opening change rate is less than or equal to the positive correction threshold, and the pedal opening change rate is greater than or equal to the reverse correction threshold, the first correction torque is equal to zero.

3. The single-pedal vehicle control method according to claim 1, characterized in that: The target correction torque also includes a second correction torque; Before the step of summing the basic torque and the target correction torque to obtain the motor torque, the method further includes: The second correction torque is determined according to the slope on which the vehicle is located.

4. A single-pedal vehicle control device, characterized in that: The single-pedal vehicle control device comprises: A stroke segmentation module is used to determine the pedal stroke segmentation according to the pedal action, wherein when the pedal action is stepping on the pedal, the pedal stroke is divided into a braking segment and a driving segment as the pedal opening increases from small to large; when the pedal action is releasing the pedal, the pedal stroke is divided into a braking segment, a sliding segment and a driving segment as the pedal opening increases from small to large; A first torque determination module, configured to determine that both the basic torque and the first correction torque are zero if the pedal opening is in the coasting section; A second torque determination module is used to determine the basic torque according to the vehicle speed and the pedal opening if the pedal opening is in the braking section or the driving section, and determine the first correction torque according to the vehicle speed and the pedal opening change rate, wherein, at the same vehicle speed, the basic torque increases with the increase of the pedal opening, and at any vehicle speed, the basic torque corresponding to the braking section is less than or equal to zero, and the basic torque corresponding to the driving section is greater than or equal to zero, when the pedal opening change rate is greater than a positive correction threshold, the first correction torque is greater than zero, and when the pedal opening change rate is less than a reverse correction threshold, the first correction torque is less than zero, wherein the positive correction threshold is greater than zero, and the reverse correction threshold is less than zero; An output module, configured to obtain a motor torque by summing a basic torque and a target correction torque, wherein the target correction torque includes at least a first correction torque; The second torque determination module is used for: Multiple pedal opening change rates are calculated based on multiple time granularities; determining a plurality of sub-torques according to a vehicle speed and a plurality of pedal opening change rates; Performing weight calculation on the multiple sub-torques to obtain a first correction torque; When the pedal opening change rate is greater than the positive correction threshold, the pedal opening change rate corresponds to multiple positive correction levels from small to large. At the same vehicle speed, the higher the positive correction level, the greater the corresponding first correction torque; When the pedal opening change rate is less than the reverse correction threshold, the pedal opening change rate corresponds to multiple reverse correction levels from large to small. At the same vehicle speed, the higher the reverse correction level, the smaller the corresponding first correction torque; Among them, the number of positive correction levels is set to be greater than that of negative correction levels.

5. A single-pedal vehicle control device, characterized in that: The single-pedal vehicle control device includes a processor, a memory, and a single-pedal vehicle control program stored in the memory and executable by the processor, wherein when the single-pedal vehicle control program is executed by the processor, the steps of the single-pedal vehicle control method as described in any one of claims 1 to 3 are implemented.

6. A readable storage medium, characterized in that: The readable storage medium stores a single-pedal vehicle control program, wherein when the single-pedal vehicle control program is executed by a processor, the steps of the single-pedal vehicle control method according to any one of claims 1 to 3 are implemented.

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