Vehicle control method, system, vehicle and medium based on remote throttle switch

Abstract

The present invention provides a vehicle control method, system, vehicle and medium based on a remote throttle switch, wherein the method comprises: determining a throttle mode of a vehicle based on a remote throttle switch; the throttle mode comprises a remote throttle mode; when the throttle mode is the remote throttle mode, determining a target low idle demand value based on a preset low idle demand value and a water temperature low idle demand value, and controlling the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and a first closed-loop controller. The present invention realizes automatic adjustment of the idle value in the remote throttle mode, without the need for the driver to increase the remote throttle opening, thus simplifying the driver's operation steps and improving the efficiency of the hoisting operation.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial vehicle cranes, and in particular to a vehicle control method, system, vehicle and medium based on a remote throttle switch. Background Art

[0002] When a commercial vehicle with a crane has a lifting demand, the existing technology implements it in two steps. The first step is that the driver presses the remote throttle switch. When the engine receives the remote throttle request, the throttle pedal in the cab will be taken over by the remote throttle switch. The second step is that when the driver needs to increase the lifting speed of the cargo, the engine speed is increased by increasing the remote throttle opening.

[0003] In the prior art, the driver needs to operate twice to increase the lifting speed, which increases the driver's operating steps, resulting in slower lifting operations and lower efficiency.

[0004] Therefore, it is urgent to propose a vehicle control method, system, vehicle and medium based on a remote throttle switch to simplify the lifting operation process and improve the lifting efficiency. Summary of the invention

[0005] In view of this, it is necessary to provide a vehicle control method, system, vehicle and medium based on a remote throttle switch to solve the technical problem in the prior art that the lifting operation efficiency is low due to the need for driver intervention to achieve lifting.

[0006] In one aspect, the present invention provides a vehicle control method based on a remote throttle switch, comprising:

[0007] Determining a throttle mode of the vehicle based on a remote throttle switch; the throttle mode includes a remote throttle mode;

[0008] When the throttle mode is the remote throttle mode, a target low idle demand value is determined based on a preset low idle demand value and a water temperature low idle demand value, and the idle value of the vehicle is controlled based on the target low idle demand value, the actual low idle value, the engine water temperature and a first closed-loop controller.

[0009] In some possible implementations, the throttle mode further includes a non-remote throttle mode; and the vehicle control method based on the remote throttle switch further includes:

[0010] When the throttle mode is a non-remote throttle mode, the idle value of the vehicle is controlled based on the water temperature low idle speed demand value, the actual low idle speed value, the engine water temperature and a second closed-loop controller;

[0011] Wherein, the control parameter of the first closed-loop controller is greater than the control parameter of the second closed-loop controller.

[0012] In some possible implementations, determining the throttle mode of the vehicle based on the remote throttle switch includes:

[0013] determining whether the engine control unit receives a remote throttle switch signal triggered by the remote throttle switch;

[0014] When the engine control unit receives the remote throttle switch signal, the throttle mode is the remote throttle mode, and when the engine control unit does not receive the remote throttle switch signal, the throttle mode is the non-remote throttle mode.

[0015] In some possible implementations, determining the target low idle demand value based on the preset low idle demand value and the water temperature low idle demand value includes:

[0016] When the preset low idle demand value is greater than the water temperature low idle demand value, determining the preset low idle demand value to be the target low idle demand value;

[0017] When the water temperature low idle demand value is greater than the preset low idle demand value, determining the water temperature low idle demand value to be the target low idle demand value;

[0018] When the preset low idle demand value is equal to the water temperature low idle demand value, the preset low idle demand value or the water temperature low idle demand value is determined as the target low idle demand value.

[0019] In some possible implementations, the control parameters of the first closed-loop controller include a first proportional coefficient, a first integral coefficient, and a first differential coefficient; and controlling the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature, and the first closed-loop controller includes:

[0020] Determining a demand difference between the target low idle demand value and the actual low idle value;

[0021] Acquire a first mapping relationship between the demand difference, the engine water temperature and the first proportional coefficient, a second mapping relationship between the demand difference, the engine water temperature and the first integral coefficient, and a third mapping relationship between the demand difference and the first differential coefficient;

[0022] Determining the first proportional coefficient, the first integral coefficient, and the first differential coefficient based on the demand difference, the engine water temperature, the first mapping relationship, the second mapping relationship, and the third mapping relationship;

[0023] An idle speed value of the vehicle is controlled based on the demand difference, the first proportional coefficient, the first integral coefficient, and the first differential coefficient.

[0024] In some possible implementations, the first proportional coefficient has a value range of 2.58 to 3.12, the first integral coefficient has a value range of 0.0875 to 0.115, and the first differential coefficient has a value range of 0.0379 to 0.0736.

[0025] In some possible implementations, the control parameters of the second closed-loop controller include a second proportional coefficient, a second integral coefficient, and a second differential coefficient; the value range of the second proportional coefficient is 1.08 to 1.12, the value range of the second integral coefficient is 0.0075 to 0.035, and the value range of the second differential coefficient is 0.008 to 0.0336.

[0026] On the other hand, the present invention also provides a vehicle control system based on a remote throttle switch, comprising:

[0027] A throttle mode determination unit, configured to determine a throttle mode of the vehicle based on a remote throttle switch; the throttle mode includes a remote throttle mode;

[0028] An idle control unit is used to determine a target low idle demand value based on a preset low idle demand value and a water temperature low idle demand value when the throttle mode is the remote throttle mode, and to control the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and a first closed-loop controller.

[0029] In another aspect, the present invention further provides a vehicle, comprising a memory and a processor, wherein:

[0030] The memory is used to store programs;

[0031] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the vehicle control method based on the remote throttle switch described in any one of the possible implementations above.

[0032] On the other hand, the present invention also provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle control method based on the remote throttle switch described in any of the above possible implementation methods.

[0033] The beneficial effect of adopting the above-mentioned implementation method is: the vehicle control method based on the remote throttle switch provided by the present invention, when the throttle mode is the remote throttle mode, determines the target low idle demand value based on the preset low idle demand value and the water temperature low idle demand value, and controls the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller, that is: when the throttle mode is the remote throttle mode, the idle value can be automatically adjusted to the target low idle demand value without the need for driver intervention, thereby eliminating the driver's reaction time, and realizing the automatic adjustment of the idle value in the remote throttle mode. There is no need for the driver to increase the remote throttle opening, which simplifies the driver's operating steps and improves the efficiency of the lifting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A schematic flow chart of an embodiment of a vehicle control method based on a remote throttle switch provided by the present invention;

[0036] Figure 2 A schematic flow chart of an embodiment of the working process of the second closed-loop controller provided by the present invention;

[0037] Figure 3 For the present invention Figure 1 A schematic flow chart of an embodiment of determining a target low idle demand value in step S102;

[0038] Figure 4 For the present invention Figure 1 A schematic flow chart of an embodiment of controlling the idle speed value of the vehicle in step S102;

[0039] Figure 5 A schematic diagram of the structure of an embodiment of a vehicle control system based on a remote throttle switch provided by the present invention;

[0040] Figure 6 A schematic structural diagram of an embodiment of a vehicle provided by the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0042] It should be understood that the schematic drawings are not drawn to scale. The flow chart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flow chart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flow chart under the guidance of the content of the present invention, and can also remove one or more operations from the flow chart.

[0043] Some of the block diagrams shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0044] If described as "first", "second", etc., it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0045] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] The embodiments of the present invention provide a vehicle control method, system, vehicle and medium based on a remote throttle switch, which are described below respectively.

[0047] Figure 1 A flow chart of an embodiment of a vehicle control method based on a remote throttle switch provided by the present invention is shown in FIG. Figure 1 As shown, the vehicle control method based on the remote throttle switch includes:

[0048] S101, determining a throttle mode of a vehicle based on a remote throttle switch; the throttle mode includes a remote throttle mode;

[0049] S102. When the throttle mode is the remote throttle mode, a target low idle demand value is determined based on a preset low idle demand value and a water temperature low idle demand value, and the idle value of the vehicle is controlled based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller.

[0050] Compared with the prior art, the vehicle control method based on the remote throttle switch provided in the embodiment of the present invention, when the throttle mode is the remote throttle mode, determines the target low idle demand value based on the preset low idle demand value and the water temperature low idle demand value, and controls the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller, that is: when the throttle mode is the remote throttle mode, the idle value can be automatically adjusted to the target low idle demand value without the need for driver intervention, thereby eliminating the driver's reaction time, and realizing automatic adjustment of the idle value in the remote throttle mode. There is no need for the driver to increase the remote throttle opening, which simplifies the driver's operating steps and improves the efficiency of the lifting operation.

[0051] Furthermore, the embodiment of the present invention can realize the control of the vehicle by setting a low idle control strategy without increasing the hardware cost, which is simple and efficient.

[0052] Among them, in order to avoid the technical problem that the driver manually modifies the preset low idle demand value, resulting in unreasonable setting of the preset low idle demand value, and then causing the failure of the lifting operation, in some embodiments of the present invention, the preset low idle demand value is set in the vehicle end of line process (End Of Line, EOL) interval of the engine control unit (Engine Control Unit, EECU).

[0053] By setting the preset low idle demand value within the EOL range of the EECU, the driver and other personnel can be prevented from modifying the preset low idle demand value. It only supports the EOL calibration of the whole vehicle and the change of the diagnostic instrument at the after-sales service station. It can take care of most user needs and can also be customized for special users.

[0054] Specifically, the preset low idle demand value is named T_D_IDLE_TARGET_PEDHAND_APV in the low idle internal logic. This value can be calibrated according to any value within the engine speed operating range. Taking the Dongfeng DDi90 National VI engine as an example, the engine speed operating range is 550 to 2300rpm, of which 550rpm is low idle and 2300rpm is high idle.

[0055] The preset low idle demand value is pre-calibrated according to the tonnage of the crane. Simply put, a truck crane is a multifunctional special vehicle that integrates lifting and transportation. It is generally composed of a truck chassis, a cargo compartment, a power take-off, and a crane. The crane type is divided into straight arm type and folding arm type, and the tonnage is divided into 2 tons, 3.2 tons, 5 tons, 6.3 tons, 8 tons, 10 tons, 12 tons, 16 tons, and 20 tons.

[0056] For a small tonnage, such as 5 tons, the low idle demand value is usually preset to 900rpm. For a large tonnage, such as 10 tons, the low idle demand value is usually preset to 1400rpm.

[0057] The preset low idle demand value can be flashed into the EECU by flashing the vehicle EOL file when the vehicle is offline. When the user needs to adjust the value during actual use of the vehicle, he only needs to go to the service station and update the speed with a diagnostic instrument.

[0058] In some embodiments of the present invention, the throttle mode further includes a non-remote throttle mode; the vehicle control method based on the remote throttle switch further includes:

[0059] When the throttle mode is the non-remote throttle mode, the idle value of the vehicle is controlled based on the water temperature low idle demand value, the actual low idle value, the engine water temperature and the second closed-loop controller;

[0060] Wherein, the control parameter of the first closed-loop controller is greater than the control parameter of the second closed-loop controller.

[0061] When the throttle mode is in non-remote throttle mode, the load on the engine is very small. At this time, the load mainly comes from engine friction work, air conditioning, air compressor, generator and other accessory work. Compared with the load when hoisting goods in remote throttle mode, the load is very small. Therefore, in order to cope with the large load in remote throttle mode, the embodiment of the present invention sets the control parameters of the first closed-loop controller to be greater than the control parameters of the second closed-loop controller. When the throttle mode is in remote throttle mode and the engine speed is high, the idle speed value can be quickly adjusted to the hoisting speed through the parameters of the first closed-loop controller, thereby further improving the operating efficiency of the hoisting operation, and ensuring the stability of the idle speed value during adjustment to avoid excessive speed fluctuations.

[0062] The embodiment of the present invention takes the engine water temperature into consideration when controlling the idle speed value of the vehicle. The engine warm-up speed can be increased by increasing the engine speed, thereby increasing the engine water temperature, and further increasing the engine power and working safety.

[0063] In a specific embodiment of the present invention, the control parameters of the second closed-loop controller include a second proportional coefficient, a second integral coefficient and a second differential coefficient; the working process of the second closed-loop controller is as follows: Figure 2As shown, r(t) is the water temperature low idle demand value; y(t) is the actual low idle value; e(t) = r(t) - y(t) is the difference between the water temperature low idle demand value and the actual low idle value; after adjustment by the second closed-loop controller, the output voltage control signal U(t) is output after being processed by the engine. The specific formula of U(t) is:

[0064]

[0065] Where, kp is the second proportional coefficient; T I is the second integral coefficient; T D is the second differential coefficient.

[0066] It should be understood that the working process of the first closed-loop controller is consistent with the working process of the second closed-loop controller, and will not be described in detail here.

[0067] In some embodiments of the present invention, determining the throttle mode of the vehicle based on the remote throttle switch in step S101 includes:

[0068] determining whether the engine control unit receives a remote throttle switch signal triggered by a remote throttle switch;

[0069] When the engine control unit receives a remote throttle switch signal, the throttle mode is the remote throttle mode, and when the engine control unit does not receive a remote throttle switch signal, the throttle mode is the non-remote throttle mode.

[0070] Among them, the remote throttle switch signal can be sent out in various ways such as pressing a button, toggling a key, etc.

[0071] In some embodiments of the present invention, Figure 3 As shown, the step S102 of determining the target low idle demand value based on the preset low idle demand value and the water temperature low idle demand value includes:

[0072] S301, when the preset low idle demand value is greater than the water temperature low idle demand value, determining the preset low idle demand value to be a target low idle demand value;

[0073] S302, when the water temperature low idle demand value is greater than the preset low idle demand value, determining the water temperature low idle demand value to be a target low idle demand value;

[0074] S303: When the preset low idle demand value is equal to the water temperature low idle demand value, determine the preset low idle demand value or the water temperature low idle demand value as the target low idle demand value.

[0075] The embodiment of the present invention can ensure the normal progress of the hoisting operation and improve the reliability of the hoisting operation by taking the larger value of the preset low idle demand value and the water temperature low idle demand value as the target low idle demand value.

[0076] In some embodiments of the present invention, the control parameters of the first closed-loop controller include a first proportional coefficient, a first integral coefficient and a first differential coefficient; Figure 4 As shown, the idle value of the vehicle is controlled based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller in step S102, including:

[0077] S401, determining a demand difference between a target low idle demand value and an actual low idle value;

[0078] S402, obtaining a first mapping relationship between a demand difference, an engine water temperature and a first proportional coefficient, a second mapping relationship between a demand difference, an engine water temperature and a first integral coefficient, and a third mapping relationship between a demand difference and a first differential coefficient;

[0079] S403, determining a first proportional coefficient, a first integral coefficient, and a first differential coefficient based on the demand difference, the engine water temperature, the first mapping relationship, the second mapping relationship, and the third mapping relationship;

[0080] S404: Control the idle speed value of the vehicle based on the demand difference.

[0081] The embodiment of the present invention can quickly determine the first proportional coefficient, the first integral coefficient and the first differential coefficient by pre-constructing a first mapping relationship between the demand difference, the engine water temperature and the first proportional coefficient, a second mapping relationship between the demand difference, the engine water temperature and the first integral coefficient, and a third mapping relationship between the demand difference and the first differential coefficient, thereby improving the efficiency of controlling the vehicle idle speed value and thereby improving the efficiency of the lifting operation.

[0082] Furthermore, since the first differential coefficient is a feedforward quantity and does not need to be very precise, the first differential coefficient of the embodiment of the present invention is only related to the demand difference and does not consider the influence of the engine water temperature on the first differential coefficient. This further improves the regulation efficiency of the first closed-loop controller while ensuring the regulation accuracy of the first closed-loop controller.

[0083] Among them, the first mapping relationship, the second mapping relationship and the third mapping relationship in step S402 can be stored in the storage medium in the form of a table. When step S402 is executed, the table in the storage medium is called to obtain the first proportional coefficient, the first integral coefficient and the first differential coefficient by looking up the table.

[0084] In order to avoid the technical problem that the first proportional coefficient, the first integral coefficient and the first differential coefficient obtained when the first mapping relationship, the second mapping relationship and the third mapping relationship stored in the form of a table are not accurate enough due to the step size when they are used, in some embodiments of the present invention, the first mapping relationship, the second mapping relationship and the third mapping relationship exist in the form of mapping functions, and when step S402 is executed, the mapping function is called to obtain the first proportional coefficient, the first integral coefficient and the first differential coefficient.

[0085] It should be understood that the process of controlling the idle speed value of the vehicle by the second closed-loop controller is the same as the control process of the first closed-loop controller. Specifically, the control process of the second closed-loop controller is:

[0086] Determine a second demand difference between a water temperature low idle demand value and an actual low idle value; obtain a fourth mapping relationship between the second demand difference, the engine water temperature and the second proportional coefficient, a fifth mapping relationship between the second demand difference, the engine water temperature and the second integral coefficient, and a sixth mapping relationship between the second demand difference and the second differential coefficient; determine a second proportional coefficient, a second integral coefficient and a second differential coefficient based on the second demand difference, the engine water temperature, the fourth mapping relationship, the fifth mapping relationship and the sixth mapping relationship; control the idle value of the vehicle based on the demand difference.

[0087] In a specific embodiment of the present invention, the value range of the first proportional coefficient is 2.58-3.12, the value range of the first integral coefficient is 0.0875-0.115, and the value range of the first differential coefficient is 0.0379-0.0736.

[0088] In a specific embodiment of the present invention, the value range of the second proportional coefficient is 1.08-1.12, the value range of the second integral coefficient is 0.0075-0.035, and the value range of the second differential coefficient is 0.008-0.0336.

[0089] In summary, the vehicle control method based on the remote throttle switch proposed in the embodiment of the present invention develops a low idle demand based on the remote throttle switch, i.e., the low idle control logic in the remote throttle mode, without changing the low idle control logic in the non-remote throttle mode without remote throttle demand, thereby realizing automatic and rapid regulation of low idle in the remote throttle mode and improving the operating efficiency of the hoisting operation. Furthermore, by setting the control parameters of the first closed-loop controller in the remote throttle mode to be greater than the control parameters of the second closed-loop controller in the non-remote throttle mode, the technical problems of high speed and slow regulation process in the remote throttle mode can be eliminated, further improving the operating efficiency of the hoisting operation, and ensuring the stability of the idle value adjustment process to avoid excessive speed fluctuations.

[0090] In order to better implement the vehicle control method based on the remote throttle switch in the embodiment of the present invention, based on the vehicle control method based on the remote throttle switch, the embodiment of the present invention also provides a vehicle control system based on the remote throttle switch, such as Figure 5 As shown, the vehicle control system 500 based on the remote throttle switch includes:

[0091] A throttle mode determination unit 501 is used to determine a throttle mode of the vehicle based on a remote throttle switch; the throttle mode includes a remote throttle mode;

[0092] The idle control unit 502 is used to determine the target low idle demand value based on the preset low idle demand value and the water temperature low idle demand value when the throttle mode is the remote throttle mode, and control the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller.

[0093] The vehicle control system 500 based on the remote throttle switch provided in the above embodiment can implement the technical solution described in the above embodiment of the vehicle control method based on the remote throttle switch. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above embodiment of the vehicle control method based on the remote throttle switch, which will not be repeated here.

[0094] like Figure 6 As shown, the present invention also provides a vehicle 600. The vehicle 600 includes a processor 601, a memory 602 and a display 603. Figure 6 Only some of the components of vehicle 600 are shown, but it should be understood that implementation of all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0095] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 602, such as the vehicle control method based on the remote throttle switch in the present invention.

[0096] In some embodiments, the processor 601 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 601 may be local or remote. In some embodiments, the processor 601 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination thereof.

[0097] In some embodiments, the memory 602 may be an internal storage unit of the vehicle 600, such as a hard disk or memory of the vehicle 600. In other embodiments, the memory 602 may also be an external storage device of the vehicle 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the vehicle 600.

[0098] Furthermore, the memory 602 may include both an internal storage unit of the vehicle 600 and an external storage device. The memory 602 is used to store application software installed in the vehicle 600 and various data.

[0099] In some embodiments, the display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 603 is used to display information on the vehicle 600 and to display a visual user interface. The components 601-603 of the vehicle 600 communicate with each other via a system bus.

[0100] In some embodiments of the present invention, when the processor 601 executes the vehicle control program based on the remote throttle switch in the memory 602, the following steps may be implemented:

[0101] Determining a throttle mode of the vehicle based on a remote throttle switch; the throttle mode includes a remote throttle mode;

[0102] When the throttle mode is the remote throttle mode, the target low idle demand value is determined based on the preset low idle demand value and the water temperature low idle demand value, and the idle value of the vehicle is controlled based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller.

[0103] It should be understood that: when the processor 601 executes the vehicle control program based on the remote throttle switch in the memory 602, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the previous related method embodiments.

[0104] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions of the vehicle control method based on the remote throttle switch provided in the above-mentioned method embodiments can be implemented.

[0105] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0106] The above is a detailed introduction to a vehicle control method, system, vehicle and medium based on a remote throttle switch provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method based on a remote throttle switch, characterized in that: include: determining a throttle mode of the vehicle based on the remote throttle switch; The throttle mode includes a remote throttle mode; When the throttle mode is the remote throttle mode, a target low idle demand value is determined based on a preset low idle demand value and a water temperature low idle demand value, and the idle value of the vehicle is controlled based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller; The control parameters of the first closed-loop controller include a first proportional coefficient, a first integral coefficient and a first differential coefficient; the control of the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller includes: Determining a demand difference between the target low idle demand value and the actual low idle value; Acquire a first mapping relationship between the demand difference, the engine water temperature and the first proportional coefficient, a second mapping relationship between the demand difference, the engine water temperature and the first integral coefficient, and a third mapping relationship between the demand difference and the first differential coefficient; Determining the first proportional coefficient, the first integral coefficient, and the first differential coefficient based on the demand difference, the engine water temperature, the first mapping relationship, the second mapping relationship, and the third mapping relationship; Based on the demand difference, an idle speed value of the vehicle is controlled.

2. The vehicle control method based on the remote throttle switch according to claim 1, characterized in that: The throttle mode also includes a non-remote throttle mode; The vehicle control method based on the remote throttle switch also includes: When the throttle mode is a non-remote throttle mode, the idle value of the vehicle is controlled based on the water temperature low idle speed demand value, the actual low idle speed value, the engine water temperature and a second closed-loop controller; Wherein, the control parameter of the first closed-loop controller is greater than the control parameter of the second closed-loop controller.

3. The vehicle control method based on the remote throttle switch according to claim 2, characterized in that: The method of determining the throttle mode of the vehicle based on the remote throttle switch includes: determining whether the engine control unit receives a remote throttle switch signal triggered by the remote throttle switch; When the engine control unit receives the remote throttle switch signal, the throttle mode is the remote throttle mode, and when the engine control unit does not receive the remote throttle switch signal, the throttle mode is the non-remote throttle mode.

4. The vehicle control method based on the remote throttle switch according to claim 1, characterized in that: The determining of the target low idle demand value based on the preset low idle demand value and the water temperature low idle demand value includes: When the preset low idle demand value is greater than the water temperature low idle demand value, determining the preset low idle demand value to be the target low idle demand value; When the water temperature low idle demand value is greater than the preset low idle demand value, determining the water temperature low idle demand value to be the target low idle demand value; When the preset low idle demand value is equal to the water temperature low idle demand value, the preset low idle demand value or the water temperature low idle demand value is determined as the target low idle demand value.

5. The vehicle control method based on the remote throttle switch according to claim 1, characterized in that: The value range of the first proportional coefficient is 2.58~3.12, the value range of the first integral coefficient is 0.0875~0.115, and the value range of the first differential coefficient is 0.0379~0.0736.

6. The vehicle control method based on the remote throttle switch according to claim 2, characterized in that: The control parameters of the second closed-loop controller include a second proportional coefficient, a second integral coefficient and a second differential coefficient; the value range of the second proportional coefficient is 1.08~1.12, the value range of the second integral coefficient is 0.0075~0.035, and the value range of the second differential coefficient is 0.008~0.0336.

7. A vehicle control system based on a remote throttle switch, characterized in that: include: a throttle mode determination unit, configured to determine a throttle mode of the vehicle based on the remote throttle switch; The throttle mode includes a remote throttle mode; an idle control unit, for determining a target low idle demand value based on a preset low idle demand value and a water temperature low idle demand value when the throttle mode is the remote throttle mode, and controlling the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and a first closed-loop controller; The control parameters of the first closed-loop controller include a first proportional coefficient, a first integral coefficient and a first differential coefficient; the control of the idle value of the vehicle based on the target low idle demand value, the actual low idle value, the engine water temperature and the first closed-loop controller includes: Determining a demand difference between the target low idle demand value and the actual low idle value; Acquire a first mapping relationship between the demand difference, the engine water temperature and the first proportional coefficient, a second mapping relationship between the demand difference, the engine water temperature and the first integral coefficient, and a third mapping relationship between the demand difference and the first differential coefficient; Determining the first proportional coefficient, the first integral coefficient, and the first differential coefficient based on the demand difference, the engine water temperature, the first mapping relationship, the second mapping relationship, and the third mapping relationship; Based on the demand difference, an idle speed value of the vehicle is controlled.

8. A vehicle, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle control method based on the remote throttle switch as described in any one of claims 1 to 6 above.

9. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle control method based on a remote throttle switch as described in any one of claims 1 to 6 above.

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