Control method, control device, and electronic device for vehicle

Abstract

The application provides a control method, a control device and an electronic device of a vehicle. The method comprises: obtaining an average vehicle speed of the vehicle in a time period from a first predetermined historical time to a current time, the first predetermined historical time being before the current time; in a case where the average vehicle speed is less than or equal to a first predetermined vehicle speed, controlling the vehicle to keep the output torque of the current time unchanged; in a case where the average vehicle speed is greater than the first predetermined vehicle speed, controlling the output torque to keep unchanged or decrease at least according to an accelerator opening degree of the vehicle at the current time and an acceleration of the vehicle in a time period from a second predetermined historical time to the current time, the second predetermined historical time being between the first predetermined historical time and the current time. The application solves the problem that the vehicle in the prior art is difficult to balance the power performance and the economy under various operating conditions.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle control method, control device, computer-readable storage medium, and electronic device. Background Technology

[0002] When the engine outputs a fixed torque at the same throttle opening, if the vehicle is running smoothly and the acceleration demand is low (vehicle speed is stable, gradient is small, and driver throttle opening is small), and the output torque is high at the same throttle opening, the driver needs to frequently adjust the throttle opening to control the vehicle speed, resulting in large fluctuations in output torque and poor vehicle economy. Conversely, if the vehicle has a high acceleration demand (vehicle acceleration is high, gradient is large, and driver throttle opening is large), and the output torque is low at the same throttle opening, the power performance is poor, and the driver needs to floor the accelerator to achieve the desired speed, resulting in a poor driving experience.

[0003] Therefore, in the existing technology, the output torque of the engine at the same throttle opening is a fixed value, which makes it difficult to balance the power and economy under various operating conditions. Summary of the Invention

[0004] The main objective of this application is to provide a vehicle control method, control device, computer-readable storage medium, and electronic device to at least solve the problem in the prior art that vehicles are difficult to balance power and economy under various operating conditions.

[0005] To achieve the above objectives, according to one aspect of this application, a vehicle control method is provided, comprising: acquiring the average vehicle speed over a time period from a first predetermined historical moment to the current moment, wherein the first predetermined historical moment is prior to the current moment; controlling the vehicle to maintain a constant output torque at the current moment when the average vehicle speed is less than or equal to the first predetermined vehicle speed; and controlling the output torque to remain constant or decrease at least based on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle over a time period from a second predetermined historical moment to the current moment when the average vehicle speed is greater than the first predetermined vehicle speed, wherein the second predetermined historical moment is between the first predetermined historical moment and the current moment.

[0006] Optionally, controlling the output torque to remain constant or decrease based at least on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment includes: reducing the output torque at least when the throttle opening is less than a predetermined opening value and the acceleration is less than a predetermined acceleration value; and controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value.

[0007] Optionally, the predetermined opening value includes a first predetermined opening and a second predetermined opening that decrease sequentially, and the predetermined acceleration value includes a first predetermined acceleration and a second predetermined acceleration that decrease sequentially. At least when the throttle opening is less than the predetermined opening value and the acceleration is less than the predetermined acceleration value, reducing the output torque includes: controlling the output torque to decrease by a first torque value when the throttle opening is less than the first predetermined opening, the acceleration is less than the first predetermined acceleration, and the slope of the vehicle's current position is less than a first slope value; and controlling the output torque to decrease by a second torque value when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, wherein the first torque value is greater than the second torque value.

[0008] Optionally, when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, controlling the output torque to decrease by a second torque value includes: when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, determining the second torque value as M2 = (P2-P) / (P2-P1)×M1 based on the first slope value and the second slope value, where P2 is the second slope value, P is the slope, P1 is the first slope value, and M1 is the first torque value; controlling the output torque to decrease by a decreasing step size using the second torque value.

[0009] Optionally, controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value, includes: controlling the output torque to remain constant when the throttle opening is greater than or equal to the first predetermined opening value, or the acceleration is greater than or equal to the first predetermined acceleration value, and the gradient is less than the first gradient value; and controlling the output torque to remain constant when the throttle opening is greater than or equal to the second predetermined opening value, or the acceleration is greater than or equal to the second predetermined acceleration value, and the gradient is greater than or equal to the first gradient value and less than the second gradient value.

[0010] Optionally, the method further includes: controlling the output torque to remain constant when the slope is greater than or equal to the second slope value.

[0011] Optionally, when the average vehicle speed is greater than the first predetermined vehicle speed and less than or equal to the second predetermined vehicle speed, the corresponding first slope value is the first predetermined slope, and the corresponding first torque value is the first predetermined torque; when the average vehicle speed is greater than the second predetermined vehicle speed, the corresponding second slope value is the second predetermined slope, and the corresponding first torque value is the second predetermined torque; the first predetermined slope is greater than the second predetermined slope, and the first predetermined torque is less than the second predetermined torque.

[0012] According to another aspect of this application, a vehicle control device is provided, comprising: an acquisition unit for acquiring the average vehicle speed over a time period from a first predetermined historical time to the current time, wherein the first predetermined historical time is prior to the current time; a first control unit for controlling the vehicle to maintain a constant output torque at the current time when the average vehicle speed is less than or equal to the first predetermined vehicle speed; and a second control unit for controlling the output torque to remain constant or decrease, at least based on the throttle opening of the vehicle at the current time and the acceleration of the vehicle over a time period from a second predetermined historical time to the current time, wherein the second predetermined historical time is between the first predetermined historical time and the current time.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the vehicle control methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for performing any of the vehicle control methods described herein.

[0015] By applying the technical solution of this application, the average vehicle speed is first obtained from the time period from the first predetermined historical time to the current time. Then, when the average vehicle speed is less than or equal to the first predetermined vehicle speed, the output torque of the vehicle is controlled to remain unchanged at the current time. When the average vehicle speed is greater than the first predetermined vehicle speed, the output torque is controlled to remain unchanged or decrease, at least based on the throttle opening of the vehicle at the current time and the acceleration of the vehicle from the time period from the second predetermined historical time between the first predetermined historical time and the current time. Compared to existing technologies where the engine output torque is a fixed value at the same throttle opening, making it difficult to balance power and economy under various operating conditions, this application first addresses the issue of the engine output torque remaining constant when the average vehicle speed is less than or equal to a first predetermined speed, indicating that the vehicle speed is low and the overall acceleration demand is high. This ensures good overall vehicle power. When the average vehicle speed is greater than the first predetermined speed, the acceleration demand is determined based on the throttle opening and acceleration, thereby controlling the output torque to remain constant or decrease. This ensures that the output torque control is more in line with the actual operating conditions of the vehicle, thus ensuring that the controlled output torque is more accurate and that the vehicle has good power and economy. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a vehicle control method according to an embodiment of this application is shown;

[0018] Figure 2 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0019] Figure 3 The diagram shows the distribution of throttle opening and output torque points in a vehicle at the same engine speed in the prior art.

[0020] Figure 4 A diagram showing the distribution of throttle opening and output torque points of a vehicle controlled by a technical solution according to an embodiment of this application is provided.

[0021] Figure 5 A schematic flowchart of a specific vehicle control method according to an embodiment of this application is shown;

[0022] Figure 6 A structural block diagram of a vehicle control device according to an embodiment of this application is shown.

[0023] The above figures include the following reference numerals:

[0024] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] As described in the background section, existing vehicles struggle to balance power and economy under various operating conditions. To address these issues, embodiments of this application provide a vehicle control method, control device, computer-readable storage medium, and electronic device.

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a vehicle control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0031] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0032] This embodiment provides a vehicle control method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0033] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0034] Step S201: Obtain the average vehicle speed of the vehicle during the time period from the first predetermined historical time to the current time, wherein the first predetermined historical time is before the current time.

[0035] Specifically, those skilled in the art can set the aforementioned first predetermined historical time based on empirical values, or it can be obtained through multiple experiments; this application does not impose specific limitations on this. In the embodiments of this application, the duration of the time period from the aforementioned first predetermined historical time to the aforementioned current time ranges from 5 seconds to 10 seconds.

[0036] Step S202: When the average vehicle speed is less than or equal to the first predetermined vehicle speed, control the vehicle to maintain the current output torque unchanged.

[0037] Specifically, the aforementioned output torque refers to the engine's output torque. This output torque refers to the torque generated by the engine after removing its own frictional resistance and accessory resistance, which is the torque ultimately applied to the transmission to drive the vehicle. The aforementioned first predetermined vehicle speed should be relatively low and not too high. Those skilled in the art can set the aforementioned first predetermined vehicle speed based on experience, or it can be obtained through multiple experiments; this application does not impose specific limitations on this. In the embodiments of this application, the value range of the aforementioned first predetermined vehicle speed is 20–40 km / h.

[0038] Step S203: When the average vehicle speed is greater than the first predetermined vehicle speed, the output torque is controlled to remain constant or decrease, at least based on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment. The second predetermined historical moment is located between the first predetermined historical moment and the current moment.

[0039] Specifically, the duration of the time interval between the second predetermined historical moment and the current moment should be extremely short. In practical applications, those skilled in the art can set the second predetermined historical moment based on experience or through multiple experiments; this application does not impose specific limitations on this. The throttle opening refers to the throttle valve opening of the vehicle engine, that is, the ratio of the airflow required by the engine to the actual intake air volume. The larger the throttle opening, the larger the throttle valve opening, the greater the intake air volume, and the greater the engine output power.

[0040] Through the above embodiments, the average vehicle speed is first obtained from the time period from the first predetermined historical time to the current time. Then, when the average vehicle speed is less than or equal to the first predetermined vehicle speed, the output torque of the vehicle is controlled to remain unchanged at the current time. When the average vehicle speed is greater than the first predetermined vehicle speed, the output torque is controlled to remain unchanged or decrease, at least based on the throttle opening of the vehicle at the current time and the acceleration of the vehicle from the time period from the second predetermined historical time between the first predetermined historical time and the current time. Compared to existing technologies where the engine output torque is a fixed value at the same throttle opening, making it difficult to balance power and economy under various operating conditions, this application first addresses the issue of the engine output torque remaining constant when the average vehicle speed is less than or equal to a first predetermined speed, indicating that the vehicle speed is low and the overall acceleration demand is high. This ensures good overall vehicle power. When the average vehicle speed is greater than the first predetermined speed, the acceleration demand is determined based on the throttle opening and acceleration, thereby controlling the output torque to remain constant or decrease. This ensures that the output torque control is more in line with the actual operating conditions of the vehicle, thus ensuring that the controlled output torque is more accurate and that the vehicle has good power and economy.

[0041] In one alternative, controlling the output torque to remain constant or decrease based at least on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment includes: reducing the output torque at least when the throttle opening is less than a predetermined opening value and the acceleration is less than a predetermined acceleration value; and controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value. In this embodiment, at least when the throttle opening is less than a predetermined opening value and the acceleration is less than a predetermined acceleration value, it indicates that the vehicle's acceleration demand is relatively low, thereby reducing the output torque and further ensuring good vehicle economy and stable vehicle speed. At least when the throttle opening is greater than or equal to a predetermined opening value, or the acceleration is greater than or equal to a predetermined acceleration value, it indicates that the vehicle's acceleration demand is relatively high, thereby controlling the output torque to remain constant and further ensuring good vehicle power. In other words, by judging the degree of vehicle acceleration demand through the specific magnitude of throttle opening and acceleration, it is further ensured that the control of output torque is more in line with the actual operating conditions of the vehicle, and thus further ensures that the controlled output torque is more accurate.

[0042] In practical applications, those skilled in the art can set the above-mentioned predetermined opening value and predetermined acceleration value based on experience, or obtain them through multiple experiments. This application does not impose any specific restrictions on this.

[0043] In other embodiments, the predetermined opening value includes a first predetermined opening and a second predetermined opening that decrease sequentially, and the predetermined acceleration value includes a first predetermined acceleration and a second predetermined acceleration that decrease sequentially. At least when the throttle opening is less than the predetermined opening value and the acceleration is less than the predetermined acceleration value, the output torque is reduced, including: when the throttle opening is less than the first predetermined opening, the acceleration is less than the first predetermined acceleration, and the slope of the vehicle's current location is less than the first slope value, controlling the output torque to decrease to a first torque value; when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, controlling the output torque to decrease to a second torque value, wherein the first torque value is greater than the second torque value. In this embodiment, by combining the slope, throttle opening, and the specific range of acceleration to further control the reduction of output torque, the control of output torque is further ensured to better conform to the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate, and further ensuring good vehicle power and economy.

[0044] Specifically, the aforementioned first torque value is a calibrable torque value.

[0045] In practical applications, those skilled in the art can set the first predetermined opening, the second predetermined opening, the first predetermined acceleration, the second predetermined acceleration, the first slope value, the second slope value, and the first torque value based on empirical values, or obtain them through multiple experiments. This application does not impose specific limitations on this. In the embodiments of this application, the value of the first torque value ranges from 30 to 80 N·m.

[0046] In an exemplary embodiment of this application, when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, controlling the output torque to decrease to a second torque value includes: when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, determining the second torque value as M2 = (P2-P) / (P2-P1)×M1 based on the first slope value and the second slope value, where P2 is the second slope value, P is the slope, P1 is the first slope value, and M1 is the first torque value; and controlling the output torque to decrease by decreasing the second torque value by a decreasing step size. In this embodiment, the second torque value is M2 = (P2-P) / (P2-P1)×M1. That is, the second torque value is determined by combining the vehicle's current slope, the first slope value, the second slope value, and the first torque value. This ensures that the obtained second torque value is relatively accurate and conforms to the actual operating conditions of the vehicle. As a result, the subsequent control of the output torque is more in line with the actual operating conditions of the vehicle, further ensuring that the controlled output torque is more accurate, and further ensuring that the vehicle has good power and economy.

[0047] According to some exemplary embodiments of this application, controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value, includes: controlling the output torque to remain constant when the throttle opening is greater than or equal to the first predetermined opening value, or the acceleration is greater than or equal to the first predetermined acceleration value, and the slope is less than the first slope value; and controlling the output torque to remain constant when the throttle opening is greater than or equal to the second predetermined opening value, or the acceleration is greater than or equal to the second predetermined acceleration value, and the slope is greater than or equal to the first slope value and less than the second slope value. In this embodiment, by combining the specific range of slope, throttle opening, and acceleration, the output torque is further controlled to remain constant, further ensuring that the control of the output torque is more accurate and conforms to the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate, and further ensuring that the vehicle has better power and economy.

[0048] According to some other exemplary embodiments of this application, the method further includes: controlling the output torque to remain constant when the slope is greater than or equal to the second slope value. In this embodiment, when the slope is greater than or equal to the second slope value, it indicates that the vehicle's acceleration demand is relatively high, thereby controlling the output torque to remain constant further ensures good overall vehicle power performance.

[0049] In some alternative solutions of this application, when the average vehicle speed is greater than the first predetermined vehicle speed and less than or equal to the second predetermined vehicle speed, the corresponding first slope value is the first predetermined slope, and the corresponding first torque value is the first predetermined torque; when the average vehicle speed is greater than the second predetermined vehicle speed, the corresponding second slope value is the second predetermined slope, and the corresponding first torque value is the second predetermined torque; when the first predetermined slope is greater than the second predetermined slope, the first predetermined torque is less than the second predetermined torque. In this embodiment, by combining the specific range of average vehicle speed, that is, further dividing the case of average vehicle speed greater than the first predetermined vehicle speed into two more specific ranges, the first slope value, second slope value, first torque value, and second torque value are also correspondingly divided into two different cases, further ensuring that the control of output torque is more accurate and conforms to the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate, and further ensuring that the vehicle has good power and economy.

[0050] In practical applications, those skilled in the art can set the aforementioned second predetermined speed, first predetermined gradient, first predetermined torque, second predetermined gradient, and second predetermined torque based on empirical values, or obtain them through multiple experiments. This application does not impose specific limitations on these parameters. In the embodiments of this application, the value range of the first predetermined torque is 30–80 N·m, and the value range of the second predetermined torque is 30–50 N·m.

[0051] Figure 3 This is a diagram showing the distribution of throttle opening and output torque points in a vehicle at the same engine speed, as described in existing technologies. Figure 3 As shown, straight line ① represents the relationship between fixed output torque and throttle opening. The points in the figure represent the output torque points of the vehicle during actual operation, which are not stable. One throttle opening corresponds to several output torque points.

[0052] Figure 4 This is a distribution diagram of the throttle opening and output torque points of a vehicle controlled according to the technical solution of the embodiments of this application, such as... Figure 4 As shown, straight line ② represents the line between fixed output torque and throttle opening, and straight line ③ represents the relationship line obtained by controlling the output torque to decrease or remain unchanged according to the technical solution of this application. The points in the figure represent the output torque points of the vehicle during actual operation, which are very stable, with one throttle opening corresponding to one output torque point.

[0053] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the vehicle control method of this application will be described in detail below with reference to specific embodiments.

[0054] This embodiment relates to a specific vehicle control method, as Figure 5 shown, and includes the following steps:

[0055] Step S1: Obtain the average vehicle speed within the time period from the first predetermined historical moment to the current moment, where the first predetermined historical moment is before the current moment;

[0056] Step S2: Determine whether the average vehicle speed V is greater than the second predetermined vehicle speed V2;

[0057] Step S3: When V > V2, determine whether the slope P at the current vehicle position is less than the fourth predetermined slope P5; when P < P5, determine whether the throttle opening T at the current moment is less than the third opening T3, and whether the acceleration a within the time period from the second predetermined historical moment to the current moment is less than the third acceleration a3. When T < T3 and a < a3, control the output torque at the current moment to decrease by the second predetermined torque M5. When T ≥ T3 or a ≥ a3, control the output torque to remain unchanged; when P ≥ P5, determine whether the slope P is greater than or equal to the fourth predetermined slope P5 and less than the second predetermined slope P6. When P5 ≤ P < P6, determine whether the throttle opening T is less than the fourth opening T4, and whether the acceleration a is less than the fourth acceleration a4. When T < T4 and a < a4, control the output torque to decrease by the fourth predetermined torque M6, where M6 = (P6 - P) / (P6 - P5) × M5. When T ≥ T4 or a ≥ a4, control the output torque to remain unchanged; when P ≥ P6, control the output torque to remain unchanged; T3 > T4, a3 > a4, and the second predetermined historical moment is between the first predetermined historical moment and the current moment;

[0058] Step S4: When V ≤ V2, determine whether the average vehicle speed V is greater than the first predetermined vehicle speed V1 and less than or equal to the second predetermined vehicle speed V2;

[0059] Step S5: When V1 < V ≤ V2, determine whether the slope P is less than the first predetermined slope P3; when P < P3, determine whether the throttle opening T is less than the first opening T1 and whether the acceleration a is less than the first acceleration a1. When T < T1 and a < a1, control the output torque to decrease by the first predetermined torque M3. When T ≥ T1 or a ≥ a1, control the output torque to remain unchanged; when P ≥ P3, determine whether the slope P is greater than or equal to the first predetermined slope P3 and less than the third predetermined slope P4. When P3 ≤ P < P4, determine whether the throttle opening T is less than the second opening T2 and whether the acceleration a is less than the second acceleration a2. When T < T2 and a < a2, control the output torque to decrease by the third predetermined torque M4, where M4 = (P4 - P) / (P4 - P3) × M3. When T ≥ T2 or a ≥ a2, control the output torque to remain unchanged; when P ≥ P4, control the output torque to remain unchanged; T1 > T2, a1 > a2, and the second predetermined historical moment is between the first predetermined historical moment and the current moment.

[0060] Step S6: When V ≤ V1, control the output torque to remain unchanged.

[0061] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0062] The embodiment of the present application also provides a control device for a vehicle. It should be noted that the control device for the vehicle in the embodiment of the present application can be used to execute the control method for the vehicle provided in the embodiment of the present application. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0063] The following introduces the control device for the vehicle provided in the embodiment of the present application.

[0064] Figure 6 is a schematic diagram of the control device for the vehicle according to the embodiment of the present application. As Figure 6 shown, the device includes:

[0065] An acquisition unit 10, configured to acquire the average vehicle speed of the vehicle during the period from the first predetermined historical moment to the current moment, where the first predetermined historical moment is before the current moment;

[0066] Specifically, those skilled in the art can set the aforementioned first predetermined historical time based on empirical values, or it can be obtained through multiple experiments; this application does not impose specific limitations on this. In the embodiments of this application, the duration of the time period from the aforementioned first predetermined historical time to the aforementioned current time ranges from 5 seconds to 10 seconds.

[0067] The first control unit 20 is used to control the vehicle to maintain the current output torque when the average vehicle speed is less than or equal to the first predetermined vehicle speed.

[0068] Specifically, the aforementioned output torque refers to the engine's output torque. This output torque refers to the torque generated by the engine after removing its own frictional resistance and accessory resistance, which is the torque ultimately applied to the transmission to drive the vehicle. The aforementioned first predetermined vehicle speed should be relatively low and not too high. Those skilled in the art can set the aforementioned first predetermined vehicle speed based on experience, or it can be obtained through multiple experiments; this application does not impose specific limitations on this. In the embodiments of this application, the value range of the aforementioned first predetermined vehicle speed is 20–40 km / h.

[0069] The second control unit 30 is configured to, when the average vehicle speed is greater than the first predetermined vehicle speed, control the output torque to remain constant or decrease based at least on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment, wherein the second predetermined historical moment is located between the first predetermined historical moment and the current moment.

[0070] Specifically, the duration of the time interval between the second predetermined historical moment and the current moment should be extremely short. In practical applications, those skilled in the art can set the second predetermined historical moment based on experience or through multiple experiments; this application does not impose specific limitations on this. The throttle opening refers to the throttle valve opening of the vehicle engine, that is, the ratio of the airflow required by the engine to the actual intake air volume. The larger the throttle opening, the larger the throttle valve opening, the greater the intake air volume, and the greater the engine output power.

[0071] Through the above embodiments, the acquisition unit acquires the average vehicle speed during the time period from the first predetermined historical time to the current time. When the average vehicle speed is less than or equal to the first predetermined vehicle speed, the first control unit controls the vehicle to maintain the output torque at the current time unchanged. When the average vehicle speed is greater than the first predetermined vehicle speed, the second control unit controls the output torque to remain unchanged or decrease, based at least on the throttle opening of the vehicle at the current time and the acceleration of the vehicle during the time period from the second predetermined historical time between the first predetermined historical time and the current time. Compared to existing technologies where the engine output torque is a fixed value at the same throttle opening, making it difficult to balance power and economy under various operating conditions, this application addresses the issue that when the average vehicle speed is less than or equal to a first predetermined speed, indicating a lower vehicle speed and a greater demand for acceleration, the engine output torque is kept constant to ensure good overall vehicle power. Conversely, when the average vehicle speed is greater than the first predetermined speed, the acceleration demand is determined based on the throttle opening and acceleration, thereby controlling the output torque to remain constant or decrease. This ensures that the output torque control is more consistent with the actual operating conditions of the vehicle, resulting in more accurate controlled output torque and thus better vehicle power and economy.

[0072] In one optional embodiment, the second control unit includes: a reduction subunit, configured to reduce the output torque at least when the throttle opening is less than a predetermined opening value and the acceleration is less than a predetermined acceleration value; and a control subunit, configured to keep the output torque constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value. In this embodiment, when the throttle opening is less than the predetermined opening value and the acceleration is less than the predetermined acceleration value, it indicates that the vehicle's acceleration demand is relatively low, thus reducing the output torque at this time further ensures good vehicle economy and stable vehicle speed. When the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value, it indicates that the vehicle's acceleration demand is relatively high, thus keeping the output torque constant further ensures good vehicle power. In other words, by determining the magnitude of the vehicle's acceleration demand through the specific magnitude of the throttle opening and acceleration, the control of the output torque is more consistent with the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate.

[0073] In practical applications, those skilled in the art can set the above-mentioned predetermined opening value and predetermined acceleration value based on experience, or obtain them through multiple experiments. This application does not impose any specific restrictions on this.

[0074] In other embodiments, the predetermined opening value includes a first predetermined opening and a second predetermined opening that decrease sequentially, and the predetermined acceleration value includes a first predetermined acceleration and a second predetermined acceleration that decrease sequentially. The reduction subunit includes: a first control module, used to control the output torque to decrease to a first torque value when the throttle opening is less than the first predetermined opening, the acceleration is less than the first predetermined acceleration, and the slope of the vehicle's current location is less than a first slope value; and a second control module, used to control the output torque to decrease to a second torque value when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, wherein the first torque value is greater than the second torque value. In this embodiment, by combining the slope, throttle opening, and the specific range of acceleration to further control the reduction of output torque, the control of output torque is further ensured to be more consistent with the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate, and further ensuring that the vehicle has good power and economy.

[0075] Specifically, the aforementioned first torque value is a calibrable torque value.

[0076] In practical applications, those skilled in the art can set the first predetermined opening, the second predetermined opening, the first predetermined acceleration, the second predetermined acceleration, the first slope value, the second slope value, and the first torque value based on empirical values, or obtain them through multiple experiments. This application does not impose specific limitations on this. In the embodiments of this application, the value of the first torque value ranges from 30 to 80 N·m.

[0077] In an exemplary embodiment of this application, the second control module includes: a determining submodule, configured to determine the second torque value as M2 = (P2-P) / (P2-P1)×M1 based on the first slope value and the second slope value when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value; and a controlling submodule, configured to control the output torque to decrease by decreasing the step size of the second torque value. In this embodiment, the second torque value is M2 = (P2-P) / (P2-P1)×M1. That is, the second torque value is determined by combining the vehicle's current slope, the first slope value, the second slope value, and the first torque value. This ensures that the obtained second torque value is relatively accurate and conforms to the actual operating conditions of the vehicle. As a result, the subsequent control of the output torque is more in line with the actual operating conditions of the vehicle, further ensuring that the controlled output torque is more accurate, and further ensuring that the vehicle has good power and economy.

[0078] According to some exemplary embodiments of this application, the control subunit includes: a third control module, configured to control the output torque to remain constant when the throttle opening is greater than or equal to the first predetermined opening, or the acceleration is greater than or equal to the first predetermined acceleration, and the slope is less than the first slope value; and a fourth control module, configured to control the output torque to remain constant when the throttle opening is greater than or equal to the second predetermined opening, or the acceleration is greater than or equal to the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value. In this embodiment, by combining the specific range of slope, throttle opening, and acceleration to further control the output torque to remain constant, the control of the output torque is further ensured to be more accurate and in line with the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate and that the vehicle has better power and economy.

[0079] According to some other exemplary embodiments of this application, the above-mentioned device further includes: a third control unit, configured to control the output torque to remain constant when the slope is greater than or equal to the second slope value. In this embodiment, when the slope is greater than or equal to the second slope value, it indicates that the vehicle's acceleration demand is relatively high, thereby controlling the output torque to remain constant further ensures good overall vehicle power performance.

[0080] In some alternative solutions of this application, when the average vehicle speed is greater than the first predetermined vehicle speed and less than or equal to the second predetermined vehicle speed, the corresponding first slope value is the first predetermined slope, and the corresponding first torque value is the first predetermined torque; when the average vehicle speed is greater than the second predetermined vehicle speed, the corresponding second slope value is the second predetermined slope, and the corresponding first torque value is the second predetermined torque; when the first predetermined slope is greater than the second predetermined slope, the first predetermined torque is less than the second predetermined torque. In this embodiment, by combining the specific range of average vehicle speed, that is, further dividing the case of average vehicle speed greater than the first predetermined vehicle speed into two more specific ranges, the first slope value, second slope value, first torque value, and second torque value are also correspondingly divided into two different cases, further ensuring that the control of output torque is more accurate and conforms to the actual operating conditions of the vehicle, thereby further ensuring that the controlled output torque is more accurate, and further ensuring that the vehicle has good power and economy.

[0081] In practical applications, those skilled in the art can set the aforementioned second predetermined speed, first predetermined gradient, first predetermined torque, second predetermined gradient, and second predetermined torque based on empirical values, or obtain them through multiple experiments. This application does not impose specific limitations on these parameters. In the embodiments of this application, the value range of the first predetermined torque is 30–80 N·m, and the value range of the second predetermined torque is 30–50 N·m.

[0082] Figure 3 This is a diagram showing the distribution of throttle opening and output torque points in a vehicle at the same engine speed, as described in existing technologies. Figure 3 As shown, straight line ① represents the relationship between fixed output torque and throttle opening. The points in the figure represent the output torque points of the vehicle during actual operation, which are not stable. One throttle opening corresponds to several output torque points.

[0083] Figure 4 This is a distribution diagram of the throttle opening and output torque points of a vehicle controlled according to the technical solution of the embodiments of this application, such as... Figure 4 As shown, straight line ② represents the line between fixed output torque and throttle opening, and straight line ③ represents the relationship line obtained by controlling the output torque to decrease or remain unchanged according to the technical solution of this application. The points in the figure represent the output torque points of the vehicle during actual operation, which are very stable, with one throttle opening corresponding to one output torque point.

[0084] The control device for the aforementioned vehicle includes a processor and a memory. The aforementioned acquisition unit, the aforementioned first control unit, and the aforementioned second control unit are all stored as program units in the memory, and the processor executes the aforementioned program units stored in the memory to achieve the corresponding functions. All of the aforementioned modules are located in the same processor; or, the aforementioned modules are located in different processors in any combination.

[0085] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the vehicle control method.

[0086] Specifically, the vehicle control methods include:

[0087] Step S201: Obtain the average vehicle speed of the vehicle during the time period from the first predetermined historical time to the current time, wherein the first predetermined historical time is before the current time.

[0088] Specifically, those skilled in the art can set the aforementioned first predetermined historical time based on empirical values, or it can be obtained through multiple experiments; this application does not impose specific limitations on this. In the embodiments of this application, the duration of the time period from the aforementioned first predetermined historical time to the aforementioned current time ranges from 5 seconds to 10 seconds.

[0089] Step S202: When the average vehicle speed is less than or equal to the first predetermined vehicle speed, control the vehicle to maintain the current output torque unchanged.

[0090] Specifically, the aforementioned output torque refers to the engine's output torque. This output torque refers to the torque generated by the engine after removing its own frictional resistance and accessory resistance, which is the torque ultimately applied to the transmission to drive the vehicle. The aforementioned first predetermined vehicle speed should be relatively low and not too high. Those skilled in the art can set the aforementioned first predetermined vehicle speed based on experience, or it can be obtained through multiple experiments; this application does not impose specific limitations on this. In the embodiments of this application, the value range of the aforementioned first predetermined vehicle speed is 20–40 km / h.

[0091] Step S203: When the average vehicle speed is greater than the first predetermined vehicle speed, the output torque is controlled to remain constant or decrease, at least based on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment. The second predetermined historical moment is located between the first predetermined historical moment and the current moment.

[0092] Specifically, the duration of the time interval between the second predetermined historical moment and the current moment should be extremely short. In practical applications, those skilled in the art can set the second predetermined historical moment based on experience or through multiple experiments; this application does not impose specific limitations on this. The throttle opening refers to the throttle valve opening of the vehicle engine, that is, the ratio of the airflow required by the engine to the actual intake air volume. The larger the throttle opening, the larger the throttle valve opening, the greater the intake air volume, and the greater the engine output power.

[0093] Optionally, controlling the output torque to remain constant or decrease based at least on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment includes: reducing the output torque at least when the throttle opening is less than a predetermined opening value and the acceleration is less than a predetermined acceleration value; and controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value.

[0094] Optionally, the predetermined opening value includes a first predetermined opening and a second predetermined opening that decrease sequentially, and the predetermined acceleration value includes a first predetermined acceleration and a second predetermined acceleration that decrease sequentially. At least when the throttle opening is less than the predetermined opening value and the acceleration is less than the predetermined acceleration value, reducing the output torque includes: controlling the output torque to decrease to a first torque value when the throttle opening is less than the first predetermined opening, the acceleration is less than the first predetermined acceleration, and the slope of the vehicle's current location is less than a first slope value; and controlling the output torque to decrease to a second torque value when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, wherein the first torque value is greater than the second torque value.

[0095] Optionally, when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, controlling the output torque to decrease to a second torque value includes: when the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, determining the second torque value as M2 = (P2-P) / (P2-P1)×M1 based on the first slope value and the second slope value, where P2 is the second slope value, P is the slope, P1 is the first slope value, and M1 is the first torque value; and controlling the output torque to decrease by decreasing the second torque value by a decreasing step size.

[0096] Optionally, controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value, includes: controlling the output torque to remain constant when the throttle opening is greater than or equal to the first predetermined opening value, or the acceleration is greater than or equal to the first predetermined acceleration value, and the slope is less than the first slope value; and controlling the output torque to remain constant when the throttle opening is greater than or equal to the second predetermined opening value, or the acceleration is greater than or equal to the second predetermined acceleration value, and the slope is greater than or equal to the first slope value and less than the second slope value.

[0097] Optionally, the above method further includes: controlling the output torque to remain constant when the slope is greater than or equal to the second slope value.

[0098] Optionally, when the average vehicle speed is greater than the first predetermined vehicle speed and less than or equal to the second predetermined vehicle speed, the corresponding first gradient value is the first predetermined gradient, and the corresponding first torque value is the first predetermined torque; when the average vehicle speed is greater than the second predetermined vehicle speed, the corresponding second gradient value is the second predetermined gradient, and the corresponding first torque value is the second predetermined torque; the first predetermined gradient is greater than the second predetermined gradient, and the first predetermined torque is less than the second predetermined torque.

[0099] This application also provides an electronic device, including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any of the above-described vehicle control methods.

[0100] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0101] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0107] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0109] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0110] 1) In the vehicle control method of this application, the average vehicle speed of the vehicle during the time period from the first predetermined historical time to the current time is first obtained. Then, when the average vehicle speed is less than or equal to the first predetermined vehicle speed, the vehicle is controlled to maintain the output torque at the current time unchanged. When the average vehicle speed is greater than the first predetermined vehicle speed, the output torque is controlled to remain unchanged or decrease, at least according to the throttle opening of the vehicle at the current time and the acceleration of the vehicle during the time period from the second predetermined historical time between the first predetermined historical time and the current time. Compared to existing technologies where the engine output torque is a fixed value at the same throttle opening, making it difficult to balance power and economy under various operating conditions, this application first addresses the issue of the engine output torque remaining constant when the average vehicle speed is less than or equal to a first predetermined speed, indicating that the vehicle speed is low and the overall acceleration demand is high. This ensures good overall vehicle power. When the average vehicle speed is greater than the first predetermined speed, the acceleration demand is determined based on the throttle opening and acceleration, thereby controlling the output torque to remain constant or decrease. This ensures that the output torque control is more in line with the actual operating conditions of the vehicle, thus ensuring that the controlled output torque is more accurate and that the vehicle has good power and economy.

[0111] 2) In the vehicle control device of this application, the average vehicle speed of the vehicle during the time period from the first predetermined historical time to the current time is obtained by the acquisition unit. When the average vehicle speed is less than or equal to the first predetermined vehicle speed, the first control unit controls the vehicle to maintain the output torque at the current time unchanged. When the average vehicle speed is greater than the first predetermined vehicle speed, the second control unit controls the output torque to remain unchanged or decrease at least according to the throttle opening of the vehicle at the current time and the acceleration of the vehicle during the time period from the second predetermined historical time between the first predetermined historical time and the current time. Compared to existing technologies where the engine output torque is a fixed value at the same throttle opening, making it difficult to balance power and economy under various operating conditions, this application addresses the issue that when the average vehicle speed is less than or equal to a first predetermined speed, indicating a lower vehicle speed and a greater demand for acceleration, the engine output torque is kept constant to ensure good overall vehicle power. Conversely, when the average vehicle speed is greater than the first predetermined speed, the acceleration demand is determined based on the throttle opening and acceleration, thereby controlling the output torque to remain constant or decrease. This ensures that the output torque control is more consistent with the actual operating conditions of the vehicle, resulting in more accurate controlled output torque and thus better vehicle power and economy.

[0112] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling a vehicle, characterized in that, include: The average vehicle speed is obtained from the time period from the first predetermined historical time to the current time, where the first predetermined historical time is before the current time; When the average vehicle speed is less than or equal to the first predetermined vehicle speed, the vehicle is controlled to maintain the output torque at the current moment unchanged. When the average vehicle speed is greater than the first predetermined vehicle speed, the output torque is controlled to remain constant or decrease, at least based on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment, wherein the second predetermined historical moment is located between the first predetermined historical moment and the current moment.

2. The vehicle control method according to claim 1, characterized in that, Controlling the output torque to remain constant or decrease, at least based on the vehicle's throttle opening at the current moment and the vehicle's acceleration during the time interval from the second predetermined historical moment to the current moment, includes: At least when the throttle opening is less than a predetermined opening value and the acceleration is less than a predetermined acceleration value, the output torque is reduced; The output torque is controlled to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value.

3. The vehicle control method according to claim 2, characterized in that, The predetermined throttle opening value includes a first predetermined throttle opening and a second predetermined throttle opening that decrease sequentially, and the predetermined acceleration value includes a first predetermined acceleration and a second predetermined acceleration that decrease sequentially. At least when the throttle opening is less than the predetermined throttle opening value and the acceleration is less than the predetermined acceleration value, reducing the output torque includes: When the throttle opening is less than the first predetermined opening, the acceleration is less than the first predetermined acceleration, and the slope of the vehicle's current location is less than the first slope value, the output torque is controlled to decrease the first torque value. When the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the gradient is greater than or equal to the first gradient value and less than the second gradient value, the output torque is controlled to decrease to a second torque value, wherein the first torque value is greater than the second torque value.

4. The vehicle control method according to claim 3, characterized in that, When the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the gradient is greater than or equal to the first gradient value and less than the second gradient value, controlling the output torque to decrease the second torque value includes: When the throttle opening is less than the second predetermined opening, the acceleration is less than the second predetermined acceleration, and the slope is greater than or equal to the first slope value and less than the second slope value, the second torque value is determined to be M2 = (P2-P) / (P2-P1)×M1 based on the first slope value and the second slope value, where P2 is the second slope value, P is the slope, P1 is the first slope value, and M1 is the first torque value; The output torque is controlled to decrease by decreasing the step size by the second torque value.

5. The vehicle control method according to claim 3, characterized in that, Controlling the output torque to remain constant at least when the throttle opening is greater than or equal to the predetermined opening value, or the acceleration is greater than or equal to the predetermined acceleration value, includes: When the throttle opening is greater than or equal to the first predetermined opening, or the acceleration is greater than or equal to the first predetermined acceleration, and the gradient is less than the first gradient value, the output torque is controlled to remain constant. When the throttle opening is greater than or equal to the second predetermined opening, or the acceleration is greater than or equal to the second predetermined acceleration, and the gradient is greater than or equal to the first gradient value and less than the second gradient value, the output torque is controlled to remain unchanged.

6. The vehicle control method according to claim 3, characterized in that, The method further includes: When the slope is greater than or equal to the second slope value, the output torque is controlled to remain constant.

7. The vehicle control method according to claim 4, characterized in that, When the average vehicle speed is greater than the first predetermined vehicle speed and less than or equal to the second predetermined vehicle speed, the corresponding first gradient value is the first predetermined gradient, and the corresponding first torque value is the first predetermined torque. When the average vehicle speed is greater than the second predetermined vehicle speed, the corresponding second gradient value is the second predetermined gradient, and the corresponding first torque value is the second predetermined torque. The first predetermined slope is greater than the second predetermined slope, and the first predetermined torque is less than the second predetermined torque.

8. A vehicle control device, characterized in that, include: The acquisition unit is used to acquire the average vehicle speed of the vehicle during the time period from a first predetermined historical time to the current time, wherein the first predetermined historical time is located before the current time; The first control unit is configured to control the vehicle to maintain the current output torque unchanged when the average vehicle speed is less than or equal to the first predetermined vehicle speed. The second control unit is configured to, when the average vehicle speed is greater than the first predetermined vehicle speed, control the output torque to remain constant or decrease based at least on the throttle opening of the vehicle at the current moment and the acceleration of the vehicle during the time period from the second predetermined historical moment to the current moment, wherein the second predetermined historical moment is located between the first predetermined historical moment and the current moment.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the vehicle control method according to any one of claims 1 to 7.

10. An electronic device, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for performing a vehicle control method according to any one of claims 1 to 7.

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