Accelerator pedal opening control method, vehicle controller and vehicle

Abstract

The present application relates to the field of new energy vehicle technology, and in particular to a method for controlling the accelerator pedal opening, vehicle control, and vehicle. The method comprises: when it is determined that the vehicle is in a following vehicle driving state, obtaining the current actual accelerator pedal opening; calculating the required accelerator pedal opening required for the vehicle to maintain the current following vehicle driving state; when the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculating the current accelerator pedal opening variance value in the current following vehicle driving state; and correcting the current actual accelerator pedal opening according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening. The use of this method can improve driving safety in following vehicle driving scenarios.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a throttle pedal opening control method, a vehicle controller, and a vehicle. Background Art

[0002] Accelerator pedal opening refers to the position or depth of the accelerator pedal when the driver depresses it. It reflects the driver's demand for engine fuel supply. Therefore, accelerator pedal opening directly reflects the driver's demand for vehicle acceleration and has a crucial impact on vehicle power and safety.

[0003] In low-speed following driving scenarios, some single-pedal mode models require a higher accelerator pedal opening to enable the engine to output the desired torque; or, in high-speed following driving scenarios, the driver needs to press the accelerator pedal at a deeper opening for a long time to follow the vehicle in front.

[0004] Therefore, in the following vehicle driving scenario, there are situations where the driver needs to maintain a large pedal force for a long time, which will cause the driver to easily experience calf stiffness and cause driving fatigue, and easily affect the depth of pressing the accelerator pedal. A larger accelerator pedal opening may bring driving safety hazards. Summary of the Invention

[0005] Based on this, a throttle pedal opening control method, a vehicle controller and a vehicle are provided to improve driving safety in a following vehicle driving scenario.

[0006] In a first aspect, a method for controlling the accelerator pedal opening during vehicle following driving is provided, the method comprising:

[0007] When it is determined that the vehicle is in a following state, the current actual accelerator pedal opening is obtained;

[0008] Calculating the required accelerator pedal opening required for the vehicle to maintain the current following driving state;

[0009] When the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculating a current accelerator pedal opening variance value in the current following vehicle driving state;

[0010] The current actual accelerator pedal opening is corrected according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening.

[0011] In conjunction with the first aspect, in a first possible implementation manner of the first aspect, the step of calculating the required accelerator pedal opening required for the vehicle to maintain the current following driving state includes:

[0012] determining a required torque for the vehicle to maintain the current following driving state;

[0013] Obtaining a current actual accelerator pedal opening and an actual pedal torque corresponding to the current actual accelerator pedal opening;

[0014] Performing a fusion calculation based on the vehicle-following required torque and the actual pedal torque to obtain a vehicle-following requested torque;

[0015] The vehicle following request torque is converted to obtain the required accelerator pedal opening.

[0016] In combination with the first possible implementation of the first aspect, in a second possible implementation of the first aspect, the step of determining the required following torque required for the vehicle to maintain the current following driving state includes:

[0017] determining the wheel end torque required for the vehicle to maintain a current actual vehicle speed;

[0018] Obtaining a current average speed of the vehicle in the current following vehicle driving state;

[0019] Obtaining a corresponding current torque adjustment coefficient according to a difference between the current average vehicle speed and the current actual vehicle speed;

[0020] The vehicle-following required torque is obtained according to the product of the current torque adjustment coefficient and the wheel-end torque.

[0021] In combination with the first possible implementation of the first aspect, in a third possible implementation of the first aspect, the step of performing a fusion calculation based on the following required torque and the actual pedal torque to obtain the following requested torque includes:

[0022] Obtaining a current following time of the vehicle in the current following driving state;

[0023] Obtaining a corresponding current torque fusion coefficient according to the current following vehicle duration;

[0024] The following vehicle demand torque and the actual pedal torque are fused and calculated according to the current torque fusion coefficient to obtain the following vehicle request torque.

[0025] In combination with the first aspect, in a fourth possible implementation of the first aspect, the step of correcting the current actual accelerator pedal opening according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening includes:

[0026] Obtaining a preset first mapping relationship, wherein the first mapping relationship records the relationship between different accelerator pedal opening variance values, actual accelerator pedal openings, and accelerator pedal opening correction values;

[0027] Based on the current accelerator pedal opening variance value and the current actual accelerator pedal opening, searching in the first mapping relationship to obtain a corresponding current accelerator pedal opening correction value;

[0028] The difference between the current actual accelerator pedal opening and the current accelerator pedal opening correction value is calculated to obtain the final accelerator pedal opening.

[0029] In combination with the second possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of determining the wheel end torque required for the vehicle to maintain the current actual vehicle speed includes:

[0030] Obtaining the wheel rolling radius of the vehicle and the current sliding resistance in the current following vehicle driving state;

[0031] The product of the wheel rolling radius and the current sliding resistance is calculated to obtain the wheel end torque required for the vehicle to maintain the current vehicle speed.

[0032] In combination with the second possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of obtaining the corresponding current torque adjustment coefficient according to the current average vehicle speed includes:

[0033] Obtaining a current vehicle speed difference and a current vehicle speed difference change rate according to the current average vehicle speed and the current actual vehicle speed;

[0034] Obtaining a preset second mapping relationship, wherein the second mapping relationship records the relationship between different vehicle speed differences, vehicle speed difference change rates, and torque adjustment coefficients;

[0035] Based on the current vehicle speed difference and the current vehicle speed difference change rate, a search is performed in the second mapping relationship to obtain a corresponding current torque adjustment coefficient.

[0036] In combination with the third possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the step of obtaining the corresponding current torque fusion coefficient according to the current following vehicle duration includes:

[0037] Obtaining a preset third mapping relationship, wherein the third mapping relationship records the relationship between different following vehicle durations and torque fusion coefficients;

[0038] Based on the current vehicle following time length, a search is performed in the third mapping relationship to obtain a corresponding current torque fusion coefficient.

[0039] In a second aspect, a vehicle controller is provided, wherein the vehicle controller is configured to:

[0040] When it is determined that the vehicle is in a following state, the current actual accelerator pedal opening is obtained;

[0041] Calculating the required accelerator pedal opening required for the vehicle to maintain the current following driving state;

[0042] When the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculating a current accelerator pedal opening variance value in the current following vehicle driving state;

[0043] The current actual accelerator pedal opening is corrected according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening.

[0044] In a third aspect, a vehicle is provided, comprising a vehicle controller as described in the second aspect, the vehicle controller being configured to execute the steps of an accelerator pedal opening control method as described in any one of the first aspect or the first to seventh possible implementations of the first aspect.

[0045] The above-mentioned throttle pedal opening control method, vehicle controller and vehicle, when it is determined that the vehicle is in a following driving state, obtain the current actual throttle pedal opening; calculate the required throttle pedal opening required for the vehicle to maintain the current following driving state; when the current actual throttle pedal opening is greater than a preset first opening threshold and the required throttle pedal opening is greater than a preset second opening threshold, calculate the current throttle pedal opening variance value in the current following driving state; correct the current actual throttle pedal opening according to the current throttle pedal opening variance value to obtain the final throttle pedal opening. As can be seen, the accelerator pedal opening control method of the present application, in a following vehicle driving scenario, when the required accelerator pedal opening required to maintain the current following vehicle driving state is greater than the current actual accelerator pedal opening, that is, when there is a high probability that the driver will provide a large pedal force, can correct the current actual accelerator pedal opening based on the current accelerator pedal opening variance value in the current following vehicle driving state, thereby adjusting the current actual accelerator pedal opening based on the driver's following vehicle driving habits in the following vehicle driving scenario, effectively avoiding driver fatigue due to providing large pedal forces for a long time, and to a certain extent eliminating the safety hazards caused by this. Therefore, compared with the existing technology, the accelerator pedal opening control method of the present application can improve driving safety in following vehicle driving scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 1 is a flow chart of a method for controlling the accelerator pedal opening in one embodiment;

[0047] Figure 2 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present application in a schematic manner. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0050] The structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0051] The directions or positional relationships indicated in this specification, such as "upper," "lower," "left," "right," "center," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential," are based on the directions or positional relationships shown in the accompanying drawings and are intended solely for the purpose of simplifying the description. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In one embodiment, Figure 1 As shown, a method for controlling the accelerator pedal opening is provided. The method is described by taking the application of the method to a vehicle controller as an example, and includes the following steps:

[0053] Step 202: When it is determined that the vehicle is in a following vehicle state, the current actual accelerator pedal opening is obtained.

[0054] In a specific embodiment, whether the vehicle is in a following vehicle state can be determined based on the vehicle speed, accelerator pedal opening, longitudinal acceleration, vehicle speed variance value, accelerator pedal opening variance value, longitudinal acceleration variance value and slope. For example, when the following conditions are met at the same time, the vehicle is considered to be in a following vehicle state: the vehicle speed is greater than a preset vehicle speed threshold; the accelerator pedal opening is greater than a preset accelerator pedal opening threshold; the longitudinal acceleration is greater than a preset longitudinal acceleration threshold; the vehicle speed variance value is less than a preset vehicle speed variance value threshold; the accelerator pedal opening variance value is less than a preset accelerator pedal opening variance value threshold; the longitudinal acceleration variance value is less than a preset longitudinal acceleration variance value threshold; and the slope is less than a preset slope threshold.

[0055] Conversely, the vehicle is considered to have exited the following state if the following conditions are simultaneously met: vehicle speed is less than or equal to the vehicle speed threshold; accelerator pedal opening is less than or equal to the accelerator pedal opening threshold; longitudinal acceleration is less than or equal to the longitudinal acceleration threshold; vehicle speed variance is greater than or equal to the vehicle speed variance threshold; accelerator pedal opening variance is greater than or equal to the accelerator pedal opening variance threshold; longitudinal acceleration variance is greater than or equal to the longitudinal acceleration variance threshold; and the slope is greater than or equal to the slope threshold. If the vehicle is determined to have exited the following state, the subsequent accelerator pedal opening correction step is not performed.

[0056] The specific values ​​of the aforementioned thresholds can be set based on scenario requirements and / or vehicle type. For example, in a high-speed following vehicle scenario, the driver needs to apply significant pedal force for a long period of time to maintain the current high-speed following state, which can cause driver fatigue. To improve driving safety in this scenario, the accelerator pedal opening threshold and vehicle speed threshold can be set to larger values ​​to identify the high-speed following state, allowing the accelerator pedal opening to be corrected according to subsequent steps.

[0057] For example, the conversion relationship between the accelerator pedal and engine torque in single-pedal mode depends on the design and output characteristics of the engine. The engines of some models may have higher torque output, so higher torque output can be achieved at a lower accelerator pedal opening; while the engines of some models may require a higher accelerator pedal opening to output the same torque. Compared with models with higher torque output characteristics, this type of model will also require the driver to maintain a relatively large pedal force for a long time in low-speed following driving scenarios. Therefore, for this type of model, the vehicle speed threshold and the accelerator pedal opening threshold can be adaptively set to smaller values ​​to identify the low-speed following driving state, and then the accelerator pedal opening can be corrected according to subsequent steps to improve driving safety.

[0058] Among them, the step of judging whether the vehicle is in the following driving state can also set a hysteresis interval; when it is first judged that the vehicle is in the following driving state, the vehicle speed, accelerator pedal opening and longitudinal acceleration can be continuously collected at a preset interval length until the continuous length reaches a preset period; then based on the vehicle speed, accelerator pedal opening and longitudinal acceleration collected within the preset period, the corresponding vehicle speed average, accelerator pedal opening average and longitudinal acceleration average are calculated respectively; then, based on each vehicle speed, accelerator pedal opening and longitudinal acceleration within the preset period and the vehicle speed average, accelerator pedal opening average and longitudinal acceleration average, the variance calculation formula is used to calculate the corresponding vehicle speed variance value, accelerator pedal opening variance value and longitudinal acceleration variance value respectively.

[0059] Step 204 : Calculate the required accelerator pedal opening required for the vehicle to maintain the current following vehicle driving state.

[0060] In a specific embodiment, step 204 includes: determining the required following torque required for the vehicle to maintain the current following driving state; obtaining the current actual accelerator pedal opening and the actual pedal torque corresponding to the current actual accelerator pedal opening; performing a fusion calculation based on the following required torque and the actual pedal torque to obtain the following request torque; converting the following request torque to obtain the required accelerator pedal opening.

[0061] In the above steps, the step of determining the required following torque for the vehicle to maintain the current following driving state includes: determining the wheel end torque required for the vehicle to maintain the current actual vehicle speed; obtaining the current average vehicle speed of the vehicle in the current following driving state; obtaining the corresponding current torque adjustment coefficient based on the difference between the current average vehicle speed and the current actual vehicle speed; and obtaining the following required torque based on the product of the current torque adjustment coefficient and the wheel end torque.

[0062] Furthermore, the step of determining the wheel torque required for the vehicle to maintain its current actual speed includes: obtaining the vehicle's wheel rolling radius and the current coasting resistance in the current following vehicle state; and calculating the product of the wheel rolling radius and the current coasting resistance to obtain the wheel torque required for the vehicle to maintain its current speed. The current coasting resistance can be obtained by conducting a real-world test while the vehicle is in a following vehicle scenario and obtaining a coasting resistance curve from the coasting resistance curve.

[0063] Furthermore, the step of obtaining the corresponding current torque adjustment coefficient based on the difference between the current average vehicle speed and the current actual vehicle speed includes: obtaining the current vehicle speed difference and the current vehicle speed difference change rate based on the current average vehicle speed and the current actual vehicle speed; obtaining a preset second mapping relationship, wherein the second mapping relationship records the relationship between different vehicle speed differences, vehicle speed difference change rates and torque adjustment coefficients; based on the current vehicle speed difference and the current vehicle speed difference change rate, searching in the second mapping relationship to obtain the corresponding current torque adjustment coefficient.

[0064] Among them, when it is first determined that the vehicle is in a following driving state, the actual vehicle speed can be continuously collected at a preset interval length until the continuous length reaches a preset period; then, based on the actual vehicle speeds collected within the preset period, the corresponding current average vehicle speed is calculated; then, the difference between the current average vehicle speed and the current actual vehicle speed at the current moment is calculated to obtain the current vehicle speed difference, and the current vehicle speed difference is differentiated to obtain the current difference change rate.

[0065] The second mapping relationship can be determined by conducting actual vehicle test calibration under different vehicle speed differences and vehicle speed difference change rates, with the purpose of improving the accuracy of the following torque. For example, the second mapping relationship can be as shown in Table 1, where the vehicle speed difference unit is km / h and the vehicle speed difference change rate unit is km / h. 2 .

[0066] Table 1 Second mapping relationship

[0067]

[0068] In the above steps, the step of obtaining the following request torque by performing a fusion calculation based on the following demand torque and the actual pedal torque includes: obtaining the current following time length of the vehicle in the current following driving state; obtaining the corresponding current torque fusion coefficient according to the current following time length; and performing a fusion calculation on the following demand torque and the actual pedal torque according to the current torque fusion coefficient to obtain the following request torque.

[0069] Furthermore, the step of obtaining the corresponding current torque fusion coefficient based on the current following time includes: obtaining a preset third mapping relationship, wherein the third mapping relationship records the relationship between different following times and torque fusion coefficients; based on the current following time, searching in the third mapping relationship to obtain the corresponding current torque fusion coefficient.

[0070] The third mapping relationship can be determined through real-vehicle testing and calibration in various following driving scenarios, with the goal of improving following torque accuracy. The longer the following duration, the greater the torque fusion coefficient, and the greater the proportion of following demand torque in the torque fusion calculation. For example, the third mapping relationship can be shown in Table 2, with following duration in seconds.

[0071] Table 2 The third mapping relationship

[0072] Following time 0 100 500 Torque fusion coefficient 0.5 0.6 1

[0073] The mathematical expression used for the fusion calculation of the following vehicle request torque includes: T”=δ'×T'+(1-δ')×T Raw , where T” represents the vehicle-following request torque, δ’ represents the current torque fusion coefficient, T’ represents the vehicle-following request torque, T Raw Indicates the actual pedal torque.

[0074] Step 206 : When the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculate a current accelerator pedal opening variance value in the current following vehicle driving state.

[0075] When the current actual accelerator pedal opening is greater than the first opening threshold and the required accelerator pedal opening is greater than the second opening threshold, it means that the driver is likely to provide a larger pedal force in the current following driving state, which may make the driver feel tired and easily affect the depth of pressing the accelerator pedal. A larger accelerator pedal opening may bring driving safety hazards.

[0076] In order to avoid the above-mentioned driving safety hazards as much as possible, when it is first determined that the vehicle is in a following driving state, the accelerator pedal opening can be continuously collected at preset intervals until the continuous period reaches a preset period; then, based on the various accelerator pedal openings collected within the preset period, the corresponding accelerator pedal opening average is calculated; then, based on the various accelerator pedal openings and the accelerator pedal opening average within the preset period, the corresponding current accelerator pedal opening variance value is calculated using the variance calculation formula; then, the required accelerator pedal opening is corrected using the current accelerator pedal opening variance value.

[0077] The specific values ​​of the first opening threshold and the second opening threshold can be set according to different driving scenario requirements and / or vehicle models. For example, in a high-speed following driving scenario, the first opening threshold and the second opening threshold can be set to higher values; for example, in a low-speed following driving scenario, for a single-pedal mode vehicle model, the first opening threshold and the second opening threshold can be set to lower values.

[0078] Step 208 : Correcting the current actual accelerator pedal opening according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening.

[0079] In a specific embodiment, the step of correcting the current actual throttle pedal opening according to the current throttle pedal opening variance value to obtain the final throttle pedal opening includes: obtaining a preset first mapping relationship, wherein the first mapping relationship records the relationship between different throttle pedal opening variance values, actual throttle pedal openings and throttle pedal opening correction values; based on the current throttle pedal opening variance value and the current actual throttle pedal opening, searching in the first mapping relationship to obtain the corresponding current throttle pedal opening correction value; calculating the difference between the current actual throttle pedal opening and the current throttle pedal opening correction value to obtain the final throttle pedal opening.

[0080] In which, actual vehicle testing and calibration can be performed in a vehicle-following driving scenario to obtain the first mapping relationship. For example, the first mapping relationship can be as shown in Table 3.

[0081] Table 3 First mapping relationship

[0082]

[0083] When the actual accelerator pedal opening is constant, the larger the accelerator pedal opening variance value, the more likely the driver is to release the accelerator when following the vehicle, that is, the driver is less likely to provide a large pedal force for a long time, and the possibility of causing driving fatigue is also smaller. Therefore, the amplitude of the accelerator pedal opening correction can be reduced, and there is no need to intervene too much in the accelerator pedal opening; the smaller the accelerator pedal opening variance value, the more likely the driver is to maintain a steady accelerator when following the vehicle, that is, the driver is more likely to provide a large pedal force for a long time, and the possibility of causing driving fatigue is also greater. Therefore, the amplitude of the accelerator pedal opening correction can be increased, the intensity of intervention in the accelerator pedal opening can be increased, and the possibility of driver fatigue can be reduced.

[0084] In the above-mentioned accelerator pedal opening control method, in the following vehicle driving scenario, when the required accelerator pedal opening required to maintain the current following vehicle driving state and the current actual accelerator pedal opening are large, that is, there is a high possibility that the driver needs to provide a large pedal force, the current actual accelerator pedal opening can be corrected according to the current accelerator pedal opening variance value in the current following vehicle driving state, so as to adjust the current actual accelerator pedal opening according to the driver's following habits in the following vehicle driving scenario, effectively avoiding the driver from feeling tired due to providing a large pedal force for a long time, eliminating the safety hazards caused by this to a certain extent, and improving driving safety in the following vehicle driving scenario.

[0085] It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0086] In one embodiment, a vehicle controller is provided, wherein the vehicle controller is configured to:

[0087] When it is determined that the vehicle is in a following state, the current actual accelerator pedal opening is obtained;

[0088] Calculating the required accelerator pedal opening required for the vehicle to maintain the current following driving state;

[0089] When the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculating a current accelerator pedal opening variance value in the current following vehicle driving state;

[0090] The current actual accelerator pedal opening is corrected according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening.

[0091] In a specific embodiment, the vehicle controller is used to calculate the required throttle pedal opening required for the vehicle to maintain the current following driving state, specifically including: determining the required following torque required for the vehicle to maintain the current following driving state; obtaining the current actual throttle pedal opening and the actual pedal torque corresponding to the current actual throttle pedal opening; performing a fusion calculation based on the following required torque and the actual pedal torque to obtain the following request torque; and converting the following request torque to obtain the required throttle pedal opening.

[0092] In a specific embodiment, the vehicle controller is used to determine the required following torque required for the vehicle to maintain the current following driving state, specifically including: determining the wheel end torque required for the vehicle to maintain the current actual vehicle speed; obtaining the current average speed of the vehicle in the current following driving state; obtaining the corresponding current torque adjustment coefficient based on the difference between the current average speed and the current actual speed; and obtaining the following required torque based on the product of the current torque adjustment coefficient and the wheel end torque.

[0093] In a specific embodiment, the vehicle controller is used to perform a fusion calculation based on the following demand torque and the actual pedal torque to obtain the following request torque, specifically including: obtaining the current following time of the vehicle in the current following driving state; obtaining the corresponding current torque fusion coefficient based on the current following time; and performing a fusion calculation on the following demand torque and the actual pedal torque based on the current torque fusion coefficient to obtain the following request torque.

[0094] In a specific embodiment, the vehicle controller is used to correct the current actual throttle pedal opening according to the current throttle pedal opening variance value to obtain a final throttle pedal opening, specifically including: obtaining a preset first mapping relationship, the first mapping relationship recording the relationship between different throttle pedal opening variance values, actual throttle pedal openings and throttle pedal opening correction values; based on the current throttle pedal opening variance value and the current actual throttle pedal opening, searching in the first mapping relationship to obtain the corresponding current throttle pedal opening correction value; calculating the difference between the current actual throttle pedal opening and the current throttle pedal opening correction value to obtain the final throttle pedal opening.

[0095] In a specific embodiment, the vehicle controller is used to determine the wheel end torque required for the vehicle to maintain the current actual speed, specifically including: obtaining the wheel rolling radius of the vehicle and the current sliding resistance in the current following driving state; calculating the product of the wheel rolling radius and the current sliding resistance to obtain the wheel end torque required for the vehicle to maintain the current speed.

[0096] In a specific embodiment, the vehicle controller is used to obtain the corresponding current torque adjustment coefficient based on the difference between the current average vehicle speed and the current actual vehicle speed, specifically including: obtaining the current vehicle speed difference and the current vehicle speed difference change rate based on the current average vehicle speed and the current actual vehicle speed; obtaining a preset second mapping relationship, wherein the second mapping relationship records the relationship between different vehicle speed differences, vehicle speed difference change rates and torque adjustment coefficients; based on the current vehicle speed difference and the current vehicle speed difference change rate, searching in the second mapping relationship to obtain the corresponding current torque adjustment coefficient.

[0097] In a specific embodiment, the vehicle controller is used to obtain the corresponding current torque fusion coefficient based on the current following time, specifically including: obtaining a preset third mapping relationship, wherein the third mapping relationship records the relationship between different following time and torque fusion coefficient; based on the current following time, searching in the third mapping relationship to obtain the corresponding current torque fusion coefficient.

[0098] For the specific limitations of the vehicle controller, please refer to the limitations of the accelerator pedal opening control method mentioned above, which will not be repeated here.

[0099] In one embodiment, a vehicle is provided, comprising a vehicle controller as described in the previous embodiment, wherein the vehicle controller is configured to execute the steps of the accelerator pedal opening control method as described in the previous embodiment.

[0100] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 2 As shown. The computer device includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for controlling the opening of an accelerator pedal is implemented.

[0101] Those skilled in the art will understand that Figure 2 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0102] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0103] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for controlling the opening of an accelerator pedal, characterized in that: The method comprises: When it is determined that the vehicle is in a following state, obtaining a current actual accelerator pedal opening and an actual pedal torque corresponding to the current actual accelerator pedal opening; determining a required following torque for the vehicle to maintain a current following state; performing a fusion calculation based on the required following torque and the actual pedal torque to obtain a following request torque; and converting the following request torque to obtain a required accelerator pedal opening; When the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculating a current accelerator pedal opening variance value in the current following vehicle driving state; The current actual accelerator pedal opening is corrected according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening.

2. The accelerator pedal opening control method according to claim 1, characterized in that: The step of determining the required following torque required for the vehicle to maintain the current following driving state includes: determining the wheel end torque required for the vehicle to maintain a current actual vehicle speed; Obtaining a current average speed of the vehicle in the current following vehicle driving state; Obtaining a corresponding current torque adjustment coefficient according to a difference between the current average vehicle speed and the current actual vehicle speed; The vehicle-following required torque is obtained according to the product of the current torque adjustment coefficient and the wheel-end torque.

3. The accelerator pedal opening control method according to claim 1, characterized in that: The step of performing a fusion calculation based on the vehicle following required torque and the actual pedal torque to obtain the vehicle following requested torque includes: Obtaining a current following time of the vehicle in the current following driving state; Obtaining a corresponding current torque fusion coefficient according to the current following vehicle duration; The following vehicle demand torque and the actual pedal torque are fused and calculated according to the current torque fusion coefficient to obtain the following vehicle request torque.

4. The accelerator pedal opening control method according to claim 1, characterized in that: The step of correcting the current actual accelerator pedal opening according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening includes: Obtaining a preset first mapping relationship, wherein the first mapping relationship records the relationship between different accelerator pedal opening variance values, actual accelerator pedal openings, and accelerator pedal opening correction values; Based on the current accelerator pedal opening variance value and the current actual accelerator pedal opening, searching in the first mapping relationship to obtain a corresponding current accelerator pedal opening correction value; The difference between the current actual accelerator pedal opening and the current accelerator pedal opening correction value is calculated to obtain the final accelerator pedal opening.

5. The accelerator pedal opening control method according to claim 2, characterized in that: The step of determining the wheel end torque required for the vehicle to maintain the current actual vehicle speed comprises: Obtaining the wheel rolling radius of the vehicle and the current sliding resistance in the current following vehicle driving state; The product of the wheel rolling radius and the current sliding resistance is calculated to obtain the wheel end torque required for the vehicle to maintain the current vehicle speed.

6. The accelerator pedal opening control method according to claim 2, characterized in that: The step of obtaining a corresponding current torque adjustment coefficient according to the difference between the current average vehicle speed and the current actual vehicle speed includes: Obtaining a current vehicle speed difference and a current vehicle speed difference change rate according to the current average vehicle speed and the current actual vehicle speed; Obtaining a preset second mapping relationship, wherein the second mapping relationship records the relationship between different vehicle speed differences, vehicle speed difference change rates, and torque adjustment coefficients; Based on the current vehicle speed difference and the current vehicle speed difference change rate, a search is performed in the second mapping relationship to obtain a corresponding current torque adjustment coefficient.

7. The accelerator pedal opening control method according to claim 3, characterized in that: The step of obtaining a corresponding current torque fusion coefficient according to the current vehicle following time includes: Obtaining a preset third mapping relationship, wherein the third mapping relationship records the relationship between different following vehicle durations and torque fusion coefficients; Based on the current vehicle following time length, a search is performed in the third mapping relationship to obtain a corresponding current torque fusion coefficient.

8. A vehicle controller, characterized in that: The vehicle controller is used for: When it is determined that the vehicle is in a following state, obtaining a current actual accelerator pedal opening and an actual pedal torque corresponding to the current actual accelerator pedal opening; determining a required torque for the vehicle to maintain a current following state; Performing a fusion calculation based on the vehicle-following required torque and the actual pedal torque to obtain a vehicle-following requested torque; Converting the vehicle-following request torque to obtain a required accelerator pedal opening; When the current actual accelerator pedal opening is greater than a preset first opening threshold and the required accelerator pedal opening is greater than a preset second opening threshold, calculating a current accelerator pedal opening variance value in the current following vehicle driving state; The current actual accelerator pedal opening is corrected according to the current accelerator pedal opening variance value to obtain a final accelerator pedal opening.

9. A vehicle, characterized in that: The vehicle includes the vehicle controller as claimed in claim 8.

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