A throttle control method under tip-in and / or tip-out conditions

Abstract

The present invention discloses a throttle control method under tip-in and / or tip-out conditions, comprising the following steps: judging whether a vehicle is in a tip-in condition or a tip-out condition according to current throttle opening data; if the vehicle is judged to be in a tip-in condition or a tip-out condition, obtaining a time domain planning of the throttle opening under the tip-in condition or a time domain planning of the throttle opening under the tip-out condition according to a preset tip-in throttle output function or a preset tip-out throttle output function; in a time period when the vehicle is in the tip-in condition or the tip-out condition, outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-in condition or the time domain planning of the throttle opening under the tip-out condition and the original throttle opening. The present invention realizes smoothing of the torque transition area and effectively avoids vehicle swaying by actively planning the throttle opening under the tip-in condition and the tip-out condition, and at the same time, the idea of ​​the present invention is easy to understand, which is conducive to calibration and adjustment in practical applications.

Description

Technical Field

[0001] The present invention relates to the technical field of throttle control, and more specifically, to a throttle control method under tip-in and / or tip-out conditions. Background Art

[0002] Tip-in refers to the condition of suddenly pressing the accelerator. Correspondingly, tip-out refers to the condition of suddenly releasing the accelerator. When the vehicle is in the tip-in or tip-out condition, the collision of the transmission gap will cause vehicle impact.

[0003] In order to alleviate the vehicle impact caused by tip-in or tip-out conditions, one existing technology selects different filter coefficients based on the throttle opening size to achieve slow changes in low throttle openings and fast changes in high throttle openings, thereby achieving the purpose of reducing vehicle impact. However, for rapidly changing throttle openings, such as stepping on the accelerator instantly, this processing method is not ideal. In some other application practices, the minimum torque that can eliminate the transmission gap is obtained in advance through actual measurement or simulation, and this part of the torque is applied in advance to avoid vehicle impact in tip-in conditions. This method requires a lot of calibration work and requires a lot of changes based on the traditional control architecture. Summary of the invention

[0004] One of the purposes of the present invention is to provide a throttle control method under tip-in conditions to solve the technical problem of vehicle impact under tip-in conditions; the second purpose of the present invention is to provide a throttle control method under tip-out conditions to solve the technical problem of vehicle impact under tip-out conditions.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A first aspect of the present invention provides a throttle control method under a tip-in condition, comprising the following steps:

[0007] Determine whether the vehicle is in the tip-in condition based on the current throttle opening data;

[0008] If it is determined that the vehicle is in a tip-in condition, the time domain planning of the throttle opening under the tip-in condition is obtained according to a preset tip-in throttle output function;

[0009] During the time period when the vehicle is in the tip-in condition, the throttle opening at the current moment is output according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening.

[0010] In the above-mentioned technical means, it is first identified whether the vehicle is in the tip-in condition. Then, after identifying that the vehicle is in the tip-in condition, the time domain planning of the throttle opening under the tip-in condition is calculated by a preset tip-in throttle output function. The throttle opening of the vehicle under the tip-in condition is calculated together with the original throttle opening and the calculated time domain planning of the throttle opening under the tip-in condition, thereby realizing active planning of the throttle opening of the vehicle under the tip-in condition, realizing special processing of the tip-in condition, and realizing smooth torque transition area by setting the tip-in throttle output function, effectively avoiding vehicle movement, and solving the technical problem of vehicle impact under the tip-in condition.

[0011] Further, judging whether the vehicle is in a tip-in condition according to the current throttle opening data comprises the following steps:

[0012] If the current throttle opening is greater than the first opening threshold, and the throttle opening increases for several consecutive cycles within the preset time period, it is determined that the vehicle is in the tip-in condition; if the current throttle opening is not greater than the first opening threshold, or the throttle opening increases for several consecutive cycles within the preset time period, it is determined that the vehicle is not in the tip-in condition.

[0013] Furthermore, the preset tip-in throttle output function includes the following steps:

[0014]

[0015] Where Acc tip-in-ratio is the tip-in throttle output function, t1 is the timing time when the vehicle is judged to be in the tip-in condition as zero point, t in It is the transition time of the preset tip-in condition.

[0016] Furthermore, the step of outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening comprises the following steps:

[0017]

[0018] Where Acc tip-in is the throttle opening, Acc ori is the original throttle opening.

[0019] Furthermore, during the time period when the vehicle is in the tip-in condition, after outputting the current throttle opening according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening, the method further includes the following steps:

[0020] Determine whether the vehicle is in a tip-out condition. If the vehicle is in the tip-out condition, stop timing and output the throttle opening according to the throttle control method under the tip-out condition. If the vehicle is not in the tip-out condition, determine whether the timing time t1 is greater than a preset first time threshold. If the timing time t1 is greater than the preset first time threshold, stop timing and output the original throttle opening. If the timing time t1 is not greater than the preset first time threshold, continue timing and return to determine whether the vehicle is in a tip-out condition.

[0021] A second aspect of the present invention provides a throttle control method under a tip-out condition, comprising the following steps:

[0022] Determine whether the vehicle is in a tip-out condition based on the current throttle opening data;

[0023] If it is determined that the vehicle is in a tip-out condition, the time domain planning of the throttle opening under the tip-out condition is obtained according to a preset tip-out throttle output function;

[0024] During the time period when the vehicle is in the tip-out condition, the throttle opening at the current moment is output according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening.

[0025] In the above-mentioned technical means, it is first identified whether the vehicle is in a tip-out condition. Then, after identifying that the vehicle is in the tip-out condition, the time domain planning of the throttle opening under the tip-out condition is calculated by a preset tip-out throttle output function. The throttle opening of the vehicle under the tip-out condition is calculated together with the original throttle opening and the calculated time domain planning of the throttle opening under the tip-out condition, thereby realizing active planning of the throttle opening of the vehicle under the tip-out condition, realizing special processing of the tip-out condition, and realizing smooth torque transition area by setting the tip-out throttle output function, effectively avoiding vehicle movement, and solving the technical problem of vehicle impact under the tip-out condition.

[0026] Further, judging whether the vehicle is in a tip-out condition according to the current throttle opening data comprises the following steps:

[0027] If the current throttle opening is less than the second opening threshold, and the throttle opening decreases for several consecutive cycles within a preset time period, it is judged that the vehicle is in a tip-out condition; if the current throttle opening is not less than the second opening threshold, or the throttle opening decreases for several discontinuous cycles within the preset time period, it is judged that the vehicle is not in a tip-out condition.

[0028] Furthermore, the preset tip-out throttle output function includes the following steps:

[0029]

[0030] Where Acc tip-out-ratio is the tip-out throttle output function, t2 is the timing time when the vehicle is judged to be in the tip-out condition as zero point, t out It is the transition time of the preset tip-out condition.

[0031] Furthermore, the step of outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening comprises the following steps:

[0032]

[0033] Where Acc tip-out is the throttle opening, Acc ori-delay is the original throttle opening delay t out The value after.

[0034] Furthermore, during the time period when the vehicle is in the tip-out condition, after outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening, the method further includes the following steps:

[0035] Determine whether the vehicle is in the tip-in condition. If the vehicle is in the tip-in condition, stop timing and output the throttle opening according to the throttle control method under the tip-in condition. If the vehicle is not in the tip-in condition, determine whether the timing time t2 is greater than a preset second time threshold. If the timing time t2 is greater than the preset second time threshold, stop timing and output the original throttle opening. If the timing time t2 is not greater than the preset second time threshold, continue timing and return to determine whether the vehicle is in the tip-in condition.

[0036] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0037] The present invention realizes smoothing of the torque transition area and effectively avoids vehicle movement by actively planning the throttle opening under tip-in and tip-out conditions. At the same time, the idea of ​​the present invention is easy to understand and is conducive to calibration and adjustment in practical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic flow chart of a throttle control method under a tip-in condition provided by an embodiment of the present invention;

[0039] Figure 2A schematic diagram of a flow chart for determining whether a vehicle is in a tip-in condition provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a tip-in throttle output function provided in an embodiment of the present invention;

[0041] Figure 4 A schematic flow chart of a throttle control method under tip-out conditions provided by an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of a flow chart for determining whether a vehicle is in a tip-out condition provided by an embodiment of the present invention;

[0043] Figure 6 A schematic diagram of a tip-out throttle output function provided in an embodiment of the present invention;

[0044] Figure 7 A schematic diagram of the change in throttle opening when a vehicle continuously completes tip-in and tip-out is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0046] In order to better illustrate the present embodiment, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0047] It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0048] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0049] Example

[0050] This embodiment provides a throttle control method under tip-in conditions, such as Figure 1 As shown, the following steps are included:

[0051] Determine whether the vehicle is in the tip-in condition based on the current throttle opening data;

[0052] If it is determined that the vehicle is in a tip-in condition, the time domain planning of the throttle opening under the tip-in condition is obtained according to a preset tip-in throttle output function;

[0053] During the time period when the vehicle is in the tip-in condition, the throttle opening at the current moment is output according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening.

[0054] In the embodiment of the present invention, when the vehicle enters the tip-in condition, there will be a sudden change area of ​​the throttle opening, causing the vehicle to move. The embodiment of the present invention can solve the problem of the vehicle moving by actively planning the throttle opening of the vehicle when entering the tip-in condition to make it change smoothly. Therefore, the embodiment of the present invention actively plans the throttle opening through a preset tip-in throttle output function, so that the throttle opening smoothly transitions to the original throttle opening.

[0055] In a further embodiment of the present invention, the step of determining whether the vehicle is in a tip-in condition based on the current throttle opening data comprises the following steps:

[0056] If the current throttle opening is greater than the first opening threshold, and the throttle opening increases for several consecutive cycles within the preset time period, it is determined that the vehicle is in the tip-in condition; if the current throttle opening is not greater than the first opening threshold, or the throttle opening increases for several consecutive cycles within the preset time period, it is determined that the vehicle is not in the tip-in condition.

[0057] In a specific embodiment, if the current throttle opening is greater than the first opening threshold, and the throttle opening increases for three consecutive cycles within a preset time period, it is judged that the vehicle is in a tip-in condition; if the current throttle opening is not greater than the first opening threshold, or the throttle opening does not increase for three consecutive cycles within the preset time period, it is judged that the vehicle is not in a tip-in condition.

[0058] In a specific embodiment, Figure 2 As shown, if the throttle opening data determines that the vehicle is in the tip-in condition, the tip-in activation flag position is set to 1; if the throttle opening data determines that the vehicle is in the tip-in condition, the tip-in activation flag position is set to 0; in subsequent steps, by reading the value of the tip-in activation flag position, 1 means it is in the tip-in condition, and 0 means it is not in the tip-in condition, it can be quickly determined whether the vehicle is in the tip-in condition, and corresponding processing steps are performed according to whether the vehicle is in the tip-in condition.

[0059] In a further embodiment of the present invention, the preset tip-in throttle output function comprises the following steps:

[0060]

[0061] Where Acc tip-in-ratio is the tip-in throttle output function, t1 is the timing time when the vehicle is judged to be in the tip-in condition as zero point, t in It is the transition time of the preset tip-in condition.

[0062] In the embodiment of the present invention, the tip-in throttle output function is as follows: Figure 3 As shown in FIG. 1 , it can be seen that the tip-in throttle output function is a function with a gently rising interval, which meets the requirements of the tip-in throttle output function of this embodiment. in It is a calibrated value that specifically refers to the transition time expected by the driver.

[0063] In a further embodiment of the present invention, the step of outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening comprises the following steps:

[0064]

[0065] Where Acc tip-in is the throttle opening, Acc ori is the original throttle opening.

[0066] In an embodiment of the present invention, when the vehicle enters the tip-in condition, the throttle opening will suddenly increase to the original throttle opening. By multiplying the original throttle opening by a parameter with a gently rising interval, that is, the tip-in throttle output function of the embodiment of the present invention, when the vehicle enters the tip-in condition, the throttle opening has a gently rising curve similar to the tip-in throttle output function, thereby realizing active planning of the throttle opening in the tip-in condition, achieving smooth torque transition area, and effectively avoiding vehicle jerking.

[0067] In a further embodiment of the present invention, during the time period when the vehicle is in the tip-in condition, after outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening, the method further includes the steps of:

[0068] Determine whether the vehicle is in a tip-out condition. If the vehicle is in the tip-out condition, stop timing, exit the throttle control under the tip-in condition, and output the throttle opening according to the throttle control method under the tip-out condition. If the vehicle is not in the tip-out condition, determine whether the timing time t1 is greater than a preset first time threshold. If the timing time t1 is greater than the preset first time threshold, stop timing and output the original throttle opening. If the timing time t1 is not greater than the preset first time threshold, continue timing and return to determine whether the vehicle is in a tip-out condition.

[0069] In this embodiment, the first time threshold may be set to a preset transition time of the tip-in condition.

[0070] In the above embodiment, if the time when the vehicle is in the tip-in condition is shorter than the preset transition time of the tip-in condition, the vehicle enters the tip-out condition. At this time, the output throttle opening needs to be set separately. Specifically, whether the vehicle is in the tip-out condition can be determined by reading the value of the tip-out activation flag position. The tip-out activation flag position is used to indicate whether the vehicle is currently in the tip-out condition. The setting method of the tip-out activation flag position is specifically given in the subsequent content of the embodiment. Through the above judgment on whether the vehicle is in the tip-out condition, the throttle opening is output through the tip-in throttle output function and the original throttle opening only when the vehicle is in the tip-in condition and within the preset transition time of the tip-in condition, otherwise the original throttle opening is output.

[0071] The embodiment of the present invention also provides a throttle control method under tip-out conditions, such as Figure 4 As shown, the following steps are included:

[0072] Determine whether the vehicle is in a tip-out condition based on the current throttle opening data;

[0073] If it is determined that the vehicle is in a tip-out condition, the time domain planning of the throttle opening under the tip-out condition is obtained according to a preset tip-out throttle output function;

[0074] During the time period when the vehicle is in the tip-out condition, the throttle opening at the current moment is output according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening.

[0075] In the embodiment of the present invention, when the vehicle enters the tip-out condition, there will be a sudden change area of ​​the throttle opening, causing the vehicle to move. The embodiment of the present invention can solve the problem of the vehicle moving by actively planning the throttle opening of the vehicle when entering the tip-out condition to make it change smoothly. Therefore, the embodiment of the present invention actively plans the throttle opening through a preset tip-out throttle output function, so that the throttle opening smoothly transitions to the throttle opening after the tip-out condition.

[0076] In a further embodiment of the present invention, the step of determining whether the vehicle is in a tip-out condition based on the current throttle opening data comprises the following steps:

[0077] If the current throttle opening is less than the second opening threshold, and the throttle opening decreases for several consecutive cycles within a preset time period, it is judged that the vehicle is in a tip-out condition; if the current throttle opening is not less than the second opening threshold, or the throttle opening decreases for several discontinuous cycles within the preset time period, it is judged that the vehicle is not in a tip-out condition.

[0078] If the current throttle opening is less than the second opening threshold, and the throttle opening decreases for three consecutive cycles within the preset time period, it is judged that the vehicle is in a tip-out condition; if the current throttle opening is not less than the second opening threshold, or the throttle opening decreases for three consecutive cycles within the preset time period, it is judged that the vehicle is not in a tip-out condition.

[0079] In a specific embodiment, Figure 5 As shown, if the throttle opening data determines that the vehicle is in the tip-out condition, the tip-out activation flag position is set to 1; if the throttle opening data determines that the vehicle is in the tip-out condition, the tip-out activation flag position is set to 0; in subsequent steps, by reading the value of the tip-out activation flag position, 1 means it is in the tip-out condition, and 0 means it is not in the tip-out condition, it can be quickly determined whether the vehicle is in the tip-out condition, and corresponding processing steps are performed according to whether the vehicle is in the tip-out condition.

[0080] In a further embodiment of the present invention, the preset tip-out throttle output function comprises the following steps:

[0081]

[0082] Where Acc tip-out-ratio is the tip-out throttle output function, t2 is the timing time when the vehicle is judged to be in the tip-out condition as zero point, t out It is the transition time of the preset tip-out condition.

[0083] In the embodiment of the present invention, the tip-out throttle output function is as follows: Figure 6 As shown in FIG. 1 , it can be seen that the tip-out throttle output function is a function with a gently decreasing interval, which meets the requirements of the tip-out throttle output function of this embodiment. out It is a calibrated value that specifically refers to the transition time expected by the driver.

[0084] In a further embodiment of the present invention, the step of outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening comprises the following steps:

[0085]

[0086] Where Acc tip-out is the throttle opening, Acc ori-delay is the original throttle opening delay t out The value after.

[0087] In an embodiment of the present invention, when the vehicle enters the tip-out condition, the throttle opening will suddenly decrease to the throttle opening after the tip-out condition. By multiplying the original throttle opening by a parameter with a gentle decline interval, that is, the tip-out throttle output function of the embodiment of the present invention, when the vehicle enters the tip-out condition, the throttle opening has a gentle decline curve similar to the tip-out throttle output function, thereby realizing active planning of the throttle opening in the tip-out condition, achieving smooth torque transition area, and effectively avoiding vehicle movement.

[0088] In a further embodiment of the present invention, during the time period when the vehicle is in the tip-out condition, after outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening, the method further includes the steps of:

[0089] Determine whether the vehicle is in the tip-in condition. If the vehicle is in the tip-in condition, stop timing, exit the throttle control under the tip-out condition, and output the throttle opening according to the throttle control method under the tip-in condition. If the vehicle is not in the tip-in condition, determine whether the timing time t2 is greater than a preset second time threshold. If the timing time t2 is greater than the preset second time threshold, stop timing and output the original throttle opening. If the timing time t2 is not greater than the preset second time threshold, continue timing and return to determine whether the vehicle is in the tip-in condition.

[0090] In this embodiment, the second time threshold may be set to a preset transition time of the tip-out condition.

[0091] In the above embodiment, if the time when the vehicle is in the tip-out condition is shorter than the preset transition time of the tip-out condition, the vehicle enters the tip-in condition. At this time, it is necessary to make additional settings for the output throttle opening. Specifically, whether the vehicle is in the tip-in condition can be determined by reading the value of the tip-in activation flag position. The tip-in activation flag position is used to indicate whether the vehicle is currently in the tip-in condition. Through the above judgment on whether the vehicle is in the tip-in condition, the throttle opening is output through the tip-out throttle output function and the original throttle opening only when the vehicle is in the tip-out condition and within the preset transition time of the tip-out condition. Otherwise, the original throttle opening is output.

[0092] Based on the throttle control method under the tip-in condition and the throttle control method under the tip-out condition provided in the above embodiment, the vehicle completes the throttle opening diagram of tip-in and tip-out in one cycle, as shown in FIG. Figure 7 As shown in the figure, the throttle opening changes smoothly after entering the tip-in condition and the tip-out condition, which effectively avoids the vehicle from moving.

[0093] The same or similar reference numerals correspond to the same or similar components;

[0094] The terms used in the drawings to describe positional relationships are only used for illustrative purposes and should not be construed as limiting this patent;

[0095] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A throttle control method under tip-in condition, characterized in that: The following steps are involved: Determine whether the vehicle is in the tip-in condition based on the current throttle opening data; If it is determined that the vehicle is in a tip-in condition, the time domain planning of the throttle opening under the tip-in condition is obtained according to a preset tip-in throttle output function; During the time period when the vehicle is in the tip-in condition, the throttle opening at the current moment is output according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening; The preset tip-in throttle output function comprises the following steps: Where Acc tip-in-ratio is the tip-in throttle output function, t1 is the timing time when the vehicle is judged to be in the tip-in condition as zero point, t in It is the transition time of the preset tip-in condition.

2. The throttle control method under tip-in condition according to claim 1, characterized in that: The method of judging whether the vehicle is in a tip-in condition according to the current throttle opening data comprises the following steps: If the current throttle opening is greater than the first opening threshold, and the throttle opening increases for several consecutive cycles within the preset time period, it is determined that the vehicle is in the tip-in condition; if the current throttle opening is not greater than the first opening threshold, or the throttle opening increases for several consecutive cycles within the preset time period, it is determined that the vehicle is not in the tip-in condition.

3. The throttle control method under tip-in condition according to claim 2, characterized in that: The method of outputting the current throttle opening according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening comprises the following steps: Where Acc tip-in is the throttle opening, Acc ori is the original throttle opening.

4. The throttle control method under tip-in condition according to claim 3, characterized in that: During the time period when the vehicle is in the tip-in condition, after outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-in condition and the original throttle opening, the method further includes the following steps: Determine whether the vehicle is in a tip-out condition. If the vehicle is in the tip-out condition, stop timing and output the throttle opening according to the throttle control method under the tip-out condition. If the vehicle is not in the tip-out condition, determine whether the timing time t1 is greater than a preset first time threshold. If the timing time t1 is greater than the preset first time threshold, stop timing and output the original throttle opening. If the timing time t1 is not greater than the preset first time threshold, continue timing and return to determine whether the vehicle is in a tip-out condition.

5. A throttle control method under tip-out conditions, characterized in that: The following steps are involved: Determine whether the vehicle is in a tip-out condition based on the current throttle opening data; If it is determined that the vehicle is in a tip-out condition, the time domain planning of the throttle opening under the tip-out condition is obtained according to a preset tip-out throttle output function; During the time period when the vehicle is in the tip-out condition, the throttle opening at the current moment is output according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening; The preset tip-out throttle output function comprises the following steps: Where Acc tip-out-ratio is the tip-out throttle output function, t2 is the timing time when the vehicle is judged to be in the tip-out condition as zero point, t out It is the transition time of the preset tip-out condition.

6. The throttle control method under tip-out condition according to claim 5, characterized in that: The method of judging whether the vehicle is in a tip-out condition according to the current throttle opening data comprises the following steps: If the current throttle opening is less than the second opening threshold, and the throttle opening decreases for several consecutive cycles within a preset time period, it is judged that the vehicle is in a tip-out condition; if the current throttle opening is not less than the second opening threshold, or the throttle opening decreases for several discontinuous cycles within the preset time period, it is judged that the vehicle is not in a tip-out condition.

7. The throttle control method under tip-out condition according to claim 6, characterized in that: The method of outputting the current throttle opening according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening comprises the following steps: Where Acc tip-out is the throttle opening, Acc ori-delay is the original throttle opening delay t out The value after.

8. The throttle control method under tip-out condition according to claim 7, characterized in that: During the time period when the vehicle is in the tip-out condition, after outputting the throttle opening at the current moment according to the time domain planning of the throttle opening under the tip-out condition and the original throttle opening, the method further includes the steps of: Determine whether the vehicle is in the tip-in condition. If the vehicle is in the tip-in condition, stop timing and output the throttle opening according to the throttle control method under the tip-in condition. If the vehicle is not in the tip-in condition, determine whether the timing time t2 is greater than a preset second time threshold. If the timing time t2 is greater than the preset second time threshold, stop timing and output the original throttle opening. If the timing time t2 is not greater than the preset second time threshold, continue timing and return to determine whether the vehicle is in the tip-in condition.

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