Vehicle control method, device, vehicle and storage medium

Abstract

The present invention provides a vehicle control method, device, vehicle and storage medium, belonging to the field of intelligent driving, and the method includes: obtaining a target speed value of a vehicle under a cruise control condition and a first actual speed value after a first time period; judging whether the difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, adjusting the target speed value based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle; if not, obtaining the actual output torque value and the maximum allowable torque value of the vehicle, and determining the current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value; and adjusting the actual speed value based on the adjusted target speed value or the current maximum allowable speed value. The present invention can ensure that the vehicle will not shut down due to overload of the drive motor, and ensure the safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle control method, device, vehicle and storage medium. Background Art

[0002] There are two control modes for the drive motor system of new energy vehicles: torque control and speed control. The drive motor controller makes the drive motor work in torque or speed control mode according to the instructions of the vehicle controller. Normally, the vehicle controller makes the drive motor system work in torque control mode according to the accelerator pedal signal, that is, the drive motor controller controls the output torque of the drive motor to follow the target torque given by the vehicle controller. When the vehicle is in cruise control mode, the drive motor system works in speed control mode, and the drive motor controller controls the speed of the drive motor to follow the target speed given by the vehicle controller.

[0003] Due to the uncertainty of vehicle load and driver's driving habits, when the vehicle is heavily loaded or climbing a long slope, if the vehicle enters cruise control mode and the cruise control requires a higher speed, the vehicle power demand will far exceed the maximum output capacity of the drive motor, resulting in the actual speed of the drive motor being unable to follow the target speed. When the difference between the actual speed and the target speed is too large and lasts too long, a speed deviation fault may occur, which may cause the drive motor and its controller to shut down, posing a safety hazard.

[0004] It can be seen that the prior art may have a technical problem in which the actual speed cannot follow the target speed during cruise control, resulting in a speed deviation fault, which in turn causes the drive motor to shut down. Summary of the invention

[0005] In view of this, it is necessary to provide a vehicle control method, device, vehicle and storage medium to solve the technical problem in the prior art that the actual speed may not follow the target speed during cruise control, resulting in a speed deviation failure, which in turn causes the drive motor to shut down.

[0006] In order to solve the above technical problems, on the one hand, the present invention provides a vehicle control method, comprising:

[0007] Obtaining a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time;

[0008] determining whether a difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, adjusting the target speed value based on a magnitude relationship between the target speed value and a maximum allowable speed value of the vehicle;

[0009] If not, obtaining an actual output torque value and a maximum allowable torque value of the vehicle, and determining a current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value;

[0010] The actual speed value is adjusted based on the adjusted target speed value or the current maximum allowable speed value.

[0011] As a possible implementation manner of the present invention, in this implementation manner, obtaining a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time includes:

[0012] When entering the cruise control state, obtaining a target vehicle speed value, and determining a target speed value of the vehicle drive device based on the target vehicle speed value;

[0013] A first actual speed value of a vehicle driving device after entering a cruise control condition for a first period of time is obtained.

[0014] As a possible implementation manner of the present invention, in this implementation manner, adjusting the target speed value based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle includes:

[0015] When the ratio of the maximum allowable speed value to the target speed value is greater than or equal to a first ratio threshold, maintaining the target speed value unchanged;

[0016] When the ratio of the maximum allowable rotational speed value to the target rotational speed value is less than the first ratio threshold, the maximum allowable rotational speed value is determined as the target rotational speed value.

[0017] As a possible implementation manner of the present invention, in this implementation manner, determining the current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value includes:

[0018] Obtaining a duration during which the difference between the actual output torque value and the maximum allowable torque value is less than or equal to a torque difference threshold value during acceleration of the vehicle from the first actual speed value to a second actual speed value; wherein the difference between the second actual speed value and the target speed value is less than or equal to a second speed difference threshold value, and the second speed difference threshold value is less than the first speed difference threshold value;

[0019] A current maximum permissible rotational speed value of the vehicle is determined based on the duration.

[0020] As a possible implementation manner of the present invention, in this implementation manner, determining the current maximum allowable speed value of the vehicle based on the duration includes:

[0021] When the duration is less than or equal to the second duration, determining the maximum allowable speed value of the vehicle as the current maximum allowable speed value of the vehicle;

[0022] When the duration is greater than the second duration and less than or equal to a third duration, determining the maximum value of the second actual speed value and the maximum allowable speed value of the first ratio as the current maximum allowable speed value of the vehicle, wherein the third duration is greater than the second duration;

[0023] When the duration is greater than the third duration, a second actual rotation speed value of a second preset proportion is determined as the current maximum allowable rotation speed value of the vehicle, wherein the third duration is greater than the second duration.

[0024] As a possible implementation manner of the present invention, in this implementation manner, before obtaining the actual output torque value of the vehicle and the maximum allowable torque value of the vehicle, the method includes:

[0025] When the third actual speed value of the vehicle after acceleration for a fourth period of time is less than the second actual speed value, the third actual speed value of the third preset ratio is determined as the current maximum allowable speed value of the vehicle.

[0026] As a possible implementation manner of the present invention, in this implementation manner, adjusting the actual speed value based on the adjusted target speed value or the current maximum allowable speed value includes:

[0027] Adjust the actual speed value of the vehicle to the adjusted target speed value, and prompt that the vehicle has reached the maximum speed value; or

[0028] The actual rotation speed value of the vehicle is adjusted to the current maximum allowable rotation speed value.

[0029] In another aspect, the present invention further provides a vehicle control device, comprising:

[0030] A speed acquisition unit, used to acquire a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time;

[0031] a target speed determination unit, configured to determine whether a difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, to adjust the target speed value based on a magnitude relationship between the target speed value and a maximum allowable speed value of the vehicle;

[0032] an allowable speed determination unit, for, if no, obtaining an actual output torque value and a maximum allowable torque value of the vehicle, and determining a current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value;

[0033] The speed adjustment unit is used to adjust the actual speed value based on the adjusted target speed value or the current maximum allowable speed value.

[0034] In another aspect, the present invention further provides a vehicle, comprising a memory and a processor, wherein:

[0035] The memory is used to store programs;

[0036] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle control method described in any of the above implementations.

[0037] On the other hand, the present invention also provides a computer-readable storage medium for storing computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle control method described in any of the above-mentioned implementations.

[0038] The beneficial effects of the present invention are as follows: the vehicle control method provided by the present invention obtains the target speed value and the actual speed value of the vehicle under the cruise control condition, and determines the adjustment scheme of the actual speed value of the vehicle based on the difference between the target speed value and the actual speed value; when the difference is greater than a first speed difference threshold, the target speed value is adjusted directly based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle to ensure that the target speed value is not too large; when the difference is less than or equal to the first speed difference threshold, the current maximum allowable speed value of the vehicle is determined based on the actual output torque of the vehicle and the maximum allowable output torque of the vehicle to ensure that the vehicle torque is not too large; then, the actual speed value of the vehicle is adjusted based on the adjusted target speed value or the current maximum allowable speed value of the vehicle to ensure that the vehicle will not shut down due to overload operation of the drive motor, thereby ensuring the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present invention;

[0041] Figure 2 A schematic flow chart of a method for obtaining a rotation speed provided by an embodiment of the present invention;

[0042] Figure 3 A schematic flow chart of a method for adjusting a target speed value provided by an embodiment of the present invention;

[0043] Figure 4 A schematic diagram of a flow chart of a method for determining a current maximum allowable rotational speed value provided by an embodiment of the present invention;

[0044] Figure 5 A flowchart of a method for implementing S402 provided in an embodiment of the present invention;

[0045] Figure 6 A schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention;

[0046] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0048] The descriptions of "first", "second", etc. involved in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0049] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0050] The present invention provides a vehicle control method, device, vehicle and storage medium, which are respectively described below.

[0051] Figure 1 A flow chart of an embodiment of the vehicle control method provided by the present invention is shown in FIG. Figure 1 As shown, the vehicle control method includes:

[0052] S101, obtaining a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time;

[0053] S102, determining whether the difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, adjusting the target speed value based on a magnitude relationship between the target speed value and a maximum allowable speed value of the vehicle;

[0054] S103, if not, obtaining the actual output torque value and the maximum allowable torque value of the vehicle, and determining the current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value;

[0055] S104: adjusting the actual speed value based on the adjusted target speed value or the current maximum allowable speed value.

[0056] The vehicle control method provided in the embodiment of the present invention is used to control the actual rotation speed value of the vehicle under the cruise control condition, and then control the actual speed of the vehicle, wherein the controlled vehicle is driven by a drive motor and can be a new energy vehicle, a hybrid vehicle, etc.

[0057] In an embodiment of the present invention, the target speed value of the vehicle under the cruise control condition refers to the target speed value of the vehicle when the vehicle enters the cruise control condition during driving, wherein the controlled vehicle may be a manually driven vehicle or an automatically driven vehicle. When the vehicle is a manually driven vehicle, the target speed value of the vehicle under the cruise control condition is the target speed value input by the driver when the driver manually adjusts the vehicle to enter the cruise control condition. When the vehicle is an automatically driven vehicle, the target speed value of the vehicle under the cruise control condition is the target speed value set when the vehicle automatically enters the cruise control condition.

[0058] In the embodiment of the present invention, the first actual speed value of the vehicle after the first time period refers to the actual speed value of the vehicle after the vehicle enters the cruise control condition and accelerates for the first time period. Generally, the actual speed value of the vehicle when entering the cruise control condition is less than the target speed value, so the vehicle needs to accelerate to reach the target speed value, and the acceleration time generally does not exceed 3 seconds.

[0059] In the embodiment of the present invention, it is necessary to judge whether the vehicle is likely to have a speed deviation fault based on the difference between the first actual speed value and the target speed value. The judgment basis is whether the difference between the first actual speed value and the target speed value is greater than the first speed difference threshold value. Because in general, after the vehicle accelerates for a first period of time, the difference between the actual speed value of the vehicle and the target speed value will not be too large, so as to ensure that the difference between the actual speed value of the vehicle and the target speed value will not be too large and the duration will not be too long. Optionally, the first speed difference threshold value can be a certain proportion of the target speed value, such as 20% of the target speed value, that is, ,in, is the first actual speed value, is the target speed value, when the difference between the first actual speed value and the target speed value does not satisfy , it indicates that after the first period of acceleration, the difference between the vehicle and the target speed is still too large. The vehicle may have a speed deviation failure and needs to adjust the target speed. Specifically, the target speed may be reduced to ensure that the actual speed of the vehicle follows the target speed. Optionally, the target speed may be adjusted based on the relationship between the target speed and the maximum allowable speed of the vehicle. The maximum allowable speed of the vehicle refers to the maximum speed that can be reached when the vehicle drive motor is running at full load.

[0060] In the embodiment of the present invention, when the difference between the first actual speed value and the target speed value is less than or equal to the first speed difference threshold, that is, the difference between the first actual speed value and the target speed value satisfies , it means that after the first period of acceleration, the actual speed of the vehicle is not much different from the target speed. After a period of acceleration, the vehicle can reach or be very close to the target speed. The vehicle is unlikely to have a speed deviation failure temporarily. However, when the vehicle is heavily loaded or climbing, in order to ensure that the actual speed can follow the target speed, the vehicle will control the drive motor to continue to run at peak torque. If the peak torque of the vehicle lasts too long, it will also cause vehicle failure. Therefore, it is necessary to adjust the current maximum allowable speed of the vehicle based on the relationship between the actual output torque value of the vehicle and the maximum allowable torque value of the vehicle to prevent the vehicle drive motor from running at peak torque for a long time.

[0061] In an embodiment of the present invention, based on the relationship between the first actual speed value and the target speed value in the aforementioned embodiment, the actual speed value of the vehicle is adjusted based on the adjusted target speed value or the current maximum allowable speed value to ensure that the actual speed value of the vehicle follows the target speed value while the vehicle does not operate at peak torque for a long time.

[0062] The vehicle control method provided by the present invention obtains the target speed value and the actual speed value of the vehicle under the cruise control condition, and determines the adjustment scheme of the actual speed value of the vehicle based on the difference between the target speed value and the actual speed value. When the difference is greater than a first speed difference threshold, the target speed value is adjusted directly based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle to ensure that the target speed value is not too large. When the difference is less than or equal to the first speed difference threshold, the current maximum allowable speed value of the vehicle is determined based on the actual output torque of the vehicle and the maximum allowable output torque of the vehicle to ensure that the vehicle torque is not too large. Then, the actual speed value of the vehicle is adjusted based on the adjusted target speed value or the current maximum allowable speed value of the vehicle to ensure that the vehicle will not shut down due to overload operation of the drive motor, thereby ensuring the safety of vehicle driving.

[0063] As a possible implementation mode of the present invention, in this implementation mode, Figure 2As shown, obtaining the target speed value of the vehicle under the cruise control condition and the first actual speed value after the first time period includes:

[0064] S201, when entering a cruise control state, obtaining a target vehicle speed value of the vehicle, and determining a target rotation speed value of a vehicle driving device based on the target vehicle speed value;

[0065] S202, obtaining a first actual rotation speed value of a vehicle driving device after a first time period of entering a cruise control condition.

[0066] In an embodiment of the present invention, when a vehicle enters a cruise control condition, a target speed value of the vehicle is generally set. The vehicle controls the speed of the vehicle by controlling the speed of the drive motor. The problem of vehicle speed control can be converted into a problem of speed control of the vehicle drive motor. Therefore, obtaining the target speed value of the vehicle can be when the vehicle enters a cruise control condition, obtaining a target speed value automatically input by the driver or the vehicle, and then determining a target speed value of the vehicle drive motor based on the target speed value, and obtaining a first actual speed value of the vehicle drive motor after the vehicle has accelerated for a first period of time.

[0067] As a possible implementation mode of the present invention, in this implementation mode, Figure 3 As shown, adjusting the target speed value based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle includes:

[0068] S301, when the ratio of the maximum allowable speed value to the target speed value is greater than or equal to a first ratio threshold, maintaining the target speed value unchanged;

[0069] S302: When the ratio of the maximum allowable rotational speed value to the target rotational speed value is less than a first ratio threshold, the maximum allowable rotational speed value is determined as the target rotational speed value.

[0070] In the embodiment of the present invention, as in the above embodiment, when the difference between the first actual speed value and the target speed value does not satisfy When , it indicates that the actual speed of the vehicle cannot follow the target speed, and a speed deviation fault may occur, and the target speed needs to be adjusted. When, among them, is the maximum permissible speed value of the vehicle, indicating that the difference between the maximum permissible speed value of the vehicle and the target speed value is not large, and the vehicle may accelerate the actual speed value to the target speed value, at which time the target speed value can be maintained unchanged; , indicating that the difference between the maximum allowable speed value and the target speed value of the vehicle is too large, and the actual speed value of the vehicle may not be able to accelerate to the target speed value, and the target speed value needs to be adjusted. Optionally, the maximum allowable speed value of the vehicle can be determined as the new target speed value. Optionally, in the above two cases, the vehicle has been running at the maximum output capacity, so it can be prompted that the current drive motor has reached the maximum output capacity and the cruise speed has reached the maximum value, so as to remind the driver not to increase the cruise speed.

[0071] When determining that a speed deviation fault may occur in a vehicle, the embodiment of the present invention adjusts the target speed value to ensure that the actual speed value of the vehicle can follow the target speed value, thereby preventing the speed deviation fault from occurring.

[0072] As a possible implementation mode of the present invention, in this implementation mode, Figure 4 As shown, the current maximum allowable speed value of the vehicle is determined based on the actual output torque value and the maximum allowable torque value, including:

[0073] S401, obtaining a duration during which a difference between an actual output torque value and a maximum allowable torque value is less than or equal to a torque difference threshold value during acceleration of the vehicle from a first actual speed value to a second actual speed value; wherein a difference between the second actual speed value and a target speed value is less than or equal to a second speed difference threshold value, and the second speed difference threshold value is less than the first speed difference threshold value;

[0074] S402, determining the current maximum allowable speed value of the vehicle based on the duration.

[0075] In the embodiment of the present invention, as in the above embodiment, when the difference between the first actual speed value and the target speed value satisfies It means that after the first period of acceleration, the actual speed of the vehicle has reached 80% of the target speed. At this time, it shows that the actual speed of the vehicle can follow the target speed. However, in order to prevent the vehicle from running at peak torque for a long time, it is necessary to determine the current maximum allowable speed of the vehicle based on the relationship between the actual output torque value and the maximum allowable torque value, and then adjust the output torque of the vehicle.

[0076] In the embodiment of the present invention, the second actual speed value refers to the actual speed value reached by the vehicle after the vehicle reaches the first actual speed value and accelerates again for a period of time. The second actual speed value should theoretically be greater than the first actual speed value. During the second acceleration process, in order to ensure a rapid response of the actual speed value of the vehicle, the vehicle drive motor will operate at the peak torque. Generally, the peak torque refers to the torque whose difference with the maximum allowable torque value of the vehicle is within a certain range, such as the output torque whose difference with the maximum allowable torque of the vehicle is within 5% of the maximum allowable torque. Specifically, the duration for which the difference between the actual output torque value and the maximum allowable torque value is less than or equal to the torque difference threshold is and The duration of is the actual output torque value, is the maximum allowable torque value of the vehicle. Based on the duration, the current maximum allowable speed value of the vehicle is determined.

[0077] As a possible implementation mode of the present invention, in this implementation mode, Figure 5 As shown, the current maximum permissible speed value of the vehicle is determined based on the duration, including:

[0078] S501, when the duration is less than or equal to the second duration, determining the maximum allowable speed value of the vehicle as the current maximum allowable speed value of the vehicle;

[0079] S502, when the duration is greater than the second duration and less than or equal to the third duration, determining the maximum value of the second actual speed value and the maximum allowable speed value of the first ratio as the current maximum allowable speed value of the vehicle, wherein the third duration is greater than the second duration;

[0080] S503: When the duration is greater than a third duration, determining a second actual speed value of a second preset ratio as the current maximum allowable speed value of the vehicle, wherein the third duration is greater than the second duration.

[0081] In the embodiment of the present invention, the determination of the maximum allowable speed value of the vehicle is different for different durations. Generally, the longer the duration is, the longer it takes for the vehicle to accelerate to 90% of the target speed value. At this time, the longer the vehicle runs at the peak torque, the shorter the remaining time the vehicle can maintain the peak torque operation, and the smaller the current maximum operating speed value of the vehicle should be. Specifically, when ,and When the duration of the speed is less than or equal to 10 seconds, it means that the vehicle can increase the actual speed value to the target speed value in a relatively short time, the vehicle can continue to run at the peak torque, and the maximum allowable speed value of the vehicle drive motor is determined as the current maximum allowable speed value of the vehicle; when ,and When the duration of is greater than 10 seconds and less than or equal to 20 seconds, it means that the vehicle needs some time to increase the actual speed to the target speed, and the vehicle cannot run at the peak torque all the time. The larger value of the vehicle's actual speed and 90% of the vehicle's maximum allowable speed can be determined as the vehicle's current maximum allowable speed to ensure that the vehicle does not run at the peak torque for a long time. ,and When the duration of the peak torque is greater than 20 seconds and less than or equal to 30 seconds, it means that the vehicle has been running at the peak torque for a long time. The larger value of the actual speed of the vehicle and 80% of the maximum allowable speed of the vehicle can be determined as the current maximum allowable speed of the vehicle to ensure that the vehicle will not run at the peak torque for a long time. ,and When the duration of the peak torque is greater than 30 seconds and less than or equal to 40 seconds, it means that the vehicle has been running at the peak torque for a long time and the vehicle can no longer run at the peak torque. The larger value of the actual speed of the vehicle and 70% of the maximum allowable speed of the vehicle can be determined as the current maximum allowable speed of the vehicle to ensure that the vehicle will not run at the peak torque for a long time. ,and When the duration is greater than 40, it means that the vehicle's running time at peak torque has reached the limit and the vehicle can no longer run at the current torque. The actual speed value of 90% is directly determined as the current maximum allowable speed value of the vehicle to reduce the vehicle's output torque and prevent vehicle failure.

[0082] The embodiment of the present invention adjusts the duration that the vehicle runs at the peak torque to ensure that the vehicle runs at the peak torque for a long time, thereby preventing the vehicle from malfunctioning.

[0083] As a possible implementation manner of the present invention, in this implementation manner, before obtaining the actual output torque value of the vehicle and the maximum allowable torque value of the vehicle, the following steps are included:

[0084] When the third actual speed value of the vehicle after acceleration for a fourth period of time is less than the second actual speed value, the third actual speed value of the third preset ratio is determined as the current maximum allowable speed value of the vehicle.

[0085] In the embodiment of the present invention, when the duration of the vehicle running at the peak torque exceeds the maximum duration that the vehicle can run at the peak torque, the actual speed of the vehicle still does not reach the second actual speed value, indicating that the vehicle has been overloaded and the vehicle torque needs to be reduced as soon as possible. If after another 40 seconds of acceleration, the actual speed of the vehicle is still less than 90% of the target speed value, the actual speed value of 90% can be determined as the current maximum allowable speed value of the vehicle to reduce the output torque of the vehicle and prevent the vehicle from malfunctioning.

[0086] As a possible implementation manner of the present invention, in this implementation manner, adjusting the actual speed value based on the adjusted target speed value or the current maximum allowable speed value includes:

[0087] Adjust the actual speed of the vehicle to the adjusted target speed, and prompt that the vehicle has reached the maximum speed; or

[0088] Adjust the actual speed of the vehicle to the current maximum allowable speed.

[0089] In the embodiment of the present invention, based on the above embodiment, for the case where the actual speed value of the vehicle can reach 80% of the target speed and the case where the actual speed value cannot reach 80% of the target speed after the first acceleration, the adjustment method of the actual speed of the vehicle is different. For the case where the target speed cannot reach 80%, the actual speed of the vehicle is adjusted according to the target speed adjusted in the above embodiment to reduce the target speed of the vehicle and prevent the vehicle from having a speed deviation fault; for the case where the target speed can reach 80%, the actual speed of the vehicle is adjusted based on the current maximum operating speed value determined in the above embodiment to prevent the vehicle from running at peak torque for a long time and causing a fault.

[0090] In order to better implement the vehicle control method in the embodiment of the present invention, based on the vehicle control method, correspondingly, Figure 6 As shown, the embodiment of the present invention further provides a vehicle control device, the vehicle control device 600 includes:

[0091] The speed acquisition unit 601 is used to acquire a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time;

[0092] A target speed determination unit 602 is used to determine whether the difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, adjust the target speed value based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle;

[0093] The allowed speed determination unit 603 is used to obtain the actual output torque value and the maximum allowed torque value of the vehicle if no, and determine the current maximum allowed speed value of the vehicle based on the actual output torque value and the maximum allowed torque value;

[0094] The speed adjustment unit 604 is used to adjust the actual speed value based on the adjusted target speed value or the current maximum allowable speed value.

[0095] The vehicle control device 600 provided in the above embodiment can implement the technical solution described in the above vehicle control method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above vehicle control method embodiment, which will not be repeated here.

[0096] The vehicle control device provided by the present invention obtains the target speed value and the actual speed value of the vehicle under the cruise control condition, and determines the adjustment scheme of the actual speed value of the vehicle based on the difference between the target speed value and the actual speed value. When the difference is greater than a first speed difference threshold, the target speed value is adjusted directly based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle to ensure that the target speed value is not too large. When the difference is less than or equal to the first speed difference threshold, the current maximum allowable speed value of the vehicle is determined based on the actual output torque of the vehicle and the maximum allowable output torque of the vehicle to ensure that the vehicle torque is not too large. Then, the actual speed value of the vehicle is adjusted based on the adjusted target speed value or the current maximum allowable speed value of the vehicle to ensure that the vehicle will not shut down due to overload operation of the drive motor, thereby ensuring the safety of vehicle driving.

[0097] like Figure 7 As shown, the present invention also provides a vehicle 700. The vehicle 700 includes a processor 701, a memory 702 and a display 703. Figure 7 Only some of the components of vehicle 700 are shown, but it should be understood that implementation of all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0098] In some embodiments, the processor 701 may be a central processing unit (CPU), a microprocessor or other data processing chip, which is used to run program codes or process data stored in the memory 702, such as the vehicle control method of the present invention.

[0099] In some embodiments, the processor 701 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 701 may be local or remote. In some embodiments, the processor 701 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination thereof.

[0100] In some embodiments, the memory 702 may be an internal storage unit of the vehicle 700, such as a hard disk or memory of the vehicle 700. In other embodiments, the memory 702 may also be an external storage device of the vehicle 700, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 700.

[0101] Furthermore, the memory 702 may include both an internal storage unit of the vehicle 700 and an external storage device. The memory 702 is used to store application software installed in the vehicle 700 and various data.

[0102] In some embodiments, the display 703 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 703 is used to display information of the vehicle 700 and to display a visual user interface. The components 701-703 of the vehicle 700 communicate with each other via a system bus.

[0103] In one embodiment, when the processor 701 executes the vehicle control program in the memory 702, the following steps may be implemented:

[0104] Obtaining a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time;

[0105] Determine whether a difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, adjust the target speed value based on a magnitude relationship between the target speed value and a maximum allowable speed value of the vehicle;

[0106] If not, obtaining an actual output torque value and a maximum allowable torque value of the vehicle, and determining a current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value;

[0107] The actual speed value is adjusted based on the adjusted target speed value or the current maximum allowable speed value.

[0108] It should be understood that: when the processor 701 executes the vehicle control program in the memory 702, in addition to the above functions, other functions can also be implemented. For details, please refer to the description of the corresponding method embodiment above.

[0109] Correspondingly, an embodiment of the present invention also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the steps or functions in the vehicle control method provided in the above-mentioned method embodiments can be implemented.

[0110] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0111] The vehicle control method, device, vehicle and storage medium provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: include: Obtaining a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time; determining whether a difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, adjusting the target speed value based on a magnitude relationship between the target speed value and a maximum allowable speed value of the vehicle; If not, obtaining an actual output torque value and a maximum allowable torque value of the vehicle, and determining a current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value; adjusting the actual speed value based on the adjusted target speed value or the current maximum allowable speed value; The adjusting the target speed value based on the magnitude relationship between the target speed value and the maximum allowable speed value of the vehicle includes: When the ratio of the maximum allowable speed value to the target speed value is greater than or equal to a first ratio threshold, maintaining the target speed value unchanged; When the ratio of the maximum allowable speed value to the target speed value is less than the first ratio threshold, determining the maximum allowable speed value as the target speed value; The determining of the current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value comprises: Obtaining a duration during which the difference between the actual output torque value and the maximum allowable torque value is less than or equal to a torque difference threshold value during acceleration of the vehicle from the first actual speed value to a second actual speed value; wherein the difference between the second actual speed value and the target speed value is less than or equal to a second speed difference threshold value, and the second speed difference threshold value is less than the first speed difference threshold value; A current maximum permissible rotational speed value of the vehicle is determined based on the duration.

2. The vehicle control method according to claim 1, characterized in that: The step of obtaining a target speed value of the vehicle under the cruise control condition and a first actual speed value after a first period of time includes: When entering the cruise control state, obtaining a target vehicle speed value, and determining a target speed value of the vehicle drive device based on the target vehicle speed value; A first actual speed value of a vehicle driving device after entering a cruise control condition for a first period of time is obtained.

3. The vehicle control method according to claim 1, characterized in that: The determining of the current maximum allowable speed value of the vehicle based on the duration includes: When the duration is less than or equal to the second duration, determining the maximum allowable speed value of the vehicle as the current maximum allowable speed value of the vehicle; When the duration is greater than the second duration and less than or equal to a third duration, determining the maximum value of the second actual speed value and the maximum allowable speed value of the first ratio as the current maximum allowable speed value of the vehicle, wherein the third duration is greater than the second duration; When the duration is greater than the third duration, a second actual rotation speed value of a second preset proportion is determined as the current maximum allowable rotation speed value of the vehicle, wherein the third duration is greater than the second duration.

4. The vehicle control method according to claim 1, characterized in that: Before obtaining the actual output torque value of the vehicle and the maximum allowable torque value of the vehicle, the method includes: When the third actual speed value of the vehicle after acceleration for a fourth period of time is less than the second actual speed value, the third actual speed value of the third preset ratio is determined as the current maximum allowable speed value of the vehicle.

5. The vehicle control method according to claim 1, characterized in that: The adjusting the actual speed value based on the adjusted target speed value or the current maximum allowable speed value includes: Adjust the actual speed value of the vehicle to the adjusted target speed value, and prompt that the vehicle has reached the maximum speed value; or The actual rotation speed value of the vehicle is adjusted to the current maximum allowable rotation speed value.

6. A vehicle control device, applicable to the vehicle control method according to any one of claims 1 to 5, characterized in that: include: A speed acquisition unit, used to acquire a target speed value of the vehicle under a cruise control condition and a first actual speed value after a first period of time; a target speed determination unit, configured to determine whether a difference between the first actual speed value and the target speed value is greater than a first speed difference threshold, and if so, to adjust the target speed value based on a magnitude relationship between the target speed value and a maximum allowable speed value of the vehicle; an allowable speed determination unit, for, if no, obtaining an actual output torque value and a maximum allowable torque value of the vehicle, and determining a current maximum allowable speed value of the vehicle based on the actual output torque value and the maximum allowable torque value; The speed adjustment unit is used to adjust the actual speed value based on the adjusted target speed value or the current maximum allowable speed value.

7. A vehicle, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the vehicle control method described in any one of claims 1 to 5 above.

8. A computer-readable storage medium, characterized in that: Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the vehicle control method described in any one of claims 1 to 5 above.

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