Vehicle drive force control method, system, device, and storage medium

Abstract

The application discloses a vehicle driving force control method, system, device and storage medium, comprising the following steps: acquiring the current speed, the current throttle opening and the current driving force of a target vehicle, and determining the target driving mode of the target vehicle; determining the target driving force MAP graph according to the target driving mode, and then determining the target driving force according to the current speed, the current throttle opening and the target driving force MAP graph; determining the target driving force change rate MAP graph according to the target driving mode, and then determining the target driving force change rate according to the current speed, the current driving force, the target driving force and the target driving force change rate MAP graph; and driving the target vehicle according to the target driving force and the target driving force change rate. The application realizes accurate calculation and smooth control of the vehicle driving force in different driving scenes, improves the driving experience of users, and can be widely applied to the technical field of vehicle control.

Description

Technical Field

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

[0002] With the development of intelligent and connected vehicles, vehicle monitoring and control technologies are becoming increasingly intelligent, bringing drivers and passengers an increasingly rich driving experience. Currently, the driving force of a car is mostly determined by querying the driving force MAP based on the vehicle speed and throttle opening. However, when cars are produced, most of them are only fixed with a driving force MAP under standard working conditions, which cannot adapt to the driving force requirements in different driving scenarios, thus affecting the user's driving experience. In addition, the current driving force control only stays at the level of calculating the target driving force, and it takes a certain amount of time for the motor to switch from the current actual driving force to the target driving force to be achieved. How to achieve smooth control of the driving force has become an urgent problem that needs to be solved. Summary of the Invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of an embodiment of the present invention is to provide a vehicle driving force control method, which achieves accurate calculation and smooth control of vehicle driving force in different driving scenarios, thereby improving the user's driving experience.

[0005] Another object of an embodiment of the present invention is to provide a vehicle driving force control system.

[0006] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0007] In a first aspect, an embodiment of the present invention provides a vehicle driving force control method, comprising the following steps:

[0008] Obtaining the current speed, current throttle opening, and current driving force of the target vehicle, and determining a target driving mode for the target vehicle;

[0009] determining a target driving force MAP map according to the target driving mode, and further determining a target driving force according to the current vehicle speed, the current throttle opening, and the target driving force MAP map;

[0010] determining a target driving force change rate MAP map according to the target driving mode, and further determining a target driving force change rate according to the current vehicle speed, the current driving force, the target driving force, and the target driving force change rate MAP map;

[0011] The target vehicle is driven according to the target driving force and the target driving force change rate.

[0012] Furthermore, in one embodiment of the present invention, obtaining the current speed, current throttle opening, and current driving force of the target vehicle and determining the target driving mode of the target vehicle specifically includes:

[0013] Obtaining the current vehicle speed, the current throttle opening, and the current driving force through a vehicle controller, and obtaining a driving mode control instruction input by a user;

[0014] determining the target driving mode according to the driving mode control instruction;

[0015] The target driving modes include standard mode, energy-saving mode and sports mode.

[0016] Furthermore, in one embodiment of the present invention, determining a target driving force MAP according to the target driving mode specifically includes:

[0017] Determining whether the target vehicle is in an abnormal state by using a vehicle controller;

[0018] When the target vehicle is in an abnormal state, determining a preset abnormal mode driving force MAP map as the target driving force MAP map;

[0019] When the target vehicle is not in an abnormal state, matching the target driving mode with a preset driving force MAP library to obtain the target driving force MAP map;

[0020] The driving force MAP library includes a plurality of driving modes and a plurality of corresponding driving force MAP diagrams, and the driving force MAP includes a correspondence between vehicle speed, throttle opening and driving force.

[0021] Furthermore, in one embodiment of the present invention, determining a target driving force change rate MAP map according to the target driving mode specifically includes:

[0022] Determine whether the target vehicle is in an abnormal state, a zero-crossing state, or a creeping state by using a vehicle controller;

[0023] When the target vehicle is in an abnormal state, determining a preset abnormal mode driving force change rate MAP map as the target driving force change rate MAP map;

[0024] When the target vehicle is in a zero-crossing domain state, determining a preset zero-crossing domain driving force change rate MAP map as the target driving force change rate MAP map;

[0025] When the target vehicle is in a creeping state, determining a preset creeping driving force change rate MAP map as the target driving force change rate MAP map;

[0026] When the target vehicle is not in an abnormal state, a zero-crossing state, or a creeping state, matching the target driving mode with a preset driving force change rate MAP library to obtain the target driving force change rate MAP map;

[0027] The driving force change rate MAP library includes multiple driving modes and corresponding multiple driving force change rate MAP maps, and the driving force change rate MAP map includes the correspondence between vehicle speed, current driving force, target driving force and driving force change rate.

[0028] Furthermore, in one embodiment of the present invention, whether the target vehicle is in a zero-crossing state is determined by the following steps:

[0029] Obtaining the historical driving force of the target vehicle at the previous moment;

[0030] When the historical driving force is opposite to the current driving force, it is determined that the target vehicle is in a zero-crossing state.

[0031] Furthermore, in one embodiment of the present invention, whether the target vehicle is in the creeping state is determined by the following steps:

[0032] Get the preset creep speed range;

[0033] When the current throttle opening is 0 and the current vehicle speed is in the creep speed range, it is determined that the target vehicle is in the creep domain state.

[0034] Furthermore, in one embodiment of the present invention, driving the target vehicle according to the target driving force and the target driving force change rate specifically includes:

[0035] Sending the target driving force and the target driving force change rate to a motor controller through a vehicle controller;

[0036] The motor torque is controlled by a motor controller according to the target driving force and the target driving force change rate, so that the driving force of the target vehicle changes toward the target driving force according to the target driving force change rate.

[0037] In a second aspect, an embodiment of the present invention provides a vehicle driving force control system, comprising:

[0038] a data acquisition module, configured to acquire the current speed, current throttle opening, and current driving force of the target vehicle, and determine a target driving mode of the target vehicle;

[0039] a driving force determination module, configured to determine a target driving force MAP map according to the target driving mode, and further determine a target driving force according to the current vehicle speed, the current throttle opening, and the target driving force MAP map;

[0040] a driving force change rate determination module, configured to determine a target driving force change rate MAP map according to the target driving mode, and further determine a target driving force change rate according to the current vehicle speed, the current driving force, the target driving force, and the target driving force change rate MAP map;

[0041] A driving control module is configured to drive the target vehicle according to the target driving force and the target driving force change rate.

[0042] In a third aspect, an embodiment of the present invention provides a vehicle driving force control device, comprising:

[0043] at least one processor;

[0044] at least one memory for storing at least one program;

[0045] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle driving force control method.

[0046] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor, wherein the program executable by the processor is used to execute the above-mentioned vehicle driving force control method when executed by the processor.

[0047] The advantages and benefits of the present invention will be described in part in the following description and will become apparent from the following description or learned through practice of the present invention:

[0048] An embodiment of the present invention obtains the current vehicle speed, current throttle opening, and current driving force of a target vehicle, determines a target driving mode of the target vehicle, determines a target driving force MAP diagram based on the target driving mode, and further determines a target driving force based on the current vehicle speed, current throttle opening, and the target driving force MAP diagram, determines a target driving force change rate MAP diagram based on the target driving mode, and further determines a target driving force change rate based on the current vehicle speed, current driving force, target driving force, and the target driving force change rate MAP diagram, and drives the target vehicle based on the target driving force and the target driving force change rate. The embodiment of the present invention presets a driving force MAP map and a driving force change rate MAP map corresponding to different driving modes. The target driving force MAP map and the target driving force change rate MAP map are selected according to the target driving mode of the target vehicle. The target driving force can be accurately determined by querying the target driving force MAP map according to the current vehicle speed and the current throttle opening. The target driving force change rate can be accurately determined by querying the target driving force change rate MAP map according to the current vehicle speed, the current driving force and the target driving force. The target vehicle is driven in combination with the target driving force and the target driving force change rate, so that the current driving force can approach the target driving force according to the target driving force change rate, thereby realizing accurate calculation and smooth control of the vehicle driving force in different driving scenarios, and improving the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0050] Figure 1 A flowchart of a vehicle driving force control method provided by an embodiment of the present invention;

[0051] Figure 2 A structural block diagram of a vehicle driving force control system provided by an embodiment of the present invention;

[0052] Figure 3 This is a structural block diagram of a vehicle driving force control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0054] In the description of the present invention, "a plurality" means two or more. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly indicating the number of the indicated technical features, or as implicitly indicating the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art.

[0055] Reference Figure 1 , an embodiment of the present invention provides a vehicle driving force control method, which specifically includes the following steps:

[0056] S101: Obtain the current speed, current throttle opening, and current driving force of the target vehicle, and determine a target driving mode of the target vehicle.

[0057] As an optional embodiment, the current speed, current throttle opening, and current driving force of the target vehicle are obtained, and a target driving mode of the target vehicle is determined, which specifically includes:

[0058] S1011. Obtaining the current vehicle speed, current throttle opening, and current driving force through the vehicle controller, and obtaining a driving mode control instruction input by the user;

[0059] S1012. Determine a target driving mode according to the driving mode control instruction;

[0060] Among them, the target driving modes include standard mode, energy-saving mode and sports mode.

[0061] Specifically, the current vehicle speed can be calculated by reading the wheel speed through the wheel speed sensor, the current throttle opening can be calculated by reading the pedal position through the accelerator pedal position sensor, and the current driving force can be calculated by collecting the real-time torque of the motor. The calculation process is not described in detail in the embodiment of the present invention.

[0062] The driving mode is inputted and set by a user, and the settable driving modes include a standard mode, an energy-saving mode, a sports mode, and the like, and can further include driving modes suitable for other complex driving scenarios, such as a snow mode, an off-road mode, and the like, which are not described herein again.

[0063] S102, determining a target driving force MAP graph according to the target driving mode, and further determining a target driving force according to the current vehicle speed, the current throttle opening degree and the target driving force MAP graph.

[0064] Specifically, the driving force MAP graph is obtained by pre-calibrating driving forces according to different driving modes when a vehicle is produced, and contains driving force values corresponding to different {vehicle speed, throttle opening degree} arrays, and the embodiment of the present application selects a corresponding target driving force MAP graph according to the target driving mode, and then queries the target driving force MAP graph according to the current vehicle speed and the current throttle opening degree to determine the target driving force.

[0065] Further as an optional implementation, the target driving force MAP graph is determined according to the target driving mode, and specifically includes:

[0066] S1021, determining whether the target vehicle is in an abnormal state by the vehicle control unit;

[0067] S1022, when the target vehicle is in the abnormal state, determining a preset abnormal mode driving force MAP graph as the target driving force MAP graph;

[0068] S1023, when the target vehicle is not in the abnormal state, matching the target driving mode with a preset driving force MAP library to obtain the target driving force MAP graph;

[0069] The driving force MAP library includes a plurality of driving modes and a plurality of corresponding driving force MAP graphs, and the driving force MAP includes a corresponding relationship among vehicle speed, throttle opening degree and driving force.

[0070] Specifically, the embodiment of the present application introduces the concept of an abnormal flag bit when determining the target driving force MAP graph, and the abnormal flag bit is obtained by the vehicle control unit judging whether the vehicle is in an abnormal state, and when the vehicle is in the abnormal state, the abnormal flag bit is set to 1, and when the vehicle is not in the abnormal state, the abnormal flag bit is set to 0; before matching the target driving mode with the preset driving force MAP library, it is first judged whether the abnormal flag bit is 1, if yes, the preset abnormal mode driving force MAP graph is directly selected as the target driving force MAP graph, and if not, the target driving force MAP graph is matched according to the target driving mode.

[0071] It should be noted that the abnormal mode driving force MAP diagram is obtained by calibrating the driving force during vehicle production, taking into account the safety and comfort of the vehicle in abnormal conditions. It also contains driving force values ​​corresponding to different {vehicle speed, throttle opening} arrays.

[0072] S103 : Determine a target driving force change rate MAP map according to the target driving mode, and further determine a target driving force change rate according to the current vehicle speed, the current driving force, the target driving force, and the target driving force change rate MAP map.

[0073] Specifically, the driving force change rate MAP diagram is obtained by calibrating the driving force change rate in advance according to different driving modes when the vehicle is produced, and contains driving force change rate values ​​corresponding to different {vehicle speed, current driving force, target driving force} arrays. The embodiment of the present invention selects the corresponding target driving force change rate MAP diagram according to the target driving mode, and then queries the target driving force change rate MAP diagram according to the current vehicle speed, current driving force and target driving force to determine the target driving force change rate.

[0074] As an optional embodiment, a target driving force change rate MAP is determined according to the target driving mode, which specifically includes:

[0075] S1031. Determine, by means of a vehicle controller, whether the target vehicle is in an abnormal state, a zero-crossing state, or a creeping state;

[0076] S1032: When the target vehicle is in an abnormal state, determining a preset abnormal mode driving force change rate MAP map as a target driving force change rate MAP map;

[0077] S1033: When the target vehicle is in a zero-crossing state, determining a preset zero-crossing driving force change rate MAP map as a target driving force change rate MAP map;

[0078] S1034: When the target vehicle is in a creeping state, determining a preset creeping driving force change rate MAP as a target driving force change rate MAP;

[0079] S1035: When the target vehicle is not in an abnormal state, a zero-crossing state, or a creeping state, matching the target driving mode with a preset driving force change rate MAP library to obtain a target driving force change rate MAP map;

[0080] The driving force change rate MAP library includes multiple driving modes and corresponding multiple driving force change rate MAP maps, and the driving force change rate MAP map includes the correspondence between vehicle speed, current driving force, target driving force and driving force change rate.

[0081] Specifically, the embodiment of the present invention introduces the concepts of abnormal flag, zero-crossing domain flag and creeping domain flag when determining the target driving force change rate MAP diagram. The abnormal flag is obtained by the vehicle controller judging whether the vehicle is in an abnormal state, the zero-crossing domain flag is obtained by the vehicle controller judging whether the driving force has a positive or negative change, and the creeping domain flag is obtained by the vehicle controller judging based on the current vehicle speed and the current throttle opening. When the vehicle is in an abnormal state / zero-crossing domain state / creeping domain state, the abnormal flag / zero-crossing domain flag / creeping domain flag can be set to 1. When the vehicle is not in an abnormal state, the abnormal flag / zero-crossing domain flag / creeping domain flag can be set to 1. state / zero-crossing domain state / creeping domain state, the abnormal flag bit / zero-crossing domain flag bit / creeping domain flag bit can be set to 0; before matching the target driving mode with the preset driving force change rate MAP library, first determine whether the abnormal flag bit / zero-crossing domain flag bit / creeping domain flag bit is 1. If so, directly select the preset abnormal mode driving force change rate MAP map / zero-crossing domain driving force change rate MAP map / creeping domain driving force change rate MAP map as the target driving force change rate MAP map. If not, match the target driving force change rate MAP map according to the target driving mode.

[0082] It should be noted that the abnormal mode driving force change rate MAP diagram / zero-crossing domain driving force change rate MAP diagram / creeping domain driving force change rate MAP diagram are obtained by calibrating the driving force change rate during vehicle production, taking into account the safety and comfort of the vehicle in the abnormal state / zero-crossing domain state / creeping domain state in advance, and also contain different driving force change rate values ​​corresponding to different {vehicle speed, current driving force, target driving force} arrays.

[0083] As an optional implementation, the following steps are performed to determine whether the target vehicle is in the zero-crossing state:

[0084] S10311. Obtain the historical driving force of the target vehicle at the previous moment;

[0085] S10312: When the historical driving force is opposite to the current driving force, it is determined that the target vehicle is in a zero-crossing state.

[0086] Specifically, the vehicle controller queries according to a preset cycle period whether the driving force changes from positive to negative or from negative to positive within the cycle period (determine whether the driving force at the previous moment and the current moment in the cycle period are opposite). If so, it means that the target vehicle is in the zero-crossing domain state.

[0087] As an optional implementation, the following steps are performed to determine whether the target vehicle is in the creeping state:

[0088] S10313, obtaining a preset creep speed range;

[0089] S10314: When the current throttle opening is 0 and the current vehicle speed is in the creep speed range, it is determined that the target vehicle is in the creep domain state.

[0090] Specifically, the vehicle controller determines whether the target vehicle is in the creeping domain state based on the collected throttle opening and vehicle speed. When the throttle opening is 0 and the vehicle speed is in the creeping speed range (such as 0 to 1 km / h, which can be considered as the setting), it is determined that the target vehicle is in the creeping domain state.

[0091] S104: Drive the target vehicle according to the target driving force and the target driving force change rate.

[0092] As a further optional embodiment, driving the target vehicle according to the target driving force and the target driving force change rate specifically includes:

[0093] S1041. Send the target driving force and the target driving force change rate to the motor controller via the vehicle controller;

[0094] S1042 : Control the motor torque according to the target driving force and the target driving force change rate through a motor controller, so that the driving force of the target vehicle changes toward the target driving force according to the target driving force change rate.

[0095] Specifically, the embodiment of the present invention forms a closed system with the vehicle controller and the motor controller. The former receives input information, calculates, and outputs the target driving force and the target driving force change rate to the latter for execution.

[0096] The input quantities of the vehicle controller include the current throttle opening, the current vehicle speed, the driving mode information, the abnormal flag, the zero-crossing domain flag and the creeping domain flag, and the output quantities are the target driving force and the target driving force change rate.

[0097] The process quantities (which can be pre-calibrated) used to calculate the driving force in the vehicle controller include the driving force MAP diagrams corresponding to different driving modes and the abnormal mode driving force MAP diagrams. First, the corresponding driving force MAP diagram is selected according to the driving mode and abnormal state, and then the target driving force is determined according to the current vehicle speed and the current throttle opening.

[0098] The process quantities (which can be pre-calibrated) used to calculate the driving force change rate in the vehicle controller include the driving force change rate MAP diagram corresponding to different driving modes, the abnormal mode driving force MAP diagram, the zero-crossing domain driving force change rate MAP diagram, and the creeping domain driving force change rate MAP diagram. First, the corresponding driving force change rate MAP diagram is selected according to the driving mode and the abnormal state / zero-crossing domain state / creeping domain state, and then the target driving force change rate is determined according to the current vehicle speed, current driving force and target driving force.

[0099] The motor controller controls the change of the motor torque according to the target driving force and the target driving force change rate, so that the driving force of the target vehicle approaches the target driving force according to the target driving force change rate, so that the change of the driving force will be smoother.

[0100] The above describes the method steps of an embodiment of the present invention. It can be appreciated that the embodiment of the present invention presets a driving force MAP map and a driving force change rate MAP map corresponding to different driving modes. The target driving force MAP map and the target driving force change rate MAP map are selected according to the target driving mode of the target vehicle. The target driving force can be accurately determined by querying the target driving force MAP map based on the current vehicle speed and current throttle opening. The target driving force change rate can be accurately determined by querying the target driving force change rate MAP map based on the current vehicle speed, current driving force, and target driving force. Driving the target vehicle in combination with the target driving force and the target driving force change rate can make the current driving force approach the target driving force according to the target driving force change rate, thereby achieving accurate calculation and smooth control of the vehicle driving force in different driving scenarios and improving the user's driving experience.

[0101] Compared with the prior art, the embodiments of the present invention also have the following advantages:

[0102] 1) Introducing the driving force change rate as a control variable in driving force control improves the smoothness of driving force changes and enhances user experience;

[0103] 2) Add judgment of vehicle abnormal state, creeping state, and zero-crossing state, taking into account the calculation of driving force and driving force change rate under different driving modes, to further enhance the user experience.

[0104] 3) By calculating the most suitable driving force change rate in real time, the actual driving force approaches the target driving force at a predetermined rate, further improving the user experience.

[0105] Reference Figure 2 , an embodiment of the present invention provides a vehicle driving force control system, comprising:

[0106] A data acquisition module is used to obtain the current speed, current throttle opening and current driving force of the target vehicle and determine the target driving mode of the target vehicle;

[0107] a driving force determination module, configured to determine a target driving force MAP map according to a target driving mode, and further determine a target driving force according to a current vehicle speed, a current throttle opening, and the target driving force MAP map;

[0108] a driving force change rate determination module, configured to determine a target driving force change rate MAP map according to a target driving mode, and further determine a target driving force change rate according to a current vehicle speed, a current driving force, a target driving force, and the target driving force change rate MAP map;

[0109] The driving control module is used to drive the target vehicle according to the target driving force and the target driving force change rate.

[0110] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0111] Reference Figure 3 , an embodiment of the present invention provides a vehicle driving force control device, comprising:

[0112] at least one processor;

[0113] at least one memory for storing at least one program;

[0114] When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle driving force control method.

[0115] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0116] An embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to execute the above-mentioned vehicle driving force control method.

[0117] A computer-readable storage medium according to an embodiment of the present invention can execute a vehicle driving force control method provided by an embodiment of the present invention, can execute any combination of implementation steps of the embodiment of the method, and has the corresponding functions and beneficial effects of the method.

[0118] The embodiment of the present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs Figure 1 The method shown.

[0119] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0120] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0121] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0122] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0123] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0124] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0125] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0126] While the embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary and are not to be construed as limiting the scope of the application. The scope of the application is defined by the appended claims and their equivalents.

[0127] The above is the specific description of the preferred embodiment of the application, but the application is not limited to the above-mentioned embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the application.

Claims

1. A vehicle driving force control method, characterized in that: The following steps are involved: Obtaining the current speed, current throttle opening, and current driving force of the target vehicle, and determining a target driving mode for the target vehicle; determining a target driving force MAP map according to the target driving mode, and further determining a target driving force according to the current vehicle speed, the current throttle opening, and the target driving force MAP map; determining a target driving force change rate MAP map according to the target driving mode, and further determining a target driving force change rate according to the current vehicle speed, the current driving force, the target driving force, and the target driving force change rate MAP map; The target vehicle is driven according to the target driving force and the target driving force change rate.

2. A vehicle driving force control method according to claim 1, characterized in that: The step of obtaining the current speed, current throttle opening, and current driving force of the target vehicle and determining the target driving mode of the target vehicle specifically includes: Obtaining the current vehicle speed, the current throttle opening, and the current driving force through a vehicle controller, and obtaining a driving mode control instruction input by a user; determining the target driving mode according to the driving mode control instruction; The target driving modes include standard mode, energy-saving mode and sports mode.

3. The vehicle driving force control method according to claim 1, characterized in that: The step of determining the target driving force MAP according to the target driving mode specifically includes: Determining whether the target vehicle is in an abnormal state by using a vehicle controller; When the target vehicle is in an abnormal state, determining a preset abnormal mode driving force MAP map as the target driving force MAP map; When the target vehicle is not in an abnormal state, matching the target driving mode with a preset driving force MAP library to obtain the target driving force MAP map; The driving force MAP library includes a plurality of driving modes and a plurality of corresponding driving force MAP diagrams, and the driving force MAP includes a correspondence between vehicle speed, throttle opening and driving force.

4. The vehicle driving force control method according to claim 1, characterized in that: The step of determining a target driving force change rate MAP according to the target driving mode specifically includes: Determine whether the target vehicle is in an abnormal state, a zero-crossing state, or a creeping state by using a vehicle controller; When the target vehicle is in an abnormal state, determining a preset abnormal mode driving force change rate MAP map as the target driving force change rate MAP map; When the target vehicle is in a zero-crossing domain state, determining a preset zero-crossing domain driving force change rate MAP map as the target driving force change rate MAP map; When the target vehicle is in a creeping state, determining a preset creeping driving force change rate MAP map as the target driving force change rate MAP map; When the target vehicle is not in an abnormal state, a zero-crossing state, or a creeping state, matching the target driving mode with a preset driving force change rate MAP library to obtain the target driving force change rate MAP map; The driving force change rate MAP library includes multiple driving modes and corresponding multiple driving force change rate MAP maps, and the driving force change rate MAP map includes the correspondence between vehicle speed, current driving force, target driving force and driving force change rate.

5. The vehicle driving force control method according to claim 4, characterized in that: Determine whether the target vehicle is in the zero-crossing state by following the steps below: Obtaining the historical driving force of the target vehicle at the previous moment; When the historical driving force is opposite to the current driving force, it is determined that the target vehicle is in a zero-crossing state.

6. A vehicle driving force control method according to claim 4, characterized in that: Determine whether the target vehicle is in the creeping state by the following steps: Get the preset creep speed range; When the current throttle opening is 0 and the current vehicle speed is in the creep speed range, it is determined that the target vehicle is in the creep domain state.

7. A vehicle driving force control method according to any one of claims 1 to 6, characterized in that: The driving of the target vehicle according to the target driving force and the target driving force change rate specifically includes: Sending the target driving force and the target driving force change rate to a motor controller through a vehicle controller; The motor torque is controlled by a motor controller according to the target driving force and the target driving force change rate, so that the driving force of the target vehicle changes toward the target driving force according to the target driving force change rate.

8. A vehicle driving force control system, characterized in that: include: a data acquisition module, configured to acquire the current speed, current throttle opening, and current driving force of the target vehicle, and determine a target driving mode of the target vehicle; a driving force determination module, configured to determine a target driving force MAP map according to the target driving mode, and further determine a target driving force according to the current vehicle speed, the current throttle opening, and the target driving force MAP map; a driving force change rate determination module, configured to determine a target driving force change rate MAP map according to the target driving mode, and further determine a target driving force change rate according to the current vehicle speed, the current driving force, the target driving force, and the target driving force change rate MAP map; A driving control module is configured to drive the target vehicle according to the target driving force and the target driving force change rate.

9. A vehicle driving force control device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle driving force control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to execute a vehicle driving force control method according to any one of claims 1 to 7 when executed by the processor.

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