Vehicle acceleration movement control method and device and storage medium

Abstract

The invention provides a vehicle acceleration movement control method and device and a storage medium, and in the vehicle acceleration movement control method, whether an acceleration movement problem happens to a vehicle or not is recognized according to a fluctuation value of an actual rotating speed within a period of time; if the acceleration movement problem of the vehicle is recognized, the state of a preset ignition angle adjusting mark is modified according to the actual water temperature, the actual vehicle speed and the actual rotating speed; and the ignition angle of the vehicle is adjusted according to the state of the ignition angle adjusting mark. On the basis of existing hardware configuration of the vehicle, the ignition angle of the vehicle is adjusted directly through logic control of the system under the condition that the cost of the whole vehicle is not increased, movement caused by load changes, transmission system gaps and the like in the acceleration process of the vehicle can be effectively improved, the manufacturing cost is effectively saved, and meanwhile the ignition angle of the vehicle is adjusted. And the driving comfort of customers can be improved, the customer satisfaction is improved, and the market competitiveness of the whole vehicle is enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle speed control, and in particular to a method, device and storage medium for controlling vehicle acceleration. Background Art

[0002] With the rapid development of China's automobile industry and the continuous improvement of social and economic levels, consumers' understanding of vehicles is gradually deepening. In addition to paying attention to traditional vehicle power and economy, they are also paying more attention to details such as vehicle driving comfort.

[0003] The vehicle's engine generates torque at the crankshaft end through combustion, and the generated torque is transmitted to the wheels through the flywheel end via the clutch, transmission, final reducer and other transmission systems. As an elastic system subject to variable excitation, the transmission system's vibration causes acceleration fluctuations. Due to the transmission system gap, the elasticity of the engine support and the dynamic imbalance of the engine when it is working, when the engine load changes rapidly such as vehicle acceleration, the fluctuation of the engine speed causes the vehicle's longitudinal acceleration to fluctuate and cause driving jitter. That is, during the vehicle's acceleration, the vehicle causes jerking due to load changes and transmission system gaps, which is more obvious for manual transmission vehicles and directly affects the driving experience. Summary of the invention

[0004] The present application provides a method, device and storage medium for controlling vehicle acceleration jerking, which can solve the problem of vehicle jerking when the engine load changes rapidly during acceleration or other conditions.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling vehicle acceleration jerkiness, comprising:

[0006] Obtain the actual engine water temperature, actual vehicle speed and actual rotation speed of the vehicle in acceleration conditions;

[0007] Identify whether the vehicle has an acceleration jitter problem based on the fluctuation value of the actual speed over a period of time;

[0008] If it is identified that the vehicle has an acceleration jerking problem, modifying the state of a preset ignition angle adjustment flag according to the actual water temperature, the actual vehicle speed and the actual rotation speed; and

[0009] The ignition angle of the vehicle is adjusted according to the state of the ignition angle adjustment flag.

[0010] Optionally, in the vehicle acceleration jerk control method, the step of adjusting the ignition angle of the vehicle according to the state of the ignition angle adjustment flag includes:

[0011] If the ignition angle adjustment flag is set to 1, the control torque of the vehicle is obtained;

[0012] According to the control torque of the vehicle, an ignition angle of the vehicle is adjusted.

[0013] Optionally, in the vehicle acceleration control method, if the ignition angle adjustment flag is set to 1, the step of obtaining the vehicle control torque includes:

[0014] If the ignition angle adjustment flag is set to 1, obtaining the initial speed difference of the vehicle;

[0015] Performing low-pass filtering on the initial rotation speed difference to obtain a filtered rotation speed difference;

[0016] Acquiring an adjusted speed of the vehicle according to the initial speed difference and the filtered speed difference;

[0017] According to the adjusted speed, obtaining the adjusted torque of the vehicle;

[0018] Determining whether the adjustment torque is within a preset torque threshold range;

[0019] If the adjustment torque is within the torque threshold interval, the control torque is determined to be 0 N·m; if the adjustment torque is greater than the upper limit of the torque threshold interval or less than the lower limit of the torque threshold interval, the control torque is determined to be the adjustment torque.

[0020] Optionally, in the vehicle acceleration jerk control method, the initial speed difference is the difference between the model speed of the vehicle engine and the actual speed of the vehicle.

[0021] Optionally, in the vehicle acceleration control method, the adjusted speed is the difference between the initial speed difference and the filtered speed difference.

[0022] Optionally, in the vehicle acceleration control method, the adjustment torque is the product of the adjustment speed and a preset strength coefficient.

[0023] Optionally, in the vehicle acceleration jerking control method, if it is identified that the vehicle has an acceleration jerking problem, the step of modifying the state of a preset ignition angle adjustment flag according to the actual water temperature, the actual vehicle speed and the actual rotation speed includes:

[0024] Preset water temperature threshold, vehicle speed threshold and speed threshold;

[0025] Determining whether the actual water temperature of the engine is higher than the water temperature threshold, whether the actual vehicle speed is higher than the vehicle speed threshold, and whether the actual rotation speed is higher than the rotation speed threshold;

[0026] If the actual engine water temperature is higher than the water temperature threshold, the actual vehicle speed is higher than the vehicle speed threshold, and the actual rotation speed is higher than the rotation speed threshold, a preset ignition angle adjustment flag is set to 1.

[0027] Optionally, in the vehicle acceleration control method, the water temperature threshold is 10°C; the vehicle speed threshold is 0.5km / h; and the speed threshold is 800r / min.

[0028] Optionally, in the vehicle acceleration jerking control method, the step of identifying whether the vehicle has an acceleration jerking problem according to the fluctuation value of the actual speed within a period of time includes:

[0029] If the fluctuation value of the actual speed within a period of time is greater than the speed fluctuation threshold, it is identified that the vehicle has an acceleration jerking problem; if the fluctuation value of the actual speed within a period of time is less than or equal to the speed fluctuation threshold, it is identified that the vehicle does not have an acceleration jerking problem.

[0030] Optionally, in the vehicle acceleration jerk control method, whether the vehicle has an acceleration jerk problem is identified based on the fluctuation value of the actual rotation speed within 2 seconds.

[0031] Optionally, in the vehicle acceleration jerk control method, the ignition angle adjustment flag is reset each time the vehicle is powered on and started.

[0032] In a second aspect, an embodiment of the present application further provides a vehicle acceleration control device, comprising:

[0033] A collection unit is used to obtain the actual water temperature, actual vehicle speed and actual rotation speed of the engine of the vehicle in the acceleration condition;

[0034] A processing unit is used to identify whether the vehicle has an acceleration jerking problem based on the fluctuation value of the actual speed over a period of time, and to modify the state of a preset ignition angle adjustment flag based on the actual water temperature, the actual vehicle speed and the actual speed when the vehicle is identified to have an acceleration jerking problem, and to adjust the ignition angle of the vehicle based on the state of the ignition angle adjustment flag.

[0035] In the third aspect, an embodiment of the present application also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for controlling the acceleration of the vehicle.

[0036] The technical solution of this application has at least the following advantages:

[0037] In the vehicle acceleration jerking control method of the present application, whether the vehicle has an acceleration jerking problem is identified based on the fluctuation value of the actual speed within a period of time; if the vehicle is identified to have an acceleration jerking problem, the state of the preset ignition angle adjustment flag is modified based on the actual water temperature, the actual vehicle speed and the actual speed; and the ignition angle of the vehicle is adjusted based on the state of the ignition angle adjustment flag. Based on the existing hardware configuration of the vehicle, the present application directly adjusts the ignition angle of the vehicle through the logic control of the system without increasing the cost of the whole vehicle, which can effectively improve the jerking caused by load changes and transmission system clearance during the acceleration of the vehicle and effectively save manufacturing costs. At the same time, it can also improve the driving comfort of customers, improve customer satisfaction and enhance the market competitiveness of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a flow chart of a method for controlling vehicle acceleration swaying according to an embodiment of the present invention;

[0040] Figure 2 2 is a schematic diagram of the structure of a vehicle acceleration control device according to an embodiment of the present invention;

[0041] The reference numerals are described as follows:

[0042] 10 - acquisition unit, 30 - processing unit, 32 - calculation module, 33 - filtering module, 34 - judgment module. DETAILED DESCRIPTION

[0043] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0045] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0047] The present application provides a method for controlling vehicle acceleration. Figure 1 , Figure 1 : is a flow chart of a method for controlling vehicle acceleration turbulence according to an embodiment of the present invention, wherein the method for controlling vehicle acceleration turbulence comprises:

[0048] First, the actual engine water temperature, actual vehicle speed and actual rotation speed of the vehicle in acceleration conditions are obtained.

[0049] In this embodiment, the actual engine water temperature refers to the real-time temperature of the engine cooling water / coolant.

[0050] Then, according to the fluctuation value of the actual rotation speed within a period of time, it is identified whether the vehicle has an acceleration jerking problem.

[0051] Specifically, based on the fluctuation value of the actual speed within a period of time, the step of identifying whether the vehicle has an acceleration jerking problem may specifically include: if the fluctuation value of the actual speed within a period of time is greater than the speed fluctuation threshold, then identifying that the vehicle has an acceleration jerking problem; if the fluctuation value of the actual speed within a period of time is less than or equal to the speed fluctuation threshold, then identifying that the vehicle has no acceleration jerking problem.

[0052] Preferably, the speed fluctuation threshold is greater than 40 r / min.

[0053] In this embodiment, the speed fluctuation threshold can be set to 60 r / min.

[0054] In this embodiment, whether the vehicle has an acceleration jerking problem is identified based on the fluctuation value of the actual speed within 2s, that is, whether the vehicle has an acceleration jerking problem is identified based on the fluctuation value of the actual speed within the time period of 0 to 2s.

[0055] Next, if it is identified that the vehicle has an acceleration jerking problem, the state of the preset ignition angle adjustment flag is modified according to the actual water temperature, the actual vehicle speed and the actual rotation speed.

[0056] Specifically, if it is identified that the vehicle has an acceleration jerking problem, the step of modifying the state of the preset ignition angle adjustment flag according to the actual water temperature, the actual vehicle speed and the actual rotation speed (step S3) may specifically include:

[0057] Step S3.1: Preset a water temperature threshold, a vehicle speed threshold and a rotation speed threshold;

[0058] Step S3.2: determining whether the actual water temperature of the engine is higher than the water temperature threshold, whether the actual vehicle speed is higher than the vehicle speed threshold, and whether the actual rotation speed is higher than the rotation speed threshold;

[0059] Step S3.3: If the actual water temperature of the engine is higher than the water temperature threshold, the actual vehicle speed is higher than the vehicle speed threshold, and the actual speed is higher than the speed threshold, the state of the preset ignition angle adjustment flag is modified to 1, that is, the preset ignition angle adjustment flag is set to 1. In other words, the following three conditions must be met: the actual water temperature of the engine is higher than the water temperature threshold, the actual vehicle speed is higher than the vehicle speed threshold, and the actual speed is higher than the speed threshold, then the preset ignition angle adjustment flag is set to 1.

[0060] In this embodiment, the water temperature threshold can be set to 10° C.; the vehicle speed threshold can be set to 0.5 km / h; and the speed threshold can be set to 800 r / min.

[0061] In step S3.3, if the actual engine water temperature is not higher than the water temperature threshold, or the actual vehicle speed is not higher than the vehicle speed threshold, or the actual speed is not higher than the speed threshold, the state of the preset ignition angle adjustment flag is not modified.

[0062] In this application, it is necessary to consider the activation range of the function of adjusting the vehicle's ignition angle due to acceleration jerking of the vehicle, so as to avoid the opposite effect of inappropriate function activation. For example, during steady-state driving, frequent activation is not required; or, during normal acceleration, when the vehicle speed and engine speed are in a stable rising stage, abnormal activation is not required, which will cause the ignition angle to fail to operate optimally, affecting the loss of torque and the increase in fuel consumption. Therefore, this application must meet the following three conditions: the actual water temperature of the engine is higher than the water temperature threshold, the actual vehicle speed is higher than the vehicle speed threshold, and the actual speed is higher than the speed threshold, in order to set the preset ignition angle adjustment flag to 1 and activate the function of adjusting the vehicle's ignition angle.

[0063] Finally, the ignition angle of the vehicle is adjusted according to the state of the ignition angle adjustment flag.

[0064] Preferably, the step of adjusting the ignition angle of the vehicle (step S4) according to the ignition angle adjustment flag may specifically include:

[0065] Step S4.1: If the ignition angle adjustment flag is set to 1, the control torque of the vehicle is obtained;

[0066] Step S4.2: adjusting the ignition angle of the vehicle according to the control torque of the vehicle.

[0067] The ignition angle is usually calculated based on the optimal torque of the system. When the control method provided in the present application takes effect, the control torque will be input into the optimal torque, thereby affecting the ignition angle output, thereby regulating the ignition angle.

[0068] Further, if the ignition angle adjustment flag is set to 1, the step of obtaining the control torque of the vehicle (step S4.1) may specifically include:

[0069] Step S4.11: If the ignition angle adjustment flag is set to 1, the initial speed difference of the vehicle is obtained; in this embodiment, the initial speed difference is the difference between the model speed of the engine calculated according to the vehicle dynamics principle and the actual speed of the vehicle;

[0070] Step S4.12: low-pass filtering the initial speed difference to obtain a filtered speed difference;

[0071] Step S4.13: acquiring an adjusted speed of the vehicle according to the initial speed difference and the filtered speed difference; in this embodiment, the adjusted speed is the difference between the initial speed difference and the filtered speed difference;

[0072] Step S4.14: According to the adjustment speed, the adjustment torque of the vehicle is obtained; in this embodiment, the adjustment torque is the product of the adjustment speed and a preset strength coefficient; wherein the strength coefficient is used to adjust the strength of the torque. In the field of manual transmission vehicles, the strength coefficient can be calibrated according to each gear of the manual transmission vehicle, for example, the strength coefficient corresponding to the first gear is set to 0.5; the strength coefficient corresponding to the second gear is set to 0.3….

[0073] Step S4.15: determining whether the adjustment torque is within a preset torque threshold range;

[0074] Step S4.16: If the adjustment torque is within the torque threshold interval, the control torque is determined to be 0 N·m; if the adjustment torque is greater than the upper limit of the torque threshold interval or less than the lower limit of the torque threshold interval, the control torque is determined to be the adjustment torque.

[0075] Among them, when the ignition angle adjustment flag is set to 1, the adjustment torque is judged by the torque threshold range to obtain the final control torque used for speed adjustment, and acts on the fire circuit for adjusting the ignition angle, so that the ignition angle is adjusted in the opposite direction of the vibration, weakening the engine speed fluctuation caused by factors such as powertrain load changes and clearance, and reducing the vibration of the transmission system to a minimum, so as to quickly improve the drivability problem of the vehicle's jerking during acceleration.

[0076] Preferably, the ignition angle adjustment flag is reset and modified to 0 each time the vehicle is powered on and started.

[0077] This application is based on the existing hardware configuration of the vehicle. Without increasing the cost of the entire vehicle, it directly adjusts the vehicle's ignition angle through the system's logical control, which can effectively improve the movement caused by load changes and transmission system clearance during vehicle acceleration and effectively save manufacturing costs. At the same time, it can also improve customer driving comfort, increase customer satisfaction and enhance the market competitiveness of the entire vehicle.

[0078] Based on the same inventive concept, the present application also provides a vehicle acceleration control device, referring to Figure 2 , Figure 2 1 is a schematic diagram of the structure of a vehicle acceleration control device according to an embodiment of the present invention, wherein the vehicle acceleration control device comprises: a collection unit 10 and a processing unit 30, wherein:

[0079] The acquisition unit 10 is used to obtain the actual water temperature, actual vehicle speed and actual rotation speed of the engine of the vehicle in the acceleration condition;

[0080] The processing unit is used to identify whether the vehicle has an acceleration jerking problem based on the fluctuation value of the actual speed over a period of time, and to modify the state of a preset ignition angle adjustment flag based on the actual water temperature, the actual vehicle speed and the actual speed when the vehicle is identified to have an acceleration jerking problem, and to adjust the ignition angle of the vehicle based on the state of the ignition angle adjustment flag.

[0081] Furthermore, the processing unit 30 at least includes: a calculation module 32, a filtering module 33 and a judgment module 34, wherein:

[0082] The calculation module 32 is used to obtain the fluctuation value of the actual speed within a period of time;

[0083] The judging module 34 is used to identify whether the vehicle has an acceleration jerk problem according to the fluctuation value of the actual speed within a period of time; the judging module 34 is also used to modify the state of the preset ignition angle adjustment flag according to the actual water temperature, the actual vehicle speed and the actual speed when the acceleration jerk problem is identified.

[0084] The calculation module 32 is further used to obtain an initial speed difference of the vehicle according to a model speed of the vehicle engine and an actual speed of the vehicle, and to obtain an adjusted speed of the vehicle according to the initial speed difference of the vehicle and the filtered speed difference;

[0085] The filtering module 33 is used to perform low-pass filtering on the initial speed difference to obtain a filtered speed difference;

[0086] Furthermore, the calculation module 32 is further used to obtain an adjusted speed of the vehicle according to the initial speed difference and the filtered speed difference; the calculation module 32 is further used to obtain an adjusted torque of the vehicle according to the adjusted speed.

[0087] The judgment module 34 is used to judge whether the adjustment torque is within a preset torque threshold range. If the adjustment torque is within the torque threshold range, the control torque is determined to be 0; if the adjustment torque is greater than the upper limit of the torque threshold range or less than the lower limit of the torque threshold range, the control torque is determined to be the adjustment torque.

[0088] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle acceleration control method.

[0089] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection created by this application.

Claims

1. A method for controlling vehicle acceleration, characterized in that: include: Obtain the actual engine water temperature, actual vehicle speed and actual rotation speed of the vehicle in acceleration conditions; Identify whether the vehicle has an acceleration jitter problem based on the fluctuation value of the actual speed over a period of time; If it is identified that the vehicle has an acceleration jerking problem, modifying the state of a preset ignition angle adjustment flag according to the actual water temperature, the actual vehicle speed and the actual rotation speed; as well as The ignition angle of the vehicle is adjusted according to the state of the ignition angle adjustment flag.

2. The method for controlling vehicle acceleration jerk according to claim 1, characterized in that: According to the state of the ignition angle adjustment flag, the step of adjusting the ignition angle of the vehicle comprises: If the ignition angle adjustment flag is set to 1, the control torque of the vehicle is obtained; According to the control torque of the vehicle, an ignition angle of the vehicle is adjusted.

3. The method for controlling vehicle acceleration jerk according to claim 2, characterized in that: If the ignition angle adjustment flag is set to 1, the step of obtaining the control torque of the vehicle includes: If the ignition angle adjustment flag is set to 1, obtaining the initial speed difference of the vehicle; Performing low-pass filtering on the initial rotation speed difference to obtain a filtered rotation speed difference; Acquiring an adjusted speed of the vehicle according to the initial speed difference and the filtered speed difference; According to the adjusted speed, obtaining the adjusted torque of the vehicle; Determining whether the adjustment torque is within a preset torque threshold range; If the adjustment torque is within the torque threshold interval, the control torque is determined to be 0 N·m; if the adjustment torque is greater than the upper limit of the torque threshold interval or less than the lower limit of the torque threshold interval, the control torque is determined to be the adjustment torque.

4. The method for controlling vehicle acceleration jerkiness according to claim 3, characterized in that: The initial speed difference is the difference between the model speed of the vehicle engine and the actual speed of the vehicle.

5. The method for controlling vehicle acceleration jerk according to claim 3, characterized in that: The adjusted rotational speed is the difference between the initial rotational speed difference and the filtered rotational speed difference.

6. The method for controlling vehicle acceleration jerkiness according to claim 3, characterized in that: The regulating torque is the product of the regulating rotation speed and a preset strength coefficient.

7. The method for controlling vehicle acceleration jerkiness according to claim 1, characterized in that: If it is identified that the vehicle has an acceleration jerking problem, the step of modifying the state of a preset ignition angle adjustment flag according to the actual water temperature, the actual vehicle speed and the actual rotation speed includes: Preset water temperature threshold, vehicle speed threshold and speed threshold; Determining whether the actual water temperature of the engine is higher than the water temperature threshold, whether the actual vehicle speed is higher than the vehicle speed threshold, and whether the actual rotation speed is higher than the rotation speed threshold; If the actual engine water temperature is higher than the water temperature threshold, the actual vehicle speed is higher than the vehicle speed threshold, and the actual rotation speed is higher than the rotation speed threshold, a preset ignition angle adjustment flag is set to 1.

8. The method for controlling vehicle acceleration jerkiness according to claim 7, characterized in that: The water temperature threshold is 10°C; the vehicle speed threshold is 0.5km / h; and the speed threshold is 800r / min.

9. The method for controlling vehicle acceleration jerk according to claim 1, characterized in that: The step of identifying whether the vehicle has an acceleration jitter problem according to the fluctuation value of the actual speed within a period of time includes: If the fluctuation value of the actual speed within a period of time is greater than the speed fluctuation threshold, it is identified that the vehicle has an acceleration jerking problem; if the fluctuation value of the actual speed within a period of time is less than or equal to the speed fluctuation threshold, it is identified that the vehicle does not have an acceleration jerking problem.

10. The method for controlling vehicle acceleration oscillation according to claim 1 or 9, characterized in that: According to the fluctuation value of the actual speed within 2 seconds, it is identified whether the vehicle has an acceleration jerking problem.

11. The method for controlling vehicle acceleration jerk according to claim 1, characterized in that: The ignition angle adjustment flag is reset each time the vehicle is powered on and started.

12. A vehicle acceleration control device, characterized in that: include: A collection unit is used to obtain the actual water temperature, actual vehicle speed and actual rotation speed of the engine of the vehicle in the acceleration condition; A processing unit is used to identify whether the vehicle has an acceleration jerking problem based on the fluctuation value of the actual speed over a period of time, and to modify the state of a preset ignition angle adjustment flag based on the actual water temperature, the actual vehicle speed and the actual speed when the vehicle is identified to have an acceleration jerking problem, and to adjust the ignition angle of the vehicle based on the state of the ignition angle adjustment flag.

13. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the vehicle acceleration control method as described in any one of claims 1 to 11.

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