Vehicle starting control method and device, storage medium, vehicle controller and vehicle

Abstract

The invention provides a vehicle starting control method and device, a storage medium, a vehicle controller and a vehicle. According to the vehicle starting control method provided by the invention, during automatic parking, a target torque sent by an automatic parking system is firstly obtained; a torque change curve used for controlling the output torque of the vehicle to be increased to the target torque is generated based on the target torque, torque change rates corresponding to different moments in the torque change curve change along with time, and then output torque control is conducted on the vehicle based on intermediate torque values corresponding to different moments in the torque change curve. In other words, the torque change rate during starting of the vehicle is not fixed any more, the vehicle torque output is controlled based on the smooth torque change curve, the movement feeling during starting of the vehicle can be effectively reduced, and the use experience of automatic parking is improved.

Description

Technical Field

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

[0002] The Auto Parking Assist (APA) system is an advanced driver assistance technology designed to help drivers park their vehicles automatically in designated parking spaces without human intervention. The automatic parking system uses on-board sensors (such as ultrasonic radar, millimeter-wave radar or camera) to collect environmental data, analyze the vehicle's position and surrounding environmental parameters, calculate the corresponding parking path, and finally control the vehicle's movement according to the calculated parking path to achieve automatic parking of the vehicle.

[0003] When controlling the movement of the vehicle according to the parking path, the automatic parking assistance system usually calculates a target torque according to the parking path and sends the target torque to the vehicle controller VCU, so that the vehicle controller VCU controls the vehicle output torque to start according to the target torque.

[0004] However, when the vehicle controller obtains the target torque and controls the vehicle to start according to the target torque, it usually controls the vehicle output torque to increase from 0 to the target torque at a fixed torque change rate. In the related technology, when the VCU obtains the torque output request corresponding to the target torque, it usually immediately requests a high-speed request signal to the motor, and the motor immediately converts the high-speed request into a larger torque output. The larger torque output at the start will produce a sense of vehicle starting, and the gap between the motor gears is driven by a larger torque, which will also produce a sense of impact on the passengers in the car. Summary of the invention

[0005] Based on this, the present invention provides a vehicle starting control method, device, storage medium, vehicle controller and vehicle. By adopting the vehicle starting control method, when the vehicle starts based on the target torque sent by the automatic parking system during automatic parking, a torque change curve corresponding to the target torque is generated, so that the torque change rate when the vehicle starts is no longer fixed. Controlling the vehicle torque output based on a relatively smooth torque change curve can effectively reduce the feeling of jerking when the vehicle starts, thereby improving the user experience of automatic parking.

[0006] In one aspect, the present invention provides a vehicle starting control method, the method comprising:

[0007] Get the target torque sent by the automatic parking system;

[0008] generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0009] The output torque of the vehicle is controlled based on the intermediate torque values ​​corresponding to different moments in the torque variation curve.

[0010] Furthermore, in some embodiments, the output torque control of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve includes:

[0011] At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0012] determining a transmission torque loss set corresponding to the target torque, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting condition as the target torque;

[0013] Compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0014] Output torque of the vehicle is controlled based on the compensated intermediate torque value.

[0015] Further, in some embodiments, the torque variation curve includes a torque variation time required for the output torque to increase to the target torque;

[0016] The output torque control of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve includes:

[0017] At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0018] determining a transmission torque loss set corresponding to the target torque and the torque change time, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions as the target torque and the torque change time;

[0019] Compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0020] Output torque of the vehicle is controlled based on the compensated intermediate torque value.

[0021] Furthermore, in some embodiments, the output torque control of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve includes:

[0022] At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0023] Obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode;

[0024] Correcting the intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value;

[0025] Output torque control of the vehicle is performed based on the corrected intermediate torque value.

[0026] Furthermore, in some embodiments, the controlling the output torque of the vehicle based on the compensated intermediate torque value includes:

[0027] Obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode;

[0028] Correcting the compensated intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value;

[0029] Output torque control of the vehicle is performed based on the corrected intermediate torque value.

[0030] Furthermore, in some embodiments, the torque change rate corresponding to different moments in the torque change curve increases continuously with time.

[0031] Furthermore, in some embodiments, the torque change rate corresponding to different moments in the torque change curve shows a trend of first increasing and then decreasing over time.

[0032] In another aspect, the present invention provides a vehicle starting control device, comprising:

[0033] a target torque acquisition module, which acquires a target torque sent by an automatic parking system, wherein the target torque is determined based on a parking route planned by the automatic parking system;

[0034] a torque curve generating module, for generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0035] The output torque control module is used to control the output torque of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve.

[0036] On the other hand, the present invention provides a storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the steps of the above method.

[0037] On the other hand, the present invention further provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the above method.

[0038] On the other hand, the present invention further provides a vehicle, comprising the above-mentioned vehicle starting control device or vehicle controller.

[0039] According to the vehicle starting control method provided by the present invention, when the vehicle starts based on the target torque sent by the automatic parking system during automatic parking, the target torque sent by the automatic parking system is obtained, and a torque change curve for controlling the output torque of the vehicle to increase to the target torque is generated based on the target torque. Finally, the output torque of the vehicle is controlled based on the intermediate torque values ​​corresponding to different moments in the torque change curve, so that the torque change rate when the vehicle starts is no longer fixed. Controlling the vehicle torque output based on a relatively smooth torque change curve can effectively reduce the jerking feeling when the vehicle starts, thereby improving the user experience of automatic parking.

[0040] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0042] Figure 2 An exemplary schematic diagram of a torque variation curve provided by an embodiment of the present invention;

[0043] Figure 3 An exemplary schematic diagram of a torque variation curve provided by an embodiment of the present invention;

[0044] Figure 4 A schematic flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0045] Figure 5 A schematic flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0046] Figure 6 A schematic flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0047] Figure 7 A schematic flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0048] Figure 8 A schematic flow chart of a vehicle starting control method provided by an embodiment of the present invention;

[0049] Fig. 9 A schematic diagram of the structure of a vehicle starting control device provided by an embodiment of the present invention;

[0050] Fig.10 A schematic structural diagram of a vehicle controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0053] See also Figure 1 , is a flow chart of a vehicle start control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0054] The following is for Figure 1 The process shown is described in detail, and the vehicle starting control method may specifically include the following steps:

[0055] Step S102, obtaining a target torque sent by the automatic parking system;

[0056] Specifically, when controlling the movement of the vehicle according to the parking path, the automatic parking assistance system usually calculates a target torque for the vehicle traveling in the parking path according to the parking path, so that the vehicle controller controls the vehicle torque output to increase to the target torque.

[0057] Optionally, the target torque may be determined according to the distance of the parking path and the curvature corresponding to the parking path. The target torque may be the maximum torque of the vehicle traveling on the parking path.

[0058] Step S104, generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0059] Specifically, after obtaining the target torque sent by the automatic parking system, before the vehicle controller controls the vehicle output torque to increase and start based on the target torque, a torque change curve for controlling the vehicle output torque to increase to the target torque is generated based on the target torque. The torque change rate corresponding to different moments in the torque change curve changes with time.

[0060] It is easy to understand that the torque variation curve is a curve showing the relationship between torque and time, and is used to control the vehicle output torque to increase from 0 to the target torque according to the relationship curve.

[0061] Optionally, the torque variation curve may further include a torque variation time for the torque to increase from 0 to the target torque, and the torque variation time may be set to different values ​​according to actual needs.

[0062] In a feasible implementation manner, the torque variation curve is obtained by fitting based on a predefined curve function and the target torque.

[0063] Optionally, the torque change rate corresponding to different moments in the torque change curve increases with time. Figure 2 , is a schematic diagram of an example of a torque variation curve provided by an embodiment of the present invention. Figure 2 As shown, it is a curve showing the relationship between torque F and time t, wherein F1 is the target torque, and the time period t0-t1 is a torque change curve in which the torque value increases from 0 to the target torque F1, and the torque change rate of the torque change curve at different times gradually increases.

[0064] Optionally, the torque change rate corresponding to different moments in the torque change curve shows a trend of increasing first and then decreasing over time. Figure 3 , is a schematic diagram of an example of a torque variation curve provided by an embodiment of the present invention. Figure 3As shown, it is a curve showing the relationship between the change of torque F and time t, wherein F1 is the target torque, and the time period t0-t1 is the torque change curve in which the torque value increases from 0 to the target torque F1. The torque change rate of the torque change curve at different times changes with time, showing a trend of first increasing and then decreasing.

[0065] Preferably, the torque variation curve can be obtained based on fitting the S-curve function and the target torque.

[0066] Step S106: controlling the output torque of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve.

[0067] Specifically, the torque change curve is a curve representing the relationship between the torque value and time, which includes different intermediate torque values ​​corresponding to different moments. The vehicle output torque is controlled based on the intermediate torque values ​​corresponding to different moments in the torque change curve generated for controlling the vehicle's output torque to increase to the target torque, so that the vehicle motor outputs an output torque of the same magnitude as the corresponding intermediate torque value at the corresponding moment.

[0068] In an embodiment of the present invention, when the vehicle starts based on the target torque sent by the automatic parking system during automatic parking, the target torque sent by the automatic parking system is obtained, and a torque change curve is generated based on the target torque to control the output torque of the vehicle to increase to the target torque. Finally, the output torque of the vehicle is controlled based on the intermediate torque values ​​corresponding to different moments in the torque change curve, so that the torque change rate when the vehicle starts is no longer fixed. Controlling the vehicle torque output based on a relatively smooth torque change curve can effectively reduce the jerking feeling when the vehicle starts, thereby improving the user experience of automatic parking.

[0069] In one embodiment, see Figure 4 , is a flow chart of a vehicle start control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0070] The following is for Figure 2 The process shown is described in detail, and the vehicle starting control method may specifically include the following steps:

[0071] Step S202, obtaining a target torque sent by the automatic parking system;

[0072] Specifically, for step S202, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0073] Step S204, generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0074] Specifically, for step S204, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0075] Step S206, at any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0076] Specifically, after the torque variation curve for controlling the output torque of the vehicle to increase to the target torque is obtained, at each subsequent moment, the intermediate torque value corresponding to the current moment is obtained from the torque variation curve.

[0077] Step S208, determining a transmission torque loss set corresponding to the target torque, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting condition as the target torque;

[0078] It should be noted that during the vehicle starting phase, the motor output torque is transmitted to the vehicle wheel end through various transmission components. Due to the influence of factors such as friction between the transmission components, it is inevitably accompanied by transmission torque loss, that is, the motor output torque cannot be 100% transmitted to the vehicle wheel end. Under different starting conditions, it corresponds to different amounts of transmission torque loss.

[0079] The transmission torque loss is the actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions. For example, if the target torque is 100 Nm, the transmission torque loss is the transmission torque loss calculated when the driver increases the vehicle output torque from 0 Nm to 100 Nm by stepping on the accelerator pedal. The transmission torque loss set includes the transmission torque losses corresponding to different torque values ​​when the vehicle torque increases from 0 to the target torque when the vehicle starts.

[0080] That is, before this, based on the actual control of the vehicle by the driver, the transmission torque loss set corresponding to the driver under different starting conditions is recorded, wherein the transmission torque loss set includes the transmission torque loss corresponding to different torque values ​​in the process of the vehicle torque increasing from 0 to the target torque when starting under the starting condition. In this embodiment, different starting conditions specifically refer to target torques of different sizes.

[0081] Step S210, compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0082] Specifically, in steps S208 to S210, during the period of output torque control of the vehicle based on the intermediate torque values ​​at different moments in the torque change curve, after obtaining the intermediate torque value corresponding to the current moment in the torque change curve, firstly, a transmission torque loss set corresponding to the target torque is determined, and then the transmission torque loss corresponding to the intermediate torque value at the current moment is determined in the transmission torque loss set, and then torque compensation is performed on the intermediate torque value based on the determined transmission torque loss to obtain the compensated intermediate torque value.

[0083] It is understandable that when the starting conditions are different, the transmission torque loss corresponding to different moments when the vehicle starts is also different. The transmission torque loss sets corresponding to different starting conditions are recorded in advance, so that when the vehicle needs to start under the same conditions during automatic parking, the intermediate torque value is compensated for according to the transmission torque loss corresponding to the different torque values ​​recorded in the transmission torque loss set. The vehicle starting control method proposed in the embodiment of the present invention takes into account the transmission torque loss during the torque output process of the vehicle starting stage. By compensating the intermediate torque value with the transmission torque loss recorded under different starting conditions, the torque value output to the wheel end can be made more accurate, ensuring that the wheel end torque is accurately increased to the target torque size.

[0084] Step S212: controlling the output torque of the vehicle based on the compensated intermediate torque value.

[0085] It should be noted that due to the existence of transmission torque loss, the actual output torque of the motor is usually greater than the wheel-end torque transmitted to the wheel end. During the control of the vehicle output torque based on the intermediate torque value at different moments in the torque change curve, in order to ensure that the wheel-end torque value finally reaches the target torque value, the intermediate torque value at the next moment is usually feedback-adjusted based on the real-time wheel-end torque value. For example, when it is detected that the wheel-end torque value at the current moment is less than the intermediate torque value, the intermediate torque value at the next moment will be increased to ensure that the final wheel-end torque value reaches the target torque value; and if the amplitude of the feedback adjustment is too large, the actual wheel-end torque will be greater than the corresponding intermediate torque value in the torque change curve after adjusting the motor output torque based on the adjusted intermediate torque value, and the intermediate torque value needs to be lowered at the next moment. However, this feedback adjustment often leads to a jump in the output torque value of the vehicle motor between adjacent moments, that is, the torque change rate of the vehicle during the torque increase process is unstable, and the vehicle is prone to swaying, causing discomfort to the vehicle passengers.

[0086] In an embodiment of the present invention, by recording the transmission torque loss under different starting conditions in advance, when the vehicle starts based on the target torque, a transmission torque loss set corresponding to the target torque is determined, and based on the transmission torque loss corresponding to different torque values ​​in the transmission torque loss set, the intermediate torque values ​​corresponding to different moments in the torque change curve are compensated. This can make the torque value output to the wheel end based on the compensated intermediate torque value more accurate, ensure that the wheel end torque is accurately increased to the target torque size, avoid the problem of vehicle movement caused by transmission torque loss, and improve parking effect and riding experience.

[0087] In one embodiment, see Figure 5 , is a flow chart of a vehicle start control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0088] The following is for Figure 5 The process shown is described in detail, and the vehicle starting control method may specifically include the following steps:

[0089] Step S302, obtaining a target torque sent by the automatic parking system;

[0090] Specifically, for step S302, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0091] Step S304, generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0092] Specifically, for step S304, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0093] Step S306, at any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0094] Specifically, after the torque variation curve for controlling the output torque of the vehicle to increase to the target torque is obtained, at each subsequent moment, the intermediate torque value corresponding to the current moment is obtained from the torque variation curve.

[0095] Step S308, determining a transmission torque loss set corresponding to the target torque and the torque change time, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions as the target torque and the torque change time;

[0096] The torque change time is the time interval for the set control output torque to increase to the target torque.

[0097] It should be noted that during the vehicle starting phase, the motor output torque is transmitted to the vehicle wheel end through various transmission components. Due to the influence of factors such as friction between the transmission components, it is inevitably accompanied by transmission torque loss, that is, the motor output torque cannot be 100% transmitted to the vehicle wheel end. Under different starting conditions, it corresponds to different amounts of transmission torque loss.

[0098] The transmission torque loss is the actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions. For example, if the target torque is 100 Nm, the transmission torque loss is the transmission torque loss calculated when the driver increases the vehicle output torque from 0 Nm to 100 Nm by stepping on the accelerator pedal. The transmission torque loss set includes the transmission torque losses corresponding to different torque values ​​when the vehicle torque increases from 0 to the target torque when the vehicle starts.

[0099] That is, before this, based on the actual control of the vehicle by the driver, the transmission torque loss set corresponding to the driver under different starting conditions is recorded, wherein the transmission torque loss set includes the transmission torque loss corresponding to different torque values ​​in the process of the vehicle torque increasing from 0 to the target torque when starting under the starting condition. In this embodiment, different starting conditions specifically refer to target torques of different sizes and torque change times.

[0100] Step S310, compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0101] Specifically, in steps S308 to S310, during the period of output torque control of the vehicle based on the intermediate torque values ​​at different moments in the torque change curve, after obtaining the intermediate torque value corresponding to the current moment in the torque change curve, firstly determine the corresponding transmission torque loss set according to the target torque and the torque change time, then determine the transmission torque loss corresponding to the intermediate torque value at the current moment in the transmission torque loss set, and then perform torque compensation on the intermediate torque value based on the determined transmission torque loss to obtain the compensated intermediate torque value.

[0102] It is understandable that when the starting conditions are different, the transmission torque loss corresponding to different moments when the vehicle starts is also different. The transmission torque loss sets corresponding to different starting conditions are recorded in advance, so that when the vehicle needs to start under the same conditions during automatic parking, the intermediate torque value is compensated for according to the transmission torque loss corresponding to the different torque values ​​recorded in the transmission torque loss set. The vehicle starting control method proposed in the embodiment of the present invention takes into account the transmission torque loss during the torque output process of the vehicle starting stage. By compensating the intermediate torque value with the transmission torque loss recorded under different starting conditions, the torque value output to the wheel end can be made more accurate, ensuring that the wheel end torque is accurately increased to the target torque size. In addition, the starting conditions not only consider the torque size, but also the torque change time, so that the recorded transmission torque loss is more accurate, and further makes the torque value output to the wheel end more accurate.

[0103] Step S312: controlling the output torque of the vehicle based on the compensated intermediate torque value.

[0104] In an embodiment of the present invention, by recording in advance a set of transmission torque losses under different starting conditions, when the vehicle starts based on the target torque, a set of transmission torque losses corresponding to the target torque and the torque change time is determined, and based on the transmission torque losses corresponding to different torque values ​​in the transmission torque loss set, the intermediate torque values ​​corresponding to different moments in the torque change curve are compensated. This allows the torque value output to the wheel end based on the compensated intermediate torque value to be more accurate, ensuring that the wheel end torque is accurately increased to the target torque size, and avoiding the problem of vehicle movement caused by transmission torque loss, thereby improving parking effects and riding experience.

[0105] In one embodiment, see Figure 6 , is a flow chart of a vehicle start control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0106] The following is for Figure 6 The process shown is described in detail, and the vehicle starting control method may specifically include the following steps:

[0107] Step S402, obtaining a target torque sent by the automatic parking system;

[0108] Specifically, for step S402, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0109] Step S404, generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0110] Specifically, for step S404, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0111] Step S406, at any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0112] Specifically, after the torque variation curve for controlling the output torque of the vehicle to increase to the target torque is obtained, at each subsequent moment, the intermediate torque value corresponding to the current moment is obtained from the torque variation curve.

[0113] Step S408, obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode;

[0114] It is not difficult to understand that for a vehicle with adjustable suspension modes, the motion state of the vehicle is different under different suspension modes. In the embodiment of the present invention, a suspension mode correction coefficient corresponding to each suspension mode is set, and after obtaining the intermediate torque value corresponding to a certain moment in the torque change curve, the intermediate torque value is corrected based on the suspension mode correction coefficient, so that the torque values ​​used to control the change of the vehicle output torque at different moments are more accurate.

[0115] Specifically, after obtaining the intermediate torque value corresponding to the moment in the torque variation curve, the suspension mode correction coefficient corresponding to the current suspension mode is determined according to the current vehicle suspension mode.

[0116] Step S410, correcting the intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value;

[0117] Step S412: controlling the output torque of the vehicle based on the corrected intermediate torque value.

[0118] In an embodiment of the present invention, by setting suspension mode correction coefficients corresponding to different suspension modes, the intermediate torque value is corrected according to the suspension mode correction coefficient, so that the output torque of the vehicle is controlled according to the corrected intermediate torque value. This can make the torque value output to the wheel end based on the corrected intermediate torque value more accurate, thereby ensuring that the wheel end torque is accurately increased to the target torque size.

[0119] In one embodiment, see Figure 7, is a flow chart of a vehicle start control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0120] The following is for Figure 7 The process shown in the figure is described in detail, and the vehicle starting control method may specifically include the following steps:

[0121] Step S502, obtaining a target torque sent by the automatic parking system;

[0122] Specifically, for step S502, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0123] Step S504, generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0124] Specifically, for step S504, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0125] Step S506, at any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0126] Specifically, after the torque variation curve for controlling the output torque of the vehicle to increase to the target torque is obtained, at each subsequent moment, the intermediate torque value corresponding to the current moment is obtained from the torque variation curve.

[0127] Step S508, determining a transmission torque loss set corresponding to the target torque, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting condition as the target torque;

[0128] Step S510, compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0129] Specifically, in steps S508 to S510, during the period of output torque control of the vehicle based on the intermediate torque values ​​at different moments in the torque change curve, after obtaining the intermediate torque value corresponding to the current moment in the torque change curve, firstly, a transmission torque loss set corresponding to the target torque is determined, and then the transmission torque loss corresponding to the intermediate torque value at the current moment is determined in the transmission torque loss set, and then torque compensation is performed on the intermediate torque value based on the determined transmission torque loss to obtain the compensated intermediate torque value.

[0130] Step S512, obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode;

[0131] It is not difficult to understand that for a vehicle with adjustable suspension modes, the motion state of the vehicle is different under different suspension modes. In the embodiment of the present invention, a suspension mode correction coefficient corresponding to each suspension mode is set, and after obtaining the intermediate torque value corresponding to a certain moment in the torque change curve and compensating the intermediate torque value based on the transmission torque loss to obtain the compensated intermediate torque value, the compensated intermediate torque value is corrected based on the suspension mode correction coefficient, so that the torque values ​​used to control the change of the vehicle output torque at different moments are more accurate.

[0132] Specifically, after obtaining the intermediate torque value corresponding to the moment in the torque variation curve, the suspension mode correction coefficient corresponding to the current suspension mode is determined according to the current vehicle suspension mode.

[0133] Step S514, correcting the compensated intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value;

[0134] Step S516: Control the output torque of the vehicle based on the corrected intermediate torque value.

[0135] In an embodiment of the present invention, by recording the transmission torque loss under different starting conditions in advance and setting suspension mode correction coefficients corresponding to different suspension modes, when the vehicle starts based on the target torque, a transmission torque loss set corresponding to the target torque is determined, and the intermediate torque values ​​corresponding to different moments in the torque change curve are compensated based on the transmission torque loss corresponding to different torque values ​​in the transmission torque loss set. This can make the torque value output to the wheel end based on the compensated intermediate torque value more accurate, and correct the compensated intermediate torque value according to the suspension mode correction coefficient, so as to control the output torque of the vehicle according to the corrected intermediate torque value, ensure that the wheel end torque is accurately increased to the target torque size, avoid the vehicle movement problem caused by transmission torque loss, and improve the parking effect and riding experience.

[0136] In one embodiment, see Figure 8, is a flow chart of a vehicle start control method provided by an embodiment of the present invention. The execution subject of the process may be a program for vehicle start control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0137] The following is for Figure 8 The process shown in the figure is described in detail, and the vehicle starting control method may specifically include the following steps:

[0138] Step S602, obtaining a target torque sent by the automatic parking system;

[0139] Specifically, for step S602, please refer to the detailed description of step S102 in another embodiment of the present invention, which will not be repeated here.

[0140] Step S604, generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0141] Specifically, for step S604, please refer to the detailed description of step S104 in another embodiment of the present invention, which will not be repeated here.

[0142] Step S606, at any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0143] Specifically, after the torque variation curve for controlling the output torque of the vehicle to increase to the target torque is obtained, at each subsequent moment, the intermediate torque value corresponding to the current moment is obtained from the torque variation curve.

[0144] Step S608, determining a transmission torque loss set corresponding to the target torque and the torque change time, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions as the target torque and the torque change time;

[0145] Step S610, compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0146] Specifically, in steps S608 to S610, during the period of output torque control of the vehicle based on the intermediate torque values ​​at different moments in the torque change curve, after obtaining the intermediate torque value corresponding to the current moment in the torque change curve, firstly determine the corresponding transmission torque loss set according to the target torque and the torque change time, then determine the transmission torque loss corresponding to the intermediate torque value at the current moment in the transmission torque loss set, and then perform torque compensation on the intermediate torque value based on the determined transmission torque loss to obtain the compensated intermediate torque value.

[0147] Step S612, obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode;

[0148] It is not difficult to understand that for a vehicle with adjustable suspension modes, the motion state of the vehicle is different under different suspension modes. In the embodiment of the present invention, a suspension mode correction coefficient corresponding to each suspension mode is set, and after obtaining the intermediate torque value corresponding to a certain moment in the torque change curve and compensating the intermediate torque value based on the transmission torque loss to obtain the compensated intermediate torque value, the compensated intermediate torque value is corrected based on the suspension mode correction coefficient, so that the torque values ​​used to control the change of the vehicle output torque at different moments are more accurate.

[0149] Specifically, after obtaining the intermediate torque value corresponding to the moment in the torque variation curve, the suspension mode correction coefficient corresponding to the current suspension mode is determined according to the current vehicle suspension mode.

[0150] Step S614, correcting the compensated intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value;

[0151] Step S616: Control the output torque of the vehicle based on the corrected intermediate torque value.

[0152] In an embodiment of the present invention, by recording the transmission torque loss under different starting conditions in advance and setting suspension mode correction coefficients corresponding to different suspension modes, when the vehicle starts based on the target torque, a transmission torque loss set corresponding to the target torque is determined, and the intermediate torque values ​​corresponding to different moments in the torque change curve are compensated based on the transmission torque loss corresponding to different torque values ​​in the transmission torque loss set. This can make the torque value output to the wheel end based on the compensated intermediate torque value more accurate, and correct the compensated intermediate torque value according to the suspension mode correction coefficient, so as to control the output torque of the vehicle according to the corrected intermediate torque value, ensure that the wheel end torque is accurately increased to the target torque size, avoid the vehicle movement problem caused by transmission torque loss, and improve the parking effect and riding experience.

[0153] It should be further explained that, in one or more embodiments of the present invention, the step of correcting the compensated intermediate torque value by using the suspension mode correction coefficient corresponding to the suspension mode can be selected according to actual needs.

[0154] In a feasible implementation, after the intermediate torque value is compensated based on the transmission torque loss and the compensated intermediate torque value is obtained, it can be determined whether to further correct the compensated intermediate torque value based on the suspension mode correction coefficient according to the vehicle motion state. If the vehicle motion state indicates that the vehicle is in a moving state, that is, when the speed is greater than zero, it indicates that the torque loss compensation is sufficient at this time, so there is no need to correct the compensated intermediate torque value based on the suspension mode correction coefficient, and the output torque of the vehicle is directly controlled based on the compensated intermediate torque value; if the vehicle motion state indicates that the vehicle is in a stationary state, that is, when the vehicle speed is equal to zero, it indicates that the torque loss compensation is insufficient at this time, and it is necessary to correct the compensated intermediate torque value based on the suspension mode correction coefficient, and then the output torque of the vehicle is controlled based on the corrected intermediate torque value. In actual application scenarios, whether to correct the compensated intermediate torque value based on the suspension mode correction coefficient is selected according to actual needs to further improve the parking experience of automatic parking. Among them, the vehicle motion state can be determined according to the wheel speed or the longitudinal acceleration of the vehicle. When the wheel speed of any wheel is greater than zero or the longitudinal acceleration of the vehicle is greater than zero, it is determined that the vehicle is in a moving state, otherwise, the vehicle is in a stationary state.

[0155] See also Fig. 9 , is a schematic diagram of the structure of a vehicle starting control device provided by an embodiment of the present invention. Fig. 9 As shown, the vehicle starting control device 01 can be implemented as all or part of the vehicle controller through software, hardware or a combination of both. According to some embodiments, the vehicle starting control device 01 may include a target torque acquisition module 11, a torque curve generation module 12, and an output torque control module 13, specifically including:

[0156] A target torque acquisition module 11 is used to acquire a target torque sent by the automatic parking system;

[0157] a torque curve generating module 12, for generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time;

[0158] The output torque control module 13 is used to control the output torque of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve.

[0159] Optionally, the output torque control module 13 is specifically used for:

[0160] At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0161] determining a transmission torque loss set corresponding to the target torque, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting condition as the target torque;

[0162] Compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0163] Output torque of the vehicle is controlled based on the compensated intermediate torque value.

[0164] Optionally, the torque variation curve includes the torque variation time required for the output torque to increase to the target torque; the output torque control module 13 is specifically used for:

[0165] At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0166] determining a transmission torque loss corresponding to the target torque and the torque change time, and compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value, wherein the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions as the target torque and the torque change time;

[0167] Output torque of the vehicle is controlled based on the compensated intermediate torque value.

[0168] Optionally, the output torque control module 13 is specifically used for:

[0169] At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve;

[0170] determining a transmission torque loss set corresponding to the target torque and the torque change time, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions as the target torque and the torque change time;

[0171] Compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value;

[0172] Output torque control of the vehicle is performed based on the corrected intermediate torque value.

[0173] Optionally, the output torque control module 13 is further used for:

[0174] Obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode;

[0175] Correcting the compensated intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value;

[0176] Output torque control of the vehicle is performed based on the corrected intermediate torque value.

[0177] Optionally, the torque change rate corresponding to different moments in the torque change curve increases continuously with time.

[0178] Optionally, the torque change rate corresponding to different moments in the torque change curve shows a trend of first increasing and then decreasing over time.

[0179] The above device embodiments correspond to the method embodiments. For specific descriptions, please refer to the description of the method embodiments, which will not be repeated here. The device embodiments are obtained based on the corresponding method embodiments and have the same technical effects as the corresponding method embodiments. For specific descriptions, please refer to the corresponding method embodiments.

[0180] The present invention also provides a storage medium, which can store multiple instructions. The instructions are suitable for being loaded by a processor and executing the vehicle starting control method as in the above embodiments. The specific execution process can be referred to the specific description in the above embodiments, which will not be repeated here.

[0181] In one embodiment, the present invention also provides Fig.10 The structural diagram of the vehicle controller is shown in FIG. Fig.10 At the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, a memory 24, and a non-volatile memory 25, and may also include hardware required for other services. The vehicle controller can be set in a vehicle, wherein the processor 21 reads the corresponding computer program from the non-volatile memory 25 into the memory and then runs it to implement the above-mentioned vehicle starting control method.

[0182] In one embodiment, the present invention further provides a vehicle, which may include a vehicle starting control device or a vehicle controller as described above, so as to control the driving torque when the vehicle starts by executing a vehicle starting control method through the vehicle starting control device or the vehicle controller.

[0183] Finally, the various embodiments of the present invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0184] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A vehicle starting control method, include: Get the target torque sent by the automatic parking system; generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time; The output torque of the vehicle is controlled based on the intermediate torque values ​​corresponding to different moments in the torque variation curve.

2. The method according to claim 1, wherein the output torque of the vehicle is controlled based on the intermediate torque values ​​corresponding to different moments in the torque variation curve. include: At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve; determining a transmission torque loss set corresponding to the target torque, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting condition as the target torque; Compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value; Output torque of the vehicle is controlled based on the compensated intermediate torque value.

3. The method according to claim 1, wherein the torque variation curve comprises a torque variation time required for the output torque to increase to the target torque; The output torque control of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve includes: At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve; determining a transmission torque loss set corresponding to the target torque and the torque change time, and determining a transmission torque loss corresponding to the intermediate torque value in the transmission torque loss set, wherein the transmission torque loss set includes transmission torque losses corresponding to a plurality of torque values, respectively, and the transmission torque loss is an actual transmission loss recorded when the driver controls the vehicle to start under the same starting conditions as the target torque and the torque change time; Compensating the intermediate torque value based on the transmission torque loss to obtain a compensated intermediate torque value; Output torque of the vehicle is controlled based on the compensated intermediate torque value.

4. The method according to claim 1, wherein the output torque of the vehicle is controlled based on the intermediate torque values ​​corresponding to different moments in the torque variation curve. include: At any time, obtaining the intermediate torque value corresponding to the time in the torque variation curve; Obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode; Correcting the intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value; Output torque control of the vehicle is performed based on the corrected intermediate torque value.

5. The method according to any one of claims 2 or 3, wherein the output torque of the vehicle is controlled based on the compensated intermediate torque value. include: Obtaining a suspension mode correction coefficient corresponding to the current vehicle suspension mode; Correcting the compensated intermediate torque value based on the suspension mode correction coefficient to obtain a corrected intermediate torque value; Output torque control of the vehicle is performed based on the corrected intermediate torque value.

6. According to the method of claim 1, the torque change rate corresponding to different moments in the torque change curve increases continuously with time.

7. The method according to claim 1, wherein the torque change rate corresponding to different moments in the torque change curve shows a trend of first increasing and then decreasing over time.

8. A vehicle starting control device, include: a target torque acquisition module, which acquires a target torque sent by an automatic parking system, wherein the target torque is determined based on a parking route planned by the automatic parking system; a torque curve generating module, for generating a torque variation curve for controlling the output torque of the vehicle to increase to the target torque based on the target torque, wherein the torque variation rate corresponding to different moments in the torque variation curve varies with time; The output torque control module is used to control the output torque of the vehicle based on the intermediate torque values ​​corresponding to different moments in the torque variation curve.

9. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

10. A vehicle controller, include: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 7.

11. A vehicle, comprising the vehicle launch control device according to claim 8 or the vehicle controller according to claim 10.

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