Vehicle control method, device, vehicle and storage medium

Abstract

The present application provides a vehicle control method, device, vehicle and storage medium, the method comprising: obtaining the current vehicle speed and the current state of the brake caliper of the vehicle; based on the current vehicle speed and the current state of the brake caliper, determining whether the vehicle meets the exit condition of the single-pedal function; if the vehicle does not meet the exit condition and it is detected that the vehicle exits the single-pedal function, obtaining the current requested torque of the vehicle; if the current requested torque is not zero, controlling the current requested torque to be cleared. The method can avoid the generation of unexpected torque when the vehicle exits the single-pedal mode, thereby improving the safety of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, device, vehicle and storage medium in the field of vehicles. Background Art

[0002] The single-pedal function of a vehicle refers to integrating driving and braking on the accelerator pedal. The driver can control the acceleration or deceleration of the vehicle by operating the accelerator pedal. In the prior art, when the vehicle is in the single-pedal mode, if the pedal opening is greater than a certain set value, the drive motor provides a driving torque to drive the vehicle; if the pedal opening is less than a certain set value, the drive motor provides a braking torque to achieve deceleration and braking of the vehicle.

[0003] However, if the single-pedal mode is exited without meeting the single-pedal exit conditions, the vehicle may generate unexpected torque, thereby affecting the safety of the vehicle; therefore, how to avoid the unexpected torque generated when the vehicle exits the single-pedal mode to improve the safety of the vehicle is a technical problem that needs to be solved at present. Summary of the invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium. When the vehicle does not meet the exit conditions of the single-pedal function, if it is detected that the vehicle has exited the single-pedal function, the method controls the current requested torque of the vehicle to be cleared to zero, thereby avoiding unexpected torque generated when the vehicle exits the single-pedal mode, thereby improving the safety of the vehicle.

[0005] In a first aspect, a vehicle control method is provided, the method comprising:

[0006] Get the current speed of the vehicle and the current state of the brake caliper;

[0007] Determining whether the vehicle meets the exit condition of the one-pedal function based on the current vehicle speed and the current state of the brake caliper;

[0008] If the vehicle does not meet the exit condition and it is detected that the vehicle exits the single-pedal function, obtaining the current requested torque of the vehicle;

[0009] If the current requested torque is not zero, the current requested torque is cleared to zero.

[0010] In one implementation, if the vehicle generates unexpected torque when exiting the single-pedal function, it indicates that the vehicle does not meet the single-pedal exit conditions; if the vehicle does not generate unexpected torque when exiting the single-pedal function, it indicates that the vehicle meets the single-pedal exit conditions.

[0011] In an embodiment of the present application, it is determined whether the vehicle meets the exit condition of the single-pedal function based on the current vehicle speed and the current state of the brake caliper; when the vehicle does not meet the exit condition of the single-pedal function, the current requested torque of the vehicle is controlled to be cleared. Since when the vehicle does not meet the exit condition of the single-pedal function, if the vehicle exits the single-pedal function, it may cause the vehicle to generate unexpected torque. Therefore, when the vehicle does not meet the exit condition, if it is detected that the vehicle exits the single-pedal function, the current requested torque of the vehicle is controlled to be cleared; compared with the prior art that directly exits the single-pedal function when it is detected that the vehicle exits the single-pedal function, this solution can control the requested torque of the vehicle according to the preset exit condition of the single-pedal function when the vehicle exits the single-pedal function and the current requested torque is not zero, thereby avoiding the generation of unexpected torque when the vehicle exits the single-pedal function, ensuring that the safety of the vehicle can be improved.

[0012] In combination with the first aspect, in some implementations of the first aspect, determining whether the vehicle meets the exit condition of the single-pedal function based on the current vehicle speed and the current state of the brake caliper includes:

[0013] Determine whether the current vehicle speed is less than a preset threshold;

[0014] If the current vehicle speed is less than a preset threshold, based on the current state of the brake caliper, it is determined whether the vehicle meets the exit conditions of the single-pedal function.

[0015] In an embodiment of the present application, when the current vehicle speed is less than a preset threshold, it is determined whether the vehicle meets the exit condition of the single-pedal function according to the current state of the brake caliper. Since when the current vehicle speed is less than the preset condition, it means that the vehicle speed is low; at this time, according to the current state of the vehicle's brake caliper, it is possible to detect whether the vehicle has a risk of generating unexpected torque when exiting the single-pedal function; if the vehicle has a risk of generating unexpected torque, it is determined that the vehicle does not meet the exit condition of the single-pedal function; if the vehicle does not have a risk of generating unexpected torque, it is determined that the vehicle meets the exit condition of the single-pedal function. Ensure that it is possible to determine whether the vehicle generates unexpected torque according to the current vehicle speed and the current state of the brake caliper, thereby determining whether the vehicle meets the exit condition of the single-pedal function.

[0016] It should be noted that if the current vehicle speed is greater than or equal to the preset threshold, the vehicle is in an accelerating state regardless of whether the vehicle activates the single-pedal function or the vehicle exits the single-pedal function; the current requested torque is the torque generated based on the driver's operation of the accelerator pedal, that is, the current requested torque is the torque generated by the driver's subjective intention, and is not an unexpected torque; therefore, there is no need to limit the torque.

[0017] In combination with the first aspect and the above implementations, in some implementations of the first aspect, if the current vehicle speed is less than a preset threshold, determining whether the vehicle meets the exit condition of the single-pedal function based on the current state of the brake caliper includes:

[0018] If the current vehicle speed is less than the preset threshold and the current state of the brake caliper is in an unclosed state, it is determined that the vehicle does not meet the exit condition of the single-pedal function;

[0019] If the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in a closed state, it is determined that the vehicle meets the exit condition of the single-pedal function.

[0020] In the embodiment of the present application, when the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in an unclosed state, if the vehicle exits the single-pedal function, it may cause the vehicle to generate unexpected torque; therefore, it is determined that the vehicle does not meet the exit condition of the single-pedal function; when the current vehicle speed is less than a preset threshold and the brake caliper is in a closed state, if the vehicle exits the single-pedal function, no unexpected torque will be generated; therefore, it is determined that the vehicle meets the exit condition of the single-pedal function. Ensure that it is possible to judge whether the vehicle meets the exit condition of the single-pedal function based on the current vehicle speed and the current state of the brake caliper.

[0021] In combination with the first aspect and the above implementations, in some implementations of the first aspect, if the current requested torque is not zero, controlling the current requested torque to be cleared to zero includes:

[0022] If the current requested torque is not zero, the current requested torque is torque-limited to obtain a target requested torque;

[0023] If it is detected that the target requested torque is not zero, the fault flag of the single-pedal function is activated and the target requested torque is controlled to be zero.

[0024] In an embodiment of the present application, when the target requested torque is not zero, the fault flag of the single-pedal function is activated, and the target requested torque is controlled to be zero. Since when the target requested torque is not zero, it indicates that there is a fault in the process of torque limiting the requested torque, that is, there is a fault in the single-pedal function; therefore, the fault flag of the single-pedal function is activated, and the target requested torque is controlled to be zero. Ensure that when the current requested torque is not zero, the current requested torque is cleared to avoid unexpected torque when the vehicle exits the single-pedal function.

[0025] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the vehicle controller of the vehicle includes a functional layer and a monitoring layer;

[0026] If the current requested torque is not zero, the requested torque is torque-limited to obtain the target requested torque, including:

[0027] If the current requested torque is not zero, the target requested torque is torque-limited through the functional layer to obtain the target requested torque; the target requested torque is sent to the monitoring layer through the functional layer;

[0028] If it is detected that the target requested torque is not zero, the fault flag of the single pedal function is activated, and the target requested torque is controlled to be zero, including:

[0029] If the monitoring layer detects that the target requested torque is not zero, the monitoring layer activates the fault flag of the single pedal function and controls the target requested torque to be zero.

[0030] In the embodiment of the present application, since the current requested torque is torque-limited by the functional layer in the present application, and the target requested torque after the torque-limiting process is judged by the monitoring layer; when the target requested torque is not zero, the target requested torque is controlled to be zero. It is ensured that redundant monitoring can be added to the single-pedal function; when the functional layer cannot limit the current requested torque to zero, the requested torque is controlled to be zero through the monitoring layer. That is, it is ensured that in the event of a fault in the functional layer, the requested torque can still be controlled to be cleared when the vehicle exits the single-pedal function, ensuring that no unexpected torque request is output.

[0031] In combination with the first aspect and the above implementations, in some implementations of the first aspect, if it is detected that the target requested torque is not zero, activating the fault flag of the single pedal function includes:

[0032] If the target requested torque is not zero and the duration of the target requested torque is greater than the preset duration, the fault flag of the single-pedal function is activated.

[0033] In an embodiment of the present application, if the target requested torque is not zero and the duration of the target requested torque is greater than the preset duration, it indicates that the functional layer of the vehicle has not limited the requested torque within the preset duration; therefore, it is determined that there is a fault in the functional layer and the fault flag of the single-pedal function is activated; ensuring that the target requested torque and the duration of the target requested torque can be combined to more accurately determine whether there is a fault in the functional layer.

[0034] In combination with the first aspect and the above implementations, in some implementations of the first aspect, the following further includes:

[0035] When the current requested torque is zero, controlling the vehicle to exit the single-pedal function;

[0036] When the opening degree of the accelerator pedal of the vehicle is greater than a first threshold, a first torque corresponding to the opening degree is determined based on the opening degree of the accelerator pedal; and the first torque is output.

[0037] In the embodiment of the present application, if the current requested torque is zero, the vehicle is controlled to exit the single-pedal mode to ensure that the vehicle does not generate unexpected torque. When the opening of the accelerator pedal of the vehicle is greater than the first threshold, it means that the current first torque of the vehicle is a torque generated by the driver's operation; that is, the first torque is not an unexpected torque; therefore, the first torque is output; ensuring that the torque can be output normally after the vehicle exits the single-pedal mode.

[0038] In a second aspect, a vehicle control device is provided, the device comprising:

[0039] A first acquisition module, used to acquire the current speed of the vehicle and the current state of the brake caliper;

[0040] a determination module, for determining whether the vehicle meets an exit condition of the single-pedal function based on a current vehicle speed and a current state of the brake caliper;

[0041] The second acquisition module is used to obtain the current requested torque of the vehicle if the vehicle does not meet the exit condition and detects that the vehicle has exited the single-pedal function.

[0042] The control module is used for controlling the current requested torque to be cleared to zero if the current requested torque is not zero.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the determination module is specifically used to: determine whether the current vehicle speed is less than a preset threshold; if the current vehicle speed is less than the preset threshold, based on the current state of the brake caliper, determine whether the vehicle meets the exit conditions of the single-pedal function.

[0044] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the determination module is specifically used to: if the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in an unclosed state, determine that the vehicle does not meet the exit conditions of the single-pedal function; if the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in a closed state, determine that the vehicle meets the exit conditions of the single-pedal function.

[0045] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is specifically used to: if the current requested torque is not zero, limit the requested torque to obtain the target requested torque; if it is detected that the target requested torque is not zero, activate the fault flag of the single pedal function, and control the target requested torque to zero.

[0046] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is specifically used to: if the current requested torque is not zero, limit the requested torque through the functional layer to obtain the target requested torque; send the target requested torque to the monitoring layer through the functional layer; if the monitoring layer detects that the target requested torque is not zero, activate the fault flag of the single pedal function through the monitoring layer, and control the target requested torque to zero.

[0047] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is specifically used to: if the target requested torque is not zero, and the duration of the target requested torque is greater than a preset duration, activate the fault flag of the single-pedal function.

[0048] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is also used to: control the vehicle to exit the single-pedal mode when the current requested torque is zero; when the opening of the vehicle's accelerator pedal is greater than a first threshold, determine the first torque corresponding to the opening based on the opening of the accelerator pedal; and output the first torque.

[0049] In a third aspect, a vehicle is provided, comprising a memory and a processor, wherein the memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0050] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0051] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed, the method in the above-mentioned first aspect or any possible implementation manner of the first aspect is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a schematic diagram of a scenario provided by an embodiment of the present application;

[0053] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0054] Figure 3 It is a schematic diagram of a framework of a vehicle control method provided in an embodiment of the present application;

[0055] Figure 4 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0056] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0057] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0059] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0060] Figure 1 It is a schematic diagram of a scenario provided in an embodiment of the present application.

[0061] Exemplarily, scene 100 includes a vehicle 110 ; vehicle 110 includes an accelerator pedal 111 and a brake pedal 112 .

[0062] For example, when the vehicle is in a traditional driving mode (the vehicle does not have the single-pedal function turned on), the vehicle speed can be controlled by the accelerator pedal 111 and the brake pedal 112; when the driver steps on the accelerator pedal 111, the vehicle can be controlled to accelerate, and when the driver steps on the brake pedal 112, the vehicle can be controlled to decelerate. When the vehicle's single-pedal function (or single-pedal driving mode) is turned on, the vehicle can be controlled using only the accelerator pedal 111 to accelerate or decelerate the vehicle.

[0063] For example, the single-pedal function of a vehicle means integrating driving and braking on the accelerator pedal (equivalent to the vehicle's throttle pedal), and the driver only needs to operate the accelerator pedal to control the acceleration or deceleration of the vehicle. When the vehicle turns on the single-pedal function and is in single-pedal mode, if the accelerator pedal opening is greater than a certain set value, the motor driving the vehicle provides a driving torque to drive the vehicle; if the accelerator pedal opening is less than a certain set value, the motor driving the vehicle provides a braking torque to achieve deceleration and braking of the vehicle.

[0064] Optionally, the single-pedal function has an independent activation path, and the single-pedal function can be activated or exited through the vehicle's on-board control panel. When the vehicle control unit (VCU) receives a single-pedal function activation request from the gateway (GW), the internal torque path control strategy is switched to apply to the single-pedal function. The requested torque decreases as the accelerator pedal is gradually released. When the degree of accelerator pedal release exceeds a critical value, the vehicle state changes from driving to braking until it stops. When the single-pedal function is turned on, the vehicle is stationary and the driver does not step on the accelerator pedal, and the vehicle will not move or accelerate.

[0065] However, if the one-pedal mode is exited without meeting the one-pedal exit conditions, the vehicle may generate unexpected torque, which may affect the safety of the vehicle. For example, when the vehicle is in the one-pedal function and the driver does not step on the accelerator pedal, the vehicle will enter the brake stop state; if the vehicle exits the one-pedal function at this time, the accelerator pedal and brake pedal of the vehicle are both in the released state; the vehicle may have creep torque and produce unexpected movement, which may cause the risk of personal injury.

[0066] Therefore, how to avoid unexpected torque generated when the vehicle exits the single-pedal mode to improve the safety of the vehicle is a technical problem that needs to be solved at present.

[0067] In view of this, the present application provides a vehicle control method, device, vehicle and storage medium. Through the embodiments of the present application, when the vehicle does not meet the exit conditions of the single-pedal function, if it is detected that the vehicle exits the single-pedal function, the current requested torque of the vehicle is controlled to be cleared to zero, thereby avoiding unexpected torque generated when the vehicle exits the single-pedal mode, thereby improving the safety of the vehicle.

[0068] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0069] For example, Figure 2 The method 200 shown may be executed by a vehicle; or may be executed by a vehicle controller of a vehicle; or may be executed by a processor or chip in the vehicle.

[0070] like Figure 2 As shown, the vehicle control method 200 includes S210 to S240, and S210 to S240 are described in detail below.

[0071] S210, obtaining the current vehicle speed and the current state of the brake caliper.

[0072] Exemplarily, the vehicle obtains the current vehicle speed and the current state of the brake caliper in real time; wherein the current state of the brake caliper includes the brake caliper being in a closed state and the brake caliper being in an unclosed state.

[0073] For example, the brake caliper is in a closed state, which means that the brake caliper has clamped the brake disc and applied braking force; when the brake caliper is in a closed state, there is direct contact between the brake pad and the brake disc, and friction is generated, thereby slowing down the rotation speed of the wheel and ultimately slowing down or stopping the vehicle. The brake caliper is in an unclosed state, which means that the brake caliper does not clamp the brake disc and the brake system is in a relaxed state; when the brake caliper is in an unclosed state, there is no contact between the brake pad and the brake disc, no braking force is generated, and the wheel can rotate freely.

[0074] Optionally, the vehicle can detect the change in the distance between the brake pad and the brake disc through a displacement sensor installed on the brake caliper (or brake pad). When the distance is 0 (or when the distance approaches 0), it indicates that the brake caliper is in a closed state. When the distance is greater than a threshold, it indicates that the brake caliper is in an unclosed state.

[0075] Optionally, the vehicle can also determine the current state of the brake caliper through a pressure sensor installed in the brake line or the brake master cylinder, or through a temperature sensor installed on the brake disc. When the pressure sensor detects an increase in the pressure of the brake fluid, it indicates that the brake caliper is in a closed state; or when the temperature sensor detects an increase in the temperature on the brake disc, it indicates that the brake caliper may be in a closed state.

[0076] S220, based on the current vehicle speed and the current state of the brake caliper, determining whether the vehicle meets the exit condition of the single-pedal function.

[0077] For example, the vehicle determines whether unexpected torque will be generated when the vehicle exits the single-pedal mode based on the current vehicle speed and the current state of the brake caliper, thereby determining whether the vehicle meets the exit condition of the single-pedal function. If the vehicle generates unexpected torque when exiting the single-pedal function, it means that the vehicle does not meet the exit condition of the single-pedal; if the vehicle does not generate unexpected torque when exiting the single-pedal function, it means that the vehicle meets the exit condition of the single-pedal.

[0078] In one implementation, based on the current vehicle speed and the current state of the brake caliper, it is determined whether the vehicle meets the exit conditions of the single-pedal function, including: determining whether the current vehicle speed is less than a preset threshold; if the current vehicle speed is less than the preset threshold, based on the current state of the brake caliper, determining whether the vehicle meets the exit conditions of the single-pedal function.

[0079] For example, when the current vehicle speed is less than a preset threshold, the current state of the brake caliper is used to determine whether the vehicle meets the exit condition of the single-pedal function. When the current vehicle speed is less than the preset condition, it means that the vehicle speed is low; at this time, the current state of the vehicle's brake caliper can determine whether the vehicle is at risk of generating unexpected torque when exiting the single-pedal function; if the vehicle is at risk of generating unexpected torque, it is determined that the vehicle does not meet the exit condition of the single-pedal function. Ensure that it is possible to determine whether the vehicle meets the exit condition of the single-pedal function based on whether the vehicle generates unexpected torque.

[0080] It should be noted that if the current vehicle speed is greater than or equal to the preset threshold, the vehicle is in an accelerating state regardless of whether the vehicle activates the single-pedal function or the vehicle exits the single-pedal function; the current requested torque is the torque generated based on the driver's operation of the accelerator pedal, that is, the current requested torque is the torque generated by the driver's subjective intention, and is not an unexpected torque; therefore, there is no need to limit the torque.

[0081] Specifically, if the current vehicle speed is less than a preset threshold value and the current state of the brake caliper is in an unclosed state, it is determined that the vehicle does not meet the exit condition of the single-pedal function;

[0082] If the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in a closed state, it is determined that the vehicle meets the exit condition of the single-pedal function.

[0083] Exemplarily, since when the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in an unclosed state, if the vehicle exits the single-pedal function, it may cause the vehicle to generate unexpected torque; therefore, it is determined that the vehicle does not meet the exit conditions of the single-pedal function; when the current vehicle speed is less than a preset threshold and the brake caliper is in a closed state, if the vehicle exits the single-pedal function, no unexpected torque will be generated; therefore, it is determined that the vehicle meets the exit conditions of the single-pedal function.

[0084] For example, the preset threshold value of vehicle speed is 2km / h (kilometers per hour). If it is detected that the vehicle speed is less than 2km / h and the vehicle's brake caliper is in an unclosed state (unclamped state), if the vehicle exits the single-pedal mode, the vehicle will generate unexpected torque; therefore, it is determined that the vehicle does not meet the exit conditions of the single-pedal function.

[0085] It should be noted that the above is an example of the preset threshold value, and this application does not limit this.

[0086] For example, the situation where the vehicle generates unexpected torque is described. When the vehicle is in single-pedal mode, since the vehicle only controls the acceleration and deceleration of the vehicle through the accelerator pedal, when the driver releases the accelerator pedal, the vehicle speed gradually decreases to 0. If the vehicle exits the single-pedal mode during the deceleration of the vehicle, the brake pedal and the accelerator pedal of the current vehicle are both in the released state, and the vehicle will generate creep torque. When in single-pedal mode, the driver releases the accelerator pedal, indicating that the driver's current driving intention is that the vehicle is in a braking state; however, the vehicle generates creep torque due to exiting the single-pedal mode, so the creep torque is the unexpected torque of the vehicle.

[0087] It should be noted that when the vehicle is in D gear (drive gear), when the driver does not step on the accelerator pedal or the brake pedal, the gearbox will provide a certain torque output to make the vehicle move forward slowly; the torque for slow forward movement is the creep torque. The above is an example of the unintended torque, which is a manifestation of the unintended torque. The present application does not specifically limit the unintended torque.

[0088] In an embodiment of the present application, whether the vehicle will generate unexpected torque is determined based on the vehicle speed and the current state before braking, ensuring that whether the vehicle meets the exit conditions of the single-pedal function can be judged based on the current vehicle speed and the current state of the brake caliper.

[0089] S230: If the vehicle does not meet the exit condition and it is detected that the vehicle exits the single-pedal function, the current requested torque of the vehicle is obtained.

[0090] For example, if the vehicle does not meet the exit conditions and it is detected that the vehicle exits the single-pedal function, it means that the vehicle may generate unexpected torque when exiting the single-pedal function; therefore, the vehicle's current requested torque is obtained to limit the vehicle's current requested torque.

[0091] The current requested torque of the vehicle includes the driving torque of the vehicle and the braking torque of the vehicle.

[0092] For example, when the vehicle is in single-pedal mode, the vehicle accelerates and decelerates through the accelerator pedal; that is, the vehicle provides driving torque and braking torque through the accelerator pedal. Usually, in single-pedal mode, the vehicle has an opening threshold; when the accelerator pedal opening of the vehicle is equal to the opening threshold, the corresponding torque is 0; when the accelerator pedal opening of the vehicle is greater than the opening threshold, the corresponding driving torque; when the accelerator pedal opening of the vehicle is less than the opening threshold, the corresponding braking torque.

[0093] It should be understood that when the driver does not step on the accelerator pedal, the opening degree of the accelerator pedal is 0%, and when the driver safely steps on the accelerator pedal, the opening degree of the accelerator pedal is 100%.

[0094] For example, if the opening threshold is 20%, if the current accelerator pedal opening is 40%, the vehicle provides driving torque and the vehicle is in an accelerating state. If the current accelerator pedal opening is 10%, the vehicle provides braking torque and the vehicle is in a decelerating state.

[0095] Optionally, the vehicle can detect the position of the pedal through an accelerator pedal sensor installed on the accelerator pedal, thereby determining the driver's requested torque based on the change in the position of the accelerator pedal. When the driver steps on the accelerator pedal, the accelerator pedal sensor converts the pedal position into an electrical signal and transmits it to the vehicle's engine control unit. The engine control unit calculates the appropriate throttle opening based on the current operating conditions and other sensor data (such as vehicle speed, engine speed, etc.).

[0096] Optionally, the current requested torque may be obtained through the accelerator pedal position, vehicle speed and brake master cylinder pressure of the vehicle; specifically, the functional layer calculates the current requested torque through the accelerator pedal position, vehicle speed and brake master cylinder pressure.

[0097] S240: If the current requested torque is not zero, the current requested torque is cleared.

[0098] In one implementation, if the current requested torque is not zero, the current requested torque is controlled to be cleared, including: if the current requested torque is not zero, the requested torque is torque limited to obtain a target requested torque; if it is detected that the target requested torque is not zero, the fault flag of the single-pedal function is activated, and the target requested torque is controlled to be zero.

[0099] Among them, torque is equal to the product of force and lever arm, and the unit is Nm (Newton meter)

[0100] Exemplarily, when the current requested torque is not zero, the requested torque is torque-limited, and the current requested torque is limited to 0 Nm to obtain the target requested torque; and the target requested torque is judged again. If the target requested torque is 0 Nm, it means that there is no fault in the process of torque-limiting the requested torque, and the target requested torque is output. If the target requested torque is not 0 Nm, it means that there is a fault in the process of torque-limiting the requested torque; therefore, the fault flag of the single pedal function is activated, and the target requested torque is controlled to be cleared again, that is, the externally output requested torque is cleared to 0 Nm.

[0101] It should be noted that since the present application judges the current requested torque and the target requested torque, that is, the vehicle's requested torque is judged twice, it can ensure that when the vehicle does not meet the exit conditions of the single-pedal function, the vehicle's output torque is zero, avoiding unexpected torque when the vehicle exits the single-pedal function.

[0102] In the embodiment of the present application, when the target requested torque is not zero, it indicates that there is a fault in the process of limiting the torque of the requested torque, that is, there is a fault in the single-pedal function; therefore, the fault flag of the single-pedal function is activated, and the target requested torque is controlled to be zero. Ensure that when the current requested torque is not zero, the current requested torque is controlled to be cleared to avoid unexpected torque when the vehicle exits the single-pedal function.

[0103] Exemplarily, after the requested torque output to the outside is cleared to zero, the single-pedal mode is exited, thereby ensuring that no unexpected torque is generated when exiting the single-pedal mode, thereby improving the safety of the vehicle.

[0104] In one possible implementation, the vehicle controller includes a functional layer and a monitoring layer; if the current requested torque is not zero, the current requested torque is limited by the functional layer to obtain a target requested torque; the target requested torque is sent to the monitoring layer through the functional layer; if the monitoring layer detects that the target requested torque is not zero, the fault flag of the single-pedal function is activated by the monitoring layer, and the target requested torque is controlled to be zero.

[0105] Exemplarily, the vehicle controller includes a functional layer and a monitoring layer; when the control request torque is cleared, the request torque is limited by the functional layer to obtain the target request torque; and the functional layer is monitored by the monitoring layer. If the monitoring layer detects that the target request torque output by the functional layer is not zero, it indicates that there is a fault in the functional layer; the fault flag of the single pedal function is activated, and the target request torque is controlled to be zero through the monitoring layer.

[0106] Optionally, when the target requested torque is controlled to be zero through the monitoring layer, the current requested torque may be intercepted through the monitoring layer and a torque of 0 Nm may be output, so that the output torque is 0 Nm.

[0107] In the embodiment of the present application, the current requested torque is torque-limited by the functional layer, and the target requested torque after the torque-limiting process is judged by the monitoring layer; when the target requested torque is not zero, the target requested torque is controlled to be zero. It is ensured that redundant monitoring can be added to the single-pedal function; when the functional layer cannot limit the current requested torque to zero, the requested torque is controlled to be zero through the monitoring layer. That is, it is ensured that in the event of a fault in the functional layer, the requested torque can still be controlled to be cleared when the vehicle exits the single-pedal function, ensuring that no unexpected torque request is output.

[0108] In one implementation, if it is detected that the target requested torque is not zero, the fault flag of the single-pedal function is activated, including: if the target requested torque is not zero and the duration of the target requested torque is greater than a preset duration, the fault flag of the single-pedal function is activated.

[0109] In an embodiment of the present application, if the target requested torque is not zero and the duration of the target requested torque is greater than the preset duration, it indicates that the functional layer of the vehicle has not limited the requested torque within the preset duration; therefore, it is determined that there is a fault in the functional layer, and the fault flag of the single-pedal function is activated; ensuring that the target requested torque and the duration of the target requested torque can be combined to more accurately judge whether there is a fault in the functional layer.

[0110] It should be noted that when the target requested torque is not zero and the duration of the target requested torque is longer than the preset duration, it is determined that there is a fault in the functional layer and the fault flag of the single pedal function is activated. Since the functional layer has a response time when limiting the torque request, the fault flag of the single pedal function is activated when the duration of the target requested torque is longer than the preset duration to avoid misjudgment of the fault flag. This ensures that the accuracy of fault diagnosis of the functional layer can be improved.

[0111] For example, the preset duration is 300ms (milliseconds); if it is detected that the vehicle speed is less than 2km / h and the vehicle's brake caliper is in an unclosed state (unclamped state), the vehicle's current requested torque is 2Nm, and it is detected that the vehicle exits the single-pedal mode; the functional layer limits the current requested torque to 0Nm; and sends the target requested torque after the torque limit processing to the monitoring layer; if the monitoring layer detects that the target requested torque is 2Nm, and the duration of the target requested torque is greater than 300ms, it indicates that the functional layer has not achieved the torque limit on the current requested torque; therefore, the fault flag of the single-pedal function is activated, and the target requested torque is cleared through the monitoring layer to make the target requested torque 0Nm.

[0112] It should be noted that the above are examples of preset duration, vehicle speed, brake caliper status and duration; this application does not limit this.

[0113] In one implementation, it also includes: when the current requested torque is zero, controlling the vehicle to exit the single-pedal mode; when the opening of the vehicle's accelerator pedal is greater than a first threshold, determining a first torque corresponding to the opening based on the opening of the accelerator pedal; and outputting the first torque.

[0114] Exemplarily, the vehicle can determine the opening of the vehicle's accelerator pedal by the position of the accelerator pedal; and obtain a correspondence table between the opening of the accelerator pedal and a preset torque; determine the vehicle's current requested torque based on the correspondence table between the opening of the accelerator pedal and the preset torque; wherein the torque correspondence table includes a correspondence between different openings and different requested torques.

[0115] It should be noted that when the accelerator pedal opening of the vehicle is less than or equal to the first threshold, it indicates that the accelerator pedal opening may have changed due to an accidental touch; therefore, the operation is not responded to. When the accelerator pedal opening of the vehicle is greater than the first threshold, it indicates that the possibility of the current accidental touch is low, that is, the current operation of the accelerator pedal is an operation under the subjective intention of the driver; therefore, the operation is responded to and the first torque corresponding to the accelerator pedal opening is determined. Torque output caused by an accidental touch is avoided.

[0116] In the embodiment of the present application, if the current requested torque is zero, the vehicle is controlled to exit the single-pedal mode to ensure that the vehicle does not generate unexpected torque. When the opening of the accelerator pedal of the vehicle is greater than the first threshold, it means that the current first torque of the vehicle is a torque generated by the driver's operation; that is, the first torque is not an unexpected torque; therefore, the first torque is output; ensuring that the torque can be output normally after the vehicle exits the single-pedal mode.

[0117] In the above embodiment, it is determined whether the vehicle meets the exit condition of the single-pedal function based on the current vehicle speed and the current state of the brake caliper; when the vehicle does not meet the exit condition of the single-pedal function, the current requested torque of the vehicle is controlled to be cleared. Since when the vehicle does not meet the exit condition of the single-pedal function, if the vehicle exits the single-pedal function, it may cause the vehicle to generate unexpected torque. Therefore, when the vehicle does not meet the exit condition, if it is detected that the vehicle exits the single-pedal function, the current requested torque of the vehicle is controlled to be cleared; compared with the prior art that directly exits the single-pedal function when it is detected that the vehicle exits the single-pedal function, this solution can control the requested torque of the vehicle according to the preset exit condition of the single-pedal function when the vehicle exits the single-pedal function and the current requested torque is not zero, thereby avoiding the generation of unexpected torque when the vehicle exits the single-pedal function, ensuring that the safety of the vehicle can be improved.

[0118] In one example, the vehicle controller of a vehicle includes a functional layer and a monitoring layer; the vehicle executes Figure 2 The steps of the control method are as follows: Figure 3 To explain, Figure 3 It is a schematic diagram of a framework of a vehicle control method provided in an embodiment of the present application.

[0119] like Figure 3As shown in the frame 300 in FIG, the vehicle controller includes a functional layer and a monitoring layer. The single pedal function flag, vehicle speed, brake caliper status and accelerator pedal position are simultaneously input to the functional layer and the monitoring layer through the controller area network (CAN). The functional layer and the monitoring layer of the vehicle controller receive key signals such as the input single pedal function flag, vehicle speed, brake caliper status and accelerator pedal position through independent input interface modules. In the torque calculation module of the functional layer, the driver torque request (i.e., the current request torque) of the vehicle is determined according to the accelerator pedal position, vehicle speed and brake caliper status, and the driver torque request is sent to the functional monitoring module (single pedal function monitoring module) of the monitoring layer through the torque calculation module. If the torque calculation module detects that the vehicle speed is less than the preset threshold and the brake caliper status is not closed, once it is detected that the input single pedal function flag has jumped from active to inactive, the torque limit is triggered, the output driver torque request is limited to 0Nm, and the limited torque request is sent to the arbitration module of the monitoring layer. The torque limit is maintained until there is a change in the accelerator pedal position from released to depressed (i.e., when it is detected that the driver is depressing the accelerator pedal, the limit on the driver's requested torque is released).

[0120] The function monitoring module also receives vehicle speed and brake caliper status signals in real time; when the vehicle speed is less than the preset threshold, the duration exceeds the preset time, the brake caliper state is not closed, and the single pedal function flag changes from active to inactive, the function monitoring module starts to monitor the driver's torque request output by the torque calculation module; the monitoring continues until the monitoring module detects that the accelerator pedal position changes from released to pressed once and then stops. During the monitoring process, when the driver's torque request is not 0 and continues for a preset time, it is considered that an unexpected torque request has occurred, and the single pedal function fault flag is activated. When the arbitration module receives the activation of the single pedal function fault flag, it triggers the safe state and clears the torque request to 0Nm.

[0121] In the embodiment of the present application, the single-pedal function signal is redundantly checked by using signals with higher reliability such as vehicle speed, accelerator pedal, and brake caliper status. When the driver's driving intention is detected, the torque is not limited to meet the drivability. That is, when the opening of the accelerator pedal is detected to be greater than the preset threshold, the restriction on the requested torque is cancelled and the torque is output according to the opening of the accelerator pedal. Secondly, when unexpected torque is detected, the requested torque of the vehicle is controlled to be cleared, which effectively avoids the occurrence of unexpected torque caused by the exit of the single-pedal function and improves vehicle safety.

[0122] Figure 4 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0123] Figure 4The method 400 shown may be executed by a vehicle; or may be executed by a vehicle controller of a vehicle; or may be executed by a processor or chip in a vehicle.

[0124] like Figure 4 The vehicle control method 400 shown includes S401 to S411, and S401 to S411 are described in detail below.

[0125] S401, obtaining the current vehicle speed and the current state of the brake caliper.

[0126] Optionally, the implementation of S401 can refer to Figure 2 The relevant description of S210 is not repeated here.

[0127] S402, whether the current vehicle speed is less than a preset threshold; if so, execute S403.

[0128] Exemplarily, it is determined whether the current vehicle speed is less than a preset threshold; if so, it means that the current vehicle speed is low, and it is determined whether the vehicle meets the exit conditions of the single-pedal function based on the current state of the brake caliper.

[0129] S403, whether the brake caliper is currently in a closed state; if so, execute S405; if not, execute S404.

[0130] Exemplarily, whether the brake caliper is currently in a closed state; if so, it is determined that the vehicle meets the exit conditions of the single-pedal function; if not, it is determined that the vehicle does not meet the exit conditions of the single-pedal function.

[0131] It should be noted that if the vehicle generates unexpected torque when exiting the single-pedal function, for the sake of vehicle safety, it is determined that the vehicle does not meet the single-pedal exit conditions; if the vehicle does not generate unexpected torque when exiting the single-pedal function, the vehicle meets the single-pedal exit conditions.

[0132] S404, determining that the vehicle does not meet the exit condition of the single-pedal function.

[0133] Exemplarily, if the current speed of the vehicle is less than a preset threshold and the brake caliper is not in a closed state; if it is detected that the vehicle exits the single-pedal mode, the vehicle may generate unexpected torque; therefore, it is determined that the vehicle does not meet the exit conditions of the single-pedal function.

[0134] S405, determining whether the vehicle meets the exit condition of the single-pedal function.

[0135] For example, if the vehicle's current speed is less than a preset threshold and the brake caliper is in a closed state; if it is detected that the vehicle exits the single-pedal mode, the vehicle will brake under the action of the brake caliper even if the vehicle speed is not 0; that is, when the vehicle exits the single-pedal mode, no unexpected torque will be generated; therefore, it is determined that the vehicle meets the exit conditions of the single-pedal function.

[0136] S406: If it is detected that the vehicle exits the single-pedal function, obtain the current requested torque.

[0137] Exemplarily, the vehicle exits the one-pedal function in response to the operation of exiting the one-pedal function; and obtains the current requested torque.

[0138] Optionally, the vehicle can adjust the driving mode through the settings menu of the central control screen. Usually, the "Driving Mode" option can be found in the settings menu, from which you can choose to turn off the single-pedal function. When the operation of turning off the single-pedal function in the central control screen is detected, the vehicle is controlled to exit the single-pedal function. The vehicle can also control the energy recovery intensity through physical buttons or knobs. These buttons or knobs are usually located near the steering wheel or on the center console. When the energy recovery intensity is adjusted through physical buttons or knobs, the vehicle is controlled to exit the single-pedal function.

[0139] It should be noted that the above-mentioned operation of exiting the single-pedal function is for illustrative purposes only, and this application does not limit the method of exiting the single-pedal function.

[0140] Exemplarily, the vehicle obtains the current requested torque of the vehicle through the accelerator pedal position, vehicle speed, and brake caliper status.

[0141] Optionally, the implementation of S406 can refer to Figure 2 The relevant description of S230 is not repeated here.

[0142] S407 , whether the current requested torque is zero; if so, execute S411 ; if not, execute S408 .

[0143] Exemplarily, it is determined whether the current requested torque of the vehicle is zero; if the current requested torque of the vehicle is not zero, the current requested torque is torque-limited to obtain a target requested torque; if the current torque is zero, the vehicle is controlled to exit the single-pedal function.

[0144] S408: performing torque limiting processing on the current requested torque to obtain a target requested torque.

[0145] Exemplarily, the current requested torque is torque-limited by a vehicle controller of the vehicle to limit the maximum torque output of the engine or the motor.

[0146] Optionally, a torque sensor can be installed to monitor the torque output of the engine or motor in real time, and when it exceeds a preset value, the torque can be reduced through the vehicle controller. Alternatively, the torque output of the engine or motor can be adjusted through the signal of the accelerator pedal sensor so that it does not exceed the set upper limit.

[0147] It should be noted that the torque limiting process for the current requested torque refers to limiting the current requested torque to 0 to avoid generating unexpected torque when the vehicle exits the single-pedal function.

[0148] S409 , whether the target requested torque is zero; if so, execute S411 ; if not, execute S410 .

[0149] Exemplarily, it is determined whether the target requested torque is zero; if so, the vehicle is controlled to exit the single-pedal function; if not, the fault flag of the single-pedal function is activated, and the target request is controlled to be zero.

[0150] S410, activating the fault flag of the single-pedal function, and controlling the target requested torque to zero.

[0151] Exemplarily, if the target requested torque is not zero, it indicates that there is a fault in the torque limiting process of the current requested torque, and the current requested torque cannot be limited to 0; therefore, the fault flag of the single-pedal function is activated, and the target requested torque is controlled to be zero.

[0152] Optionally, the implementation of S408 to S410 can be found in Figure 2 The relevant description of S240 is not repeated here.

[0153] S411, controlling the vehicle to exit the single-pedal function.

[0154] Exemplarily, when the current requested torque is zero, the vehicle is controlled to exit the single-pedal function; or after the current requested torque is cleared to zero, the vehicle is controlled to exit the single-pedal function.

[0155] In an embodiment of the present application, when the vehicle does not meet the single-pedal function exit condition, the vehicle's current requested torque is controlled to be cleared. Since when the vehicle does not meet the single-pedal function exit condition, if the vehicle exits the single-pedal function, it may cause the vehicle to generate unexpected torque. Therefore, when the vehicle does not meet the exit condition, if it is detected that the vehicle exits the single-pedal function, the vehicle's current requested torque is controlled to be cleared; when the current requested torque is controlled to be cleared, the current requested torque and the target requested torque are judged; that is, the vehicle's requested torque is judged twice; ensure that the output torque is 0 when the vehicle exits the single-pedal function; avoid generating unexpected torque when the vehicle exits the single-pedal function, and ensure that the safety of the vehicle can be improved.

[0156] Combination of the above Figures 1 to 4The vehicle control method provided by the embodiment of the present application is described in detail; Figure 5 and Figure 6 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0157] Figure 5 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0158] For example, Figure 5 As shown, the vehicle control device 500 includes:

[0159] A first acquisition module 510 is used to acquire the current speed of the vehicle and the current state of the brake caliper;

[0160] A determination module 520, for determining whether the vehicle meets the exit condition of the single-pedal function based on the current vehicle speed and the current state of the brake caliper;

[0161] The second acquisition module 530 is used to acquire the current requested torque of the vehicle if the vehicle does not meet the exit condition and detects that the vehicle exits the single-pedal function.

[0162] The control module 540 is configured to control the current requested torque to be cleared to zero if the current requested torque is not zero.

[0163] Optionally, as an embodiment, the determination module 520 is specifically used to: determine whether the current vehicle speed is less than a preset threshold; if the current vehicle speed is less than the preset threshold, based on the current state of the brake caliper, determine whether the vehicle meets the exit condition of the single-pedal function.

[0164] Optionally, as an embodiment, the determination module 520 is specifically used to: if the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in an unclosed state, determine that the vehicle does not meet the exit conditions of the single-pedal function; if the current vehicle speed is less than a preset threshold and the current state of the brake caliper is in a closed state, determine that the vehicle meets the exit conditions of the single-pedal function.

[0165] Optionally, as an embodiment, the control module 540 is specifically used to: if the current requested torque is not zero, limit the current requested torque to obtain a target requested torque; if it is detected that the target requested torque is not zero, activate the fault flag of the single pedal function, and control the target requested torque to zero.

[0166] Optionally, as an embodiment, the control module 540 is specifically used to: if the current requested torque is not zero, limit the requested torque through the functional layer to obtain a target requested torque; send the target requested torque to the monitoring layer through the functional layer; if the monitoring layer detects that the target requested torque is not zero, activate the fault flag of the single pedal function through the monitoring layer, and control the target requested torque to zero.

[0167] Optionally, as an embodiment, the control module 540 is specifically configured to: activate a fault flag of the single-pedal function if the target requested torque is not zero and the duration of the target requested torque is greater than a preset duration.

[0168] Optionally, as an embodiment, the control module 540 is also used to: control the vehicle to exit the single-pedal mode when the current requested torque is zero; determine a first torque corresponding to the opening based on the opening of the accelerator pedal when the opening of the vehicle's accelerator pedal is greater than a first threshold; and output the first torque.

[0169] It should be noted that the above vehicle control device is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0170] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0171] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0172] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0173] Exemplarily, vehicle 600 includes: a processor 610 , a memory 620 , and executable program code 630 .

[0174] Exemplarily, the vehicle 600 includes one or more processors 610, which can support the vehicle 600 to implement the vehicle control method in the method embodiment. The processor 610 can be a general-purpose processor or a special-purpose processor. For example, the processor 610 can be a central processing unit (CPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, such as discrete gates, transistor logic devices, or discrete hardware components.

[0175] Exemplarily, the processor 610 may be used to control the vehicle 600, execute software programs, and process data of the software programs. The vehicle 600 may also include a communication unit to implement input (reception) and output (transmission) of signals.

[0176] Exemplarily, the vehicle 600 may include one or more memories 620 on which executable program code 630 is stored. The executable program code 630 can be executed by the processor 610 to generate instructions so that the processor 610 executes the vehicle control method described in the above method embodiment according to the instructions.

[0177] Optionally, data may be stored in the memory 620. Optionally, the processor 610 may read data stored in the memory 620, which may be stored at the same storage address as the executable program code 630, or may be stored at a different storage address from the executable program code 630.

[0178] Exemplarily, the processor 610 and the memory 620 may be provided separately or integrated together, for example, integrated on a system on chip (SOC) of the terminal device.

[0179] Exemplarily, the memory 620 can be used to store relevant programs of the vehicle control method provided in the embodiment of the present application, and the processor 620 can be used to call the executable program code 630 stored in the memory 620 when controlling the vehicle to execute the vehicle control method of the embodiment of the present application; for example, obtain the current vehicle speed and the current state of the brake caliper of the vehicle; based on the current vehicle speed and the current state of the brake caliper, determine whether the vehicle meets the exit condition of the single-pedal function; if the vehicle does not meet the exit condition and it is detected that the vehicle exits the single-pedal function, obtain the current requested torque of the vehicle; if the current requested torque is not zero, control the current requested torque to be cleared.

[0180] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method of any of the aforementioned embodiments.

[0181] Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, digital versatile disks (DVD), compact disc read-only memory (CD-ROM), microdrives and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0182] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0183] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0184] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0185] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0186] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0187] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Get the current speed of the vehicle and the current state of the brake caliper; Based on the current vehicle speed and the current state of the brake caliper, determining whether the vehicle is at risk of generating unexpected torque; wherein the unexpected torque is used to represent the creep torque generated when the accelerator pedal and the brake pedal of the vehicle are both in a released state when the vehicle exits the single-pedal function; If the vehicle is at risk of generating the unexpected torque and it is detected that the vehicle exits the one-pedal function, obtaining a current requested torque of the vehicle; If the current requested torque is not zero, the current requested torque is controlled to be cleared to zero.

2. The method according to claim 1, characterized in that: The determining, based on the current vehicle speed and the current state of the brake caliper, whether the vehicle has a risk of generating unexpected torque includes: Determining whether the current vehicle speed is less than a preset threshold; If the current vehicle speed is less than the preset threshold, it is determined whether the vehicle is at risk of generating the unexpected torque based on the current state of the brake caliper.

3. The method according to claim 2, characterized in that If the current vehicle speed is less than the preset threshold, determining whether the vehicle has a risk of generating the unexpected torque based on the current state of the brake caliper includes: If the current vehicle speed is less than the preset threshold, and the current state of the brake caliper is in an unclosed state, determining that the vehicle is at risk of generating the unexpected torque; If the current vehicle speed is less than the preset threshold, and the current state of the brake caliper is in a closed state, it is determined that the vehicle does not have a risk of generating the unexpected torque.

4. The method according to claim 1, characterized in that If the current requested torque is not zero, controlling the current requested torque to be cleared to zero includes: If the current requested torque is not zero, performing torque limiting processing on the current requested torque to obtain a target requested torque; If it is detected that the target requested torque is not zero, a fault flag of the single-pedal function is activated, and the target requested torque is controlled to be zero.

5. The method according to claim 4, characterized in that The vehicle controller of the vehicle includes a functional layer and a monitoring layer; If the current requested torque is not zero, performing torque limiting processing on the requested torque to obtain a target requested torque includes: If the current requested torque is not zero, performing the torque limiting process on the requested torque through the functional layer to obtain the target requested torque; Sending the target requested torque to the monitoring layer through the functional layer; If it is detected that the target requested torque is not zero, activating the fault flag of the single-pedal function and controlling the target requested torque to be zero includes: If it is detected through the monitoring layer that the target requested torque is not zero, the fault flag of the single-pedal function is activated through the monitoring layer, and the target requested torque is controlled to be zero.

6. The method according to claim 4, characterized in that If it is detected that the target requested torque is not zero, activating the fault flag of the single-pedal function includes: If it is detected that the target requested torque is not zero and the duration of the target requested torque is greater than a preset duration, a fault flag of the single-pedal function is activated.

7. The method according to any one of claims 1 to 6, characterized in that Also includes: When the current requested torque is zero, controlling the vehicle to exit the single-pedal function; When the opening degree of the accelerator pedal of the vehicle is greater than a first threshold, determining a first torque corresponding to the opening degree based on the opening degree of the accelerator pedal; And output the first torque.

8. A vehicle control device, characterized in that: The device comprises: A first acquisition module, used to acquire the current speed of the vehicle and the current state of the brake caliper; a determination module, configured to determine whether the vehicle is at risk of generating unexpected torque based on the current vehicle speed and the current state of the brake caliper; wherein the unexpected torque is used to represent the creep torque generated when the accelerator pedal and the brake pedal of the vehicle are both in a released state when the vehicle exits the single-pedal function; a second acquisition module, configured to acquire a current requested torque of the vehicle if the vehicle is at risk of generating the unexpected torque and it is detected that the vehicle exits the single-pedal function; The control module is configured to control the current requested torque to be cleared to zero if the current requested torque is not zero.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

Images