Vehicle engine torque control method and device and storage medium

Abstract

The invention provides a vehicle engine torque control method and device and a storage medium. According to the method, danger and operability analysis is conducted on the torque control function of the vehicle through two paths of obtained accelerator pedal signals and engine rotating speed signals of the vehicle so as to determine the fault source of the vehicle, and after abnormal information is determined according to the fault source of the vehicle, the vehicle running mode is determined according to the abnormal information and the engine rotating speed signals, the vehicle running modes comprise multiple different limping modes, torque control is carried out on the vehicle based on the different limping modes and the pedal output opening degree, therefore, abnormal information is obtained through danger and operability analysis, torque output for different faults is achieved by setting the corresponding running modes, and the reliability of the vehicle is improved. The situation that torque output of the vehicle is controlled only according to the opening degree of the accelerator pedal is avoided, and therefore the overall safety of the vehicle is improved.

Description

Technical Field

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

[0002] With the rapid development of commercial vehicles, the acceleration, climbing and traction performance of commercial vehicles are becoming more and more important, and the torque control strategy of commercial vehicles directly affects the performance of commercial vehicles.

[0003] In the prior art, the torque control strategy for commercial vehicles is usually only checked for rationality based on the opening of the vehicle's accelerator pedal. When a fault occurs, the impact of other signals and functions is not considered, and there is no safety state designed, resulting in low safety. Summary of the invention

[0004] The vehicle engine torque control method, device and storage medium provided in the present application are used to solve the defect that the prior art only performs rationality verification based on the opening of the vehicle accelerator pedal, and does not combine the influence of other signals and functions when a fault occurs, so the safety is low.

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

[0006] Acquiring two accelerator pedal signals and an engine speed signal of the vehicle;

[0007] determining a pedal output opening according to the two accelerator pedal signals;

[0008] determining abnormal information of the two accelerator pedal signals;

[0009] determining a vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode is used to describe the running state of the vehicle;

[0010] The vehicle is torque controlled according to the vehicle driving mode and the pedal output opening.

[0011] In a possible implementation manner, determining whether the vehicle driving mode is a limp home mode according to the abnormal information, the limp home mode including a plurality of limp home sub-modes;

[0012] If the vehicle driving mode is the limp home mode, a target limp home sub-mode is determined from among the plurality of limp home sub-modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals.

[0013] In a possible implementation manner, determining whether the vehicle driving mode is a limp home mode according to the abnormal information includes:

[0014] determining a normal amount of the accelerator pedal signal according to the abnormal information;

[0015] determining an opening difference of the two accelerator pedal signals according to the two accelerator pedal signals;

[0016] It is determined whether the vehicle travel mode is a limp home mode based on the normal amount and the opening degree difference.

[0017] In a possible implementation manner, determining whether the vehicle driving mode is a limp home mode according to the normal number and the opening difference includes:

[0018] If the normal number is 2, and twice the opening difference is less than or equal to a preset threshold, it is determined that the vehicle driving mode is a normal mode, and the normal mode does not limit the speed and / or engine torque of the vehicle;

[0019] If the normal number is not 2, and / or twice the opening difference is greater than the preset threshold, the vehicle driving mode is determined to be a limp home mode, and the limp home mode limits the vehicle speed to be less than or equal to a speed threshold, and / or limits the torque to be less than a torque threshold.

[0020] In a possible implementation manner, determining a target limp home mode from a plurality of limp home modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals includes:

[0021] If the normal number is 2, and twice the opening difference is greater than a preset threshold, and the engine speed signal is normal, determining that the vehicle driving mode is the first limp home mode;

[0022] If the normal number is 2, and two times of the opening difference is greater than a preset threshold, and the engine speed signal is abnormal, then determining that the vehicle driving mode is the second limp home mode;

[0023] If the normal number is 1 and the engine speed signal is normal, determining that the vehicle driving mode is the first limp home mode;

[0024] If the normal number is 1 and the engine speed signal is abnormal, determining that the vehicle driving mode is a second limp home mode;

[0025] If the normal number is 0, the vehicle driving mode is determined to be the third limp mode, the speed threshold of the first limp mode is greater than or equal to the speed threshold of the second limp mode, the first limp mode and the second limp mode correspond to the same torque threshold, and the torque threshold of the third limp mode is less than the torque threshold of the first limp mode.

[0026] In a possible implementation manner, determining the pedal output opening according to the two accelerator pedal signals includes:

[0027] If each of the accelerator pedal signals is normal, and twice the opening difference between any two of the accelerator pedal signals is less than or equal to a preset threshold, the minimum opening corresponding to the two accelerator pedal signals is used as the pedal output opening;

[0028] If each of the accelerator pedal signals is normal, and twice the opening difference between the two accelerator pedal signals is greater than a preset threshold, a preset ratio of the minimum openings corresponding to the two accelerator pedal signals is used as the pedal output opening;

[0029] If only one of the accelerator pedal signals is normal, the preset ratio of the opening corresponding to the normal accelerator pedal signal is used as the pedal output opening;

[0030] If each of the accelerator pedal signals is abnormal, the target opening is set to a preset minimum opening.

[0031] In a possible implementation manner, performing torque control on the vehicle according to the vehicle driving mode and the pedal output opening includes:

[0032] controlling the vehicle to enter the vehicle driving mode;

[0033] When the vehicle driving mode is the limp home mode and the vehicle fails to enter the limp home mode, torque control is performed on the vehicle according to the pedal output opening.

[0034] In a possible implementation manner, performing torque control on the vehicle according to the pedal output opening includes:

[0035] Acquiring braking information and a brake pedal opening corresponding to the braking information;

[0036] taking the minimum value of the brake pedal opening and the pedal output opening as the target control opening;

[0037] A target torque is determined according to the target control opening, and the engine is controlled to output the target torque.

[0038] In a second aspect, an embodiment of the present application provides an engine torque control device for a vehicle, comprising:

[0039] An acquisition module, used for acquiring two accelerator pedal signals and an engine speed signal of the vehicle;

[0040] A processing module, used for determining a pedal output opening according to the two accelerator pedal signals, and determining abnormal information of the two accelerator pedal signals;

[0041] An execution module is used to determine a vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode is used to describe the running state of the vehicle, and to perform torque control on the vehicle according to the vehicle driving mode and the pedal output opening.

[0042] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementations of the first aspect.

[0043] The present application provides a vehicle engine torque control method device and storage medium, which performs a hazard and operability analysis on the vehicle's torque control function by acquiring two accelerator pedal signals and the vehicle's engine speed signal to determine the source of the vehicle's fault, and after determining abnormal information based on the source of the vehicle's fault, determines the vehicle's driving mode based on the abnormal information and the engine speed signal, wherein the vehicle driving mode includes a variety of different limp home modes, and the vehicle's torque is controlled based on different limp home modes and pedal output openings. Therefore, abnormal information is acquired through hazard and operability analysis, and torque output for different faults is achieved by setting corresponding driving modes, thereby avoiding controlling the vehicle's torque output based only on the accelerator pedal opening, thereby improving the overall safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] Figure 1 The process diagram of the vehicle engine torque control method provided in this application is as follows Figure 1 ;

[0046] Figure 2 The process diagram of the vehicle engine torque control method provided in this application is as follows Figure 2 ;

[0047] Figure 3 Schematic diagram of engine torque control safety function provided for this application;

[0048] Figure 4 A schematic diagram of the structure of the engine torque control device of the vehicle provided in the present application;

[0049] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0050] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0052] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0053] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0054] In the prior art, there are vehicle torque control strategy solutions. The vehicle torque control strategy not only directly affects the performance of the vehicle, but also involves the power output of the vehicle, and the power output of the vehicle is directly related to driving safety. Existing solutions usually include a solution for controlling the vehicle state according to the accelerator pedal opening and a comprehensive torque control solution. For the solution for controlling the vehicle state according to the accelerator pedal opening, the rationality of the accelerator pedal is judged to determine whether the vehicle has a fault, and the automatic driving mode at the time is directly exited after the fault is determined, and the vehicle torque output is achieved based on the vehicle driving mode after exiting; for the comprehensive torque control solution, the accelerator pedal opening of the vehicle is controlled by combining the monitored accelerator pedal opening and the driving state, and the vehicle torque output is achieved based on the controlled accelerator pedal opening.

[0055] Research on the above-mentioned vehicle torque control strategy found that since commercial vehicles integrate multiple functional control systems such as power systems, brake systems, electronic stability control and other functional systems, the torque control strategy also needs to work in coordination with other functional systems to ensure the overall safety of the vehicle during operation. Among the existing solutions, the solution for controlling the vehicle state according to the accelerator pedal opening is not suitable for the acceleration torque control of commercial vehicles. If the acceleration torque control in the automatic driving mode is directly exited, it will directly lead to power loss, affecting the driving experience and lack of safety; for the comprehensive torque control solution, only the accelerator pedal opening and driving status are combined for torque control, and the influence of signals and data from other functional control systems is not combined, and there is no setting of a safety state corresponding to the fault to control the torque output of the vehicle. Therefore, there are defects in the overall safety of the vehicle.

[0056] In view of this, the present application provides a vehicle engine torque control method, which performs a hazard and operability analysis on the vehicle's torque control function by acquiring two accelerator pedal signals and the vehicle's engine speed signal to determine the source of the vehicle's fault, and after determining the abnormal information according to the source of the vehicle's fault, determines the vehicle's driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode includes a variety of different limp home modes, and the vehicle's torque is controlled based on different limp home modes and pedal output openings. Therefore, the abnormal information is acquired through the hazard and operability analysis, and the torque output for different faults is achieved by setting the corresponding driving mode, thereby avoiding controlling the vehicle's torque output only according to the accelerator pedal opening, thereby improving the overall safety of the vehicle.

[0057] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 1 The process diagram of the vehicle engine torque control method provided in this application is as follows Figure 1 ,like Figure 1 As shown, the method includes:

[0059] S101. Acquire two accelerator pedal signals and an engine speed signal of the vehicle.

[0060] Specifically, for commercial vehicles such as heavy trucks or semi-trailer tractors, a redundant mechanism is usually adopted, that is, by setting two accelerator pedals to achieve acceleration control of the commercial vehicle, and continuously monitoring the vehicle to obtain signals from the two accelerator pedals and engine speed signals, wherein the signals from the two accelerator pedals are used to indicate the working status of the accelerator pedal and the accelerator pedal opening, the accelerator pedal working status is used to indicate whether the accelerator pedal is working normally, and the engine speed signal is used to indicate whether the current vehicle speed is normal.

[0061] S102: Determine a pedal output opening according to the two accelerator pedal signals.

[0062] Specifically, after obtaining the two accelerator pedal signals of the vehicle and the engine speed signal of the vehicle, the opening value currently output by the two accelerator pedals is determined according to the working state indicated by the accelerator pedal signal and the opening difference between the two accelerator pedals. By combining the two accelerator pedal signals and the two accelerator pedal openings to determine the pedal output opening, calculation errors caused by malfunction of a single accelerator pedal can be avoided.

[0063] S103: Determine abnormal information of the two accelerator pedal signals.

[0064] Specifically, after the accelerator pedal signal is obtained, the abnormal information is obtained according to the working state of the accelerator pedal in the two accelerator pedal signals, and the abnormal information is used to indicate the number of accelerator pedals that are not working properly, that is, the number of accelerator pedals that are working abnormally. When the voltage value generated by the accelerator pedal is within a preset voltage value range, the accelerator pedal is working normally, and when the voltage value generated by the accelerator pedal is not within the preset voltage value range, the accelerator pedal is working abnormally.

[0065] S104. Determine a vehicle driving mode according to the abnormal information and the engine speed signal, where the vehicle driving mode is used to describe a running state of the vehicle.

[0066] Specifically, after obtaining the abnormal information and the engine speed signal, it is determined whether the vehicle is in limp mode based on the abnormal information. If it is determined that the vehicle is in limp mode, the limp sub-mode of the vehicle is determined based on the engine speed signal, wherein the vehicle driving mode includes a normal mode or a limp mode, and the limp mode includes multiple limp sub-modes.

[0067] S105: Perform torque control on the vehicle according to the vehicle driving mode and the pedal output opening.

[0068] Specifically, after determining the vehicle driving mode, the output torque of the vehicle is jointly realized based on the speed limit indicated by the vehicle driving mode and the pedal output opening. Different vehicle driving modes correspond to different speed and torque limits. If the vehicle driving mode is normal mode, the vehicle speed and torque are not limited. If the vehicle driving mode is limp mode, the vehicle speed and torque need to be limited.

[0069] An embodiment of the present application provides a vehicle engine torque control method, which performs a hazard and operability analysis on the vehicle's torque control function by acquiring two accelerator pedal signals and the vehicle's engine speed signal to determine the source of the vehicle's fault, and after determining abnormal information based on the source of the vehicle's fault, determines the vehicle's driving mode based on the abnormal information and the engine speed signal, wherein the vehicle driving mode includes a variety of different limp home modes, and the vehicle's torque is controlled based on different limp home modes and pedal output openings. Therefore, abnormal information is acquired through hazard and operability analysis, and torque output for different faults is achieved by setting corresponding driving modes, thereby avoiding controlling the vehicle's torque output based solely on the accelerator pedal opening, thereby improving the overall safety of the vehicle.

[0070] Figure 2 The process diagram of the vehicle engine torque control method provided in this application is as follows Figure 2 , Figure 3 The engine torque control safety function diagram provided for this application is combined with Figure 2 and Figure 3 As shown, in this embodiment Figure 1 Based on the embodiment, a vehicle engine torque control method is described in detail, and the method includes:

[0071] S201. Acquire two accelerator pedal signals and an engine speed signal of the vehicle.

[0072] Specifically, the acceleration torque function is analyzed through hazard and risk analysis, also known as HARA analysis (Hazard Analysis and Risk Assessment) to obtain the possible hazards to the whole vehicle. The hazard events are obtained by risk assessment of the whole vehicle in the vehicle operation scenario, and the vehicle safety integrity level ASIL (Automotive Safety Integrity Level) and safety goals of the hazard events are determined. Among them, the safety goals include avoiding excessive acceleration torque, avoiding reverse acceleration torque and avoiding unexpected output acceleration torque.

[0073] Furthermore, in view of the safety goal, the fault sources are analyzed from the input end, control end and execution end through the FTA (Fault Tree Analysis) analysis method. Among them, the fault sources at the input end are engine speed, accelerator pedal and ASR (Acceleration Slip Regulation) torque signal communication failure; the fault source at the control end is the PCU calculation unit (Power Control Unit); the fault source at the execution end is the TCU unit (Transmission Control Unit) and the EMS unit (Engine Management System).

[0074] Furthermore, with regard to the fault source at the input end, single-path faults and dual-path faults of the two-path accelerator pedals are monitored, that is, by monitoring the two-path accelerator pedal signals and the vehicle's engine speed signals, and after a function fails, the corresponding limp home mode or normal mode is entered according to the different situations of the two-path accelerator pedal signals and the engine speed signals obtained by monitoring, so as to achieve acceleration torque control that meets the functional safety level.

[0075] S202: If each of the accelerator pedal signals is normal, and twice the opening difference between any two accelerator pedal signals is less than or equal to a preset threshold, the minimum opening corresponding to the two accelerator pedal signals is used as the pedal output opening.

[0076] Specifically, for the fault source at the input end, after obtaining the vehicle's two accelerator pedal signals and the vehicle's engine speed signal, if the working status of each accelerator pedal signal in the two accelerator pedal signals indicates normal operation, and the opening difference in each accelerator pedal signal is less than or equal to a preset threshold, it is determined that there is no fault in the two accelerator pedals, and the accelerator pedal with the smaller opening of the two accelerator pedals is used as the pedal output opening.

[0077] S203: If each accelerator pedal signal is normal and twice the opening difference between the two accelerator pedal signals is greater than a preset threshold, a preset ratio of the minimum openings corresponding to the two accelerator pedal signals is used as the pedal output opening.

[0078] Specifically, if the working status of each of the two accelerator pedal signals indicates normal operation, and the opening difference in each accelerator pedal signal is greater than the preset threshold, that is, |2×first accelerator pedal opening value-2×second accelerator pedal opening value|>preset threshold, wherein the preset threshold is obtained based on the inherent attribute data of the vehicle, and it is determined that at least one of the two accelerator pedals currently has a rationality fault, and a preset ratio of the smaller opening of the two accelerator pedals, such as fifty percent, is used as the pedal output opening, wherein a rationality fault refers to that the voltages corresponding to the two accelerator pedals are within the preset voltage range, but the opening values ​​of the two accelerator pedals are quite different.

[0079] S204: If only one of the accelerator pedal signals is normal, a preset ratio of the opening corresponding to the normal accelerator pedal signal is used as the pedal output opening.

[0080] Specifically, if among the two accelerator pedal signals, only one accelerator pedal signal's working status indicates that it is working normally, and the other accelerator pedal signal's working status indicates that it is working abnormally, it is determined that a single-path failure has occurred in the two accelerator pedals. The opening value of the accelerator pedal whose working status indicates that it is working normally is obtained, and a preset ratio of the normal accelerator pedal opening value, for example fifty percent, is obtained as the pedal output opening. By setting an opening value of fifty percent, it is possible to avoid excessive vehicle acceleration output, which may cause safety problems, and it is also possible to prevent commercial vehicles from being directly without power, so the preset ratio is set to fifty percent.

[0081] S205: If each of the accelerator pedal signals is abnormal, setting the target opening to a preset minimum opening.

[0082] Specifically, if in the two accelerator pedal signals, the working status of the two accelerator pedal signals both indicate abnormal operation, that is, when the voltage values ​​generated by the two accelerator pedals are not within the preset voltage value ranges, the two accelerator pedals are both working abnormally, confirming that the two accelerator pedals currently have dual-path faults. At this time, the pedal output opening, that is, the target opening, is set to zero percent.

[0083] S206: Determine abnormal information of the two accelerator pedal signals, and determine a normal number of the accelerator pedal signals according to the abnormal information.

[0084] Specifically, the abnormal information is obtained according to the working state of the accelerator pedal in the two accelerator pedal signals, the abnormal information is used to indicate the number of accelerator pedals working abnormally, and the number of accelerator pedals working normally is obtained according to the number of accelerator pedals working abnormally.

[0085] Further, when the abnormal information indicates that the number of accelerator pedals working abnormally is zero, the normal number of accelerator pedal signals is two; when the abnormal information indicates that the number of accelerator pedals working abnormally is one, the normal number of accelerator pedal signals is not two; when the abnormal information indicates that the number of accelerator pedals working abnormally is two, the normal number of accelerator pedal signals is zero, so that it is possible to determine whether the vehicle driving mode is the limp mode based on the normal number and the opening difference.

[0086] S207: If the normal number is 2, and twice the opening difference is less than or equal to a preset threshold, it is determined that the vehicle driving mode is a normal mode, and the normal mode does not limit the speed and / or engine torque of the vehicle.

[0087] Specifically, after obtaining the normal number of accelerator pedal signals and the opening difference between the two accelerator pedals indicated by the accelerator pedal signals, if both accelerator pedals are working normally and there is no fault in the two accelerator pedals, it is determined that the current vehicle driving mode is the normal mode. In the normal mode, the output torque of the vehicle is not restricted, and only the accelerator pedal with the smaller opening of the two accelerator pedals is used as the pedal output opening.

[0088] S208. If the normal number is not 2, and / or twice the opening difference is greater than the preset threshold, it is determined that the vehicle driving mode is a limp home mode, and the limp home mode limits the vehicle speed to be less than or equal to a speed threshold, and / or limits the torque to be less than a torque threshold.

[0089] Specifically, if at least one of the two accelerator pedals is working abnormally and the opening difference in the current accelerator pedal signals is greater than a preset threshold, that is, it is determined that at least one of the two accelerator pedals is faulty or has a rationality fault, the current vehicle driving mode is determined to be limp mode. In the limp mode, the vehicle's output torque and speed need to be limited, wherein the limp mode includes a first limp mode, a second limp mode and a third limp mode.

[0090] S209: If the vehicle driving mode is the limp home mode, determine a target limp home sub-mode from the plurality of limp home sub-modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals.

[0091] Specifically, if the normal number is 2 and the two times of the opening difference is greater than the preset threshold, if the engine speed signal is normal, the vehicle driving mode is determined to be the first limp mode, and if the engine speed signal is abnormal, the vehicle driving mode is determined to be the second limp mode. That is, when a rationality failure occurs in the two-way accelerator pedal, the engine speed signal is detected to be normal. If the engine speed signal indicates normal, the vehicle driving mode is determined to be the first limp mode, and if the engine speed signal indicates abnormal, the target limp sub-mode is determined to be the second limp mode.

[0092] Further, if the normal number is 1, when the engine speed signal is normal, the vehicle driving mode is determined to be the first limp mode, and when the engine speed signal is abnormal, the vehicle driving mode is determined to be the second limp mode. That is, when a single-way fault occurs in the two-way accelerator pedal, the engine speed signal is detected to be normal. If the engine speed signal indicates normal, the vehicle driving mode is determined to be the first limp mode. If the engine speed signal indicates abnormal, the target limp sub-mode is determined to be the second limp mode. The speed threshold of the first limp mode is greater than or equal to the speed threshold of the second limp mode. The first limp mode and the second limp mode correspond to the same torque threshold.

[0093] Furthermore, if the normal number is 0, the vehicle driving mode is directly determined to be the third limp mode. That is, when a dual-path fault occurs in the two-path accelerator pedals, the target limp mode is directly determined to be the third limp mode, and the torque threshold of the third limp mode is less than the torque threshold of the first limp mode.

[0094] S210: Control the vehicle to enter the vehicle driving mode.

[0095] Specifically, after determining the target limp sub-mode from multiple limp sub-modes, that is, after determining the vehicle driving mode, the corresponding vehicle driving mode such as the first limp mode or the second limp mode is entered, and based on the corresponding limited torque and vehicle speed of the first limp mode or the second limp mode, the vehicle can obtain the corresponding pedal output opening according to the rationality fault or the single-path fault to achieve vehicle control. Or the vehicle enters the third limp mode, obtains the limited torque and vehicle speed corresponding to the third limp mode, and obtains the corresponding pedal output opening based on the double-path fault to achieve vehicle control.

[0096] S211. When the vehicle driving mode is the limp home mode and the vehicle fails to enter the limp home mode, obtain braking information and a brake pedal opening corresponding to the braking information.

[0097] Specifically, when a target limp sub-mode is determined from multiple limp sub-modes and the vehicle is controlled to enter the target limp sub-mode, if an unexpected action occurs at this time, such as vehicle braking operation, it is confirmed that the vehicle has failed to enter the limp mode at this time, and braking information corresponding to the vehicle braking operation at this time is obtained, and the braking information indicates the brake pedal opening.

[0098] S212: Taking the minimum value between the brake pedal opening and the pedal output opening as the target control opening, determining the target torque according to the target control opening, and controlling the engine to output the target torque.

[0099] Specifically, after obtaining the braking information and the brake pedal opening corresponding to the braking information, if the brake pedal opening is greater than or equal to the preset braking threshold, it is confirmed that the vehicle needs to be braked first at this time. At this time, the accelerator pedal output opening is directly set to zero. If the brake pedal opening is less than the preset braking threshold, the smaller value of the corresponding pedal output opening and the brake pedal opening is used as the target control opening. The target torque is determined based on the target control opening and the parameters of other functional systems, and the engine output torque is controlled based on the target torque.

[0100] The vehicle engine torque control method provided in the embodiment of the present application performs a hazard and operability analysis on the vehicle's torque control function by acquiring two accelerator pedal signals and the vehicle's engine speed signal to determine the source of the vehicle's fault, and after determining the abnormal information according to the source of the vehicle's fault, determines the vehicle's driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode includes a variety of different limp home modes, and the vehicle's torque is controlled based on different limp home modes and pedal output openings. Therefore, abnormal information is acquired through hazard and operability analysis, and torque output for different faults is achieved by setting corresponding driving modes, thereby avoiding controlling the vehicle's torque output only according to the accelerator pedal opening, thereby improving the overall safety of the vehicle.

[0101] Figure 4 The schematic diagram of the structure of the engine torque control device of the vehicle provided in this application is as follows: Figure 4 As shown, the device 40 includes:

[0102] An acquisition module 401 is used to acquire two accelerator pedal signals and an engine speed signal of the vehicle;

[0103] The processing module 402 is used to determine the pedal output opening according to the two accelerator pedal signals, and determine abnormal information of the two accelerator pedal signals.

[0104] The execution module 403 is used to determine the vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode is used to describe the running state of the vehicle, and to perform torque control on the vehicle according to the vehicle driving mode and the pedal output opening.

[0105] In a possible implementation, the execution module 403 is configured to determine whether the vehicle driving mode is a limp mode according to the abnormal information, and the limp mode includes a plurality of limp sub-modes;

[0106] If the vehicle driving mode is the limp home mode, a target limp home sub-mode is determined from among the plurality of limp home sub-modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals.

[0107] In a possible implementation, the execution module 403 is configured to determine a normal number of the accelerator pedal signal according to the abnormal information;

[0108] determining an opening difference of the two accelerator pedal signals according to the two accelerator pedal signals;

[0109] It is determined whether the vehicle travel mode is a limp home mode based on the normal amount and the opening degree difference.

[0110] In a possible implementation, the execution module 403 is configured to determine that the vehicle driving mode is a normal mode if the normal number is 2 and twice the opening difference is less than or equal to a preset threshold, and the normal mode does not limit the speed and / or engine torque of the vehicle;

[0111] If the normal number is not 2, and / or twice the opening difference is greater than the preset threshold, the vehicle driving mode is determined to be a limp home mode, and the limp home mode limits the vehicle speed to be less than or equal to a speed threshold, and / or limits the torque to be less than a torque threshold.

[0112] In a possible implementation, the execution module 403 is configured to determine that the vehicle driving mode is the first limp home mode if the normal number is 2, and twice the opening difference is greater than a preset threshold, and the engine speed signal is normal;

[0113] If the normal number is 2, and two times of the opening difference is greater than a preset threshold, and the engine speed signal is abnormal, then determining that the vehicle driving mode is the second limp home mode;

[0114] If the normal number is 1 and the engine speed signal is normal, determining that the vehicle driving mode is the first limp home mode;

[0115] If the normal number is 1 and the engine speed signal is abnormal, determining that the vehicle driving mode is a second limp home mode;

[0116] If the normal number is 0, the vehicle driving mode is determined to be the third limp mode, the speed threshold of the first limp mode is greater than or equal to the speed threshold of the second limp mode, the first limp mode and the second limp mode correspond to the same torque threshold, and the torque threshold of the third limp mode is less than the torque threshold of the first limp mode.

[0117] In a possible implementation, the processing module 402 is configured to use the minimum opening corresponding to the two accelerator pedal signals as the pedal output opening if each accelerator pedal signal is normal and twice the opening difference between any two accelerator pedal signals is less than or equal to a preset threshold;

[0118] If each of the accelerator pedal signals is normal, and twice the opening difference between the two accelerator pedal signals is greater than a preset threshold, a preset ratio of the minimum openings corresponding to the two accelerator pedal signals is used as the pedal output opening;

[0119] If only one of the accelerator pedal signals is normal, the preset ratio of the opening corresponding to the normal accelerator pedal signal is used as the pedal output opening;

[0120] If each of the accelerator pedal signals is abnormal, the target opening is set to a preset minimum opening.

[0121] In a possible implementation, the execution module 403 is used to control the vehicle to enter the vehicle driving mode;

[0122] When the vehicle driving mode is the limp home mode and the vehicle fails to enter the limp home mode, torque control is performed on the vehicle according to the pedal output opening.

[0123] In a possible implementation, the execution module 403 is used to obtain braking information and a brake pedal opening corresponding to the braking information;

[0124] taking the minimum value of the brake pedal opening and the pedal output opening as the target control opening;

[0125] A target torque is determined according to the target control opening, and the engine is controlled to output the target torque.

[0126] The vehicle engine torque control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0127] Figure 5This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5 As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0128] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0129] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0130] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0131] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0132] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0133] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0134] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0135] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0136] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0137] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, 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 an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0140] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0141] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0142] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling engine torque of a vehicle, characterized in that: The method comprises: Acquiring two accelerator pedal signals and an engine speed signal of the vehicle; determining a pedal output opening according to the two accelerator pedal signals; determining abnormal information of the two accelerator pedal signals; determining a vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode is used to describe the running state of the vehicle; The vehicle is torque controlled according to the vehicle driving mode and the pedal output opening.

2. The method according to claim 1, characterized in that The determining the vehicle driving mode according to the abnormal information and the engine speed signal includes: determining whether the vehicle driving mode is a limp home mode according to the abnormal information, wherein the limp home mode includes a plurality of limp home sub-modes; If the vehicle driving mode is the limp home mode, a target limp home sub-mode is determined from among the plurality of limp home sub-modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals.

3. The method according to claim 2, characterized in that The determining whether the vehicle driving mode is a limp home mode according to the abnormal information includes: determining a normal amount of the accelerator pedal signal according to the abnormal information; determining an opening difference of the two accelerator pedal signals according to the two accelerator pedal signals; It is determined whether the vehicle travel mode is a limp home mode based on the normal amount and the opening degree difference.

4. The method according to claim 3, characterized in that The determining whether the vehicle driving mode is a limp home mode according to the normal number and the opening difference comprises: If the normal number is 2, and twice the opening difference is less than or equal to a preset threshold, it is determined that the vehicle driving mode is a normal mode, and the normal mode does not limit the speed and / or engine torque of the vehicle; If the normal number is not 2, and / or twice the opening difference is greater than the preset threshold, the vehicle driving mode is determined to be a limp home mode, and the limp home mode limits the vehicle speed to be less than or equal to a speed threshold, and / or limits the torque to be less than a torque threshold.

5. The method according to claim 4, characterized in that The determining a target limp home mode from a plurality of limp home modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals comprises: If the normal number is 2, and twice the opening difference is greater than a preset threshold, and the engine speed signal is normal, determining that the vehicle driving mode is the first limp home mode; If the normal number is 2, and two times of the opening difference is greater than a preset threshold, and the engine speed signal is abnormal, then determining that the vehicle driving mode is the second limp home mode; If the normal number is 1 and the engine speed signal is normal, determining that the vehicle driving mode is the first limp home mode; If the normal number is 1 and the engine speed signal is abnormal, determining that the vehicle driving mode is a second limp home mode; If the normal number is 0, the vehicle driving mode is determined to be the third limp mode, the speed threshold of the first limp mode is greater than or equal to the speed threshold of the second limp mode, the first limp mode and the second limp mode correspond to the same torque threshold, and the torque threshold of the third limp mode is less than the torque threshold of the first limp mode.

6. The method according to claim 1, characterized in that The step of determining the pedal output opening according to the two accelerator pedal signals comprises: If each of the accelerator pedal signals is normal, and twice the opening difference between any two of the accelerator pedal signals is less than or equal to a preset threshold, the minimum opening corresponding to the two accelerator pedal signals is used as the pedal output opening; If each of the accelerator pedal signals is normal, and twice the opening difference between the two accelerator pedal signals is greater than a preset threshold, a preset ratio of the minimum openings corresponding to the two accelerator pedal signals is used as the pedal output opening; If only one of the accelerator pedal signals is normal, the preset ratio of the opening corresponding to the normal accelerator pedal signal is used as the pedal output opening; If each of the accelerator pedal signals is abnormal, the target opening is set to a preset minimum opening.

7. The method according to any one of claims 2 to 6, characterized in that: The step of controlling the torque of the vehicle according to the vehicle driving mode and the pedal output opening comprises: controlling the vehicle to enter the vehicle driving mode; When the vehicle driving mode is the limp home mode and the vehicle fails to enter the limp home mode, torque control is performed on the vehicle according to the pedal output opening.

8. The method according to claim 7, characterized in that The step of controlling the torque of the vehicle according to the pedal output opening comprises: Acquiring braking information and a brake pedal opening corresponding to the braking information; taking the minimum value of the brake pedal opening and the pedal output opening as the target control opening; A target torque is determined according to the target control opening, and the engine is controlled to output the target torque.

9. A vehicle engine torque control device, characterized in that: include: An acquisition module, used for acquiring two accelerator pedal signals and an engine speed signal of the vehicle; A processing module, used for determining a pedal output opening according to the two accelerator pedal signals, and determining abnormal information of the two accelerator pedal signals; An execution module is used to determine a vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode is used to describe the running state of the vehicle, and to perform torque control on the vehicle according to the vehicle driving mode and the pedal output opening.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

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