Engine torque control method, device and storage medium of vehicle

Abstract

The application provides an engine torque control method, device and storage medium of a vehicle. The method performs a risk and operability analysis on the torque control function of the vehicle by obtaining two accelerator pedal signals and an engine speed signal of the vehicle, determines the fault source of the vehicle, determines abnormal information according to the fault source of the vehicle, determines the vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode includes multiple different limp-home modes, the torque of the vehicle is controlled based on different limp-home modes and pedal output opening degrees, therefore, the abnormal information is obtained through the risk and operability analysis, and the torque output of different faults is realized by setting the corresponding driving mode, thereby avoiding controlling the torque output of the vehicle only according to the accelerator pedal opening degree, and improving the overall safety of the vehicle.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of commercial vehicles, the acceleration, climbing and traction performance of commercial vehicles are increasingly 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 of commercial vehicles is usually only verified for rationality according to the opening degree of the vehicle accelerator pedal, and when a fault occurs, the influence of other signals and functions is not considered, and no safety state is designed, so the safety is low. SUMMARY

[0004] The engine torque control method and device of a vehicle and the storage medium provided by the present application solve the defect that the prior art only verifies rationality according to the opening degree of the vehicle accelerator pedal, and when a fault occurs, the influence of other signals and functions is not considered, so the safety is low.

[0005] In a first aspect, an engine torque control method of a vehicle is provided, comprising:

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

[0007] determining a pedal output opening degree 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, the vehicle driving mode being used to describe the running state of the vehicle;

[0010] controlling the torque of the vehicle according to the vehicle driving mode and the pedal output opening degree.

[0011] In a possible implementation, it is determined according to the abnormal information whether the vehicle driving mode is a limp mode, and the limp mode includes a plurality of limp sub-modes.

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

[0013] In a possible implementation, it is determined according to the abnormal information whether the vehicle driving mode is a limp mode, comprising:

[0014] determining a normal number of the accelerator pedal signals according to the abnormal information;

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

[0016] determining whether the vehicle driving mode is a limp mode according to the normal number and the opening difference.

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

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

[0019] if the normal number is not 2 and / or twice of the opening difference is greater than the preset threshold, determining that the vehicle driving mode is a limp mode, the limp mode limiting the vehicle speed to be less than or equal to a speed threshold and / or limiting the torque to be less than a torque threshold.

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

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

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

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

[0025] if the normal number is 0, determining that the vehicle driving mode is a third limp mode, the speed threshold of the first limp mode being greater than or equal to the speed threshold of the second limp mode, the first limp mode and the second limp mode corresponding to the same torque threshold, and the torque threshold of the third limp mode being less than the torque threshold of the first limp mode.

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

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

[0028] If each of the accelerator pedal signals is normal, and twice the difference between the opening degrees of any two of the accelerator pedal signals is greater than a preset threshold, a preset proportion of the minimum opening degree corresponding to the two accelerator pedal signals is taken as the pedal output opening degree.

[0029] If only one of the accelerator pedal signals is normal, a preset proportion of the opening degree corresponding to the normal accelerator pedal signal is taken as the pedal output opening degree.

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

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

[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, performing torque control on the vehicle according to the pedal output opening degree.

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

[0035] obtaining brake information and a brake pedal opening degree corresponding to the brake information;

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

[0037] determining a target torque according to the target control opening degree, and controlling an engine to output the target torque.

[0038] In a second aspect, an engine torque control device of a vehicle is provided, comprising:

[0039] an obtaining module, configured to obtain two accelerator pedal signals and an engine speed signal of the vehicle;

[0040] a processing module, configured to determine a pedal output opening degree according to the two accelerator pedal signals, and determine abnormal information of the two accelerator pedal signals.

[0041] an execution module configured to determine a vehicle driving mode according to the abnormal information and the engine speed signal, the vehicle driving mode being used to describe an operation state of the vehicle, and perform torque control on the vehicle according to the vehicle driving mode and the pedal output opening degree.

[0042] In a third aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer execution instructions. When the computer execution instructions are executed by a processor, the computer execution instructions are used to implement the first aspect and / or various possible implementation manners of the first aspect.

[0043] The vehicle engine torque control method and device and storage medium provided by the application perform dangerous and operability analysis on the torque control function of the vehicle by using the two obtained accelerator pedal signals and the engine speed signal of the vehicle, to determine the fault source of the vehicle, and then determine the abnormal information according to the fault source of the vehicle. Then, the vehicle driving mode is determined according to the abnormal information and the engine speed signal, wherein the vehicle driving mode includes multiple different limp-home modes. The torque control is performed on the vehicle based on the different limp-home modes and the pedal output opening degree. Therefore, the abnormal information is obtained by dangerous and operability analysis, and the torque output of different faults is realized by setting the corresponding driving mode, which avoids controlling the torque output of the vehicle only according to the accelerator pedal opening degree, thereby improving the overall safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

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

[0045] Figure 1 Flowchart of the vehicle engine torque control method provided by the application Figure 1

[0046] Figure 2 Flowchart of the vehicle engine torque control method provided by the application Figure 2

[0047] Figure 3 Safety function diagram of the engine torque control provided by the application

[0048] Figure 4 Structure diagram of the vehicle engine torque control device provided by the application

[0049] Figure 5 Structure diagram of the electronic device provided by the application

[0050] ​​The specific embodiments of the application have been shown by way of example in the above figures, and will be described in greater detail below. These figures and this written description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept by reference to specific embodiments. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail with reference to the drawings, of which like reference numerals indicate like elements. The following detailed description is not intended to limit the embodiments of the application as claimed. Other aspects of the application will become apparent by reference to the following detailed description when considered in conjunction with the drawings.

[0052] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in one or more embodiments of the present specification are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for user to choose authorization or refusal.

[0053] It should be noted that in the embodiments of the present application, some software, components, models and other industry existing solutions may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions 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 schemes, the vehicle torque control strategy not only directly affects the performance of the vehicle, but also relates to the power output of the vehicle, and the power output of the vehicle is directly related to the driving safety. The existing schemes usually include a scheme of controlling the vehicle state according to the accelerator pedal opening degree and a comprehensive torque control scheme. For the scheme of controlling the vehicle state according to the accelerator pedal opening degree, 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 realized based on the vehicle driving mode after the exit; for the comprehensive torque control scheme, the accelerator pedal opening degree of the vehicle is controlled by combining the monitored accelerator pedal opening degree and the driving state, and the vehicle torque output is realized based on the controlled accelerator pedal opening degree.

[0055] It is found through research on the vehicle torque control strategy scheme that, since the commercial vehicle integrates multiple functional control systems such as a power system, a brake system, an electronic stability control and the like, the torque control strategy also needs to work in cooperation with other functional systems to ensure the overall safety of the vehicle during operation. In the existing scheme, the scheme for controlling the vehicle state according to the accelerator pedal opening degree is not applicable to the acceleration torque control of the commercial vehicle, and if the acceleration torque control in the automatic driving mode is directly exited, the power will be directly lost, the driving experience will be affected, and the safety is poor. In the comprehensive torque control scheme, only the acceleration pedal opening degree and the driving state are combined for torque control, the signals and data of other functional control systems are not combined, and a safety state corresponding to a fault is not set to control the torque output of the vehicle, so there is a defect in the overall safety of the vehicle.

[0056] Therefore, the application provides a vehicle engine torque control method, which performs danger and operability analysis on the torque control function of the vehicle by obtaining two accelerator pedal signals and an engine speed signal of the vehicle, determines the fault source of the vehicle, determines abnormal information according to the fault source of the vehicle, and determines the vehicle driving mode according to the abnormal information and the engine speed signal, wherein the vehicle driving mode includes multiple different limp-home modes, and the torque of the vehicle is controlled based on different limp-home modes and pedal output opening degrees. Therefore, abnormal information is obtained through danger and operability analysis, and torque output for different faults is realized by setting corresponding driving modes, thereby avoiding controlling the torque output of the vehicle only according to the accelerator pedal opening degree, and improving the overall safety of the vehicle.

[0057] The technical scheme of the application and how the technical scheme solves the above technical problems will be 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 can not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0058] Figure 1 The flowchart of the vehicle engine torque control method provided by the application Figure 1 As shown in Figure 1 , the method comprises:

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

[0060] Specifically, for a commercial vehicle such as a heavy truck or a semi-trailer tractor, a redundancy mechanism is usually adopted, that is, two accelerator pedals are provided to control the acceleration of the commercial vehicle, and the vehicle is continuously monitored to obtain signals of the two accelerator pedals and an engine speed signal, wherein the signals of the two accelerator pedals are used to indicate the working state and the opening degree of the accelerator pedals, and the engine speed signal is used to indicate whether the current speed of the vehicle is normal.

[0061] S102, determining a pedal output opening degree according to the two signals of the accelerator pedals.

[0062] Specifically, after obtaining the two signals of the accelerator pedals and the engine speed signal of the vehicle, the opening degree value output by the two accelerator pedals is determined according to the working state indicated by the accelerator pedal signals and the opening degree difference between the two accelerator pedals. By combining the two accelerator pedal signals and the two accelerator pedal opening degrees, the pedal output opening degree can be determined, which can avoid calculation errors caused by a single accelerator pedal not working normally.

[0063] S103, determining abnormal information of the two signals of the accelerator pedals.

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

[0065] S104, determining a vehicle driving mode according to the abnormal information and the engine speed signal, the vehicle driving mode being used to describe the 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 a limp mode according to the abnormal information, and if it is determined that the vehicle is in the limp mode, a limp sub-mode of the vehicle is determined according to the engine speed signal, wherein the vehicle driving mode includes a normal mode or a limp mode, and the limp mode includes a plurality of limp sub-modes.

[0067] S105, performing torque control on the vehicle according to the vehicle driving mode and the pedal output opening degree.

[0068] Specifically, after determining the vehicle driving mode, the output torque of the vehicle is achieved 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, there is no limit on the vehicle's speed and torque. If the vehicle driving mode is limp mode, then the vehicle's speed and torque need to be limited.

[0069] This application provides a vehicle engine torque control method. By acquiring two accelerator pedal signals and the vehicle's engine speed signal, a hazard and operability analysis is performed on the vehicle's torque control function to determine the source of the vehicle's fault. After determining the abnormal information based on the source of the fault, the vehicle's driving mode is determined based on the abnormal information and the engine speed signal. The vehicle driving mode includes multiple different limp modes. Torque control is performed on the vehicle based on different limp modes and pedal output opening. Therefore, by acquiring abnormal information through hazard and operability analysis and setting corresponding driving modes, torque output for different faults can be achieved, avoiding the need to control the vehicle's torque output solely based on the accelerator pedal opening, thereby improving the overall safety of the vehicle.

[0070] Figure 2 Flowchart of the engine torque control method for the vehicle provided in this application Figure 2 , Figure 3 This is a schematic diagram of the engine torque control safety function provided in this application, combined with... Figure 3 and Figure 1 As shown, in this embodiment... Figure 4 Based on the embodiments, a detailed description of the engine torque control method for vehicles is provided, which includes:

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

[0072] Specifically, the acceleration torque function is analyzed through hazard and risk assessment (HARA) to identify potential vehicle hazards. By conducting risk assessments of vehicle hazards in vehicle operating scenarios, hazard events are obtained, and the vehicle safety integrity level (ASIL) and safety objectives for each hazard event are determined. The safety objectives include avoiding excessive acceleration torque, avoiding reverse acceleration torque, and avoiding unintended acceleration torque output.

[0073] Further, for the safety target, the fault sources are analyzed from the input end, the control end and the execution end respectively by the analysis method of FTA (Fault Tree Analysis), wherein the fault source of the input end is the engine speed, the accelerator pedal and the ASR (Acceleration Slip Regulation) torque signal communication fault; the fault source of the control end is the PCU calculation unit (Power Control Unit); and the fault source of the execution end is the TCU unit (Transmission Control Unit) and the EMS unit (Engine Management System).

[0074] Further, for the fault source of the input end, the single fault and the double fault of the two-way accelerator pedal are monitored, that is, the two-way accelerator pedal signals and the engine speed signals of the vehicle are monitored, and after the function fails, the two-way accelerator pedal signals and the engine speed signals obtained by monitoring are entered into the corresponding limp mode or the normal mode according to different situations, so as to realize that the acceleration torque control meets the functional safety level.

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

[0076] Specifically, for the fault source of the input end, after obtaining the two-way accelerator pedal signals of the vehicle and the engine speed signals of the vehicle, if the working state of each accelerator pedal signal in the two-way accelerator pedal signals indicates normal work, and the opening difference value of each accelerator pedal signal is less than or equal to a preset threshold, it is determined that the current two-way accelerator pedal does not occur fault, and the accelerator pedal with smaller opening in the two-way accelerator pedal is taken as the pedal output opening.

[0077] S203, if each of the accelerator pedal signals is normal, and the twice of the opening difference of the two-way accelerator pedal signals is greater than a preset threshold, a preset proportion of the minimum opening of the two-way accelerator pedal signals is taken as the pedal output opening.

[0078] Specifically, if the working state of each of the two accelerator pedal signals indicates normal operation, and the difference between the opening degrees of the two accelerator pedal signals is greater than a preset threshold, that is, |2 x the first accelerator pedal opening degree value - 2 x the second accelerator pedal opening degree value| > the preset threshold, wherein the preset threshold is obtained according to inherent attribute data of the vehicle, it is determined that at least one of the two accelerator pedals has a rationality fault, and the preset ratio of the smaller opening degree of the two accelerator pedals, for example, fifty percent, is taken as the pedal output opening degree, wherein the rationality fault refers to a situation that the voltages corresponding to the two accelerator pedals are within the preset voltage range, but the opening degree values of the two accelerator pedals are quite different.

[0079] S204, if only one of the two accelerator pedal signals is normal, a preset ratio of the opening degree corresponding to the normal accelerator pedal signal is taken as the pedal output opening degree.

[0080] Specifically, if only one of the two accelerator pedal signals is normal, a preset ratio of the opening degree corresponding to the normal accelerator pedal signal is taken as the pedal output opening degree.

[0081] S205, if each of the two accelerator pedal signals is abnormal, the target opening degree is set to a preset minimum opening degree.

[0082] Specifically, if the working state of each of the two accelerator pedal signals indicates normal operation, and the difference between the opening degrees of the two accelerator pedal signals is greater than a preset threshold, that is, |2 x the first accelerator pedal opening degree value - 2 x the second accelerator pedal opening degree value| > the preset threshold, wherein the preset threshold is obtained according to inherent attribute data of the vehicle, it is determined that at least one of the two accelerator pedals has a rationality fault, and the preset ratio of the smaller opening degree of the two accelerator pedals, for example, fifty percent, is taken as the pedal output opening degree, wherein the rationality fault refers to a situation that the voltages corresponding to the two accelerator pedals are within the preset voltage range, but the opening degree values of the two accelerator pedals are quite different.

[0083] S206, determine the abnormal information of the two accelerator pedal signals, and determine the number of normal 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, and the abnormal information is used to indicate the number of accelerator pedals with abnormal working state, and the number of accelerator pedals with normal working state is obtained according to the number of accelerator pedals with abnormal working state.

[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; and 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 can be determined according to the normal number and the opening difference whether the vehicle driving mode is the limp mode.

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

[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 of the two accelerator pedals are working normally and neither of the two accelerator pedals is currently malfunctioning, it is determined that the current vehicle driving mode is the normal mode, and in the normal mode, the output torque of the vehicle is not limited, and only the accelerator pedal with smaller opening among the two accelerator pedals is used as the pedal output opening.

[0088] S208, if the normal number is not two and / or the double of the opening difference is greater than the preset threshold, it is determined that the vehicle driving mode is the limp mode, and the limp mode limits the speed of the vehicle 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 the preset threshold, that is, it is determined that at least one of the two accelerator pedals is malfunctioning or reasonably malfunctioning, it is determined that the current vehicle driving mode is the limp mode, and in the limp mode, the output torque and the speed of the vehicle 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 mode, a target limp sub-mode is determined from a plurality of the plurality of limp sub-modes according to whether the engine speed signal is abnormal and the normal number of accelerator pedal signals.

[0091] Specifically, if the normal number is 2 and the difference of the opening degrees is greater than the preset threshold, if the engine speed signal is normal, the vehicle driving mode is determined as the first limp mode, if the engine speed signal is abnormal, the vehicle driving mode is determined as the second limp mode. That is, when a rationality fault occurs in two of the accelerator pedals, it is detected whether the engine speed signal is normal, if the engine speed signal indicates normal, the vehicle driving mode is determined as the first limp mode, if the engine speed signal indicates abnormal, the target limp sub-mode is determined as 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 as the first limp mode, when the engine speed signal is abnormal, the vehicle driving mode is determined as the second limp mode. That is, when a single fault occurs in two of the accelerator pedals, it is detected whether the engine speed signal is normal, if the engine speed signal indicates normal, the vehicle driving mode is determined as the first limp mode, if the engine speed signal indicates abnormal, the target limp sub-mode is determined as 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] Further, if the normal number is 0, the vehicle driving mode is directly determined as the third limp mode. That is, when double faults occur in two of the accelerator pedals, the target limp sub-mode is directly determined as the third limp mode, 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 the plurality of 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 limited torque and the vehicle speed of the corresponding first limp mode or second limp mode, the vehicle can obtain the corresponding pedal output opening degree according to the rationality fault or the single fault, and control the vehicle. Or the vehicle enters the third limp mode, obtains the limited torque and the vehicle speed corresponding to the third limp mode, and based on the double fault, obtains the corresponding pedal output opening degree, and controls the vehicle.

[0096] S211, when the vehicle driving mode is the limp mode and the vehicle fails to enter the limp mode, brake information and a brake pedal opening degree corresponding to the brake information are obtained.

[0097] Specifically, when determining a target limp-home mode from a plurality of limp-home modes and controlling the vehicle to enter the target limp-home mode, if an unexpected action occurs at this time, such as a vehicle braking operation, it is determined that the vehicle fails to enter the limp-home mode at this time, and brake information corresponding to the vehicle braking operation at this time is obtained, the brake information indicating the brake pedal opening degree.

[0098] S212, taking the minimum value of the brake pedal opening degree and the pedal output opening degree as a target control opening degree, determining a target torque according to the target control opening degree, and controlling the engine to output the target torque.

[0099] Specifically, after obtaining the brake information and the brake pedal opening degree corresponding to the brake information, if the brake pedal opening degree is greater than or equal to a preset brake threshold, it is determined that the vehicle needs to brake at this time, and the accelerator pedal output opening degree is directly set to zero at this time, if the brake pedal opening degree is less than the preset brake threshold, then the smaller value of the corresponding pedal output opening degree and the brake pedal opening degree is taken as the target control opening degree, the target torque is determined according to the target control opening degree and the parameters of other functional systems, and the engine output torque is controlled according to the target torque.

[0100] The engine torque control method of the vehicle provided by the embodiment of the application, by obtaining two accelerator pedal signals and the engine speed signal of the vehicle, the torque control function of the vehicle is analyzed for danger and operability to determine the fault source of the vehicle, and after determining the abnormal information according to the fault source of the vehicle, the vehicle driving mode is determined according to the abnormal information and the engine speed signal, wherein the vehicle driving mode includes a plurality of different limp-home modes, and the torque of the vehicle is controlled based on different limp-home modes and pedal output opening degrees, so that the abnormal information is obtained by analyzing the danger and operability, and the torque output for different faults is realized by setting the corresponding driving mode, avoiding controlling the torque output of the vehicle only according to the accelerator pedal opening degree, thereby improving the overall safety of the vehicle.

[0101] Figure 4 The structure diagram of the engine torque control device of the vehicle provided by the application is shown in Figure 5 As shown in the figure, the device 40 includes:

[0102] The acquisition module 401 is configured to acquire two accelerator pedal signals and the engine speed signal of the vehicle.

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

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

[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, the limp mode including a plurality of limp sub-modes.

[0106] If the vehicle driving mode is the limp mode, a target limp sub-mode is determined from the plurality of limp 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 the normal number of accelerator pedal signals according to the abnormal information.

[0108] The opening degree difference of the two accelerator pedal signals is determined according to the two accelerator pedal signals.

[0109] Whether the vehicle driving mode is the limp mode is determined according to the normal number 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 degree difference is less than or equal to a preset threshold, the normal mode not limiting the speed of the vehicle and / or engine torque.

[0111] If the normal number is not 2 and / or twice the opening degree difference is greater than the preset threshold, it is determined that the vehicle driving mode is the limp mode, the limp mode limiting the speed of the vehicle to be less than or equal to a speed threshold and / or limiting 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 a first limp mode if the normal number is 2, twice the opening degree difference is greater than a preset threshold, and the engine speed signal is normal.

[0113] If the normal number is 2, twice the opening degree difference is greater than a preset threshold, and the engine speed signal is abnormal, it is determined that the vehicle driving mode is a second limp mode.

[0114] If the normal number is 1 and the engine speed signal is normal, it is determined that the vehicle driving mode is the first limp mode.

[0115] If the normal quantity is 1 and the engine speed signal is abnormal, it is determined that the vehicle driving mode is a second limp mode;

[0116] If the normal quantity is 0, it is determined that the vehicle driving mode is a 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, if each of the accelerator pedal signals is normal and twice the difference between the opening degrees of any two of the accelerator pedal signals is less than or equal to a preset threshold, take the minimum opening degree corresponding to the two accelerator pedal signals as the pedal output opening degree;

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

[0119] If only one of the accelerator pedal signals is normal, take a preset proportion of the opening degree corresponding to the normal accelerator pedal signal as the pedal output opening degree;

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

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

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

[0123] In a possible implementation, the execution module 403 is configured to acquire brake information and a brake pedal opening degree corresponding to the brake information;

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

[0125] Determining a target torque according to the target control opening degree, and controlling an engine to output the target torque.

[0126] The vehicle engine torque control apparatus provided in this embodiment can perform the method provided in the method embodiments, and has similar implementation principles and technical effects, which will not be described here in detail.

[0127] Figure 5A structural schematic diagram of an electronic device is provided in the present application. As shown in ​ The electronic device 50 provided in the present embodiment includes at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected through a bus 504.

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

[0129] The specific implementation process of the processor 501 can refer to the above-mentioned method embodiments, which have similar implementation principles and technical effects, and will not be described here in detail.

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

[0131] The memory can include a random access memory (RAM), and can also include a non-volatile memory (NVM), for example, at least one disk memory.

[0132] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus or an extended industry standard architecture (EISA) bus and the like. The bus can be divided into an address bus, a data bus, a control bus and the like. For the convenience of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0133] The present application also provides a computer program product, including a computer program, which is executed by the processor to realize the above-mentioned method.

[0134] The application further provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when a processor executes the computer execution instructions, the method described above is realized.

[0135] The readable storage medium described above can be realized 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 storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0136] An exemplary readable storage medium is coupled to the 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0137] The division of units is only a logical function division, and when actually implemented, there can be another division mode, for example, a plurality of 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 coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0138] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of network units. According to actual needs, some or all of the units can be selected to achieve the purpose of the embodiment.

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

[0140] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0141] It can be understood by those skilled in the art that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. 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, magnetic disk or optical disk, and various media that can store program codes.

[0142] Finally, it should be noted that: those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application that follow the general principles of the present application and include common knowledge or conventional technical means in the art that are not disclosed in the present application, and is not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.

Claims

1. An engine torque control method of a vehicle, characterized by, The method comprises: acquiring two accelerator pedal signals and an engine speed signal of the vehicle; determining a pedal output opening degree 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, the vehicle driving mode being used to describe an operating state of the vehicle; controlling torque of the vehicle according to the vehicle driving mode and the pedal output opening degree; the determining of the vehicle driving mode according to the abnormal information and the engine speed signal comprises: determining whether the vehicle driving mode is a limp mode according to the abnormal information, the limp mode comprising a plurality of limp sub-modes; if the vehicle driving mode is the limp mode, determining a target limp sub-mode from the plurality of limp sub-modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals; the determining of the target limp sub-mode from the plurality of limp sub-modes according to whether the engine speed signal is abnormal and the normal number of accelerator pedal signals comprises: if the normal number is 2, and a difference between opening degrees of the two accelerator pedal signals is greater than a preset threshold value by a factor of 2, and the engine speed signal is normal, determining that the vehicle driving mode is a first limp mode; if the normal number is 2, and the difference between the opening degrees is greater than the preset threshold value by the factor of 2, and the engine speed signal is abnormal, determining that the vehicle driving mode is a second limp mode; if the normal number is 1, and the engine speed signal is normal, determining that the vehicle driving mode is the first limp mode; if the normal number is 1, and the engine speed signal is abnormal, determining that the vehicle driving mode is the second limp mode; if the normal number is 0, determining that the vehicle driving mode is a third limp mode, a speed threshold value of the first limp mode being greater than or equal to a speed threshold value of the second limp mode, the first limp mode and the second limp mode corresponding to a same torque threshold value, and a torque threshold value of the third limp mode being less than a torque threshold value of the first limp mode.

2. The method of claim 1, wherein, the determining of whether the vehicle driving mode is the limp mode according to the abnormal information comprises: determining the normal number of accelerator pedal signals according to the abnormal information; determining a difference between opening degrees of the two accelerator pedal signals according to the two accelerator pedal signals; determining whether the vehicle driving mode is the limp mode according to the normal number and the difference between the opening degrees.

3. The method of claim 2, wherein, the determining of whether the vehicle driving mode is the limp mode according to the normal number and the difference between the opening degrees comprises: if the normal number is 2, and the difference between the opening degrees is less than or equal to a preset threshold value by the factor of 2, determining that the vehicle driving mode is a normal mode, the normal mode not limiting a speed of the vehicle and / or an engine torque; if the normal number is not 2, and / or the difference between the opening degrees is greater than the preset threshold value by the factor of 2, determining that the vehicle driving mode is the limp mode, the limp mode limiting the speed of the vehicle to be less than or equal to a speed threshold value, and / or limiting the torque to be less than a torque threshold value.

4. The method of claim 1, wherein, The determining the pedal output opening degree according to the two accelerator pedal signals comprises: if each of the accelerator pedal signals is normal, and twice of the opening degree difference of any two of the accelerator pedal signals is less than or equal to a preset threshold, taking the minimum opening degree corresponding to the two accelerator pedal signals as the pedal output opening degree; if each of the accelerator pedal signals is normal, and twice of the opening degree difference of the two accelerator pedal signals is greater than the preset threshold, taking a preset proportion of the minimum opening degree corresponding to the two accelerator pedal signals as the pedal output opening degree; if only one of the accelerator pedal signals is normal, taking a preset proportion of the opening degree corresponding to the normal accelerator pedal signal as the pedal output opening degree; if each of the accelerator pedal signals is abnormal, setting the target opening degree as a preset minimum opening degree.

5. The method according to any one of claims 1-4, characterized in that, The torque control of the vehicle according to the vehicle driving mode and the pedal output opening degree comprises: controlling the vehicle to enter the vehicle driving mode; when the vehicle driving mode is the limp mode, and the vehicle fails to enter the limp mode, performing the torque control of the vehicle according to the pedal output opening degree.

6. The method of claim 5, wherein, The torque control of the vehicle according to the pedal output opening degree comprises: obtaining brake information and a brake pedal opening degree corresponding to the brake information; taking the minimum value between the brake pedal opening degree and the pedal output opening degree as a target control opening degree; determining a target torque according to the target control opening degree, and controlling the engine to output the target torque.

7. An engine torque control device of a vehicle, characterized by, comprise: an obtaining module, configured to obtain two accelerator pedal signals and an engine speed signal of the vehicle; a processing module, configured to determine a pedal output opening degree according to the two accelerator pedal signals, and determine abnormal information of the two accelerator pedal signals; an executing module, configured to determine a vehicle driving mode according to the abnormal information and the engine speed signal, the vehicle driving mode being used to describe an operating state of the vehicle, and perform torque control of the vehicle according to the vehicle driving mode and the pedal output opening degree; the executing module is specifically configured to: determine whether the vehicle driving mode is a limp mode according to the abnormal information, the limp mode comprising a plurality of limp sub-modes; if the vehicle driving mode is the limp mode, determine a target limp sub-mode from the plurality of limp sub-modes according to whether the engine speed signal is abnormal and a normal number of accelerator pedal signals; when the target limp sub-mode is determined from the plurality of limp sub-modes according to whether the engine speed signal is abnormal and the normal number of accelerator pedal signals, the executing module is configured to: if the normal number is 2, and twice of an opening degree difference of the accelerator pedal signals is greater than a preset threshold, and the engine speed signal is normal, determine that the vehicle driving mode is a first limp mode; if the normal number is 2, and twice of the opening degree difference is greater than the preset threshold, and the engine speed signal is abnormal, determine that the vehicle driving mode is a second limp mode; if the normal number is 1, and the engine speed signal is normal, determine that the vehicle driving mode is the first limp mode; if the normal number is 1 and the engine speed signal is abnormal, determining that the vehicle driving mode is a second limp mode; if the normal number is 0, determining that the vehicle driving mode is a third limp mode, the speed threshold value of the first limp mode being greater than or equal to the speed threshold value of the second limp mode, the first limp mode and the second limp mode corresponding to the same torque threshold value, and the torque threshold value of the third limp mode being less than the torque threshold value of the first limp mode.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are used for implementing the method in any one of claims 1-6 when executed by a processor.

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