Method and device for controlling vehicle, vehicle and storage medium

Abstract

The invention provides a method and device for controlling a vehicle, the vehicle and a storage medium, and the method comprises the steps that under the condition that it is determined that the vehicle is in a starting stage, the starting acceleration range of the vehicle is obtained; wherein the starting acceleration range is the acceleration range in which the user comfort degree is greater than the preset comfort degree when the vehicle is started; a hydraulic braking system of the vehicle is controlled to actively build pressure to the target pressure; based on the starting acceleration range and the current output torque of the vehicle, the pressure adjusting amount is determined; and the target pressure of the hydraulic braking system is adjusted based on the pressure adjusting amount, so that the vehicle is started based on the acceleration within the starting acceleration range. According to the method, the stability of the vehicle in the starting stage can be improved by limiting the acceleration of the vehicle in the starting stage, and then the driving comfort of the vehicle is improved.

Description

Technical Field

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

[0002] With the advancement of technology, more and more vehicles are equipped with intelligent driving functions, which can automatically control the smooth starting and driving of the vehicle to a certain extent, thereby ensuring the driving comfort of the vehicle.

[0003] However, in most cases, drivers still prefer to drive the vehicle themselves. Different drivers have different driving styles, which may have a significant impact on the comfort of passengers. For example, some drivers may prefer aggressive driving styles, such as sudden braking, sharp turns, or excessive acceleration, which not only make passengers feel uncomfortable, but may even cause symptoms such as motion sickness, thereby reducing the driving comfort of the vehicle.

[0004] Therefore, how to improve the driving comfort of the vehicle under the condition of autonomous driving by the driver has become an urgent problem to be solved. Summary of the invention

[0005] The present application provides a method, device, vehicle and storage medium for controlling a vehicle. The method can improve the stability of the vehicle at the starting stage by limiting the acceleration of the vehicle at the starting stage, thereby improving the driving comfort of the vehicle.

[0006] In a first aspect, a method for controlling a vehicle is provided, the method comprising: when it is determined that the vehicle is in a starting stage, obtaining a starting acceleration range of the vehicle; wherein the starting acceleration range is an acceleration range in which a user comfort level is greater than a preset comfort level when the vehicle starts; controlling a hydraulic braking system of the vehicle to actively build up pressure to a target pressure; determining a pressure adjustment amount based on the starting acceleration range and a current output torque of the vehicle; and adjusting a target pressure of the hydraulic braking system based on the pressure adjustment amount, so that the vehicle starts based on an acceleration within the starting acceleration range.

[0007] In the above technical solution, when it is determined that the vehicle is in the starting stage, the hydraulic brake system of the vehicle is controlled to actively build up pressure to the target pressure. The hydraulic brake system actively builds up pressure to the target pressure, that is, brakes the vehicle. The vehicle is braked by the hydraulic brake system first in the starting stage, which can avoid the vehicle jerking caused by the user's over-aggressive start, and achieves the stability of the vehicle start through brake intervention when the vehicle starts, thereby improving the driving comfort of the vehicle. A pressure adjustment amount is determined by the starting acceleration range and the current torque of the vehicle to adjust the target pressure, so that the starting acceleration of the vehicle can be more accurately controlled within the starting acceleration range, and the starting acceleration of the vehicle is controlled within the range where the user comfort is greater than the preset comfort, which can effectively reduce the user's discomfort caused by starting too fast or too slow, and further improve the driving comfort of the vehicle.

[0008] In combination with the first aspect, in some possible implementations, before determining the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle, the method also includes: detecting whether the brake caliper of the vehicle is in a clamped state; when it is determined that the brake caliper of the vehicle is in a clamped state, reducing the upper limit value and / or lower limit value of the starting acceleration range to obtain an adjusted starting acceleration range; determining the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle, including: determining the pressure adjustment amount based on the adjusted starting acceleration range and the current output torque of the vehicle.

[0009] In the above technical scheme, when the brake caliper is in a clamped state, the upper limit value and / or the lower limit value of the starting acceleration range is reduced, and the pressure adjustment amount is determined by the adjusted starting acceleration range and the output torque of the vehicle to reduce the starting acceleration of the vehicle. During the release of the brake caliper, the vehicle starts with a smaller acceleration, the speed increases slowly, and the starting time is longer, so that sufficient time can be reserved for the release of the brake caliper. The brake caliper that is not fully released also has less drag on the vehicle with a lower speed, which can reduce the drag of the vehicle due to excessive starting acceleration when the vehicle brake caliper is in a clamped state, thereby further improving the driving experience of the vehicle.

[0010] In combination with the first aspect and the above-mentioned implementations, in some possible implementations, when it is determined that the brake caliper of the vehicle is in a clamped state, the method also includes: when it is detected that the hydraulic brake system actively builds pressure to the target pressure, controlling the vehicle to release the brake caliper.

[0011] In the above technical solution, after it is determined that the hydraulic brake system has built up pressure to the target pressure, the hydraulic brake system can provide the vehicle with the braking torque required by the vehicle. At this time, controlling the brake caliper to release can ensure that the vehicle does not slip.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when it is determined that the vehicle is in a starting stage, the hydraulic braking system of the vehicle is controlled to actively build up pressure to a target pressure, including: when it is determined that the vehicle is in a starting stage, determining the current starting scene of the vehicle; the starting scene is any one of a flat road starting scene, a downhill starting scene or an uphill starting scene; determining the target pressure corresponding to the starting scene; and controlling the hydraulic braking system of the vehicle to actively build up pressure to the target pressure.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the starting scenario is a downhill starting scenario or an uphill starting scenario, the pressure adjustment amount is determined based on the starting acceleration range and the current output torque of the vehicle, including: determining the gravity component of the vehicle's gravity parallel to the current slope; determining the pressure adjustment amount based on the starting acceleration range, the vehicle's current output torque and the gravity component.

[0014] In the above technical solution, when the vehicle is in an uphill starting scenario or a downhill starting scenario, the gravity component of the vehicle parallel to the current slope is determined; based on the starting acceleration range, the current output torque of the vehicle and the gravity component, the pressure adjustment amount is determined, and the influence of the gravity component of the vehicle's gravity parallel to the slope surface on the starting of the vehicle in the uphill starting scenario or the downhill starting scenario is taken into consideration. The pressure adjustment amount can be determined more accurately in the uphill starting scenario or the downhill starting scenario, ensuring that the vehicle starts based on the acceleration within the acceleration range, and ensuring the smoothness of the vehicle starting in various starting scenarios.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after the target pressure of the hydraulic braking system is adjusted based on the pressure adjustment amount so that the vehicle starts based on the acceleration within the starting acceleration range, the method also includes: when it is detected that the vehicle has completed the start, detecting whether the change in the acceleration of the vehicle is greater than a preset threshold; when it is determined that the change is greater than the preset threshold, controlling the change in the acceleration of the vehicle to be less than the preset threshold.

[0016] In the above technical solution, after the vehicle starts, the change in vehicle acceleration is detected, and when the change in acceleration is greater than a preset threshold, the acceleration change is controlled to be less than the preset threshold, so that the change process of vehicle acceleration is smoother, which can reduce the large fluctuation caused by the user stepping on the accelerator too much and too fast, reduce the problem of vehicle jerking caused by excessive acceleration fluctuations, and further improve the driving comfort of the vehicle.

[0017] In combination with the first aspect and the above implementations, in some possible implementations, obtaining the starting acceleration range of the vehicle includes: obtaining a comfort index level of the vehicle set by a user; and determining a starting acceleration range corresponding to the comfort index level.

[0018] In summary, when the application determines that the vehicle is in the starting stage, the hydraulic brake system of the vehicle is controlled to actively build up pressure to the target pressure to brake the vehicle. When the vehicle starts, the braking intervention is used to maintain the stability of the vehicle start, which can avoid the vehicle jerking caused by the user starting too hard. Considering the influence of the gravity component of the vehicle parallel to the slope surface on the vehicle start in uphill and downhill scenarios, the pressure adjustment amount is determined to adjust the target pressure, so that the vehicle's starting acceleration is accurately controlled within the starting acceleration range, and the vehicle's starting acceleration can be controlled within the range where the user's comfort is greater than the preset comfort in various starting scenarios, which can effectively reduce the user's discomfort caused by starting too fast or too slow, and improve the vehicle's driving comfort. And when the brake caliper is in the clamped state, the upper limit value and / or lower limit value of the starting acceleration range are reduced to reduce the vehicle's starting acceleration, reduce the drag feeling when the vehicle's brake caliper is in the clamped state, and further improve the vehicle's driving experience.

[0019] In a second aspect, a vehicle control device is provided, which includes: an acquisition module, used to acquire a starting acceleration range of the vehicle when it is determined that the vehicle is in a starting stage; wherein the starting acceleration range is an acceleration range in which the user comfort level is greater than a preset comfort level when the vehicle starts; a control module, used to control the vehicle's hydraulic braking system to actively build up pressure to a target pressure; a determination module, used to determine a pressure adjustment amount based on the starting acceleration range and the vehicle's current output torque; and an adjustment module, used to adjust a target pressure of the hydraulic braking system based on the pressure adjustment amount, so that the vehicle starts based on an acceleration within the starting acceleration range.

[0020] In combination with the second aspect, in some possible implementations, the device also includes: a detection module, used to detect whether the brake caliper of the vehicle is in a clamped state; a reduction module, used to reduce the upper limit value and / or lower limit value of the starting acceleration range when it is determined that the brake caliper of the vehicle is in a clamped state, so as to obtain an adjusted starting acceleration range; the determination module is specifically used to determine the pressure adjustment amount based on the adjusted starting acceleration range and the current output torque of the vehicle.

[0021] In combination with the second aspect and the above-mentioned implementations, in some possible implementations, the control module is also used to control the vehicle to release the brake calipers when it is detected that the hydraulic brake system actively builds up pressure to the target pressure.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is specifically used to, when it is determined that the vehicle is in a starting stage, determine the current starting scene of the vehicle; the starting scene is any one of a flat road starting scene, a downhill starting scene or an uphill starting scene; determine the target pressure corresponding to the starting scene; and control the vehicle's hydraulic braking system to actively build up pressure to the target pressure.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, when the starting scenario is a downhill starting scenario or an uphill starting scenario, the determination module is specifically used to determine the gravity component of the vehicle's gravity parallel to the current slope surface; based on the starting acceleration range, the vehicle's current output torque and the gravity component, determine the pressure adjustment amount.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the detection module is also used to detect whether the change in the acceleration of the vehicle is greater than a preset threshold when it is detected that the vehicle has completed starting; the control module is also used to control the change in the acceleration of the vehicle to be less than the preset threshold when it is determined that the change is greater than the preset threshold.

[0025] In combination with the second aspect and the above implementations, in some possible implementations, the acquisition module is specifically used to obtain a comfort index level of the vehicle set by a user; and determine a starting acceleration range corresponding to the comfort index level.

[0026] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0027] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0028] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0030] Figure 2 This is a schematic diagram of a vehicle on a slope scenario provided in an embodiment of the present application.

[0031] Figure 3 It is a schematic flowchart of a method for controlling a vehicle in a brake caliper clamping scenario provided in an embodiment of the present application.

[0032] Figure 4It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0033] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0035] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0036] With the advancement of technology, more and more vehicles are equipped with intelligent driving functions, which can automatically control the smooth start and driving of the vehicle to a certain extent, thereby ensuring the driving comfort of the vehicle. However, in most cases, drivers still prefer to drive the vehicle themselves. Different drivers have different driving styles, which may have a significant impact on the comfort of passengers.

[0037] For people who are prone to motion sickness, sudden braking, sharp turns, bumpy roads, poor ventilation and other problems while driving can easily stimulate the balance organs, causing motion sickness and reducing the driving comfort of the vehicle.

[0038] Therefore, how to improve the driving comfort of the vehicle under the condition of autonomous driving by the driver has become an urgent problem to be solved.

[0039] Based on this, the present application proposes a method for controlling a vehicle, which is applied to a vehicle and improves the stability of the vehicle during the starting phase by limiting the acceleration of the vehicle during the starting phase, thereby improving the driving comfort of the vehicle.

[0040] Figure 1 It is a schematic flowchart of a method for controlling a vehicle provided in an embodiment of the present application.

[0041] For example, Figure 1 As shown, the method 100 includes:

[0042] Step 101, when it is determined that the vehicle is in a starting stage, obtaining a starting acceleration range of the vehicle;

[0043] The starting acceleration range is an acceleration range in which the user comfort level is greater than a preset comfort level when the vehicle starts.

[0044] Step 102, controlling the hydraulic brake system of the vehicle to actively build up pressure to a target pressure;

[0045] Step 103, determining a pressure adjustment amount based on a starting acceleration range and a current output torque of the vehicle;

[0046] Step 104 : adjusting the target pressure of the hydraulic brake system based on the pressure adjustment amount so that the vehicle starts based on an acceleration within a starting acceleration range.

[0047] exist Figure 1 In the embodiment shown, when it is determined that the vehicle is in the starting stage, the hydraulic brake system of the vehicle is controlled to actively build up pressure to the target pressure. The hydraulic brake system actively builds up pressure to the target pressure, that is, brakes the vehicle. The vehicle is first braked by the hydraulic brake system in the starting stage, which can avoid the vehicle jerking caused by the user's over-aggressive start, and achieves the stability of the vehicle start through brake intervention when the vehicle starts, thereby improving the driving comfort of the vehicle. A pressure adjustment amount is determined by the starting acceleration range and the current torque of the vehicle to adjust the target pressure, so that the starting acceleration of the vehicle can be more accurately controlled within the starting acceleration range, and the starting acceleration of the vehicle is controlled within the range where the user comfort is greater than the preset comfort, which can effectively reduce the user's discomfort caused by starting too fast or too slow, and further improve the driving comfort of the vehicle.

[0048] Below Figure 1 The specific implementation method of each step in the embodiment shown is described in detail:

[0049] In step 101, the vehicle is in the starting stage, which means that the vehicle starts to move from a stationary state. Generally, whether the vehicle is in the starting stage can be determined by the gear state of the vehicle.

[0050] Specifically, when the vehicle is stationary, it can be determined that the vehicle is in the starting stage when it is detected that the gear of the vehicle is switched from other gears to the driving gear D gear or the reverse gear R gear.

[0051] The starting acceleration range refers to the range of acceleration magnitude when the vehicle starts, and the user may be the driver of the vehicle or a passenger in the vehicle.

[0052] The user can set the starting acceleration range through the vehicle's onboard entertainment multimedia host (Head Unit, HUT) before driving the vehicle, and the vehicle obtains the starting acceleration range set by the user.

[0053] It is understandable that the acceleration behavior of the vehicle will affect the user's driving comfort. Specifically, the greater the acceleration of the vehicle, the worse the user's driving experience, that is, the lower the comfort. The smaller the acceleration of the vehicle, the better the user's driving experience, that is, the higher the comfort. When the vehicle is driving smoothly, the user's driving experience is the best and the comfort is the highest.

[0054] Assuming that the highest comfort level is 100%, the comfort level decreases at a certain ratio as the acceleration increases. The starting acceleration range is the acceleration range in which the user comfort level is greater than the preset comfort level when the vehicle starts. The starting acceleration range is usually a smaller acceleration range.

[0055] Specifically, when the user is driving the vehicle and starting, there is a minimum comfort level for driving comfort, which can be used as the above-mentioned preset comfort level, assuming that the preset comfort level is 60%. The preset comfort level 60% can correspond to an acceleration value, assuming that it is 1.3m / s 2 , the acceleration value determined based on the preset comfort level can be determined as the upper limit of the starting acceleration range, and the acceleration with a comfort level greater than 60% of the preset comfort level can be determined as the starting acceleration range of the vehicle.

[0056] Furthermore, if the vehicle is to be controlled to start based on the acceleration within the starting acceleration range, the lower limit of the starting acceleration range may be a value slightly greater than 0, such as 0.2 m / s 2 , that is, the starting acceleration range is: [0.2, 1.3].

[0057] In some embodiments, a virtual switch (VCSS) for turning on and off the vehicle comfort start function may be set on the vehicle HUT, and the user may control the turning on and off of the vehicle comfort start function by clicking the virtual switch. When the comfort start function is turned on, the vehicle obtains the vehicle's starting acceleration range, and controls the vehicle start based on the starting acceleration range. When the vehicle comfort start function is turned off, the vehicle controls the vehicle start through the user's operation.

[0058] In a possible implementation, obtaining the starting acceleration range of the vehicle includes: obtaining a comfort index level of the vehicle set by a user; and determining a starting acceleration range corresponding to the comfort index level.

[0059] Multiple comfort index levels can be defined in advance in the vehicle, and different comfort index levels correspond to different starting acceleration ranges. Before driving the vehicle, the user can select a comfort index level from the multiple comfort index levels defined in advance according to their own needs or the needs of the driving scene. The vehicle obtains the comfort index level selected by the user and determines the starting acceleration range corresponding to the comfort index level selected by the user.

[0060] Table 1

[0061]

[0062] As shown in Table 1, the vehicle can be pre-defined with six comfort index levels, namely A, B, C, D, E, and F. Among them, the acceleration range corresponding to the comfort index level A is [0.1, 0.3], the acceleration range corresponding to the comfort index level B is [0.3, 0.5], the acceleration range corresponding to the comfort index level C is [0.5, 0.7], the acceleration range corresponding to the comfort index level D is [0.7, 0.9], the acceleration range corresponding to the comfort index level E is [0.9, 1.1], and the acceleration range corresponding to the comfort index level F is [1.1, 1.3].

[0063] The starting acceleration in the starting acceleration range corresponding to the comfort index level from A to F is getting larger and larger, which can help the vehicle adapt to the requirements for vehicle starting stability in different scenarios. For example, if there are elderly people or children in the vehicle or the vehicle is loaded with fragile items such as glass and ceramics, the stability of the vehicle when starting is required to be higher. At this time, the user can choose comfort index level A. The starting acceleration corresponding to comfort index level A is smaller, and a smaller starting acceleration can ensure the stability of the vehicle starting.

[0064] In some scenarios, different users drive and ride in the vehicle, and different users have different feelings about the vehicle. For example, user A does not get carsick and prefers a more "aggressive" driving experience. When user A drives the vehicle, he can choose some comfort index levels with higher starting acceleration, such as comfort index level D or comfort index level F.

[0065] Specifically, when the vehicle detects that the comfort start function is turned on, it can display multiple pre-defined comfort index level options on the large screen of the HUT for the user to choose to set the vehicle's starting acceleration range.

[0066] For example, when the vehicle detects that the user clicks on the option of comfort index level B, it obtains that the current comfort index level of the vehicle is B, and then the starting acceleration range [0.3, 0.5] corresponding to the comfort index level B can be determined through Table 1.

[0067] In some embodiments, the user can also customize the comfort index level and the range of starting acceleration corresponding to the comfort index level.

[0068] In step 102, the hydraulic brake system is used to brake the vehicle. The working principle of the hydraulic brake system for braking the vehicle is that when it is detected that the user has stepped on the brake pedal, based on the stroke of the brake pedal, the pressure of the brake fluid in the master cylinder is controlled to increase to a corresponding pressure, and the disc brake applies the pressure of the hydraulic brake system to the brake caliper, causing the brake friction pad to rub against the brake disc that rotates with the wheel, thereby achieving the purpose of braking.

[0069] In the embodiment of the present application, when it is detected that the vehicle is in the starting stage (i.e., it is detected that the gear of the vehicle is switched from other gears to D gear or R gear), the hydraulic brake system is controlled to actively build pressure to the target pressure. The target pressure can be a preset pressure of the hydraulic brake system that ensures that the vehicle does not slip under any circumstances.

[0070] Exemplarily, the target pressure is 360NM. The vehicle detects that the gear has switched from neutral to D gear, and determines that the vehicle is in the starting stage. At this time, the hydraulic braking system is controlled to start building pressure. The pressure building stops after the pressure increases to the target pressure of 360NM, providing the necessary braking force or driving force for the vehicle to start, so as to ensure a smooth start of the vehicle.

[0071] In some embodiments, after the hydraulic braking system builds up pressure, the hydraulic pressure is transmitted to the brake calipers of the four wheels through the brake lines, that is, the hydraulic pressure is reflected on the four wheels of the vehicle, and the vehicle can stop building pressure after detecting that the pressure of all four wheels has been built up to the target pressure.

[0072] In one possible implementation, when it is determined that the vehicle is in a starting stage, the hydraulic braking system of the vehicle is controlled to actively build up pressure to a target pressure, including: when it is determined that the vehicle is in a starting stage, determining a current starting scenario of the vehicle; the starting scenario is any one of a flat road starting scenario, a downhill starting scenario or an uphill starting scenario; determining a target pressure corresponding to the starting scenario; and controlling the hydraulic braking system of the vehicle to actively build up pressure to the target pressure.

[0073] Due to the different road conditions that the vehicle is currently in, the vehicle may be in different starting scenarios. Specifically, when the road condition that the vehicle is currently in is a flat road, it can be determined that the scene that the vehicle is currently in is a flat road starting scenario. When the road condition that the vehicle is currently in is an uphill, it can be determined that the scene that the vehicle is currently in is an uphill starting scenario. When the road condition that the vehicle is currently in is a downhill, it can be determined that the scene that the vehicle is currently in is a downhill starting scenario.

[0074] The condition of the road when the vehicle starts may have a certain impact on the starting of the vehicle, resulting in different target pressures for active pressure building by the hydraulic braking system, that is, different starting scenarios correspond to different target pressures. After determining the starting scenario of the vehicle, the target pressure corresponding to the current starting scenario of the vehicle can be determined as the target pressure to be built by the hydraulic braking system.

[0075] Table 2

[0076] Starting scene Flat road start scene Uphill start scene Downhill start scene Target pressure P1 P2 P3

[0077] For example, as shown in Table 2, the flat road starting scene corresponds to the first target pressure P1, the uphill starting scene corresponds to the second target pressure P2, and the downhill starting scene corresponds to the third target pressure P3. Assuming that the current starting scene of the vehicle is determined to be the uphill starting scene, the target pressure to be built up by the hydraulic brake system is determined to be the first target pressure P2.

[0078] It is understandable that the risk of the vehicle rolling away in a flat road starting scenario is relatively small, and the braking force required at this time is relatively small, and the corresponding target pressure P1 required for the hydraulic brake system to build pressure is relatively small, for example, 100NM. The braking force required for the vehicle in an uphill starting scenario is less than or equal to the braking force required in a downhill starting scenario, but much greater than the braking force required in a flat road starting scenario, and the corresponding target pressures P2 and P3 required for the hydraulic brake system to build pressure are greater than P1, and P2 is less than or equal to P3, for example, P2 equals P3 equals 360NM.

[0079] In step 103, the current output torque of the vehicle is the torque currently output by the vehicle engine, and the output torque acts on the vehicle to provide acceleration to the vehicle. The current stroke of the accelerator pedal pressed by the user determines the magnitude of the current output torque of the engine.

[0080] It is understandable that when the user starts driving the vehicle, after engaging the gear, he will start to step on the accelerator to make the vehicle start moving.

[0081] Furthermore, since the hydraulic brake system is controlled to actively build pressure to brake the vehicle in advance when it is determined that the vehicle is in the starting stage, that is, the hydraulic brake system has a certain braking torque on the vehicle. At this time, if the output torque is less than the braking torque, the output torque of the vehicle may not be able to drive the wheels to rotate, that is, the vehicle cannot start to move. Therefore, it is necessary to reduce the pressure adjustment amount of the target pressure of the hydraulic brake system to reduce the braking torque of the hydraulic brake system on the vehicle, so that the output torque is greater than the braking torque of the hydraulic brake system, and the vehicle starts to move.

[0082] The torque difference obtained by subtracting the braking torque from the vehicle output torque is the torque that actually acts on the vehicle to make it move. Since the vehicle has different accelerations when different torques act on the vehicle, to ensure that the vehicle's acceleration is within the starting acceleration range, the torque difference obtained by subtracting the braking torque from the output torque needs to be the torque corresponding to the acceleration within the starting acceleration range.

[0083] Based on the starting acceleration range and the vehicle's current output torque, specific steps for determining the pressure adjustment amount may include: selecting any acceleration from the starting acceleration range, determining a target torque corresponding to the acceleration, subtracting the target torque from the vehicle's current output torque to obtain a target braking torque that the hydraulic braking system needs to act on the vehicle, determining a pressure corresponding to the target braking torque, and subtracting the pressure corresponding to the target braking torque from the current target pressure of the hydraulic braking system to obtain a pressure adjustment amount.

[0084] For example, the starting acceleration range is the starting acceleration range [0.3, 0.5] corresponding to the comfort index level B. A target acceleration is 0.4 m / s 2 , the target torque corresponding to the target acceleration is assumed to be N1, the current output torque of the vehicle is N2, and the target braking torque required to be applied to the vehicle by the hydraulic braking system is N3. If the vehicle is to start at the target acceleration, then N2-N3=N1 is required, and then N3=N2-N1 can be determined. Then the pressure corresponding to N3 is determined, and the pressure corresponding to N3 is subtracted from the current target pressure of the hydraulic braking system to obtain the pressure adjustment amount.

[0085] In one possible implementation, before determining the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle, the method also includes: detecting whether the brake caliper of the vehicle is in a clamped state; when it is determined that the brake caliper of the vehicle is in a clamped state, reducing the upper limit value and / or the lower limit value of the starting acceleration range to obtain an adjusted starting acceleration range; determining the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle, including: determining the pressure adjustment amount based on the adjusted starting acceleration range and the current output torque of the vehicle.

[0086] Among them, the brake caliper is the brake caliper in the electronic parking system. The electronic parking system is different from the hydraulic brake system. The electronic parking system controls the parking of the vehicle or releases the parking of the vehicle by controlling the clamping or release of the brake caliper.

[0087] Specifically, the electronic parking system controls the brake caliper to clamp when the vehicle is parked (i.e. the vehicle is no longer moving) to achieve parking control. There is a situation where the user drives the vehicle again after parking the vehicle to start the vehicle. When the vehicle is parked, the user will press the parking button to instruct the electronic parking system to control the brake caliper to clamp to achieve parking control. In this scenario, when the user drives the vehicle again, the brake caliper of the vehicle is in a clamped state.

[0088] In some embodiments, the vehicle may stop briefly and then start again during driving, for example, when the vehicle stops at a red light, the vehicle stops but does not park, and the electronic parking system does not need to control the brake caliper to clamp. When the vehicle enters the starting state after the green light, the brake caliper is not in the clamped state. Therefore, after determining that the vehicle is in the starting stage, it is possible to first detect whether the vehicle's brake caliper is in the clamped state.

[0089] When the brake caliper of the vehicle is in a clamped state, the brake caliper needs to be released when the vehicle starts. It usually takes a long time for the brake caliper to be released after being clamped, and there will still be braking torque acting on the vehicle during the release process. If the brake caliper is not completely released when the user steps on the accelerator to control the vehicle to start, the braking torque of the brake caliper will produce a certain resistance to the vehicle's start, resulting in a certain sense of lag when the vehicle starts, affecting the smoothness of the vehicle's start, and thus affecting the user's driving experience.

[0090] When it is determined that the brake caliper of the vehicle is in a clamped state, the upper limit and / or lower limit of the starting acceleration range can be reduced to reduce the acceleration of the vehicle when starting. The vehicle starts based on a smaller acceleration, and the vehicle speed increases slowly, the starting time is extended, so that the brake caliper has more time to release. The smaller acceleration reduces the friction between the brake pad and the brake disc, which can reduce the dragging feeling caused by the incomplete release of the brake caliper when the vehicle starts.

[0091] Specifically, a preset reduction amount may be stored in the vehicle, and when it is determined that the brake caliper of the vehicle is in a clamped state, the vehicle subtracts the preset reduction amount from the upper limit value and / or lower limit value of the starting acceleration range to obtain an adjusted starting acceleration range. Generally, the preset reduction amount needs to be subtracted from both the upper limit value and the lower limit value of the starting acceleration range to reduce the starting acceleration.

[0092] For example, the preset reduction is 0.2 m / s 2 The starting acceleration range is the starting acceleration range corresponding to the comfort index level B [0.3, 0.5]. The upper limit of the starting acceleration range is 0.5m / s 2 Subtract the preset reduction of 0.2m / s 2 , the upper limit of the adjusted starting acceleration range is 0.3m / s 2. Set the lower limit of the starting acceleration range to 0.3m / s 2 Subtract the preset reduction of 0.2m / s 2 , the upper limit of the adjusted starting acceleration range is 0.1m / s 2 The adjusted starting acceleration range is obtained as [0.1, 0.3], and the vehicle starting is controlled based on the acceleration in the starting acceleration range [0.1, 0.3].

[0093] In the above method, when the brake caliper is in a clamped state, the upper limit value and / or the lower limit value of the starting acceleration range is reduced, and the pressure adjustment amount is determined by the adjusted starting acceleration range and the output torque of the vehicle to reduce the starting acceleration of the vehicle. During the release of the brake caliper, the vehicle starts with a smaller acceleration, the vehicle speed increases slowly, and the starting time is longer, so that sufficient time can be reserved for the release of the brake caliper. The brake caliper that is not fully released also has less drag on the vehicle with a lower speed, which can reduce the drag of the vehicle caused by excessive starting acceleration when the vehicle brake caliper is in a clamped state, thereby further improving the driving experience of the vehicle.

[0094] In a possible implementation, when it is determined that the brake caliper of the vehicle is in a clamped state, the method further includes: when it is detected that the hydraulic brake system actively builds up pressure to a target pressure, controlling the vehicle to release the brake caliper.

[0095] When it is determined that the brake caliper of the vehicle is in a clamped state, the vehicle detects the pressure actively built up by the hydraulic brake system in real time, and when it is detected that the pressure is equal to the target pressure, the vehicle is controlled to release the brake caliper.

[0096] Specifically, when the starting scenario of the vehicle is determined to be a flat road starting scenario, when the pressure detected is equal to the first target pressure P1 corresponding to the flat road starting scenario, the vehicle is controlled to release the brake caliper. When the starting scenario of the vehicle is determined to be an uphill starting scenario, when the pressure detected is equal to the second target pressure P2 corresponding to the uphill starting scenario, the vehicle is controlled to release the brake caliper. When the starting scenario of the vehicle is determined to be a downhill starting scenario, when the pressure detected is equal to the third target pressure P3 corresponding to the downhill starting scenario, the vehicle is controlled to release the brake caliper.

[0097] Exemplarily, the starting scenario of the vehicle is a flat road starting scenario, and the first target pressure P1 corresponding to the flat road starting scenario is 100 NM. When it is detected that the hydraulic brake system actively builds up pressure to 100 NM, the vehicle is controlled to release the brake caliper.

[0098] It is understandable that the vehicle's starting scenarios include flat road starting scenarios, uphill starting scenarios, and downhill starting scenarios. If the vehicle is currently in an uphill starting scenario or a downhill starting scenario, the vehicle's brake calipers are in a clamped state to provide braking torque to the vehicle to ensure that the vehicle does not slip. When the hydraulic brake system actively builds pressure to the target pressure, the hydraulic brake system can provide braking torque to the vehicle to ensure that the vehicle does not slip in the uphill starting scenario or the downhill starting scenario, so the vehicle's brake calipers can be controlled to start releasing.

[0099] In the above method, after it is determined that the hydraulic brake system has built up pressure to the target pressure, the hydraulic brake system can provide the vehicle with the braking torque required by the vehicle. At this time, controlling the brake caliper to release can ensure that the vehicle does not slip.

[0100] In one possible implementation, when the starting scenario is a downhill starting scenario or an uphill starting scenario, the pressure adjustment amount is determined based on the starting acceleration range and the current output torque of the vehicle, including: determining the gravity component of the vehicle's gravity parallel to the current slope; determining the pressure adjustment amount based on the starting acceleration range, the vehicle's current output torque and the gravity component.

[0101] It can be understood that when a vehicle is on a slope, the vehicle's gravity has two components, one acting perpendicularly to the slope and the other parallel to the slope.

[0102] The vehicle can obtain the weight of the vehicle and the slope of the slope the vehicle is currently on, and calculate the gravity component of the vehicle parallel to the current slope based on the weight of the vehicle and the slope. Specifically, the gravity of the vehicle perpendicular to the horizontal plane can be decomposed into a first gravity component perpendicular to the slope and a second gravity component parallel to the slope based on a decomposition formula.

[0103] A gravity sensor may be provided in the vehicle to collect the weight of the vehicle during driving. When it is determined that the vehicle is in an uphill start scenario or a downhill start scenario, the weight of the vehicle collected by the vehicle gravity sensor during driving may be obtained.

[0104] Figure 2 This is a schematic diagram of a vehicle on a slope scenario provided in an embodiment of the present application.

[0105] For example, Figure 2 As shown, the slope is 30°, assuming that the weight of the vehicle is 1500kg and the gravitational acceleration g is 10m / s 2 , it is calculated that the gravity W of the vehicle perpendicular to the horizontal plane is 15000N, the first gravity component perpendicular to the slope is W1=W*cos30°=12990N, and the second gravity component parallel to the slope is W2=W*sin30°=7500N.

[0106] Specifically, when the vehicle is in an uphill starting scenario, the gravity component is opposite to the driving direction, generating a resistance torque on the vehicle. At this time, if the vehicle wants to start, the output torque of the engine is required to be greater than the sum of the braking torque of the hydraulic braking system and the resistance torque generated by the vehicle's gravity component.

[0107] Furthermore, when the vehicle is in an uphill starting scenario, the pressure adjustment amount is determined based on the starting acceleration range, the vehicle's current output torque and the gravity component, including: selecting any acceleration from the starting acceleration range, determining the target torque corresponding to the acceleration, subtracting the target torque and the resistance torque from the vehicle's current output torque to obtain the target braking torque that the hydraulic braking system needs to act on the vehicle, determining the pressure corresponding to the target braking torque, and subtracting the pressure corresponding to the target braking torque from the current target pressure of the hydraulic braking system to obtain the pressure adjustment amount.

[0108] For example, the vehicle is in an uphill start scenario, and the start acceleration range is the start acceleration range corresponding to the comfort index level B [0.3, 0.5]. From these, a target acceleration of 0.4 m / s is arbitrarily determined. 2 , the target torque corresponding to the target acceleration is assumed to be N1, the current output torque of the vehicle is N2, the target braking torque required to be applied to the vehicle by the hydraulic braking system is N3, and the resistance torque corresponding to the gravity component is N4. If the vehicle is to start at the target acceleration, then N2-N3-N4=N1 is required, and then N3=N2-N4-N1 can be determined. Then determine the pressure corresponding to N3, and subtract the pressure corresponding to N3 from the current target pressure of the hydraulic braking system to obtain the pressure adjustment amount.

[0109] When the vehicle is on a downhill slope, the acceleration of the gravity component is positive relative to the direction of vehicle travel, which generates a driving torque for the vehicle. At this time, if the vehicle wants to start, the output torque of the engine plus the driving torque must be greater than the braking torque corresponding to the target pressure of the hydraulic braking system.

[0110] Furthermore, when the vehicle is in an uphill starting scenario, the pressure adjustment amount is determined based on the starting acceleration range, the vehicle's current output torque and the gravity component, including: selecting any acceleration from the starting acceleration range, determining the target torque corresponding to the acceleration, subtracting the target torque from the sum of the vehicle's current output torque plus the driving torque to obtain the target braking torque that the hydraulic braking system needs to act on the vehicle, determining the pressure corresponding to the target braking torque, and subtracting the pressure corresponding to the target braking torque from the current target pressure of the hydraulic braking system to obtain the pressure adjustment amount.

[0111] For example, the vehicle is in an uphill start scenario, and the start acceleration range is the start acceleration range corresponding to the comfort index level B [0.3, 0.5]. From these, a target acceleration of 0.4 m / s is arbitrarily determined.2 , the target torque corresponding to the target acceleration is assumed to be N1, the current output torque of the vehicle is N2, the target braking torque required for the hydraulic braking system to act on the vehicle is N3, and the driving torque corresponding to the gravity component is N4. If the vehicle wants to start at the target acceleration, N2+N4-N3=N1 is required, so N3=N2+N4-N1 can be determined. Then determine the pressure corresponding to N3, subtract the pressure corresponding to N3 from the current target pressure of the hydraulic braking system, and obtain the pressure adjustment amount.

[0112] In the above method, when the vehicle is in an uphill starting scenario or a downhill starting scenario, the gravity component of the vehicle parallel to the current slope is determined; based on the starting acceleration range, the current output torque of the vehicle and the gravity component, the pressure adjustment amount is determined, and the influence of the gravity component of the vehicle's gravity parallel to the slope surface on the starting of the vehicle in the uphill starting scenario or the downhill starting scenario is taken into consideration. The pressure adjustment amount can be determined more accurately in the uphill starting scenario or the downhill starting scenario, ensuring that the vehicle starts based on the acceleration within the acceleration range, and ensuring the smoothness of the vehicle starting in various starting scenarios.

[0113] In step 104, the pressure regulation amount may specifically be a pressure increase amount or a pressure decrease amount, or the pressure regulation amount may also be a slope, that is, a pressure increase rate or a pressure relief rate.

[0114] When the pressure adjustment amount is the pressure relief rate, the step of adjusting the target pressure of the hydraulic brake system based on the pressure adjustment amount is specifically: controlling the hydraulic brake system to release pressure based on the pressure relief rate. When the pressure adjustment amount is the pressure increase rate, the step of adjusting the target pressure of the hydraulic brake system based on the pressure adjustment amount is specifically: controlling the hydraulic brake system to continue to build pressure based on the pressure increase rate.

[0115] In one possible implementation, after adjusting the target pressure of the hydraulic braking system based on the pressure adjustment amount so that the vehicle starts based on the acceleration within the starting acceleration range, the method further includes: when it is detected that the vehicle has completed starting, detecting whether the change in the acceleration of the vehicle is greater than a preset threshold; when it is determined that the change is greater than the preset threshold, controlling the change in the acceleration of the vehicle to be less than the preset threshold.

[0116] It is understandable that the vehicle's starting stage can be defined in advance to have a certain range, for example, the stage from the vehicle being stationary 0km / h to 15km / h can be divided into the starting stage in advance. When the vehicle starts, the vehicle speed is detected in real time, and when the vehicle speed is detected to be equal to 15km / h, it is determined that the vehicle has completed the start.

[0117] When the vehicle starts, the Comfort Start function will be automatically turned off, and the vehicle's acceleration will jump from the acceleration within the starting acceleration range to the actual acceleration corresponding to the user's current accelerator pedal stroke. If the user's current accelerator pedal stroke is large, resulting in an excessively large actual acceleration, the vehicle's acceleration will jump from the acceleration within the starting acceleration range to the excessively large actual acceleration, which can easily cause the vehicle to jerk.

[0118] After the vehicle is determined to have completed the start, the change in acceleration of the vehicle can be detected in real time to determine whether the change in acceleration is greater than a preset threshold. The preset threshold is the maximum change in acceleration at which the vehicle does not jerk. When the change in acceleration is greater than the preset threshold, it is determined that the vehicle will jerk.

[0119] When it is determined that the vehicle will have a jerking problem, the change in the vehicle acceleration can be reduced so that the change in the vehicle acceleration is less than a preset threshold value to ensure that the vehicle does not jerk. Specifically, when it is determined that the change in the acceleration is greater than the preset threshold value, the hydraulic brake system can be controlled to build pressure, and the vehicle acceleration can be reduced to reduce the change in the vehicle acceleration, thereby reducing the jerking of the vehicle.

[0120] Furthermore, the difference between the actual acceleration and the current acceleration can be calculated to obtain the change in acceleration, and a target change that is smaller than a preset threshold is taken. The second target pressure and the boost slope for building up pressure in the hydraulic braking system are determined based on the difference between the target change and the obtained change in acceleration. The hydraulic braking system is controlled to build up pressure to the second target pressure based on the boost slope to provide braking force to the vehicle to reduce the change in acceleration so that it is smaller than the preset threshold, thereby reducing vehicle jerking.

[0121] In the above method, after the vehicle starts, the change in vehicle acceleration is detected, and when the change in acceleration is greater than a preset threshold, the acceleration change is controlled to be less than the preset threshold, so that the change process of vehicle acceleration is smoother, which can reduce the large fluctuation caused by the user stepping on the accelerator too much or too fast, reduce the problem of vehicle jerking caused by excessive acceleration fluctuations, and further improve the driving comfort of the vehicle.

[0122] Figure 3 It is a schematic flowchart of a method for controlling a vehicle in a brake caliper clamping scenario provided in an embodiment of the present application.

[0123] For example, Figure 3 As shown, the method 300 includes:

[0124] Step 301, obtaining the starting acceleration set by the user;

[0125] Step 302, detecting that the gear of the vehicle is switched from other gears to D gear or R gear;

[0126] Among them, when the vehicle detects that the gear is switched from other gears to D gear or R gear, it can be determined that the vehicle is currently in the starting stage.

[0127] Step 303, controlling the hydraulic brake system to actively build pressure;

[0128] The vehicle includes an integrated brake controller (IBC for short), which may be an IBC in the vehicle that controls the hydraulic brake system to actively build up pressure.

[0129] Step 304, releasing the brake caliper when the pressure reaches the target pressure;

[0130] Step 305, detecting that the user steps on the accelerator;

[0131] In the process of releasing the brake caliper, the vehicle automatically detects whether the user has stepped on the accelerator, and when it detects that the user has stepped on the accelerator, it obtains the travel of the accelerator pedal.

[0132] Step 306 : Control the torque output by the engine based on the starting acceleration.

[0133] Specifically, the torque output by the engine can be calculated based on the stroke of the accelerator pedal depressed by the user. When the calculated torque output by the engine is less than the braking torque of the hydraulic brake system, the torque output by the engine is controlled based on the starting acceleration, including: determining a pressure relief slope based on the starting acceleration, the torque output by the engine, and the braking torque, causing the hydraulic brake system to release pressure based on the pressure relief slope, and ensuring that the vehicle starts based on the starting acceleration.

[0134] When the calculated torque output by the engine is greater than the braking torque of the hydraulic braking system, the torque output by the engine is controlled based on the starting acceleration, including: determining a boost slope based on the starting acceleration, the torque output by the engine, and the braking torque, so that the hydraulic braking system boosts the pressure based on the boost slope, ensuring that the vehicle starts based on the starting acceleration.

[0135] In some embodiments, when the calculated torque output by the engine is greater than the braking torque of the hydraulic braking system, the torque output by the engine is controlled based on the starting acceleration, and also includes: based on the starting acceleration, the torque output by the engine, and the braking torque, adjusting the throttle opening to reduce the intake volume, or adjusting the fuel injection volume to reduce the fuel injection volume, so as to reduce the torque output by the engine and ensure that the vehicle starts based on the starting acceleration.

[0136] In summary, when the application determines that the vehicle is in the starting stage, the hydraulic brake system of the vehicle is controlled to actively build up pressure to the target pressure to brake the vehicle. When the vehicle starts, the braking intervention is used to maintain the stability of the vehicle start, which can avoid the vehicle jerking caused by the user starting too hard. Considering the influence of the gravity component of the vehicle parallel to the slope surface on the vehicle start in uphill and downhill scenarios, the pressure adjustment amount is determined to adjust the target pressure, so that the vehicle's starting acceleration is accurately controlled within the starting acceleration range, and the vehicle's starting acceleration can be controlled within the range where the user's comfort is greater than the preset comfort in various starting scenarios, which can effectively reduce the user's discomfort caused by starting too fast or too slow, and improve the vehicle's driving comfort. And when the brake caliper is in the clamped state, the upper limit value and / or lower limit value of the starting acceleration range are reduced to reduce the vehicle's starting acceleration, reduce the drag feeling when the vehicle's brake caliper is in the clamped state, and further improve the vehicle's driving experience.

[0137] Figure 4 It is a structural schematic diagram of a device for controlling a vehicle provided in an embodiment of the present application.

[0138] For example, Figure 4 As shown, the device 400 includes:

[0139] The acquisition module 401 is used to acquire the starting acceleration range of the vehicle when it is determined that the vehicle is in the starting stage; wherein the starting acceleration range is an acceleration range in which the user comfort level is greater than a preset comfort level when the vehicle starts;

[0140] A control module 402, used to control the hydraulic brake system of the vehicle to actively build pressure to a target pressure;

[0141] A determination module 403, configured to determine a pressure adjustment amount based on a starting acceleration range and a current output torque of the vehicle;

[0142] The adjustment module 404 is configured to adjust the target pressure of the hydraulic brake system based on the pressure adjustment amount, so that the vehicle starts based on an acceleration within a starting acceleration range.

[0143] In one possible implementation, the device 400 also includes: a detection module, used to detect whether the brake caliper of the vehicle is in a clamped state; a reduction module, used to reduce the upper limit value and / or lower limit value of the starting acceleration range when it is determined that the brake caliper of the vehicle is in a clamped state, so as to obtain an adjusted starting acceleration range; the determination module is specifically used to determine the pressure adjustment amount based on the adjusted starting acceleration range and the current output torque of the vehicle.

[0144] In a possible implementation, the control module 402 is further configured to control the vehicle to release the brake caliper when it is detected that the hydraulic brake system actively builds up pressure to the target pressure.

[0145] In one possible implementation, the control module 402 is specifically used to, when it is determined that the vehicle is in a starting stage, determine the current starting scenario of the vehicle; the starting scenario is any one of a flat road starting scenario, a downhill starting scenario or an uphill starting scenario; determine the target pressure corresponding to the starting scenario; and control the hydraulic braking system of the vehicle to actively build up pressure to the target pressure.

[0146] In a possible implementation, when the starting scenario is a downhill starting scenario or an uphill starting scenario, the determination module 403 is specifically used to determine the gravity component of the vehicle's gravity parallel to the current slope; and determine the pressure adjustment amount based on the starting acceleration range, the vehicle's current output torque and the gravity component.

[0147] In one possible implementation, the detection module is further used to detect whether the change in the acceleration of the vehicle is greater than a preset threshold when it is detected that the vehicle has completed starting; the control module 402 is further used to control the change in the acceleration of the vehicle to be less than the preset threshold when it is determined that the change is greater than the preset threshold.

[0148] In a possible implementation, the acquisition module 401 is specifically used to acquire the comfort index level of the vehicle set by the user; and determine the starting acceleration range corresponding to the comfort index level.

[0149] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0150] For example, Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a method for controlling a vehicle.

[0151] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling a vehicle provided in an embodiment of the present application.

[0152] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0153] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a control module, a determination module, and an adjustment module. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0154] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0155] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0156] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0157] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0158] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0159] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling a vehicle provided in the above embodiment.

[0160] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0161] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0162] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that: The method comprises: When it is determined that the vehicle is in a starting stage, a starting acceleration range of the vehicle is obtained; wherein the starting acceleration range is an acceleration range in which the user comfort level is greater than a preset comfort level when the vehicle starts; Controlling the hydraulic brake system of the vehicle to actively build up pressure to a target pressure; determining a pressure adjustment amount based on the starting acceleration range and a current output torque of the vehicle; The target pressure of the hydraulic brake system is adjusted based on the pressure adjustment amount so that the vehicle starts to move based on the acceleration within the starting acceleration range.

2. The method according to claim 1, characterized in that Before determining the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle, the method further includes: Detecting whether the brake caliper of the vehicle is in a clamped state; When it is determined that the brake caliper of the vehicle is in a clamped state, reducing the upper limit value and / or the lower limit value of the starting acceleration range to obtain an adjusted starting acceleration range; The determining of the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle includes: The pressure adjustment amount is determined based on the adjusted starting acceleration range and the current output torque of the vehicle.

3. The method according to claim 2, characterized in that In the case where it is determined that the brake caliper of the vehicle is in a clamped state, the method further includes: When it is detected that the hydraulic brake system actively builds up pressure to the target pressure, the vehicle is controlled to release the brake caliper.

4. The method according to any one of claims 1 to 3, characterized in that When it is determined that the vehicle is in the starting stage, controlling the hydraulic brake system of the vehicle to actively build pressure to a target pressure includes: When it is determined that the vehicle is in a starting stage, determining a current starting scene of the vehicle; the starting scene is any one of a flat road starting scene, a downhill starting scene or an uphill starting scene; determining the target pressure corresponding to the starting scenario; The hydraulic brake system of the vehicle is controlled to actively build up pressure to the target pressure.

5. The method according to claim 4, characterized in that When the starting scenario is a downhill starting scenario or an uphill starting scenario, determining the pressure adjustment amount based on the starting acceleration range and the current output torque of the vehicle includes: Determining the gravity component of the vehicle parallel to the current slope; The pressure adjustment amount is determined based on the start-up acceleration range, the current output torque of the vehicle, and the gravity component.

6. The method according to any one of claims 1 to 3, characterized in that: After adjusting the target pressure of the hydraulic brake system based on the pressure adjustment amount so that the vehicle starts based on the acceleration within the starting acceleration range, the method further includes: When it is detected that the vehicle has completed starting, detecting whether a change in the acceleration of the vehicle is greater than a preset threshold; When it is determined that the change amount is greater than the preset threshold, the change amount of the vehicle acceleration is controlled to be smaller than the preset threshold.

7. The method according to any one of claims 1 to 3, characterized in that The obtaining of the starting acceleration range of the vehicle includes: Obtaining a comfort index level of the vehicle set by a user; A starting acceleration range corresponding to the comfort index level is determined.

8. A device for controlling a vehicle, characterized in that: The device comprises: An acquisition module, configured to acquire a starting acceleration range of the vehicle when it is determined that the vehicle is in a starting stage; wherein the starting acceleration range is an acceleration range in which a user comfort level is greater than a preset comfort level when the vehicle starts; A control module, used for controlling the hydraulic brake system of the vehicle to actively build pressure to a target pressure; a determination module, configured to determine a pressure adjustment amount based on the starting acceleration range and a current output torque of the vehicle; The regulating module is used to regulate the target pressure of the hydraulic brake system based on the pressure regulation amount, so that the vehicle starts based on the acceleration within the starting acceleration range.

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

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

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