Vehicle control method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle control method and device, a vehicle and a storage medium, and relates to the field of automatic control. Determining a target request torque from the plurality of request torques; determining a filtering mode corresponding to the target request torque according to the response speed of the target request torque; and controlling the torque output of the vehicle according to the target request torque and the filtering mode. Therefore, under the condition that the vehicle has multiple request torques, the target request torque is determined from the multiple request torques through the preset torque arbitration rule, and then the torque output of the vehicle is obtained by adopting the filtering mode corresponding to the target request torque according to the response speed of the target request torque. According to the method, the torque output of the engine not only can meet the requirement for the response speed, but also can perform classified filtering according to the response speeds of different request torques, so that the acceleration of the vehicle is smoother, and good driving experience is provided for a user.

Description

Technical Field

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

[0002] New energy vehicles have the characteristics of fast torque response and simple and controllable energy recovery, and have been widely used with an increasing market share. However, with the continuous optimization and increasing complexity of the system, the number of systems that interact with torque is increasing. If these torque arbitration and command torque filtering are not handled properly, various problems will occur during the operation of the vehicle.

[0003] At present, when a single function is running, the control algorithm can respond promptly and smoothly to the torque request of the drive motor. However, since the filtering method adopted by the control algorithm in the prior art is very simple, and in order to increase the response speed, some torque requirements do not pass through the filtering module. Therefore, when multiple torque request functions are triggered at the same time, the torque requests calculated by each functional module are switched with each other, resulting in the requested torque easily jumping, which in turn causes problems such as vehicle stalling, shaking, and unexpected acceleration. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, vehicle and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: Obtaining multiple requested torques of the vehicle; determining a target requested torque from the plurality of requested torques; determining a filtering method corresponding to the target requested torque according to a response speed of the target requested torque; The torque output of the vehicle is controlled according to the target request torque and the filtering method.

[0006] In one embodiment, the method further comprises: Acquiring a driving mode of the vehicle; The determining the target requested torque from the plurality of requested torques comprises: The requested torque corresponding to the driving mode is used as the target requested torque, and different driving modes correspond to different requested torques.

[0007] In one embodiment, the driving modes correspond to a plurality of requested torques, and using the requested torques corresponding to the driving modes as the target requested torques includes: determining at least one candidate requested torque from a plurality of requested torques based on the driving mode; When the at least one candidate requested torque includes one, the candidate requested torque is used as the target requested torque; or, when the at least one candidate requested torque includes multiple, the candidate requested torque with the highest priority among the at least one candidate requested torque is used as the target requested torque.

[0008] In one embodiment, determining the filtering method corresponding to the target requested torque according to the response speed of the target requested torque includes: A filtering method corresponding to the target requested torque is determined from a preset corresponding relationship, wherein the corresponding relationship is a corresponding relationship between different requested torques and filtering methods.

[0009] In one embodiment, controlling the torque output of the vehicle according to the target requested torque and the filtering method comprises: Filtering the target requested torque according to a filtering gradient corresponding to the filtering method to obtain a torque output value; The motor of the vehicle is controlled to output the torque output value.

[0010] In one embodiment, the filtering mode includes a fast filtering mode or a regular filtering mode.

[0011] In one embodiment, the method further comprises: Obtain the preset safety protection torque; The filtering the target torque request according to the filtering gradient corresponding to the filtering method to obtain the torque output value includes: According to the filtering gradient corresponding to the filtering method, the smaller torque between the target request torque and the safety protection torque is filtered to obtain the torque output value.

[0012] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: An acquisition module, used for acquiring a plurality of requested torques of a vehicle; a determination module, configured to determine a target requested torque from the plurality of requested torques; The determination module is further configured to determine a filtering method corresponding to the target requested torque according to a response speed of the target requested torque; A control module is used to control the torque output of the vehicle according to the target requested torque and the filtering method.

[0013] In one embodiment, the acquisition module is further used to acquire the driving mode of the vehicle; The determination module is further configured to use the requested torque corresponding to the driving mode as the target requested torque, and different driving modes correspond to different requested torques.

[0014] In one embodiment, the driving mode corresponds to a plurality of requested torques, and the determination module is further configured to: determining at least one candidate requested torque from a plurality of requested torques based on the driving mode; When the at least one candidate requested torque includes one, the candidate requested torque is used as the target requested torque; or, when the at least one candidate requested torque includes multiple, the candidate requested torque with the highest priority among the at least one candidate requested torque is used as the target requested torque.

[0015] In one embodiment, the determining module is further used to: A filtering method corresponding to the target requested torque is determined from a preset corresponding relationship, wherein the corresponding relationship is a corresponding relationship between different requested torques and filtering methods.

[0016] In one embodiment, the control module is further used to: Filtering the target requested torque according to a filtering gradient corresponding to the filtering method to obtain a torque output value; The motor of the vehicle is controlled to output the torque output value.

[0017] In one embodiment, the filtering mode includes a fast filtering mode or a regular filtering mode.

[0018] In one embodiment, the acquisition module is further used to acquire a preset safety protection torque; The control module is further configured to filter the smaller torque between the target request torque and the safety protection torque according to a filtering gradient corresponding to the filtering method to obtain the torque output value.

[0019] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising a processor and a memory; the memory stores a computer program thereon; and the processor is configured to execute the computer program in the memory to implement the method provided in the first aspect of the present disclosure.

[0020] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the steps of the vehicle control method provided in the first aspect of the present disclosure are implemented.

[0021] Through the above technical solution, when the vehicle has multiple requested torques, the target requested torque is first determined from the multiple requested torques through the preset torque arbitration rules, and then the vehicle's torque output is obtained by using the filtering method corresponding to the target requested torque according to the response speed of the target requested torque, so that the engine's torque output can not only meet the response speed requirements, but also can be classified and filtered according to the response speeds of different requested torques, thereby making the vehicle's acceleration smoother and providing users with a good driving experience.

[0022] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0024] Figure 2 The present invention is a flow chart of a vehicle control method according to an exemplary embodiment.

[0025] Figure 3 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0026] Figure 4 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0027] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0028] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0029] The terms "first", "second", etc. in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects and do not have to be understood as a specific order or sequence. In addition, in the description with reference to the drawings, the same symbols in different drawings represent the same elements.

[0030] In the description of the present disclosure, unless otherwise specified, "multiple" means two or more than two, and other quantifiers are similar thereto; "at least one item", "one item or multiple items" or similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one item a can represent any number of a; for another example, one item or multiple items among a, b and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple; "and / or" is a kind of description of the association relationship of associated objects, indicating that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " indicates that the associated objects before and after are in an "or" relationship.

[0031] Although operations or steps are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood that it is required to perform these operations or steps in the specific order shown or in a serial order, or to perform all the operations or steps shown to obtain the desired results. In the embodiments of the present disclosure, these operations or steps can be performed in series; these operations or steps can also be performed in parallel; or some of these operations or steps can be performed.

[0032] First, the application scenarios of the present disclosure are described.

[0033] The torque control of current vehicles is relatively decentralized. In the electronic and electrical architecture, the drive and brake are still controlled separately in two controllers, and are independently controlled by the OEM and the supplier respectively, and mainly coordinated by the supplier. The research on software architecture and control methods mainly focuses on the throttle, drive motor and related aspects. The coordination of drive and brake is mostly focused on the research of slope start assist function, and the research on service-oriented design of torque control is even rarer. Among them, torque control is the core of the control right management strategy. In the prior art, there are some arbitration logics for multiple torque requests in torque control. By giving a preset priority and arbitration logic, a required torque for controlling the motor is finally output according to the arbitration result, providing a feasible method for multi-source torque arbitration in the vehicle controller; or through the service priority arbitration logic, the priority relationship of each required torque is clearly listed, and arbitration is performed according to the priority.

[0034] However, with the continuous development of industry technology, the above method can no longer meet the centralized controller's demand for centralized torque control of driving and braking. The simple logic of service arbitration based on high and low priorities cannot adapt to and meet the more professional and detailed control requirements in current torque control.

[0035] When traditional vehicle controllers process various torque demands, each functional module is independent of each other. Since the filtering method used in conventional control algorithms is very simple, and in order to increase the response speed, some torque demands do not pass through the filtering module. Therefore, when multiple torque request functions are triggered at the same time, the torque requests calculated by each functional module switch with each other, causing the requested torque to easily jump, which in turn causes problems such as vehicle jerking, shaking, and unexpected acceleration.

[0036] For example, when the Electronic Stability Control (ESC) system requests torque, the control scheme in the prior art will directly switch to the ESC torque, reflecting the speed requirement. However, the ESC function is not continuously activated and will jump frequently. This selection will jump between the ESC torque and other arbitration filtered torques, causing vehicle jerking and unexpected acceleration problems.

[0037] For another example, when the electronic hydraulic brake system (brake-by-wire, EHB) requests torque, the control scheme in the prior art directly switches to the EHB torque according to the EHB flag in order to respond to the negative braking torque request. When the accelerator is released and the brake is applied immediately, or when the brake is applied during cruising, the torque will immediately jump from the positive cruising torque to the negative braking torque, causing the vehicle to jerk.

[0038] For another example, in the control scheme of the prior art, the calculation process of the safety protection torque of the vehicle control system is placed at the last output torque. In the case of torque jump, it often causes vibration of oscillation excitation, causing frequent vibration problems.

[0039] In order to solve the above problems, the present disclosure provides a vehicle control method, device, vehicle and storage medium, which obtains multiple request torques of the vehicle; determines the target request torque from the multiple request torques; determines the filtering method corresponding to the target request torque according to the response speed of the target request torque; and controls the torque output of the vehicle according to the target request torque and the filtering method. Through the above method, when the vehicle has multiple request torques, the target request torque is first determined from the multiple request torques by a preset torque arbitration rule, and then the torque output of the vehicle is obtained by using the filtering method corresponding to the target request torque according to the response speed of the target request torque, so that the torque output of the engine can not only meet the response speed requirements, but also can be classified and filtered according to the response speeds of different request torques, thereby making the acceleration of the vehicle smoother and providing users with a good driving experience.

[0040] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0041] Figure 1is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 1 As shown, the vehicle control method includes the following steps.

[0042] In step S101 , a plurality of requested torques of the vehicle are acquired.

[0043] In some embodiments, the multiple requested torques include: accelerator pedal torque, active cruise control (ACC) torque, downhill assist control (DAC) torque, speed limit torque, coasting energy recovery torque, brake energy recovery torque, EHB torque, ESC torque, automatic emergency braking system (AEB) torque, anti-lock brake system (ABS) clearing torque, and N gear clearing torque.

[0044] In other embodiments, the multiple torque requests may also include torques in other driving scenarios, such as acceleration slip control system (Accelerate Slip Regulation, ASR) torque and acceleration stability retainer (Acceleration Stability Retainer, ASR) torque, which is not limited in this embodiment.

[0045] In step S102 , a target requested torque is determined from among a plurality of requested torques.

[0046] In this embodiment, when the controller of the vehicle receives a plurality of request torques, the controller determines the target request torque from the plurality of request torques according to a preset priority of each request torque and a preset torque arbitration operation relationship.

[0047] Exemplarily, the N gear clearing torque has the highest priority, and when the vehicle controller receives the N gear clearing torque and other request torques, the N gear clearing torque is used as the target request torque.

[0048] In step S103 , a filtering method corresponding to the target requested torque is determined according to the response speed of the target requested torque.

[0049] In this embodiment, since different requested torques have different requirements on the response speed, different requested torques correspond to different filtering methods.

[0050] In some embodiments, the filtering mode includes a fast filtering mode or a regular filtering mode.

[0051] In step S104 , the torque output of the vehicle is controlled according to the target request torque and the filtering method.

[0052] In this embodiment, the target request torque is filtered by using a corresponding filtering method in order to ensure smoothness of the request torque and torque transition and rapid torque response.

[0053] In this embodiment, the torque output value refers to the driving torque currently output by the motor sent by the vehicle controller to the motor controller.

[0054] In some embodiments, step S104 includes: converting the filtered torque into motor-end torque according to a preset conversion ratio, and sending it to the motor of the vehicle.

[0055] In a possible implementation, step S104 includes: querying a motor map according to the filtered torque to obtain a torque output value.

[0056] Through the above method, when the vehicle has multiple request torques, the target request torque is first determined from the multiple request torques through the preset torque arbitration rule, and then the vehicle's torque output is obtained by using the filtering method corresponding to the target request torque according to the response speed of the target request torque, so that the engine's torque output can not only meet the response speed requirements, but also can be classified and filtered according to the response speeds of different request torques, thereby making the vehicle's acceleration smoother and providing users with a good driving experience.

[0057] In some embodiments, the vehicle control method further includes: acquiring a driving mode of the vehicle; step S102 includes: using a requested torque corresponding to the driving mode as a target requested torque, and different driving modes correspond to different requested torques.

[0058] In this embodiment, the correspondence between different driving modes and different requested torques may be preset. Different requested torques may be functionally exclusive. Therefore, it is necessary to determine the target requested torque from multiple functionally exclusive requested torques according to the driving mode.

[0059] For example, the energy-saving mode (Ecology Conservation Optimization, ECO) pursues economy, and the braking recovery torque is used as the target requested torque in the ECO mode; while the powertrain mode (Powertrain, PWR) pursues power, and the ACC torque is used as the target requested torque.

[0060] For another example, when the vehicle is in DAC mode, it receives DAC torque and cruise torque and uses the DAC torque as the target requested torque.

[0061] Through the above technical solution, the target torque is determined from multiple requested torques according to the driving mode, the functional mutual exclusion principle of torque arbitration is implemented, and the safety of the vehicle in different driving modes is guaranteed.

[0062] In some embodiments, there are multiple requested torques corresponding to the driving modes, and using the requested torques corresponding to the driving modes as the target requested torques includes: determining at least one candidate requested torque from a plurality of requested torques based on the driving mode; When the at least one candidate request torque includes one, the candidate request torque is used as the target request torque; or when the at least one candidate request torque includes multiple, the candidate request torque with the highest priority among the at least one candidate request torque is used as the target request torque.

[0063] In one possible implementation, the priorities of multiple candidate torques are in the following order from low to high: accelerator pedal torque, ACC torque, DAC torque, speed limit torque, coasting energy recovery torque, braking energy recovery torque, EHB torque, ESC torque, AEB torque, ABS clearing torque, and N gear clearing torque.

[0064] Exemplarily, when the at least one candidate request torque includes a plurality of candidates, the priority relationship of the at least one candidate request torque is as follows: Figure 2 As shown. Figure 2 , the priorities of the candidate request torques increase from left to right.

[0065] Through the above technical solution, at least one candidate requested torque is first determined from multiple requested torques according to the driving mode, and then priority is introduced according to the number of candidate requested torques. This can more flexibly respond to multi-scenario torque control, provide more detailed arbitration possibilities for the selection of multiple scenarios, and meet the arbitration requirements of multiple operations in the current torque control.

[0066] In some embodiments, step S103 includes: The filtering mode corresponding to the target requested torque is determined from a preset corresponding relationship, where the corresponding relationship is a corresponding relationship between different requested torques and filtering modes.

[0067] In this embodiment, filtering with different requirements is performed according to the driving mode.

[0068] For example, different external torque interventions have different processing methods. When the target requested torque is any one of the EHB torque, ESC torque, ABS torque, and AEB torque, since an immediate response is required, the filtering method is fast filtering, while other requested torques require a transition in response, so when the target requested torque is other requested torques, the corresponding filtering method is conventional filtering.

[0069] In some embodiments, conventional filtering and fast filtering have different filtering parameters. Optionally, the filtering parameters may include a maximum torque variation and a torque increase, the filtering parameters may also include a filtering gradient, and the filtering parameters may also be obtained by looking up a table.

[0070] Through the above technical scheme, the filtering method corresponding to the real-time target request torque is comprehensively considered, which is conducive to determining different filtering parameters according to the filtering method and outputting the filtered torque, making the whole vehicle driving more stable, thereby improving the drivability of the whole vehicle.

[0071] In some embodiments, step S104 includes: Filtering the target requested torque according to the filtering gradient corresponding to the filtering method to obtain a torque output value; Controls the vehicle's motor output torque output value.

[0072] In a possible implementation, the torque output value can be calculated by the following formula: torque output value = motor current torque + motor request torque × torque gradient × system time. The torque gradient is multiplied by the system time to calculate the magnitude of the torque increase or decrease within the system time. The system time is the duration of a specific torque gradient. The system time can also be obtained by integrating the torque gradient over the duration.

[0073] Through the above technical solution, the priority of torque control at each level is guaranteed to meet the safety of vehicle control, while also taking into account the response speed of torque transition to ensure the safety and smoothness of vehicle driving.

[0074] In a possible implementation, step S104 may also include: each time the target requested torque is increased or decreased, the filtering method of the target requested torque is re-determined, the target requested torque is filtered using the filtering method to obtain a torque adjustment value, the torque output value is increased or continuously decreased by the torque adjustment value, and the cycle is repeated until the torque demand value is reached.

[0075] By adopting the above method, a target torque adjustment value is selected from the first torque adjustment value and the second torque adjustment value, and the output torque is continuously adjusted by the target torque adjustment value instead of directly outputting a constant torque, so that the torque output of the engine has a gentler slope, thereby making the acceleration of the vehicle smoother, avoiding sudden acceleration or deceleration of the vehicle, and providing users with a good driving experience.

[0076] In some embodiments, the vehicle control method further includes: Obtain the preset safety protection torque; The target torque request is filtered according to the filter gradient corresponding to the filtering method, and the torque output value obtained includes: According to the filtering gradient corresponding to the filtering method, the smaller torque between the target request torque and the safety protection torque is filtered to obtain a torque output value.

[0077] In this embodiment, the safety protection torque is the torque upper limit value of the vehicle controller.

[0078] It is understandable that in order to avoid affecting the safety of the vehicle due to an excessive target request torque, it is necessary to output the smaller of the target request torque and the safety protection torque.

[0079] In this embodiment, the filtering mode corresponding to the safety protection torque is conventional filtering, and the filtering gradient corresponding to the safety protection torque is conventional filtering gradient.

[0080] Through the above technical scheme, it is possible to perform calculation analysis and accurate response according to the torque characteristics in different modes and the torque characteristics requested by the driver, obtain a safe, reliable and low-energy output torque, and then limit the maximum value of the output torque through the preset safety protection torque, thereby improving the applicability of the torque to the vehicle model and the compatibility of the vehicle with external torque, thereby ensuring the safety of vehicle driving.

[0081] Figure 2 FIG. 1 is a flow chart of a vehicle control method according to an exemplary embodiment. Figure 2 As shown, the vehicle control method includes the following steps.

[0082] In step S201 , a plurality of requested torques of the vehicle are obtained.

[0083] In step S202 , a plurality of candidate requested torques are determined from a plurality of requested torques according to the driving mode.

[0084] In step S203 , the one with the highest priority among the plurality of candidate request torques is used as the target request torque.

[0085] In step S204 , it is determined whether the target request torque requires rapid filtering; if the target request torque requires rapid filtering, step S205 is executed; if the target request torque does not require rapid filtering, step S206 is executed.

[0086] In step S205, filtering is performed through a fast filtering map.

[0087] In step S206, filtering is performed through a conventional filtering map.

[0088] In step S207 , the vehicle is controlled according to the filtered torque.

[0089] In this embodiment, step S207 may include: the vehicle controller loads the torque output value to the torque demand value by fast filtering the torque gradient or conventional fast filtering.

[0090] By adopting the above method, a target requested torque is first selected from multiple requested torques according to a preset arbitration rule, and then the target requested torque is filtered with different filter maps. The torque arbitration and filtering architecture designed based on the present invention can well solve the priority problem, the torque switching connection problem, and the problem that the torque response speed does not meet the relevant functional requirements, thereby making the torque loading slope output by the vehicle controller smooth and improving the comfort of the vehicle during acceleration and braking.

[0091] Figure 3 is a block diagram of a vehicle control device according to an exemplary embodiment. Figure 3 The device includes an acquisition module 301, a determination module 302 and a control module 303.

[0092] An acquisition module 301 is used to acquire multiple requested torques of the vehicle; A determination module 302, configured to determine a target requested torque from a plurality of requested torques; The determination module 302 is further used to determine a filtering method corresponding to the target requested torque according to a response speed of the target requested torque; The control module 303 is used to control the torque output of the vehicle according to the target requested torque and the filtering method.

[0093] In one embodiment, the acquisition module 301 is further used to acquire the driving mode of the vehicle; The determination module 302 is further configured to use the requested torque corresponding to the driving mode as the target requested torque, and different driving modes correspond to different requested torques.

[0094] In one embodiment, there are multiple requested torques corresponding to the driving modes, and the determination module 302 is further configured to: determining at least one candidate requested torque from a plurality of requested torques based on the driving mode; When the at least one candidate request torque includes one, the candidate request torque is used as the target request torque; or when the at least one candidate request torque includes multiple, the candidate request torque with the highest priority among the at least one candidate request torque is used as the target request torque.

[0095] In one embodiment, the determination module 302 is further configured to: The filtering mode corresponding to the target requested torque is determined from a preset corresponding relationship, where the corresponding relationship is a corresponding relationship between different requested torques and filtering modes.

[0096] In one embodiment, the control module 303 is further configured to: Filtering the target requested torque according to the filtering gradient corresponding to the filtering method to obtain a torque output value; Controls the vehicle's motor output torque output value.

[0097] In one embodiment, the filtering mode includes a fast filtering mode or a normal filtering mode.

[0098] In one embodiment, the acquisition module 301 is further used to acquire a preset safety protection torque; The control module 303 is further configured to filter the smaller torque between the target request torque and the safety protection torque according to the filtering gradient corresponding to the filtering method to obtain a torque output value.

[0099] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0100] Figure 4 4 is a block diagram of a vehicle 400 according to an exemplary embodiment. The vehicle includes Figure 1 The vehicle control system. For example, the vehicle 400 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0101] Reference Figure 4 , the vehicle 400 may include various subsystems, for example, an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. The vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 400 may be interconnected by wire or wireless means.

[0102] In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, and a navigation system, among others.

[0103] The perception system 420 may include several sensors for sensing information about the environment around the vehicle 400. For example, the perception system 420 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0104] The decision control system 430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0105] The drive system 440 may include components that provide power movement for the vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0106] Some or all functions of the vehicle 400 are controlled by a computing platform 450. The computing platform 450 may include at least one processor 451 and a memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.

[0107] The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0108] The memory 452 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0109] In addition to instructions 453 , memory 452 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in memory 452 may be used by computing platform 450 .

[0110] In the embodiment of the present disclosure, the processor 451 can execute the instruction 453 to complete all or part of the steps of the above-mentioned vehicle control method.

[0111] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.

[0112] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0113] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0114] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0115] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle control method, characterized in that: include: Obtaining multiple requested torques of the vehicle; determining a target requested torque from the plurality of requested torques; determining a filtering method corresponding to the target requested torque according to a response speed of the target requested torque; The torque output of the vehicle is controlled according to the target request torque and the filtering method.

2. The vehicle control method according to claim 1, characterized in that: The method further comprises: Acquiring a driving mode of the vehicle; The determining the target requested torque from the plurality of requested torques comprises: The requested torque corresponding to the driving mode is used as the target requested torque, and different driving modes correspond to different requested torques.

3. The vehicle control method according to claim 2, characterized in that: There are a plurality of requested torques corresponding to the driving modes, and taking the requested torques corresponding to the driving modes as the target requested torque includes: determining at least one candidate requested torque from a plurality of requested torques based on the driving mode; When the at least one candidate requested torque includes one, the candidate requested torque is used as the target requested torque; or, when the at least one candidate requested torque includes multiple, the candidate requested torque with the highest priority among the at least one candidate requested torque is used as the target requested torque.

4. The vehicle control method according to claim 1, characterized in that: Determining the filtering method corresponding to the target requested torque according to the response speed of the target requested torque includes: A filtering method corresponding to the target requested torque is determined from a preset corresponding relationship, wherein the corresponding relationship is a corresponding relationship between different requested torques and filtering methods.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The controlling the torque output of the vehicle according to the target requested torque and the filtering method comprises: Filtering the target requested torque according to a filtering gradient corresponding to the filtering method to obtain a torque output value; The motor of the vehicle is controlled to output the torque output value.

6. The vehicle control method according to claim 5, characterized in that: The filtering method includes a fast filtering method or a conventional filtering method.

7. The vehicle control method according to claim 5, characterized in that: The method further comprises: Obtain the preset safety protection torque; The filtering the target torque request according to the filtering gradient corresponding to the filtering method to obtain the torque output value includes: According to the filtering gradient corresponding to the filtering method, the smaller torque between the target request torque and the safety protection torque is filtered to obtain the torque output value.

8. A vehicle control device, characterized in that: include: An acquisition module, used for acquiring a plurality of requested torques of a vehicle; a determination module, configured to determine a target requested torque from the plurality of requested torques; The determination module is further configured to determine a filtering method corresponding to the target requested torque according to a response speed of the target requested torque; A control module is used to control the torque output of the vehicle according to the target requested torque and the filtering method.

9. A vehicle, characterized in that: including a processor and a memory; a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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