Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle, and is applied to the technical field of vehicles. The method comprises the steps that when the vehicle enters a sliding mode, the actual torque currently output by an engine in the vehicle is determined, the target torque needing to be output by the engine when the vehicle is decelerated at the target deceleration is determined, a motor in the vehicle is controlled to output compensation torque according to the torque deviation between the actual torque and the target torque, and the torque deviation is reduced. According to the vehicle control method, the torque of the engine can be compensated through the motor, so that the vehicle slides at the target deceleration, the torque of the motor can be accurately controlled, and the possibility of sudden change of the torque is low, so that possible vehicle jerking can be reduced or even eliminated, and the stability of the vehicle in the sliding process can be improved.

Description

Technical Field

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

[0002] When the vehicle enters the direct drive coasting mode (hereinafter referred to as the coasting mode), the engine torque needs to be reduced quickly to reduce the vehicle speed and allow the vehicle to coast smoothly.

[0003] In order to quickly reduce the engine torque, the common practice is to reduce the engine torque by releasing the ignition angle when the vehicle enters the glide mode, so that the engine torque drops rapidly. The method of releasing the ignition angle is difficult to accurately control the engine torque, and it is easy to cause a sudden change in the engine torque, which may cause the vehicle to jerk, resulting in poor stability of the vehicle during glide. Summary of the invention

[0004] The present application provides a vehicle control method, device and vehicle, which can improve the stability of the vehicle during sliding.

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

[0006] determining an actual torque currently output by an engine in the vehicle when the vehicle enters a coasting mode;

[0007] Determining a target torque of the vehicle; wherein the target torque is the torque that the engine needs to output when the vehicle is coasting at a target deceleration;

[0008] According to a torque deviation between the actual torque and the target torque, a motor in the vehicle is controlled to output a compensation torque to reduce the torque deviation.

[0009] In the embodiment of the present application, when the vehicle enters the gliding mode, the actual torque currently output by the engine in the vehicle is determined, the target torque that the engine needs to output when the vehicle is decelerated at the target deceleration is determined, and the motor in the vehicle is controlled to output a compensation torque according to the torque deviation between the actual torque and the target torque to reduce the torque deviation. In this way, the motor can compensate the torque of the engine to enable the vehicle to glide at the target deceleration. Since the torque of the motor can be accurately controlled, the possibility of torque mutation is low, so possible vehicle setbacks can be reduced or even eliminated, thereby improving the stability of the vehicle during the gliding process.

[0010] Optionally, the determining the actual torque currently output by the engine in the vehicle comprises:

[0011] Controlling the torque reduction of the engine in a target manner; wherein the target manner is other manners except for releasing the ignition angle;

[0012] After controlling the torque of the engine to decrease, the actual torque currently output by the engine is determined.

[0013] In an embodiment of the present application, after the vehicle enters the gliding mode, the engine torque is controlled to decrease in a targeted manner, so that the engine torque can be quickly reduced, so that the vehicle quickly enters the gliding state and glides at a target deceleration. At the same time, the motor can be prevented from outputting a large torque to reduce power consumption during gliding.

[0014] Optionally, controlling the torque reduction of the engine in a target manner includes:

[0015] At first preset time intervals, the torque of the engine is controlled to decrease by a preset gradient value in the target manner until the torque of the engine is less than or equal to a preset torque;

[0016] Alternatively, at intervals of the first preset time period, the engine torque is controlled to decrease by a target gradient value in the target manner until the engine torque is less than or equal to the preset torque; wherein the target gradient value is positively correlated with the number of decreases.

[0017] In the embodiment of the present application, in the process of controlling the engine's torque to decrease, the engine's torque gradient is controlled to decrease. The torque gradient decrease can avoid large changes in torque, thereby making the vehicle glide more smoothly, thereby improving the stability of the vehicle.

[0018] Optionally, controlling the torque reduction of the engine in a target manner includes:

[0019] Detecting the slope of the road on which the vehicle is currently located;

[0020] If the slope indicates that the vehicle is on a downhill section and the current speed of the vehicle is greater than a preset speed, the torque of the engine is controlled to decrease in the target manner.

[0021] In an embodiment of the present application, when the vehicle is on a downhill section and the vehicle speed is high, the torque of the engine can be controlled to decrease in a targeted manner, so that the torque of the engine can be quickly reduced, and the vehicle can quickly enter a gliding state and glide at a target deceleration.

[0022] Optionally, determining the target torque of the vehicle includes:

[0023] Determining a target speed interval in which the current speed of the vehicle is located from a plurality of speed intervals; the plurality of speed intervals respectively correspond to different decelerations;

[0024] The target deceleration is determined according to the deceleration corresponding to the target speed interval, so as to determine the target torque according to the target deceleration.

[0025] In an embodiment of the present application, the target deceleration of the vehicle during coasting is determined based on the vehicle speed, and the torque that the engine needs to output during coasting is determined based on the target deceleration. The target deceleration that matches the current speed of the vehicle can be obtained, and then the target torque that matches the current speed of the vehicle can be determined.

[0026] Optionally, before determining the target speed interval in which the current speed of the vehicle is located from a plurality of speed intervals, the method further includes:

[0027] If the vehicle is traveling on a downhill section, determining the plurality of speed intervals corresponding to the downhill section;

[0028] Alternatively, if the vehicle is traveling on an uphill section, the plurality of speed intervals corresponding to the uphill section are determined.

[0029] In an embodiment of the present application, different decelerations are used to determine the target deceleration when the vehicle is traveling on an uphill section and a downhill section, respectively, and the torque deviation is determined based on the target torque corresponding to the target deceleration. Then, when the motor is controlled to output the compensation torque to reduce the torque deviation, a compensation torque matching the current vehicle speed can be obtained, thereby accurately reducing the torque deviation.

[0030] Optionally, controlling the motor in the vehicle to output a compensation torque comprises:

[0031] When the torque deviation is greater than a preset threshold, controlling the motor to output the compensation torque;

[0032] Alternatively, when the torque deviation is less than or equal to the preset threshold, the compensation torque output by the motor is controlled to be 0, and the torque of the engine is adjusted in a target manner to reduce the torque deviation; wherein the target manner is other than releasing the ignition angle.

[0033] In an embodiment of the present application, when the torque deviation is greater than a preset threshold, the motor in the vehicle is controlled to output a compensation torque. When the torque deviation is less than or equal to the preset threshold, the torque deviation is reduced by adjusting the engine torque. This can avoid starting the motor to output torque when the torque deviation is small, thereby reducing power consumption.

[0034] Optionally, controlling the motor in the vehicle to output a compensation torque comprises:

[0035] If the direction of the compensation torque is opposite to the driving direction of the vehicle, determining a target torque interval in which the compensation torque is located from a plurality of torque intervals; wherein the plurality of torque intervals respectively correspond to different energy recovery intensities;

[0036] The motor is controlled to perform energy recovery at an energy recovery intensity corresponding to the target torque interval to output the compensation torque.

[0037] In the implementation of the present application, in the process of controlling the motor to output the compensation torque, the energy recovery intensity is determined according to the size of the compensation torque, and the motor is controlled to recover energy with the corresponding energy recovery intensity to output the compensation torque and perform energy recovery. Energy recovery can be performed on the basis of ensuring that the vehicle glides at the target deceleration, thereby improving the operating efficiency of the vehicle.

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

[0039] a determination module, configured to determine an actual torque currently output by an engine in the vehicle when the vehicle enters a coasting mode;

[0040] The determination module is further used to determine a target torque of the vehicle; wherein the target torque is a torque that the engine needs to output when the vehicle is decelerating and coasting at a target deceleration;

[0041] A control module is used to control the motor in the vehicle to output a compensation torque according to a torque deviation between the actual torque and the target torque, so as to reduce the torque deviation.

[0042] In a third aspect, a vehicle is provided, the vehicle comprising:

[0043] A memory for storing executable program codes;

[0044] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in any possible implementation of the first aspect above.

[0045] In a fourth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation manner of the above-mentioned first aspect.

[0046] In a fifth aspect, a 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 any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of the steps of a vehicle control method provided by an embodiment of the present application;

[0048] Figure 2 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0049] Figure 3 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] A hybrid vehicle (hereinafter referred to as a vehicle) can be driven by an engine alone, by an electric motor (hereinafter referred to as an electric motor), or by a combination of the engine and the electric motor. The mode driven by the engine alone is the direct drive mode. When the vehicle switches from the direct drive mode to the coasting mode, the engine torque needs to be controlled to decrease rapidly so that the vehicle can coast at a certain deceleration rate.

[0053] In the related art, when a vehicle enters the glide mode, the common practice is to release the ignition angle so that the ignition angle of the engine drops rapidly to quickly reduce the engine torque, thereby making the vehicle glide at a certain deceleration. The method of releasing the ignition angle makes it difficult to accurately control the engine torque, and it is easy to cause a sudden change in the engine torque. The sudden change in the engine torque may cause the vehicle to jerk, resulting in poor stability of the vehicle during the glide process.

[0054] In order to solve the above technical problems, the embodiment of the present application provides a vehicle control method, in which when the vehicle enters the glide mode, the target torque that the engine needs to output when the vehicle is decelerating and gliding at the target deceleration is determined, and the motor in the vehicle is controlled to output the compensation torque according to the torque deviation between the actual torque currently output by the engine and the target torque, and the torque output by the engine is compensated by the compensation torque to reduce the deviation between the target torque and the actual torque, so that the vehicle can glide at the target deceleration. Since the torque of the motor can be accurately controlled, the possibility of torque mutation is low, so that the possible vehicle setback can be reduced or even eliminated, and the stability of the vehicle during the glide process can be improved.

[0055] See also Figure 1 , Figure 1 is a flow chart of the steps of a vehicle control method provided by an embodiment of the present application. The execution subject of the method may be a vehicle control unit (VCU) in a vehicle, such as Figure 1 As shown, the method comprises the following steps:

[0056] Step 101: When the vehicle enters a coasting mode, determine the actual torque currently output by an engine in the vehicle.

[0057] For example, when the vehicle is traveling in direct drive mode, the state of the vehicle can be monitored. When the gear of the vehicle is in the driving gear and the accelerator pedal is released for a preset time, it can be determined that the vehicle has entered the coasting mode. After the vehicle enters the coasting mode, the torque output by the engine can be detected in real time to obtain the actual torque currently output by the engine. For example, a torque meter can be installed in the vehicle, and the VCU is connected to the torque meter in communication. After detecting that the vehicle has entered the coasting mode, the VCU can measure the torque output by the engine through the torque meter in real time to obtain the actual torque currently output by the engine.

[0058] Step 102: Determine the target torque of the vehicle.

[0059] The target torque is the torque that the engine needs to output when the vehicle is coasting at the target deceleration. That is, the target torque refers to the torque that the engine needs to output at the current moment if the vehicle is to coast at the target deceleration.

[0060] For example, the target deceleration can be pre-set and stored in the VCU, and the target deceleration is the deceleration required for the vehicle in the coasting mode. After detecting that the vehicle enters the coasting mode, the VCU can directly obtain the pre-stored target deceleration, and then determine the target torque according to the target deceleration.

[0061] After determining the target torque, the target torque can be determined according to the target deceleration. For example, the resistance of the vehicle can be predicted, and the rearward driving force required to make the vehicle have the target deceleration can be calculated according to the weight of the vehicle and the target deceleration (the rearward driving force refers to the force opposite to the direction of travel of the vehicle), and the difference between the resistance and the rearward driving force is calculated. The difference is the driving force that the engine currently needs to provide to the vehicle, and then the torque of the engine corresponding to the difference can be determined, so as to obtain the target torque. For example, the driving force that the engine needs to output can be calculated and determined by formula (1) as shown below.

[0062] F1-ma=F2 (1);

[0063] Among them, F1 is the resistance of the vehicle, F2 is the driving force that the engine currently needs to provide, m is the weight of the vehicle, a is the target deceleration, and ma is the backward driving force.

[0064] From the above formula, it can be seen that when the resistance of the vehicle is greater than the backward driving force, the engine needs to output forward torque, and when the resistance of the vehicle is less than the backward driving force, the engine needs to output backward torque. For example, the forward direction (driving direction) is positive and the backward direction (opposite to the driving direction) is negative. When the resistance is -100N and ma is -20N, the engine needs to output 80N of torque. When the resistance is -20N and ma is -50N, the engine needs to output -30N of torque.

[0065] Optionally, the target torque may also correspond to the slope of the road the vehicle is currently on. For example, in the process of determining the target torque, the slope of the road the vehicle is currently on may be detected by a slope sensor, and when the slope indicates that the vehicle is traveling on a downhill section, a preset torque corresponding to the downhill section may be used as the target torque, and when the slope indicates that the vehicle is traveling on an uphill section, a preset torque corresponding to the uphill section may be used as the target torque.

[0066] Optionally, the target deceleration of the vehicle in the gliding mode can be set to a fixed value, and the torque required by the vehicle at different weights, speeds and slopes can be measured in advance, and the torques corresponding to different weights, speeds and slopes can be stored in a table. In the process of determining the target torque, the current weight, speed and slope of the vehicle can be detected, and the target torque can be obtained by looking up the table based on the detected current weight, speed and slope of the vehicle.

[0067] The above are merely illustrative examples, and methods for determining the target torque may include but are not limited to the above examples.

[0068] Step 103 : According to the torque deviation between the actual torque and the target torque, the motor in the vehicle is controlled to output a compensation torque to reduce the torque deviation.

[0069] For example, after determining the target torque, the difference between the target torque and the actual torque can be calculated to obtain the torque deviation, and then the motor can be controlled to output a compensation torque, and the torque deviation can be reduced by the compensation torque so that the vehicle can glide at the target deceleration. For example, the torque deviation can be calculated by the following formula (2).

[0070] F n -F m =ΔF (2);

[0071] Among them, F n is the target torque, F m is the actual torque, and ΔF is the torque deviation.

[0072] For example, when the target torque is 60N and the actual torque is 80N, the torque deviation can be determined to be -20N by formula (2), indicating that the engine needs to reduce the torque by 20N. At this time, the motor can be controlled to output a backward compensation torque of 20N. The motor outputting a backward torque of 20N is equivalent to reducing the engine torque by 20N, thereby reducing the torque deviation. When the vehicle enters the gliding mode, the accelerator pedal is released and the opening of the accelerator pedal is 0. At this time, the engine torque will naturally decrease, but it is difficult for the engine torque to decrease rapidly when it naturally decreases, and it is difficult to reduce the vehicle speed rapidly. When the motor outputs a backward compensation torque for compensation, the vehicle speed can be reduced rapidly.

[0073] For another example, when the target torque is 60N and the actual torque is 40N, the torque deviation can be determined to be 20N by formula (2), indicating that the engine torque needs to be increased by 20N. At this time, the motor can be controlled to output a 20N forward compensation torque. The 20N forward torque output by the motor is equivalent to increasing the engine torque by 20N, thereby reducing the torque deviation. The situation where the target torque is greater than the actual torque usually occurs during the uphill process. When the vehicle is traveling on an uphill section and the slope is large, the vehicle resistance is large. In order to ensure that the vehicle runs at the target deceleration, the motor needs to output a forward torque to allow the vehicle to glide at the target deceleration.

[0074] For another example, when the target torque is 60N and the actual torque is 60N, the torque deviation can be determined to be 0 by formula (2). At this time, the motor can be controlled to output a compensation torque of 0N, that is, the motor is controlled to stop running. When the target torque is equal to the actual torque, it means that the vehicle's resistance can make the vehicle glide at the target deceleration.

[0075] It should be noted that after entering the gliding mode, the engine torque can drop naturally. During the natural drop of the engine torque, the above steps 101 to 103 can be repeated. After each drop of the engine torque, if there is a torque deviation, the motor outputs a compensation torque to compensate for it, so that the vehicle can glide at the target deceleration.

[0076] In the embodiment of the present application, when the vehicle enters the gliding mode, the actual torque currently output by the engine in the vehicle is determined, the target torque that the engine needs to output when the vehicle is decelerated at the target deceleration is determined, and the motor in the vehicle is controlled to output a compensation torque according to the torque deviation between the actual torque and the target torque to reduce the torque deviation. In this way, the motor can compensate the torque of the engine to enable the vehicle to glide at the target deceleration. Since the torque of the motor can be accurately controlled, the possibility of torque mutation is low, so possible vehicle setbacks can be reduced or even eliminated, thereby improving the stability of the vehicle during the gliding process.

[0077] Optionally, determining an actual torque currently output by an engine in the vehicle comprises:

[0078] Controlling the engine's torque drop in a targeted manner;

[0079] After the engine torque is controlled to decrease, the actual torque currently output by the engine is determined.

[0080] Among them, the target mode is other modes other than releasing the ignition angle that will not cause a sudden change in the engine torque. For example, the target mode may include one or more of the modes of reducing the throttle opening, reducing the amount of fuel injected into the engine, and reducing the injection pressure. Normally, releasing the ignition angle can quickly reduce the engine torque, but it may cause a sudden change in the engine torque. The engine torque can also be reduced through the target mode, but it is difficult to quickly reduce the engine torque. It should be understood that the target mode may include but is not limited to the above examples.

[0081] In one embodiment, after entering the coasting mode, the engine torque can be reduced in a targeted manner to accelerate the reduction of the engine torque so that the vehicle deceleration quickly reaches the target deceleration. For example, after detecting that the vehicle enters the coasting mode, the vehicle speed can be detected. When the vehicle speed is greater than a preset speed threshold, the engine torque can be reduced in a targeted manner. After reducing the engine torque, the engine torque is detected to obtain the actual engine torque.

[0082] For another example, after the vehicle enters the gliding mode, timing can be started. When the timing reaches a preset time, if the vehicle's deceleration has not reached the target deceleration, the engine torque can be reduced in a targeted manner. After the engine torque is reduced, the engine torque is detected to obtain the actual torque of the engine.

[0083] For another example, after the vehicle enters the gliding mode, the torque output by the engine can be detected. When the torque output by the engine is greater than a preset torque threshold, the torque of the engine can be reduced in a targeted manner. After reducing the torque of the engine, the torque of the engine is detected to obtain the actual torque of the engine. The preset torque threshold can be a relatively large torque value, indicating that the torque of the engine is relatively large and needs to be reduced.

[0084] For another example, after detecting that the vehicle has entered the gliding mode, the torque output by the engine can be detected. When the torque output by the engine is greater than a preset torque threshold, the torque gradient of the engine can be controlled to decrease. The torque of the engine is controlled to decrease once every preset time, and each time the torque of the engine is controlled to decrease by a preset gradient value. After each time the torque of the engine is controlled to decrease, the torque of the engine is detected to obtain the actual torque of the engine.

[0085] After the vehicle enters the coasting mode, the engine torque may be controlled to decrease only once or several times, or the engine torque may be controlled to decrease continuously until it decreases to the minimum torque of the engine. After the engine torque decreases to the minimum torque, the engine may be controlled to operate at the minimum torque.

[0086] It should be understood that when the torque of the engine has reached the minimum torque when the vehicle enters the coasting mode, the torque of the engine may not be controlled to decrease. Alternatively, when the vehicle enters the coasting mode, the torque of the engine may be controlled to decrease when the torque of the engine is greater than the minimum torque and the difference between the torque of the engine and the minimum torque is greater than a preset difference.

[0087] In an embodiment of the present application, after the vehicle enters the gliding mode, the engine torque is controlled to decrease in a targeted manner, so that the engine torque can be quickly reduced, so that the vehicle quickly enters the gliding state and glides at a target deceleration. At the same time, the motor can be prevented from outputting a large torque to reduce power consumption during gliding.

[0088] Optionally, the engine torque reduction is controlled in a targeted manner, including:

[0089] At first preset time intervals, the engine torque is controlled to decrease by a preset gradient value in a target manner until the engine torque is less than or equal to the preset torque;

[0090] Alternatively, at intervals of a first preset time, the engine torque is controlled to decrease by a target gradient value in a target manner until the engine torque is less than or equal to a preset torque; wherein the target gradient value is positively correlated with the number of decreases.

[0091] In one embodiment, after the vehicle enters the gliding mode, the torque gradient of the engine can be controlled to decrease. In the process of controlling the torque gradient of the engine to decrease, the torque of the engine can be controlled to decrease once every first preset time period in a target manner, and the preset gradient value is decreased each time until the torque of the engine is less than or equal to the preset torque. The preset gradient value and the first preset time period can be specifically set according to needs, and this embodiment does not limit this.

[0092] In another embodiment, in the process of controlling the torque gradient of the engine to decrease, the decrease amplitude can be determined according to the number of decreases, and the decrease amplitude at each decrease is positively correlated with the number of decreases. For example, the initial decrease amplitude can be set to E, and the initial decrease amplitude is the target gradient value at the first decrease. Each time the number of decreases increases, the decrease amplitude increases by Δe×(N-1), where N is the number of decreases, that is, the target gradient value is E-Δe×(N-1). That is, when the torque is controlled to decrease for the first time, the engine's torque can be controlled to decrease by E, when the torque is controlled to decrease for the second time, the engine's torque can be controlled to decrease by E+Δe, when the torque is controlled to decrease for the third time, the engine's torque can be controlled to decrease by E+Δe×2, and when the torque is controlled to decrease for the fourth time, the engine's torque can be controlled to decrease by E+Δe×3. And so on, each time the engine's torque is controlled to decrease by E+Δe×(N-1), until the engine's torque is less than or equal to the preset torque.

[0093] In practical applications, the initial decrease amplitude can be set to a smaller value. When the vehicle just enters the return mode, the engine torque can be controlled to decrease slowly, and then the decrease amplitude can be gradually increased each time to make the engine torque change quickly, thereby making the vehicle more stable during the gliding process.

[0094] In the embodiment of the present application, in the process of controlling the engine's torque to decrease, the engine's torque gradient is controlled to decrease. The torque gradient decrease can avoid large changes in torque, thereby making the vehicle glide more smoothly, thereby improving the stability of the vehicle.

[0095] Optionally, the engine torque reduction is controlled in a targeted manner, including:

[0096] Detect the slope of the road the vehicle is currently on;

[0097] If the slope indicates that the vehicle is on a downhill section and the current speed of the vehicle is greater than a preset speed, the torque of the engine is controlled to decrease in a targeted manner.

[0098] For example, a slope sensor may be provided in the vehicle, and the VCU is connected to the slope sensor. After detecting that the vehicle has entered the coasting mode, the VCU may detect the slope of the road on which the vehicle is currently located through the slope sensor, and may also detect the current speed of the vehicle. When the detected slope is in the slope interval corresponding to the downhill section, it is determined that the vehicle is in the downhill section. When it is determined that the vehicle is in the downhill section and the speed is greater than the preset speed, it is determined that the vehicle speed is fast and the vehicle may accelerate and coast. At this time, the torque reduction of the engine may be controlled in a targeted manner to quickly reduce the vehicle speed.

[0099] Alternatively, after detecting the slope of the road the vehicle is currently on, if the vehicle is determined to be on a downhill section based on the slope, the slope is greater than a preset threshold, and the vehicle speed is greater than a preset threshold, the engine torque can be controlled to decrease in a targeted manner.

[0100] In an embodiment of the present application, when the vehicle is on a downhill section and the vehicle speed is high, the torque of the engine can be controlled to decrease in a targeted manner, so that the torque of the engine can be quickly reduced, and the vehicle can quickly enter a gliding state and glide at a target deceleration.

[0101] Optionally, determining a target torque of the vehicle includes:

[0102] Determining a target speed interval in which the current speed of the vehicle is located from a plurality of speed intervals; the plurality of speed intervals respectively correspond to different decelerations;

[0103] The target deceleration is determined according to the deceleration corresponding to the target speed interval, so as to determine the target torque according to the target deceleration.

[0104] In one embodiment, the target deceleration may also be a deceleration corresponding to the current speed of the vehicle. For example, a plurality of different speed intervals may be pre-set, and corresponding decelerations may be set for each speed interval, and different speed intervals correspond to different decelerations. In the process of determining the target torque, the current speed of the vehicle may be determined first, and the target speed interval in which the current speed is located may be determined from the plurality of speed intervals, and then the target deceleration may be determined according to the deceleration corresponding to the target speed interval, and the deceleration corresponding to the target speed interval may be directly used as the target deceleration, and then the target torque may be determined according to the target deceleration.

[0105] In an embodiment of the present application, the target deceleration of the vehicle during coasting is determined based on the vehicle speed, and the torque that the engine needs to output during coasting is determined based on the target deceleration. The target deceleration that matches the current speed of the vehicle can be obtained, and then the target torque that matches the current speed of the vehicle can be determined.

[0106] Optionally, before determining the target speed interval in which the current speed of the vehicle is located from the multiple speed intervals, the method may further include:

[0107] If the vehicle is traveling on a downhill section, determining the multiple speed intervals corresponding to the downhill section;

[0108] Alternatively, if the vehicle is traveling on an uphill section, a plurality of speed intervals corresponding to the uphill section are determined.

[0109] Exemplarily, for downhill driving, multiple speed intervals can be set, and a corresponding deceleration can be set for each speed interval; for uphill driving, multiple speed intervals can also be set, and a corresponding deceleration can be set for each speed interval. Before determining the target torque, the slope of the road on which the vehicle is currently located can be detected first. When the slope indicates that the vehicle is traveling on a downhill section, the target speed interval in which the vehicle's current speed is located can be determined from the multiple speed intervals corresponding to the downhill section, and the target deceleration can be determined based on the deceleration corresponding to the target speed interval. When the slope indicates that the vehicle is traveling on an uphill section, the target speed interval in which the vehicle's current speed is located can be determined from the multiple speed intervals corresponding to the uphill section, and the target deceleration can be determined based on the deceleration corresponding to the target speed interval.

[0110] In an embodiment of the present application, different decelerations are used to determine the target deceleration when the vehicle is traveling on an uphill section and a downhill section, respectively, and the torque deviation is determined based on the target torque corresponding to the target deceleration. Then, when the motor is controlled to output the compensation torque to reduce the torque deviation, a compensation torque matching the current vehicle speed can be obtained, thereby accurately reducing the torque deviation.

[0111] Optionally, controlling a motor in a vehicle to output a compensating torque comprises:

[0112] When the torque deviation is greater than a preset threshold, controlling the motor in the vehicle to output a compensation torque;

[0113] Alternatively, when the torque deviation is less than or equal to a preset threshold, the compensation torque output by the motor in the vehicle is controlled to be 0, and the torque of the engine is adjusted in a target manner to reduce the torque deviation; wherein the target manner is other than releasing the ignition angle.

[0114] Among them, if the torque deviation is greater than the preset threshold, it means that the deviation between the target torque and the actual torque is large. If the compensation torque is not output, the vehicle's deceleration cannot reach the target deceleration in a short time. On the contrary, if the torque deviation is less than the preset threshold, it means that the deviation between the target torque and the actual torque is small. Even if the compensation torque is not output, the vehicle's deceleration can reach the target deceleration in a short time.

[0115] In one embodiment, after determining the torque deviation, the torque deviation can be compared with a preset threshold value, and if the torque deviation is greater than the preset threshold value, the motor in the vehicle is controlled to output a compensation torque. On the contrary, if the torque deviation is less than or equal to the preset threshold value, the motor may not be controlled to output the compensation torque, that is, the compensation torque output by the motor is controlled to be 0. At the same time, the torque of the engine can be adjusted in a target manner, and the torque output by the engine can be reduced or increased, so that the actual torque is close to or equal to the target torque, so as to reduce the torque deviation between the actual torque and the target torque.

[0116] In an embodiment of the present application, when the torque deviation is greater than a preset threshold, the motor in the vehicle is controlled to output a compensation torque. When the torque deviation is less than or equal to the preset threshold, the torque deviation is reduced by adjusting the engine torque. This can avoid starting the motor to output torque when the torque deviation is small, thereby reducing power consumption.

[0117] Optionally, controlling a motor in a vehicle to output a compensating torque comprises:

[0118] If the direction of the compensation torque is opposite to the driving direction of the vehicle, a target torque interval in which the compensation torque is located is determined from a plurality of torque intervals; wherein the plurality of torque intervals respectively correspond to different energy recovery intensities;

[0119] The motor is controlled to recover energy at an energy recovery intensity corresponding to the target torque range to output a compensation torque.

[0120] The direction of the compensation torque being opposite to the driving direction of the vehicle means that the motor outputs a backward compensation torque, and the compensation torque is used to brake the vehicle. When the motor outputs the backward compensation torque, the motor acts as a generator to generate electricity.

[0121] For example, the vehicle has three gears of energy recovery strength, namely strong energy recovery strength, medium energy recovery strength and weak energy recovery strength. For the energy recovery strength of each gear, a corresponding torque range can be set respectively. The lower limit value of the torque range corresponding to the strong energy recovery strength can be the upper limit value of the torque range corresponding to the medium energy recovery, and the lower limit value of the torque range corresponding to the medium energy recovery strength can be the upper limit value of the torque range corresponding to the weak energy recovery strength.

[0122] After determining the compensation torque, first determine whether the direction of the compensation torque is opposite to the driving direction of the vehicle. If the direction of the compensation torque is opposite to the driving direction of the vehicle, the target torque interval in which the compensation torque is located can be determined from the three torque intervals corresponding to the three energy recovery intensities. If the target torque interval is a torque interval corresponding to a strong energy recovery intensity, the motor is controlled to recover energy at a strong energy recovery intensity, and the power during the vehicle's forward movement is converted into electricity and stored in the battery; if the target torque interval is a torque interval corresponding to a medium energy recovery intensity, the motor is controlled to recover energy at a medium energy recovery intensity, and the power during the vehicle's forward movement is converted into electricity and stored in the battery; if the target torque interval is a torque interval corresponding to a weak energy recovery intensity, the motor is controlled to recover energy at a weak energy recovery intensity, and the power during the vehicle's forward movement is converted into electricity and stored in the battery.

[0123] In the implementation of the present application, in the process of controlling the motor to output the compensation torque, the energy recovery intensity is determined according to the size of the compensation torque, and the motor is controlled to recover energy with the corresponding energy recovery intensity to output the compensation torque and perform energy recovery. Energy recovery can be performed on the basis of ensuring that the vehicle glides at the target deceleration, thereby improving the operating efficiency of the vehicle.

[0124] Optionally, determining the target torque of the vehicle includes: determining the duration of the vehicle entering the gliding mode; determining a target duration interval from multiple duration intervals, different duration intervals corresponding to different decelerations; determining a target deceleration based on the deceleration corresponding to the target duration interval; and determining a target torque based on the target deceleration.

[0125] In one embodiment, after the vehicle enters the glide mode, the vehicle can be controlled to glide at different decelerations in different time periods. For example, multiple continuous duration intervals can be set, and different decelerations can be set for different duration intervals. Between two adjacent duration intervals, the upper limit value of the previous duration interval is less than or equal to the lower limit value of the next duration interval, and the deceleration corresponding to the previous duration interval is greater than the deceleration corresponding to the next duration interval. After the vehicle enters the glide mode, timing can be started to obtain the timing duration, which is the duration of the vehicle entering the glide mode. In the process of determining the target torque, the target duration interval in which the current timing duration is located can be first determined from multiple duration intervals, and the deceleration corresponding to the target duration interval is used as the target deceleration. Afterwards, the target torque can be determined based on the target deceleration.

[0126] In the embodiment of the present application, after the vehicle enters the gliding mode, the vehicle can be controlled to glide at different decelerations in different time periods, which can improve the stability of the vehicle during the gliding process.

[0127] See also Figure 2 , Figure 2 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0128] like Figure 2 As shown, the vehicle control device 200 is arranged in a vehicle controller in the vehicle, and may include:

[0129] A determination module 201, configured to determine an actual torque currently output by an engine in the vehicle when the vehicle enters a coasting mode;

[0130] The determination module 201 is further used to determine a target torque of the vehicle; wherein the target torque is a torque that the engine needs to output when the vehicle is decelerating and coasting at a target deceleration;

[0131] The control module 202 is used to control the motor in the vehicle to output a compensation torque according to the torque deviation between the actual torque and the target torque, so as to reduce the torque deviation.

[0132] Optionally, the determination module 201 is specifically used to control the torque reduction of the engine in a target manner; wherein the target manner is other manners except releasing the ignition angle; after controlling the torque reduction of the engine, determining the actual torque currently output by the engine.

[0133] Optionally, the control module 202 is specifically used to control the torque of the engine to decrease by a preset gradient value through the target method at intervals of a first preset time period until the torque of the engine is less than or equal to the preset torque; or, control the torque of the engine to decrease by a target gradient value through the target method at intervals of the first preset time period until the torque of the engine is less than or equal to the preset torque; wherein the target gradient value is positively correlated with the number of decreases.

[0134] Optionally, the control module 202 is specifically used to detect the slope of the road on which the vehicle is currently located; if the slope indicates that the vehicle is in a downhill section and the current speed of the vehicle is greater than a preset speed, the torque of the engine is controlled to decrease in the target manner.

[0135] Optionally, the determination module 201 is specifically used to determine a target speed range in which the current speed of the vehicle is located from a plurality of speed ranges; the plurality of speed ranges respectively correspond to different decelerations; the target deceleration is determined according to the deceleration corresponding to the target speed range, so as to determine the target torque according to the target deceleration.

[0136] Optionally, the determination module 201 is further configured to determine the multiple speed intervals corresponding to the downhill section if the vehicle is traveling on the downhill section; or, if the vehicle is traveling on the uphill section, determine the multiple speed intervals corresponding to the uphill section.

[0137] Optionally, the control module 202 is specifically used to control the motor to output the compensation torque when the torque deviation is greater than a preset threshold; or, when the torque deviation is less than or equal to the preset threshold, control the compensation torque output by the motor to be 0, and adjust the torque of the engine in a target manner to reduce the torque deviation; wherein the target manner is other manners except releasing the ignition angle.

[0138] Optionally, the control module 202 is specifically used to determine a target torque interval in which the compensation torque is located from multiple torque intervals if the direction of the compensation torque is opposite to the driving direction of the vehicle; wherein the multiple torque intervals respectively correspond to different energy recovery intensities; and control the motor to perform energy recovery with the energy recovery intensity corresponding to the target torque interval to output the compensation torque.

[0139] See also Figure 3 , Figure 3 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0140] For example, Figure 3 As shown, the vehicle 300 includes: a memory 301 and a processor 302, wherein the memory 301 stores an executable program code 3011, and the processor 302 is used to call and execute the executable program code 3011 to perform a vehicle control method.

[0141] In addition, an embodiment of the present application also protects a vehicle control 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 vehicle control method provided by an embodiment of the present application.

[0142] 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.

[0143] In the case of dividing each functional module according to each function, the device may also include a determination module and a control module, etc. 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.

[0144] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0145] In the case of an integrated unit, the device may include a determination module and an adjustment 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.

[0146] The processing module may be a processor or a vehicle body setting module, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this 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.

[0147] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0148] This embodiment also provides a 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 vehicle control method provided by the above-mentioned embodiment.

[0149] 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 vehicle control method provided by the above-mentioned embodiment.

[0150] Among them, the device, 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.

[0151] 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.

[0152] 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.

[0153] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: determining an actual torque currently output by an engine in the vehicle when the vehicle enters a coasting mode; Determining a target torque of the vehicle; wherein the target torque is the torque that the engine needs to output when the vehicle is coasting at a target deceleration; According to a torque deviation between the actual torque and the target torque, a motor in the vehicle is controlled to output a compensation torque to reduce the torque deviation.

2. The method according to claim 1, characterized in that The determining the actual torque currently output by the engine in the vehicle comprises: Controlling the torque reduction of the engine in a target manner; wherein the target manner is other manners except for releasing the ignition angle; After controlling the torque of the engine to decrease, the actual torque currently output by the engine is determined.

3. The method according to claim 2, characterized in that The step of controlling the torque reduction of the engine in a target manner comprises: At first preset time intervals, the torque of the engine is controlled to decrease by a preset gradient value in the target manner until the torque of the engine is less than or equal to a preset torque; Alternatively, at intervals of the first preset time period, the engine torque is controlled to decrease by a target gradient value in the target manner until the engine torque is less than or equal to the preset torque; wherein the target gradient value is positively correlated with the number of decreases.

4. The method according to claim 2, characterized in that The step of controlling the torque reduction of the engine in a target manner comprises: Detecting the slope of the road on which the vehicle is currently located; If the slope indicates that the vehicle is on a downhill section and the current speed of the vehicle is greater than a preset speed, the torque of the engine is controlled to decrease in the target manner.

5. The method according to claim 1, characterized in that The determining the target torque of the vehicle comprises: Determining a target speed interval in which the current speed of the vehicle is located from a plurality of speed intervals; the plurality of speed intervals respectively correspond to different decelerations; The target deceleration is determined according to the deceleration corresponding to the target speed interval, so as to determine the target torque according to the target deceleration.

6. The method according to claim 5, characterized in that Before determining the target speed interval in which the current speed of the vehicle is located from a plurality of speed intervals, the method further includes: If the vehicle is traveling on a downhill section, determining the plurality of speed intervals corresponding to the downhill section; Alternatively, if the vehicle is traveling on an uphill section, the plurality of speed intervals corresponding to the uphill section are determined.

7. The method according to claim 1, characterized in that The controlling the motor in the vehicle to output a compensation torque comprises: When the torque deviation is greater than a preset threshold, controlling the motor to output the compensation torque; Alternatively, when the torque deviation is less than or equal to the preset threshold, the compensation torque output by the motor is controlled to be 0, and the torque of the engine is adjusted in a target manner to reduce the torque deviation; wherein the target manner is other than releasing the ignition angle.

8. The method according to any one of claims 1 to 7, characterized in that The controlling the motor in the vehicle to output a compensation torque comprises: If the direction of the compensation torque is opposite to the driving direction of the vehicle, determining a target torque interval in which the compensation torque is located from a plurality of torque intervals; wherein the plurality of torque intervals respectively correspond to different energy recovery intensities; The motor is controlled to perform energy recovery at an energy recovery intensity corresponding to the target torque interval to output the compensation torque.

9. A vehicle control device, characterized in that: The device comprises: a determination module, configured to determine an actual torque currently output by an engine in the vehicle when the vehicle enters a coasting mode; The determination module is further used to determine a target torque of the vehicle; wherein the target torque is a torque that the engine needs to output when the vehicle is decelerating and coasting at a target deceleration; A control module is used to control the motor in the vehicle to output a compensation torque according to a torque deviation between the actual torque and the target torque, so as to reduce the torque deviation.

10. 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 8.

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