Vehicle control method, device and system, vehicle and readable storage medium

Abstract

The invention discloses a vehicle control method, device and system, a vehicle and a readable storage medium, relates to the technical field of vehicles, and aims to ensure the smoothness of the vehicle in an acceleration state. The method comprises the steps that when a vehicle is in an acceleration state, vehicle motion parameters are determined; the vehicle motion parameters are used for representing whether the change of the motor rotating speed of the vehicle and the change of the vehicle speed are in a synchronous state within the target time period; the vehicle motion parameter in the synchronization state is greater than or equal to a vehicle motion parameter threshold; under the condition that the change of the motor rotating speed and the change of the vehicle speed are in an asynchronous state, reducing the change rate of the vehicle torque until the vehicle torque is equal to the target vehicle torque and the motor rotating speed and the vehicle speed are in a synchronous state; the target vehicle torque is positively correlated with an accelerator pedal opening of the vehicle and a vehicle speed.

Description

Technical Field

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

[0002] With the rapid development of the automobile industry, the performance of vehicles has been greatly improved. For example, compared with fuel vehicles, new energy vehicles have the advantage of fast acceleration response. In addition, due to the large motor speed range, rapid power output, and no complex transmission mechanism like fuel vehicles, the vehicle has little power hysteresis during the starting and acceleration stages. However, excessive torque loading may cause irregular shaking of the power system due to transmission clearance, resulting in a poor experience for the driver or passengers. Summary of the invention

[0003] One of the purposes of the present invention is to provide a vehicle control method, device, system, vehicle and readable storage medium to ensure the safety of vehicle driving when the vehicle has an emergency braking demand.

[0004] In a first aspect, a vehicle control method is provided, the method comprising: when the vehicle is in an accelerating state, determining a vehicle motion parameter; the vehicle motion parameter is used to characterize whether a change in the motor speed of the vehicle is synchronized with a change in the vehicle speed within a target time period; the vehicle motion parameter in the synchronized state is greater than or equal to a vehicle motion parameter threshold; when a change in the motor speed is not synchronized with a change in the vehicle speed, reducing the rate of change of the vehicle torque until the vehicle torque is equal to a target vehicle torque and the motor speed and the vehicle speed are synchronized; the target vehicle torque is positively correlated with the vehicle's accelerator pedal opening and the vehicle speed.

[0005] According to the above technical means, when the change of the motor speed is not synchronized with the change of the vehicle speed, the change rate of the vehicle torque is reduced until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are synchronized. When there is a transmission gap in the vehicle and the vehicle is in an accelerating state, the change of the motor speed is not synchronized with the change of the vehicle speed, which will cause the collision strength between the motor gear and the transmission gear to be large. In this case, the present application can reduce the collision strength between the motor gear and the transmission gear by reducing the change rate of the vehicle torque, and reduce the probability that the change of the motor speed is not synchronized with the change of the vehicle speed, thereby avoiding irregular shaking of the vehicle, ensuring the smoothness of the vehicle when it is in an accelerating state, and improving the riding experience of the driver and passengers. In addition, the vehicle torque is equal to the target vehicle torque, that is, it can simultaneously meet the user's demand for vehicle speed.

[0006] Further, the target time period is a time period between a first moment and a current moment, the first moment being before the current moment, and determining the vehicle motion parameters, including: determining a change value of a motor speed and a change value of a vehicle speed; the change value of the motor speed is a difference between a first motor speed and a second motor speed, the change value of the vehicle speed is a difference between a first vehicle speed and a second vehicle speed, the first motor speed is the motor speed at the current moment, the second motor speed is the motor speed at the first moment, the first vehicle speed is the vehicle speed at the current moment, and the second vehicle speed is the vehicle speed at the first moment; the product of the change value of the motor speed and the change value of the vehicle speed is determined as the vehicle motion parameter.

[0007] Further, determining the target vehicle torque includes: obtaining a first accelerator pedal opening and a first vehicle speed; the first accelerator pedal opening is the accelerator pedal opening of the vehicle at the current moment, and the first vehicle speed is the vehicle speed at the current moment; determining the target vehicle torque according to the first accelerator pedal opening, the first vehicle speed and a first mapping relationship; the first mapping relationship includes different accelerator pedal openings, different vehicle speeds and corresponding vehicle torques.

[0008] Furthermore, the method also includes: obtaining a second accelerator pedal opening; the second accelerator pedal opening is the accelerator pedal opening of the vehicle at a first moment, and the first moment is before the current moment; when the first accelerator pedal opening is greater than the second accelerator pedal opening, determining that the vehicle is in an accelerating state.

[0009] In a second aspect, a vehicle control device is provided, which includes: a determination unit and a control unit; the determination unit is used to determine a vehicle motion parameter when the vehicle is in an accelerating state; the vehicle motion parameter is used to characterize whether the change in the motor speed of the vehicle and the change in the vehicle speed are in a synchronous state within a target time period; the vehicle motion parameter in the synchronous state is greater than or equal to a vehicle motion parameter threshold; a control unit is used to reduce the rate of change of the vehicle torque when the change in the motor speed and the change in the vehicle speed are in an asynchronous state, until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronous state; the target vehicle torque is positively correlated with the vehicle's accelerator pedal opening and the vehicle speed.

[0010] Further, the target time period is a time period between a first moment and a current moment, the first moment is before the current moment, and the determination unit is specifically used to: determine a change value of a motor speed and a change value of a vehicle speed; the change value of the motor speed is a difference between a first motor speed and a second motor speed, the change value of the vehicle speed is a difference between a first vehicle speed and a second vehicle speed, the first motor speed is the motor speed at the current moment, the second motor speed is the motor speed at the first moment, the first vehicle speed is the vehicle speed at the current moment, and the second vehicle speed is the vehicle speed at the first moment; the product of the change value of the motor speed and the change value of the vehicle speed is determined as a vehicle motion parameter.

[0011] Furthermore, the determination unit is specifically used to: obtain a first accelerator pedal opening and a first vehicle speed; the first accelerator pedal opening is the accelerator pedal opening of the vehicle at the current moment, and the first vehicle speed is the vehicle speed at the current moment; determine the target vehicle torque according to the first accelerator pedal opening, the first vehicle speed and a first mapping relationship; the first mapping relationship includes different accelerator pedal openings, different vehicle speeds and corresponding vehicle torques.

[0012] Furthermore, the determination unit is specifically used to: obtain a second accelerator pedal opening; the second accelerator pedal opening is the accelerator pedal opening of the vehicle at a first moment, and the first moment is before the current moment; when the first accelerator pedal opening is greater than the second accelerator pedal opening, determine that the vehicle is in an accelerating state.

[0013] In a third aspect, a controller is provided, comprising: a processor; a memory for storing processor executable instructions; the processor is configured to execute the instructions, the functions performed in the first aspect or any possible design of the first aspect.

[0014] In a fourth aspect, a vehicle control system is provided, the vehicle control system comprising a vehicle control system, and a controller is used to execute the method in the first aspect or any possible design of the first aspect.

[0015] In a fifth aspect, a vehicle is provided, comprising the vehicle control system provided in the fourth aspect.

[0016] In the sixth aspect, a vehicle control device is provided, which can implement the functions performed by the vehicle control device in the above-mentioned aspects or possible designs. The functions can be implemented through hardware, such as: in one possible design, the vehicle control device may include: a processor and a communication interface, and the processor can be used to support the vehicle control device to implement the functions involved in the above-mentioned first aspect or any possible design of the first aspect.

[0017] In another possible design, the vehicle control device may further include a memory for storing computer-executable instructions and data necessary for the vehicle control device. When the vehicle control device is running, the processor executes the computer-executable instructions stored in the memory so that the vehicle control device performs the first aspect or any possible vehicle control method of the first aspect.

[0018] In the seventh aspect, a computer-readable storage medium is provided, which may be a readable non-volatile storage medium, and which stores computer instructions or programs. When the computer-readable storage medium is run on a computer, the computer can execute the first aspect or any possible vehicle control method of the above aspects.

[0019] In an eighth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the vehicle control method of the first aspect or any possible design of the above aspects.

[0020] Beneficial effects of the present invention:

[0021] (1) When the change of motor speed is not synchronized with the change of vehicle speed, the change rate of vehicle torque is reduced until the vehicle torque is equal to the target vehicle torque and the motor speed and vehicle speed are synchronized. When there is a transmission gap in the vehicle and the vehicle is in an accelerating state, the change of motor speed is not synchronized with the change of vehicle speed, which will cause the collision intensity between the motor gear and the transmission gear to be large. In this case, the present application can reduce the collision intensity between the motor gear and the transmission gear by reducing the change rate of vehicle torque, and reduce the probability that the change of motor speed is not synchronized with the change of vehicle speed, thereby avoiding irregular shaking of the vehicle, ensuring the smoothness of the vehicle when it is in an accelerating state, and improving the riding experience of the driver and passengers. In addition, the vehicle torque is equal to the target vehicle torque, that is, it can simultaneously meet the user's demand for vehicle speed.

[0022] (2) The vehicle motion parameters can be determined based on the change in motor speed and the change in vehicle speed to determine whether the change in motor speed and vehicle speed during the target period are in synchronization.

[0023] (3) The target vehicle torque is determined according to the first accelerator pedal opening, the first vehicle speed, and the first mapping relationship. Since the target vehicle torque is positively correlated with the vehicle speed, the user's demand for the vehicle speed can be determined.

[0024] (4) It can determine whether the vehicle is in an accelerating state, thereby ensuring the smoothness of the vehicle when in an accelerating state and improving the riding experience of the driver and passengers.

[0025] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0027] Figure 1 A schematic diagram of the structure of a vehicle control system provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0029] Figure 3 A schematic diagram of a vehicle control method provided in an embodiment of the present application;

[0030] Figure 4 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0031] Figure 5 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0032] Figure 6 A flow chart of another vehicle control method provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of another vehicle control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0036] It should also be understood that the term “comprising” indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or components.

[0037] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0038] With the rapid development of the automobile industry, the performance of vehicles has been greatly improved. For example, compared with fuel vehicles, new energy vehicles have the advantage of fast acceleration response. In addition, due to the large motor speed range, rapid power output, and no complex transmission mechanism like fuel vehicles, the vehicle has little power hysteresis during the starting and acceleration stages. However, excessive torque loading may cause irregular shaking of the power system due to transmission clearance, resulting in a poor experience for the driver or passengers.

[0039] In view of this, an embodiment of the present application provides a vehicle control method, the method comprising: when the vehicle is in an accelerating state, determining a vehicle motion parameter; the vehicle motion parameter is used to characterize whether the change in the motor speed of the vehicle and the change in the vehicle speed are in a synchronized state within a target time period; the vehicle motion parameter in the synchronized state is greater than or equal to a vehicle motion parameter threshold; when the change in the motor speed and the change in the vehicle speed are in an asynchronous state, reducing the rate of change of the vehicle torque until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronized state; the target vehicle torque is positively correlated with the vehicle's accelerator pedal opening and the vehicle speed.

[0040] It should be noted that the vehicle control system described in the embodiment of the present application is for the purpose of more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can know that with the evolution of vehicle control systems and the emergence of other vehicle control systems, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0041] The vehicle control system provided in the embodiment of the present application can be applied to a vehicle. The embodiment of the present application does not limit the specific technology, specific quantity and specific device form used in the vehicle.

[0042] Figure 1 A schematic diagram of the composition of a vehicle control system 10 provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the vehicle control system 10 may include a sensor 11 and a controller 12 .

[0043] The sensor 11 is connected to the controller 12. For example, the sensor 11 and the controller 12 may be connected wirelessly or wired, which is not limited in the embodiment of the present invention.

[0044] The sensor 11 is used to detect the driving data of the vehicle. For example, the sensor 11 may be an accelerator pedal displacement sensor, a vehicle speed sensor, a vehicle longitudinal acceleration sensor, a motor speed sensor, etc. The embodiments of the present application do not limit the specific technology, specific number, and specific device form used by the sensor 11.

[0045] The controller 12 is used to determine the vehicle motion parameters when the vehicle is in an accelerating state; and is also used to reduce the rate of change of the vehicle torque when the change of the motor speed is not synchronized with the change of the vehicle speed, until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronized state. For example, the controller 12 can be a vehicle torque coordination controller, a vehicle control unit (VCU), or a vehicle microcontroller unit (MCU).

[0046] The controller 12 is arranged inside the vehicle. The type of the vehicle may be a new energy vehicle, a hybrid vehicle, etc.

[0047] It should be noted that Figure 1 This is just an exemplary framework diagram. Figure 1 The names of the modules included in the Figure 1 In addition to the functional modules shown, other modules may also be included, which is not limited in the embodiments of the present application.

[0048] When implementing it specifically, Figure 1 The controller in can be used Figure 2 The structure shown, or including Figure 2 Parts shown. Figure 2 The structure diagram of a vehicle control device 200 provided in an embodiment of the present application is shown in FIG. 2 . The vehicle control device 200 may be a controller in a vehicle control system, or the vehicle control device 200 may be a chip or a system on chip in a controller. Figure 2 As shown, the vehicle control device 200 includes a processor 201 , a communication interface 202 and a communication line 203 .

[0049] Furthermore, the vehicle control device 200 may further include a memory 204 . The processor 201 , the memory 204 and the communication interface 202 may be connected via a communication line 203 .

[0050] The processor 201 is a CPU, a general processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0051] The communication interface 202 is used to communicate with other devices or other communication networks. The communication interface 202 can be a module, a circuit, a communication interface or any device capable of implementing communication.

[0052] The communication line 203 is used to transmit information between the components included in the vehicle control device 200.

[0053] The memory 204 is used to store instructions executable by the processor 201. The instructions may be computer programs.

[0054] The memory 204 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0055] It should be noted that the memory 204 can exist independently of the processor 201, or can be integrated with the processor 201. The memory 204 can be used to store instructions or program codes or some data, etc. The memory 204 can be located in the vehicle control device 200, or can be located outside the vehicle control device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 204 to implement the vehicle control method provided in the following embodiments of the present application.

[0056] In one example, the processor 201 may include one or more CPUs, for example, Figure 2 CPU0 and CPU1 in.

[0057] As an optional implementation, the vehicle control device 200 includes multiple processors, for example, Figure 2 In addition to the processor 201, a processor 205 may also be included.

[0058] It should be pointed out that Figure 2 The composition shown in the Figure 1 The limitations of each device in Figure 2 In addition to the parts shown, Figure 1 Each controller in the Figure 2 More or fewer components, or combinations of certain components, or different arrangements of components.

[0059] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0060] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0061] Combine the following Figure 1 The vehicle control system shown describes the vehicle control method provided in the embodiment of the present application.

[0062] The present application embodiment is described by taking the application to a vehicle control device as an example. For example, the vehicle control device may be Figure 1 The controller 12 in FIG. Figure 3 As shown, the method includes the following S301-S302:

[0063] S301. When a vehicle is in an accelerating state, determine a vehicle motion parameter.

[0064] The vehicle motion parameter is used to characterize whether the change of the motor speed of the vehicle and the change of the vehicle speed are in a synchronous state during the target period; the vehicle motion parameter in the synchronous state is greater than or equal to the vehicle motion parameter threshold. The vehicle motion parameter threshold can be set as needed. For example, the vehicle motion parameter threshold can be 0.

[0065] As a possible implementation manner, the controller may determine a change value of the motor speed and a change value of the vehicle speed; and determine the product of the change value of the motor speed and the change value of the vehicle speed as the vehicle motion parameter.

[0066] It should be noted that the change in motor speed is the difference between the first motor speed and the second motor speed, the change in vehicle speed is the difference between the first vehicle speed and the second vehicle speed, the first motor speed is the motor speed at the current moment, the second motor speed is the motor speed at the first moment, the first vehicle speed is the vehicle speed at the current moment, and the second vehicle speed is the vehicle speed at the first moment.

[0067] The first moment may be 1 second before the current moment, or 0.1 second before the current moment, etc., without limitation.

[0068] In one example, the controller may determine the vehicle motion parameter according to the following formula 1. For example, formula 1 may be:

[0069] A=ΔN×|ΔV|=(N2-N1)×|V2-V1|Formula 1

[0070] Wherein, A represents the current vehicle motion parameter. ΔN represents the change in motor speed. ΔV represents the change in vehicle speed. N1 represents the motor speed at the first moment. N2 represents the motor speed at the current moment. V1 represents the vehicle speed at the first moment. V2 represents the vehicle speed at the current moment.

[0071] It should be noted that the specific instructions for determining that the vehicle is in an accelerating state can be found in the description of the subsequent parts and will not be repeated here.

[0072] S302: When the change in the motor speed is not synchronized with the change in the vehicle speed, reduce the rate of change of the vehicle torque until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are synchronized.

[0073] The target vehicle torque is positively correlated with the accelerator pedal opening and the vehicle speed. The accelerator pedal opening is between 0-100%.

[0074] As a possible implementation method, the controller can reduce the rate of change of the vehicle torque according to a preset gradient ratio, and after reducing the rate of change of the vehicle torque according to the preset gradient ratio, determine that the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronized state; if the vehicle torque is not equal to the target vehicle torque or the motor speed and the vehicle speed are in an unsynchronized state, continue to reduce the rate of change of the vehicle torque according to the preset gradient ratio until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronized state.

[0075] For example, after the controller reduces the rate of change of the vehicle torque according to a preset gradient ratio, if the vehicle motion parameter is greater than or equal to the vehicle motion parameter threshold and the vehicle torque is equal to the target vehicle torque, the controller stops reducing the rate of change of the vehicle torque.

[0076] It should be noted that the preset gradient ratio can be set as required, for example, 5% of the current vehicle torque change rate.

[0077] In some embodiments, during the process of reducing the rate of change of vehicle torque, the preset gradient ratio may be different in different stages. For example, the preset gradient ratio in the first stage may be 5%, the preset gradient ratio in the second stage may be 3%, and so on.

[0078] The first stage may be the first 2 seconds in the process of reducing the rate of change of the vehicle torque, and the second stage may be the period other than the first stage in the process of reducing the rate of change of the vehicle torque.

[0079] Based on the technical solution provided by the present application, when the change of the motor speed is not synchronized with the change of the vehicle speed, the change rate of the vehicle torque is reduced until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronized state. When there is a transmission gap in the vehicle, the change of the motor speed is not synchronized with the change of the vehicle speed, which will cause the collision intensity between the motor gear and the transmission gear to be greater. When the vehicle is in an accelerated state and the change of the vehicle speed is not synchronized, the present application can reduce the collision intensity between the motor gear and the transmission gear by reducing the change rate of the vehicle torque, and reduce the probability that the change of the motor speed is not synchronized with the change of the vehicle speed, thereby avoiding irregular shaking of the vehicle and improving the riding experience of the driver and passengers. In addition, the vehicle torque is equal to the target vehicle torque, that is, it can simultaneously meet the user's demand for vehicle speed.

[0080] In some embodiments, Figure 4 As shown, in order to determine the target vehicle torque, the vehicle control method of the present application may further include the following S401-S402.

[0081] S401. Obtain a first accelerator pedal opening and a first vehicle speed.

[0082] The first accelerator pedal opening is the accelerator pedal opening of the vehicle at the current moment.

[0083] As a possible implementation method, the controller can obtain the accelerator pedal opening of the vehicle at the current moment from an accelerator pedal displacement sensor connected to the controller to obtain a first accelerator pedal opening; and obtain the vehicle speed at the current moment from a vehicle speed sensor connected to the controller to obtain a first vehicle speed.

[0084] In actual applications, the vehicle can obtain the accelerator pedal opening and vehicle speed of the vehicle based on a preset frequency. The preset frequency can be set as needed. For example, it can be once per second, twice per second, five times per second, etc.

[0085] S402: Determine a target vehicle torque according to a first accelerator pedal opening, a first vehicle speed, and a first mapping relationship.

[0086] The first mapping relationship includes different accelerator pedal openings, different vehicle speeds and corresponding vehicle torques.

[0087] As a possible implementation manner, the controller may determine a vehicle torque having a corresponding relationship with the accelerator pedal opening and the vehicle speed of the vehicle from the first mapping relationship, and use the vehicle torque as the target vehicle torque.

[0088] In actual applications, vehicles of different brands and models have different first mapping relationships.

[0089] It can be understood that the target vehicle torque is determined according to the first accelerator pedal opening, the first vehicle speed and the first mapping relationship. Since the target vehicle torque is positively correlated with the vehicle speed, the user's demand for the vehicle speed can be determined.

[0090] In some embodiments, Figure 5 As shown, in order to determine that the vehicle is in an accelerating state, the vehicle control method of the present application may further include the following S501-S502.

[0091] S501. Obtain a second accelerator pedal opening.

[0092] The second accelerator pedal opening is the accelerator pedal opening of the vehicle at the first moment.

[0093] As a possible implementation manner, the controller may obtain the accelerator pedal opening of the vehicle at a first moment from an accelerator pedal displacement sensor connected to the controller to obtain the second accelerator pedal opening.

[0094] For example, after the accelerator pedal displacement sensor collects the accelerator pedal opening of the vehicle at a first moment, the accelerator pedal opening of the vehicle at the first moment can be stored in the vehicle memory, and the controller can read the accelerator pedal opening of the vehicle at the first moment collected by the accelerator pedal displacement sensor from the vehicle memory to obtain the second accelerator pedal opening.

[0095] S502: When the first accelerator pedal opening is greater than the second accelerator pedal opening, determine that the vehicle is in an accelerating state.

[0096] As a possible implementation manner, the controller may obtain a comparison signal from the comparator, and determine whether the first accelerator pedal opening is greater than the second accelerator pedal opening according to the comparison signal to determine whether the vehicle is in an accelerating state.

[0097] The comparison signal is used to indicate whether the first accelerator pedal opening is greater than the second accelerator pedal opening, and the comparison signal includes a first comparison signal and a second comparison signal. The first comparison signal indicates that the first accelerator pedal opening is greater than the second accelerator pedal opening, and the second comparison signal indicates that the first accelerator pedal opening is less than or equal to the second accelerator pedal opening.

[0098] When the controller determines that the comparison signal is the first comparison signal, the first accelerator pedal opening is greater than the second accelerator pedal opening, and the vehicle is in an accelerating state. When the controller determines that the comparison signal is the second comparison signal, the first accelerator pedal opening is less than or equal to the second accelerator pedal opening, and the vehicle is not in an accelerating state.

[0099] According to the above technical means, it is possible to determine whether the vehicle is in an accelerating state, thereby ensuring the smoothness of the vehicle when in an accelerating state and improving the riding experience of the driver and passengers.

[0100] In some embodiments, Figure 6 As shown, in order to determine that the vehicle is in an accelerating state, the vehicle control method of the present application may further include the following S601-S606.

[0101] S601. Obtain a first accelerator pedal opening and a first vehicle speed.

[0102] S602: Determine a target vehicle torque according to a first accelerator pedal opening, a first vehicle speed, and a first mapping relationship.

[0103] S603: Set the rate of change of vehicle torque.

[0104] S604: Determine vehicle motion parameters.

[0105] S605: Determine whether the change in the motor speed of the vehicle and the change in the vehicle speed within the target time period are in a synchronous state.

[0106] S606: When the change in the motor speed of the vehicle is not synchronized with the change in the vehicle speed during the target period, reduce the rate of change of the vehicle torque.

[0107] The various solutions in the above embodiments of the present application can be combined without contradiction.

[0108] The embodiment of the present application can divide the vehicle control device or the vehicle control device into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0109] In the case of dividing each functional module into corresponding functional modules, Figure 7 A schematic structural diagram of a vehicle control device 700 is shown. The vehicle control device 700 may be a controller or a chip used in a controller. The vehicle control device 700 may be used to execute the functions of the controller involved in the above embodiments. Figure 7 The vehicle control device 700 shown may include: a determination unit 701 and a control unit 702; the determination unit 701 is used to determine the vehicle motion parameters when the vehicle is in an accelerating state; the vehicle motion parameters are used to characterize whether the change in the motor speed of the vehicle and the change in the vehicle speed are in a synchronous state within a target time period; the vehicle motion parameters in the synchronous state are greater than or equal to the vehicle motion parameter threshold; the control unit 702 is used to reduce the rate of change of the vehicle torque when the change in the motor speed and the change in the vehicle speed are in an asynchronous state until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronous state; the target vehicle torque is positively correlated with the vehicle's accelerator pedal opening and the vehicle speed.

[0110] Further, the target time period is a time period between a first moment and a current moment, the first moment is before the current moment, and the determination unit 701 is specifically used to: determine a change value of the motor speed and a change value of the vehicle speed; the change value of the motor speed is the difference between the first motor speed and the second motor speed, the change value of the vehicle speed is the difference between the first vehicle speed and the second vehicle speed, the first motor speed is the motor speed at the current moment, the second motor speed is the motor speed at the first moment, the first vehicle speed is the vehicle speed at the current moment, and the second vehicle speed is the vehicle speed at the first moment; the product of the change value of the motor speed and the change value of the vehicle speed is determined as the vehicle motion parameter.

[0111] Furthermore, the determination unit 701 is specifically used to: obtain a first accelerator pedal opening and a first vehicle speed; the first accelerator pedal opening is the accelerator pedal opening of the vehicle at the current moment, and the first vehicle speed is the vehicle speed at the current moment; determine the target vehicle torque according to the first accelerator pedal opening, the first vehicle speed and a first mapping relationship; the first mapping relationship includes different accelerator pedal openings, different vehicle speeds and corresponding vehicle torques.

[0112] Furthermore, the determination unit 701 is specifically used to: obtain a second accelerator pedal opening; the second accelerator pedal opening is the accelerator pedal opening of the vehicle at a first moment, and the first moment is before the current moment; when the first accelerator pedal opening is greater than the second accelerator pedal opening, determine that the vehicle is in an accelerating state.

[0113] The embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the vehicle control device or controller (including a data transmitter and / or a data receiver) of any of the above embodiments, such as a hard disk or memory of the vehicle control device. The above computer-readable storage medium can also be an external storage device of the above vehicle control device, such as a plug-in hard disk equipped on the above vehicle control device, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. Further, the above computer-readable storage medium can also include both the internal storage unit of the above vehicle control device and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above vehicle control device. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0114] An embodiment of the present application also provides a vehicle, including the vehicle control system, controller or vehicle control device involved in the above method embodiment.

[0115] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0116] It should be noted that the terms "first" and "second" in the specification, claims and drawings of the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0117] It should be understood that in the present application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0118] Through the description of the above implementation methods, technical personnel in the relevant field can clearly 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.

[0119] In the several 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.

[0120] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0122] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0123] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application 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: include: When the vehicle is in an accelerating state, determining the vehicle motion parameters; The vehicle motion parameter is used to characterize whether the change of the motor speed of the vehicle and the change of the vehicle speed are in a synchronous state within the target period; The vehicle motion parameter in the synchronization state is greater than or equal to a vehicle motion parameter threshold; When the change in the motor speed is not synchronized with the change in the vehicle speed, the rate of change of the vehicle torque is reduced until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in the synchronized state; the target vehicle torque is positively correlated with the accelerator pedal opening of the vehicle and the vehicle speed.

2. The vehicle control method according to claim 1, characterized in that: The target time period is a time period between a first moment and a current moment, the first moment is before the current moment, and the determining of the vehicle motion parameter includes: Determine a change value of the motor speed and a change value of the vehicle speed; the change value of the motor speed is a difference between a first motor speed and a second motor speed, the change value of the vehicle speed is a difference between a first vehicle speed and a second vehicle speed, the first motor speed is the motor speed at a current moment, the second motor speed is the motor speed at the first moment, the first vehicle speed is the vehicle speed at a current moment, and the second vehicle speed is the vehicle speed at the first moment; The product of the change value of the motor speed and the change value of the vehicle speed is determined as the vehicle motion parameter.

3. The vehicle control method according to claim 1, characterized in that: Determining the target vehicle torque includes: Acquire a first accelerator pedal opening and a first vehicle speed; the first accelerator pedal opening is the accelerator pedal opening of the vehicle at the current moment, and the first vehicle speed is the vehicle speed at the current moment; The target vehicle torque is determined according to the first accelerator pedal opening, the first vehicle speed, and a first mapping relationship; the first mapping relationship includes different accelerator pedal openings, different vehicle speeds, and corresponding vehicle torques.

4. The vehicle control method according to claim 3, characterized in that: The method further comprises: Acquire a second accelerator pedal opening; the second accelerator pedal opening is the accelerator pedal opening of the vehicle at a first moment, the first moment being before the current moment; When the first accelerator pedal opening is greater than the second accelerator pedal opening, it is determined that the vehicle is in an accelerating state.

5. A vehicle control device, characterized in that: The device comprises: a determination unit and a control unit; The determination unit is used to determine a vehicle motion parameter when the vehicle is in an accelerating state; the vehicle motion parameter is used to characterize whether a change in the motor speed of the vehicle and a change in the vehicle speed are in a synchronous state within a target period; the vehicle motion parameter in the synchronous state is greater than or equal to a vehicle motion parameter threshold; The control unit is used to reduce the rate of change of the vehicle torque when the change of the motor speed is in an asynchronous state with the change of the vehicle speed, until the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in the synchronous state; the target vehicle torque is positively correlated with the accelerator pedal opening of the vehicle and the vehicle speed.

6. The vehicle control device according to claim 5, characterized in that: The target time period is a time period between a first moment and a current moment, the first moment is before the current moment, and the determining unit is specifically configured to: Determine a change value of the motor speed and a change value of the vehicle speed; the change value of the motor speed is a difference between a first motor speed and a second motor speed, the change value of the vehicle speed is a difference between a first vehicle speed and a second vehicle speed, the first motor speed is the motor speed at a current moment, the second motor speed is the motor speed at the first moment, the first vehicle speed is the vehicle speed at a current moment, and the second vehicle speed is the vehicle speed at the first moment; The product of the change value of the motor speed and the change value of the vehicle speed is determined as the vehicle motion parameter.

7. The vehicle control device according to claim 5, characterized in that: The determining unit is further specifically configured to: Acquire a first accelerator pedal opening and a first vehicle speed; the first accelerator pedal opening is the accelerator pedal opening of the vehicle at the current moment, and the first vehicle speed is the vehicle speed at the current moment; The target vehicle torque is determined according to the first accelerator pedal opening, the first vehicle speed, and a first mapping relationship; the first mapping relationship includes different accelerator pedal openings, different vehicle speeds, and corresponding vehicle torques.

8. A vehicle control system, characterized in that: The vehicle control system comprises a vehicle control device, The vehicle control device is used to execute the method according to any one of claims 1 to 4.

9. A vehicle, characterized in that: Comprising a vehicle control system as claimed in claim 8.

10. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method as claimed in any one of claims 1 to 4.

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