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

Abstract

The application discloses a vehicle control method, device, system, vehicle and readable storage medium, and relates to the technical field of vehicles, and aims to ensure the smoothness of a vehicle in an accelerating state. The method comprises the following steps: determining a vehicle motion parameter when the vehicle is in an accelerating state; the vehicle motion parameter is used to represent whether the change of the motor speed of the vehicle and the change of 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; in the case that the change of the motor speed and the change of the vehicle speed are in an asynchronous state, the change rate of the vehicle torque is reduced until the vehicle torque is equal to a 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 degree of the vehicle and the vehicle speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle control method, device, system, vehicle and readable storage medium. BACKGROUND

[0002] With the rapid development of the automobile industry, the performance of vehicles has been greatly improved. For example, new energy vehicles have the advantage of fast acceleration response compared with fuel vehicles. In addition, due to the large speed range of the motor, the power output is rapid, and there is no complex transmission mechanism as in fuel vehicles. The power hysteresis of the vehicle in the starting stage and the accelerating stage is very small. However, too fast torque loading can cause irregular motion of the power system due to transmission clearance, thereby causing poor experience of the driver or passenger. SUMMARY

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

[0004] In a first aspect, a vehicle control method is provided, which comprises: determining a vehicle motion parameter when the vehicle is in an accelerating state, the vehicle motion parameter being used to represent whether the change of the motor speed and the change of 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; in the case that the change of the motor 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 a 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 accelerator pedal opening degree of the vehicle and the vehicle speed.

[0005] According to the above technical means, in the case that the change of the motor speed and the change of the vehicle speed are in an asynchronous state, 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 synchronous state. Since when the vehicle has a transmission clearance and the vehicle is in an accelerating state, the change of the motor speed and the change of the vehicle speed in an asynchronous state will cause the motor gear and the transmission gear to have a large impact intensity. In this case, the application can reduce the impact intensity of the motor gear and the transmission gear by reducing the change rate of the vehicle torque, thereby reducing the probability that the change of the motor speed and the change of the vehicle speed are in an asynchronous state, avoiding irregular motion of the vehicle, ensuring the smoothness of the vehicle when it is in an accelerating state, and improving the driving experience of the driver and the passenger. In addition, the vehicle torque is equal to the target vehicle torque, that is, the demand of the user for the vehicle speed can be met at the same time.

[0006] Further, the target time period is a time period between the first time point and the current time point, the first time point is located before the current time point, and the vehicle motion parameter is determined by determining 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 a motor speed at the current time point, the second motor speed is a motor speed at the first time point, the first vehicle speed is a vehicle speed at the current time point, and the second vehicle speed is a vehicle speed at the first time point; and 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, the target vehicle torque is determined by: obtaining a first accelerator pedal opening degree and a first vehicle speed, the first accelerator pedal opening degree is an accelerator pedal opening degree of the vehicle at the current time point, and the first vehicle speed is a vehicle speed at the current time point; and determining the target vehicle torque according to the first accelerator pedal opening degree, the first vehicle speed, and a first mapping relationship, the first mapping relationship includes different accelerator pedal opening degrees, different vehicle speeds, and corresponding vehicle torques.

[0008] Further, the method further includes: obtaining a second accelerator pedal opening degree, the second accelerator pedal opening degree is an accelerator pedal opening degree of the vehicle at the first time point, and the first time point is located before the current time point; and determining that the vehicle is in the acceleration state in a case where the first accelerator pedal opening degree is greater than the second accelerator pedal opening degree.

[0009] In a second aspect, a vehicle control device is provided, which includes: a determination unit and a control unit, the determination unit is configured to determine a vehicle motion parameter in a case where the vehicle is in an acceleration state, the vehicle motion parameter is used to represent whether a change in a motor speed of the vehicle and a change in a vehicle speed are in a synchronous state in a target time period, the vehicle motion parameter in the synchronous state is greater than or equal to a vehicle motion parameter threshold, and the control unit is configured to reduce a change rate of a vehicle torque in a case where 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 a target vehicle torque and the motor speed and the vehicle speed are in the synchronous state, the target vehicle torque is positively correlated with an accelerator pedal opening degree of the vehicle and a vehicle speed.

[0010] Further, the target period is a period between the first time and the current time, the first time is before the current time, 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 the current time, the second motor speed is the motor speed at the first time, the first vehicle speed is the vehicle speed at the current time, and the second vehicle speed is the vehicle speed at the first time; and determine a product of the change value of the motor speed and the change value of the vehicle speed as the vehicle motion parameter.

[0011] Further, the determining unit is specifically further configured to: obtain a first accelerator pedal opening degree and a first vehicle speed, the first accelerator pedal opening degree is the accelerator pedal opening degree of the vehicle at the current time, and the first vehicle speed is the vehicle speed at the current time; determine the target vehicle torque according to the first accelerator pedal opening degree, the first vehicle speed, and a first mapping relationship, the first mapping relationship includes different accelerator pedal opening degrees, different vehicle speeds, and corresponding vehicle torques.

[0012] Further, the determining unit is specifically further configured to: obtain a second accelerator pedal opening degree, the second accelerator pedal opening degree is the accelerator pedal opening degree of the vehicle at the first time, and the first time is before the current time; and determine that the vehicle is in the acceleration state in a case where the first accelerator pedal opening degree is greater than the second accelerator pedal opening degree.

[0013] In a third aspect, a controller is provided, including: a processor; a memory for storing processor-executable instructions; and the processor is configured to execute the instructions to perform 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 including the vehicle control system, and the controller is configured to perform the method in the first aspect or any possible design of the first aspect.

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

[0016] In a sixth aspect, a vehicle control device is provided, which can implement the functions performed by the vehicle control device in the above aspects or any possible design, and the functions can be implemented by hardware, for example, in a possible design, the vehicle control device can include a processor and a communication interface, and the processor can be configured to support the vehicle control device to implement the functions involved in the above first aspect or any possible design of the first aspect.

[0017] In yet another possible design, the vehicle control device can 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 executes the vehicle control method of the first aspect or any possible design of the first aspect.

[0018] In a seventh aspect, a computer-readable storage medium is provided, which can be a readable nonvolatile storage medium, and the computer-readable storage medium stores computer instructions or programs, which, when running on a computer, enable the computer to execute the vehicle control method of the first aspect or any possible design of the first aspect.

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

[0020] Advantages of the present application:

[0021] (1) In the case where the change in the motor speed and the change in the vehicle speed are out of synchronization, 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 synchronization. Since when the vehicle has a transmission gap and the vehicle is in an accelerating state, the change in the motor speed and the change in the vehicle speed being out of synchronization will cause the motor gear and the transmission gear to have a large impact strength, in this case, the application can reduce the impact strength of the motor gear and the transmission gear by reducing the change rate of the vehicle torque, thereby reducing the probability of the change in the motor speed and the change in the vehicle speed being out of synchronization, avoiding irregular motion of the vehicle, ensuring the smoothness of the vehicle in the accelerating state, and improving the riding experience of the driver and the passengers. In addition, the vehicle torque is equal to the target vehicle torque, i.e., the demand of the user for the vehicle speed can be met at the same time.

[0022] (2) The vehicle motion parameter can be determined according to the change value of the motor speed and the change value of the vehicle speed, to determine whether the change in the motor speed and the change in the vehicle speed of the vehicle in the target period are in synchronization.

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

[0024] (4) Whether the vehicle is in an accelerating state can be determined, thereby ensuring the smoothness of the vehicle in the accelerating state and improving the riding experience of the driver and the passengers.

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

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and serve to explain the principles of the present application, and are not intended to represent the only embodiments consistent with the present application.

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

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

[0029] Figure 3 A flowchart of a vehicle control method provided for an embodiment of the present application;

[0030] Figure 4 A flowchart of another vehicle control method provided for an embodiment of the present application;

[0031] Figure 5 A flowchart of another vehicle control method provided for an embodiment of the present application;

[0032] Figure 6 A flowchart of another vehicle control method provided for an embodiment of the present application;

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

[0034] In order to make the ordinary person in the art better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the 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 do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, 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. Rather, they are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0036] It should also be understood that the word "comprising" does not exclude the presence of elements or steps other than those listed and / or stated in a device, a method, a process, an article, etc.

[0037] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation. The actual implementation of each component can be a random change, and the component layout pattern can be more complex.

[0038] With the rapid development of the automobile industry, the performance of vehicles has been greatly improved. For example, new energy vehicles have the advantage of fast acceleration response compared with fuel vehicles. In addition, due to the large speed range of the motor, the power output is rapid, and there is no complex transmission mechanism like fuel vehicles. The power lag of the vehicle in the starting stage and the acceleration stage is very small. However, too fast torque loading can cause irregular motion of the power system due to transmission clearance, thereby causing poor experience for the driver or passenger.

[0039] In view of this, the embodiment of the present application provides a vehicle control method, which comprises: determining a vehicle motion parameter when the vehicle is in an acceleration state; the vehicle motion parameter is used to represent whether the change of the motor speed of the vehicle and the change of 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; in the case that the change of the motor speed and the change of the vehicle speed are in an asynchronous state, the change rate of the vehicle torque is reduced until the vehicle torque is equal to a target vehicle torque and the motor speed and the vehicle speed are in a synchronous state; the target vehicle torque is positively related to the acceleration pedal opening degree of the vehicle and the vehicle speed.

[0040] It should be noted that the vehicle control system described in the embodiments of the present application is to more clearly illustrate the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of the vehicle control system and the appearance of other vehicle control systems, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0041] The vehicle control system provided by the embodiments of the present application can be applied to a vehicle. The embodiments of the present application do not limit the specific technology, the specific number and the specific equipment form used by the vehicle.

[0042] Figure 1 A schematic diagram of a vehicle control system 10 provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the vehicle control system 10 can include a sensor 11 and a controller 12. Figure 1 The sensor 11 can be configured to collect information about the vehicle. The information collected by the sensor 11 can include, but is not limited to, the acceleration pedal opening degree of the vehicle, the vehicle speed, the motor speed, the vehicle torque, etc. The controller 12 can be configured to control the vehicle based on the information collected by the sensor 11. The controller 12 can be configured to determine a vehicle motion parameter when the vehicle is in an acceleration state. The vehicle motion parameter can be used to represent whether the change of the motor speed of the vehicle and the change of the vehicle speed are in a synchronous state within a target period. The vehicle motion parameter in the synchronous state can be greater than or equal to a vehicle motion parameter threshold. In the case that the change of the motor speed and the change of the vehicle speed are in an asynchronous state, the change rate of the vehicle torque can be reduced until the vehicle torque is equal to a target vehicle torque and the motor speed and the vehicle speed are in a synchronous state. The target vehicle torque can be positively related to the acceleration pedal opening degree of the vehicle and the vehicle speed.

[0043] The sensor 11 is connected with the controller 12. For example, the sensor 11 and the controller 12 can be connected in a wireless manner or in a wired manner, and the embodiments of the present application do not limit this.

[0044] The sensor 11 is configured to detect driving data of the vehicle. For example, the sensor 11 can 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, the specific number and the specific device form of the sensor 11.

[0045] The controller 12 is configured to determine the vehicle motion parameter when the vehicle is in an acceleration state, and to reduce the change rate 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 synchronous state when the change of the motor speed and the change of the vehicle speed are in an out-of-sync state. For example, the controller 12 can be a vehicle torque coordination controller, a vehicle control unit (VCU), a vehicle micro controller unit (MCU), etc.

[0046] The controller 12 is arranged in the vehicle. The vehicle can be a new energy vehicle, a hybrid vehicle, etc.

[0047] It should be noted that, Figure 1 is only an exemplary block diagram, Figure 1 The names of the various modules included in the controller are not limited, and in addition to Figure 1 the functional modules shown, other modules can also be included, and the embodiments of the present application do not limit this.

[0048] In a specific implementation, Figure 1 the controller in the controller can adopt the component structure shown in Figure 2 or include the components shown in Figure 2 . Figure 2 A structure diagram of a vehicle control device 200 provided by the embodiments of the present application is shown in the figure. The vehicle control device 200 can be a controller in a vehicle control system, or the vehicle control device 200 can be a chip or a system on a chip in the controller. As shown in Figure 2 , the vehicle control device 200 includes a processor 201, a communication interface 202 and a communication line 203.

[0049] Further, the vehicle control device 200 can also include a memory 204. The processor 201, the memory 204 and the communication interface 202 can be connected through the communication line 203.

[0050] The processor 201 can be a CPU, a general-purpose 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 can also be other apparatuses with processing capabilities, such as a circuit, a device, or a software module, without limitation.

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

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

[0053] The memory 204 is configured to store instructions executable by the processor 201. The instructions can be a computer program.

[0054] The memory 204 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions, or a random access memory (RAM) or other type of dynamic storage device 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 disk storage, a magneto-optical disk, a magnetic disk storage, or other magnetic storage devices, 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 configured to store instructions or program codes or some data, etc. The memory 204 can be located in the vehicle control apparatus 200, or can be located outside the vehicle control apparatus 200, without limitation. The processor 201 is configured to execute the instructions stored in the memory 204 to implement the vehicle control method provided in the embodiments described below.

[0056] In an example, the processor 201 can include one or more CPUs, such as CPU0 and CPU1 in FIG. 1. Figure 2 ​

[0057] As an optional implementation, the vehicle control apparatus 200 comprises a plurality of processors, for example, in addition to the processor 201 in the vehicle control apparatus 200, the processor 205 can also be included. Figure 2

[0058] It should be noted that the constituent structure shown in the vehicle control apparatus 200 does not constitute a limitation on the vehicle control apparatus 200. Figure 2 The constituent structure shown in the vehicle control apparatus 200 does not constitute a limitation on the vehicle control apparatus 200. Figure 1 Each device in the vehicle control apparatus 200 can include more or fewer components than those shown in the vehicle control apparatus 200, or combine certain components, or different component arrangements. Figure 2 Each controller in the vehicle control apparatus 200 can include more or fewer components than those shown in the vehicle control apparatus 200, or combine certain components, or different component arrangements. Figure 1 Each controller in the vehicle control apparatus 200 can include more or fewer components than those shown in the vehicle control apparatus 200, or combine certain components, or different component arrangements. Figure 2 Each controller in the vehicle control apparatus 200 can include more or fewer components than those shown in the vehicle control apparatus 200, or combine certain components, or different component arrangements.

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

[0060] In addition, the actions, terms and the like involved between the embodiments of the present application can be mutually referenced and not limited. The message name or parameter name in the message between the interaction of each device in the embodiments of the present application is only an example, and other names can also be used in specific implementation, which is not limited.

[0061] The vehicle control method provided by the embodiments of the present application will be described below in conjunction with the vehicle control system shown in the vehicle control system 100. Figure 1 The vehicle control method provided by the embodiments of the present application will be described below in conjunction with the vehicle control system shown in the vehicle control system 100.

[0062] The embodiments of the present application are described by taking the application to the vehicle control apparatus as an example. For example, the vehicle control apparatus can be the controller 12 in the vehicle control apparatus 100. As shown in the vehicle control apparatus 100, the method comprises the following S301-S302: Figure 1 Figure 3 The method comprises the following S301-S302:

[0063] S301, determining a vehicle motion parameter when the vehicle is in an accelerating state.

[0064] The vehicle motion parameter is used to represent whether the change of the motor speed and the change of 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 vehicle motion parameter threshold can be set as needed. For example, the vehicle motion parameter threshold can be 0.

[0065] As a possible implementation, the controller can determine the change value of the motor speed and the 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 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.

[0067] The first moment can be 1 second before the current moment, or 0.1 second before the current moment, and the like.

[0068] In an example, the controller can determine the vehicle motion parameter according to Formula One. For example, Formula One can be:

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

[0070] Wherein, A represents the current vehicle motion parameter. ΔN represents the change value of the motor speed. ΔV represents the change value of the 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 description of determining that the vehicle is in an acceleration state can refer to the description in the subsequent part, which will not be repeated here.

[0072] S302, in the case that the change of the motor speed and the change of the vehicle speed are in an asynchronous state, 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 synchronous state.

[0073] Wherein, the target vehicle torque is positively correlated with the acceleration pedal opening degree of the vehicle and the vehicle speed. The acceleration pedal opening degree is between 0-100%.

[0074] As a possible implementation manner, the controller can reduce the change rate of the vehicle torque according to a preset gradient ratio, and after reducing the change rate of the vehicle torque according to the preset gradient ratio, it is determined that the vehicle torque is equal to the target vehicle torque and the motor speed and the vehicle speed are in a synchronous state. If the vehicle torque is not equal to the target vehicle torque or the motor speed and the vehicle speed are in an asynchronous state, the change rate of the vehicle torque continues to be reduced 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 synchronous state.

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

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

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

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

[0079] Based on the technical solutions provided in the present application, in the case that the change of the motor speed and the change of the vehicle speed are out of synchronization, 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 synchronization. Since when the vehicle has a transmission gap, the change of the motor speed and the change of the vehicle speed being out of synchronization will cause the motor gear and the transmission gear to have a large impact strength. In the case that the vehicle is in an accelerating state and the change of the vehicle speed is out of synchronization, the present application can reduce the impact strength of the motor gear and the transmission gear by reducing the change rate of the vehicle torque, thereby reducing the probability that the change of the motor speed and the change of the vehicle speed are out of synchronization, avoiding irregular vehicle vibration, and improving the driving experience of the driver and the passengers. In addition, the vehicle torque is equal to the target vehicle torque, that is, the user's demand for the vehicle speed can be met at the same time.

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

[0081] S401, acquiring a first accelerator pedal opening degree and a first vehicle speed.

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

[0083] As a possible implementation manner, the controller can acquire the accelerator pedal opening degree of the vehicle at the current time from the accelerator pedal displacement sensor connected to the controller to acquire the first accelerator pedal opening degree, and acquire the vehicle speed at the current time from the vehicle speed sensor connected to the controller to acquire the first vehicle speed.

[0084] In actual application, the vehicle can acquire the accelerator pedal opening degree and the vehicle speed based on a preset frequency. The preset frequency can be set as needed. For example, it can be 1 time per second, 2 times per second, 5 times per second, etc.

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

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

[0087] As a possible implementation manner, the controller can determine a vehicle torque corresponding to the accelerator pedal opening degree and the vehicle speed of the vehicle from the first mapping relationship, and take the vehicle torque as the target vehicle torque.

[0088] In actual application, the first mapping relationship of vehicles of different brands and different models is different.

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

[0090] In some embodiments, as shown in Figure 5 To determine that the vehicle is in an accelerating state, the vehicle control method of the application can further include the following S501-S502.

[0091] S501, obtaining a second accelerator pedal opening degree.

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

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

[0094] For example, after the accelerator pedal displacement sensor collects the accelerator pedal opening degree of the vehicle at the first moment, the accelerator pedal opening degree of the vehicle at the first moment can be stored in the vehicle memory, and the controller can read the accelerator pedal opening degree 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 degree.

[0095] S502, determining that the vehicle is in an accelerating state when the first accelerator pedal opening degree is greater than the second accelerator pedal opening degree.

[0096] As a possible implementation manner, the controller can obtain a comparison signal from the comparator, and determine whether the first accelerator pedal opening degree is greater than the second accelerator pedal opening degree 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] The controller determines that the first accelerator pedal opening is greater than the second accelerator pedal opening when the comparison signal is the first comparison signal, and the vehicle is in an acceleration state. The controller determines that the first accelerator pedal opening is less than or equal to the second accelerator pedal opening when the comparison signal is the second comparison signal, and the vehicle is not in the acceleration state.

[0099] According to the above technical means, it can be determined whether the vehicle is in the acceleration state, and the smoothness of the vehicle in the acceleration state is ensured, and the riding experience of the driver and the passenger is improved.

[0100] In some embodiments, as shown in Figure 6 In order to determine that the vehicle is in the acceleration state, the vehicle control method of the application can 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 the first accelerator pedal opening, the first vehicle speed, and a first mapping relationship.

[0103] S603, set a change rate of the vehicle torque.

[0104] S604, determine a vehicle motion parameter.

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

[0106] S606, reduce the change rate of the vehicle torque when the change of the motor speed of the vehicle and the change of the vehicle speed are not in the synchronous state within the target period.

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

[0108] The embodiments of the present application can divide the vehicle control device or the functional modules or functional units of the vehicle control device according to the above method examples. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated in one processing module. The integrated module can be realized in the form of hardware or software functional module or functional unit. The division of the modules or units in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division mode can be used.

[0109] In the case of dividing each functional module according to each function, Figure 7 A structural schematic diagram of a vehicle control device 700 is shown. The vehicle control device 700 can be a controller or a chip applied in the controller. The vehicle control device 700 can be used to execute the functions of the controller involved in the above embodiments. Figure 7 The vehicle control device 700 shown can include a determination unit 701 and a control unit 702. The determination unit 701 is configured to determine a vehicle motion parameter when the vehicle is in an acceleration state. The vehicle motion parameter is used to represent whether the change of the motor speed of the vehicle and the change of 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 702 is configured to reduce the change rate of the vehicle torque until the vehicle torque is equal to a target vehicle torque and the motor speed and the vehicle speed are in a synchronous state, in the case that the change of the motor speed and the change of the vehicle speed are in an asynchronous state. The target vehicle torque is positively correlated with the acceleration pedal opening degree of the vehicle and the vehicle speed.

[0110] Further, the target period is a period between a first time and a current time, and the first time is located before the current time. The determination unit 701 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, and 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 time, the second motor speed is the motor speed at the first time, the first vehicle speed is the vehicle speed at the current time, and the second vehicle speed is the vehicle speed at the first time. 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] Further, the determining unit 701 is specifically further configured to: acquire a first accelerator pedal opening degree and a first vehicle speed; the first accelerator pedal opening degree is an accelerator pedal opening degree of the vehicle at a current time, and the first vehicle speed is a vehicle speed at the current time; determine the target vehicle torque according to the first accelerator pedal opening degree, the first vehicle speed, and a first mapping relationship; the first mapping relationship includes different accelerator pedal opening degrees, different vehicle speeds, and corresponding vehicle torques.

[0112] Further, the determining unit 701 is specifically further configured to: acquire a second accelerator pedal opening degree; the second accelerator pedal opening degree is an accelerator pedal opening degree of the vehicle at a first time, and the first time is before the current time; in a case where the first accelerator pedal opening degree is greater than the second accelerator pedal opening degree, determine that the vehicle is in an accelerating state.

[0113] The embodiments of the present application further provide a computer readable storage medium. All or part of the processes of the above method embodiments can be completed by a computer program instructing related hardware, and the program can be stored in the computer readable storage medium. When the program is executed, the program 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 the controller (including the data sending end and / or the data receiving end) of any of the foregoing embodiments, for example, a hard disk or a memory of the vehicle control device. The computer readable storage medium can also be an external storage device of the vehicle control device, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. Further, the computer readable storage medium can include both the internal storage unit and the external storage device of the vehicle control device. The computer readable storage medium is used to store the computer program and other programs and data required by the vehicle control device. The computer readable storage medium can also be used to temporarily store data that has been output or will be output.

[0114] The embodiments of the present application further provide a vehicle including the vehicle control system, the controller, or the vehicle control device involved in the method embodiments.

[0115] In addition, the actions, terms, and the like involved in the embodiments of the present application can be mutually referred to and are not limited. The message names or parameter names in the messages exchanged between the devices in the embodiments of the present application are only examples, and other names can also be used in specific implementations, which are not limited.

[0116] It should be noted that the terms "first", "second" and "third" and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and embodiments of the application are capable of producing more than one dependent claim effect. Furthermore, the terms "comprise", "have" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of steps or units is not necessarily limited to the listed steps or units but can include additional steps or units not expressly listed or inherent to such process, method, article, or apparatus.

[0117] It should be understood that, in the present application, "at least one" refers to one or more, "multiple" refers to two or more, "at least two" refers to two or three and more, and "and / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases of only A, only B and A and B existing at the same time, wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can represent a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, and c can be single or multiple.

[0118] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0119] In 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 illustrative, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

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

[0121] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0122] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The software product is stored in a storage medium, including a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method of each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0123] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, The method comprises: determining a change value of motor speed and a change value of vehicle speed when the vehicle is in an accelerating state; the change value of motor speed is a difference value between a first motor speed and a second motor speed, and the change value of vehicle speed is a difference value between a first vehicle speed and a second vehicle speed, the first motor speed is a motor speed at a current time, the second motor speed is a motor speed at a first time, the first vehicle speed is a vehicle speed at the current time, and the second vehicle speed is a vehicle speed at the first time; determining a product of the change value of motor speed and the change value of vehicle speed as a vehicle motion parameter; the vehicle motion parameter is used to represent whether the change of motor speed and the change of vehicle speed of the vehicle 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 target period is a period between the first time and the current time, and the first time is before the current time; in a case where the change of motor speed and the change of vehicle speed are in an asynchronous state, reducing a change rate of vehicle torque until the vehicle torque is equal to a target vehicle torque and the motor speed and the vehicle speed are in the synchronous state; the target vehicle torque is positively related to an accelerator pedal opening degree of the vehicle and the vehicle speed.

2. The vehicle control method according to claim 1, characterized by, The method further comprises: obtaining a first accelerator pedal opening degree and a first vehicle speed; the first accelerator pedal opening degree is an accelerator pedal opening degree of the vehicle at a current time, and the first vehicle speed is a vehicle speed at the current time; determining the target vehicle torque according to the first accelerator pedal opening degree, the first vehicle speed, and a first mapping relationship; the first mapping relationship comprises different accelerator pedal opening degrees, different vehicle speeds, and corresponding vehicle torques.

3. The vehicle control method according to claim 2, characterized by, The method further comprises: obtaining a second accelerator pedal opening degree; the second accelerator pedal opening degree is an accelerator pedal opening degree of the vehicle at a first time, and the first time is before the current time; in a case where the first accelerator pedal opening degree is greater than the second accelerator pedal opening degree, determining that the vehicle is in an accelerating state.

4. A vehicle control device characterized by comprising: The device comprises a determination unit and a control unit. The determination unit is configured to determine a change value of motor speed and a change value of vehicle speed when the vehicle is in an accelerating state; the change value of motor speed is a difference value between a first motor speed and a second motor speed, and the change value of vehicle speed is a difference value between a first vehicle speed and a second vehicle speed, the first motor speed is a motor speed at a current time, the second motor speed is a motor speed at a first time, the first vehicle speed is a vehicle speed at the current time, and the second vehicle speed is a vehicle speed at the first time. The determination unit is further configured to determine a product of the change value of the motor speed and the change value of the vehicle speed as a vehicle motion parameter, the vehicle motion parameter being used to represent whether the change of the motor speed and the change of the vehicle speed of the vehicle are in a synchronization state in a target period, the vehicle motion parameter in the synchronization state being greater than or equal to a vehicle motion parameter threshold, the target period being a period between a first time point and a current time point, the first time point being before the current time point; The control unit is configured to, in a case where the change of the motor speed and the change of the vehicle speed are in an asynchronous state, reduce a change rate of the vehicle torque until the vehicle torque is equal to a target vehicle torque and the motor speed and the vehicle speed are in the synchronization state, the target vehicle torque being positively correlated with the accelerator pedal opening degree and the vehicle speed of the vehicle.

5. The vehicle control device according to claim 4, characterized by The determination unit is specifically further configured to: obtain a first accelerator pedal opening degree and a first vehicle speed, the first accelerator pedal opening degree being an accelerator pedal opening degree of the vehicle at a current time point, and the first vehicle speed being a vehicle speed at the current time point; determine the target vehicle torque according to the first accelerator pedal opening degree, the first vehicle speed, and a first mapping relationship, the first mapping relationship including different accelerator pedal opening degrees, different vehicle speeds, and corresponding vehicle torques.

6. A vehicle control system characterized by comprising: The vehicle control system includes a vehicle control device, The vehicle control device is configured to perform the method according to any one of claims 1 to 3.

7. A vehicle characterized by comprising: The vehicle control system according to claim 6.

8. A computer-readable storage medium, characterized in that, When 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 according to any one of claims 1 to 3.

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