Acceleration control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an acceleration control method and device, electronic equipment and a storage medium, and relates to the technical field of new energy automobiles. The method comprises the following steps: acquiring current own vehicle parameters and preceding vehicle parameters; if the driving mode is switched while the driver steps on the accelerator, the collision risk is evaluated based on the current self-vehicle parameters and the front-vehicle parameters; performing acceleration control according to an evaluation result to obtain a mode switching acceleration; and according to the mode switching acceleration, the electric drive torque during driving mode switching is controlled, and driving mode switching is completed. According to the method, the acceleration during driving mode switching is controlled according to the collision risk assessment, and the rear-end collision risk caused by sudden increase of the acceleration is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and more specifically, to an acceleration control method, device, electronic device and storage medium. Background Art

[0002] Electric vehicles generally have multiple driving modes such as energy saving, comfort, sports, and personalization to meet the different power preferences of users, and the torque maps corresponding to different driving modes are significantly different. If the user switches the driving mode while stepping on the accelerator to accelerate, the direct switching of the torque map will bring a relatively large power difference, causing a sense of abruptness. The solution is to use the torque filter slope calibrated at the factory for filtering transition, but when the driver switches from a low-power driving mode to a high-power driving mode while stepping on the accelerator during driving, the distance to the vehicle in front may be too close, and the sudden acceleration of the vehicle may cause a rear-end collision with the vehicle in front. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide an acceleration control method, device, electronic device and storage medium, which control the acceleration when switching driving modes according to collision risk assessment to avoid the risk of rear-end collision caused by a sudden increase in acceleration.

[0004] The present application provides an acceleration control method, the method comprising:

[0005] Get the current vehicle parameters and the preceding vehicle parameters;

[0006] If the driver switches driving modes while pressing the accelerator, the collision risk is assessed based on the current parameters of the vehicle and the preceding vehicle;

[0007] Perform acceleration control according to the evaluation result to obtain the mode switching acceleration;

[0008] The electric drive torque when the driving mode is switched is controlled according to the mode switching acceleration, and the driving mode switching is completed.

[0009] In the above implementation process, the collision risk is evaluated according to the parameters of the vehicle and the preceding vehicle, and the mode switching acceleration is determined on this basis to realize acceleration control during mode switching, thereby avoiding the risk of rear-end collision caused by a sudden increase in acceleration.

[0010] Furthermore, the obtaining of current vehicle parameters and preceding vehicle parameters includes:

[0011] Get the current throttle opening, vehicle speed and current driving mode acceleration of the vehicle;

[0012] Obtain the longitudinal distance between the vehicle and the front vehicle and the relative speed of the front vehicle.

[0013] In the above implementation process, the parameters of the vehicle and the preceding vehicle are obtained to provide data support for subsequent collision risk assessment and mode switching acceleration.

[0014] Furthermore, if the driver switches the driving mode while pressing the accelerator, the collision risk is evaluated based on the current vehicle parameters and the preceding vehicle parameters, including:

[0015] Calculate the speed of the preceding vehicle based on the speed of the own vehicle and the relative speed of the preceding vehicle;

[0016] If the longitudinal distance is not greater than the distance setting value, there is a risk of collision and acceleration limitation is required.

[0017] In the above implementation process, if the longitudinal distance between the front and rear vehicles is too small, it means there is a risk of collision and the acceleration needs to be limited.

[0018] Further, performing acceleration control according to the evaluation result to obtain the mode switching acceleration includes:

[0019] Determining the remaining distance according to the longitudinal distance and the safety distance setting value;

[0020] Calculate the maximum permissible acceleration according to the speed of the preceding vehicle, the speed of the own vehicle and the remaining distance;

[0021] A mode switching acceleration is obtained according to the maximum acceleration and the original acceleration.

[0022] In the above implementation process, the maximum allowed acceleration is determined according to the remaining distance, and the mode switching acceleration is obtained according to the maximum acceleration and the original acceleration to ensure that the mode switching acceleration is the minimum value, thereby improving safety.

[0023] Further, the calculating the maximum allowable acceleration according to the speed of the preceding vehicle, the speed of the own vehicle and the remaining distance includes:

[0024] Calculate the maximum allowed acceleration:

[0025]

[0026] Among them, S represents the longitudinal distance, μ represents the safety distance setting value, V1 represents the speed of the vehicle, and V2 represents the speed of the preceding vehicle.

[0027] In the above implementation process, the factors affecting the maximum allowable acceleration include the speed of the preceding vehicle, the speed of the own vehicle and the distance between the preceding vehicle and the own vehicle, and the maximum allowable acceleration can be calculated based on these factors.

[0028] Further, obtaining the mode switching acceleration according to the maximum acceleration and the original acceleration includes:

[0029] The mode switching acceleration is the minimum value of the maximum acceleration and the original acceleration, and the mode switching acceleration is not less than 0;

[0030] The mode switching acceleration is smoothed.

[0031] In the above implementation process, the mode switching acceleration is smoothed to ensure driving smoothness and avoid the abrupt feeling caused by sudden changes in acceleration.

[0032] The present application provides an acceleration control device, the device comprising:

[0033] Parameter acquisition module, used to obtain the current vehicle parameters and the preceding vehicle parameters;

[0034] An evaluation module, used to evaluate the collision risk based on the current vehicle parameters and the preceding vehicle parameters if the driver switches the driving mode while pressing the accelerator;

[0035] A calculation module, used for performing acceleration control according to the evaluation result to obtain the mode switching acceleration;

[0036] The control module is used to control the electric drive torque when the driving mode is switched according to the mode switching acceleration and complete the driving mode switching.

[0037] In the above implementation process, the collision risk is evaluated according to the parameters of the vehicle and the preceding vehicle, and the mode switching acceleration is determined on this basis to realize acceleration control during mode switching, thereby avoiding the risk of rear-end collision caused by a sudden increase in acceleration.

[0038] Furthermore, the parameter acquisition module includes:

[0039] The vehicle parameter acquisition module is used to obtain the current throttle opening, vehicle speed and current driving mode acceleration of the vehicle;

[0040] The preceding vehicle parameter acquisition module is used to obtain the longitudinal distance between the vehicle and the preceding vehicle and the relative speed of the preceding vehicle.

[0041] In the above implementation process, the parameters of the vehicle and the preceding vehicle are obtained to provide data support for subsequent collision risk assessment and mode switching acceleration.

[0042] An embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the above-mentioned acceleration control method.

[0043] An embodiment of the present application provides a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above-mentioned acceleration control method is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A flowchart of an acceleration control method provided in an embodiment of the present application;

[0046] Figure 2 A flow chart of vehicle parameter acquisition provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the acceleration map under different driving modes provided in an embodiment of the present application;

[0048] Figure 4 A collision risk assessment flow chart provided for an embodiment of the present application;

[0049] Figure 5 A flow chart of mode switching acceleration acquisition provided in an embodiment of the present application;

[0050] Figure 6 A specific calculation flow chart of the mode switching acceleration provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of acceleration control provided in an embodiment of the present application;

[0052] Figure 8 A structural block diagram of an acceleration control device provided in an embodiment of the present application;

[0053] Fig. 9 A structural block diagram of another acceleration control device provided in an embodiment of the present application.

[0054] icon:

[0055] 100- parameter acquisition module; 101- own vehicle parameter acquisition module; 102- preceding vehicle parameter acquisition module; 200- evaluation module; 201- vehicle speed calculation module; 202- risk judgment module; 300- calculation module; 310- remaining distance calculation module; 320- maximum acceleration calculation module; 330- mode switching acceleration determination module; 331- acceleration acquisition module; 332- smoothing processing module; 400- control module. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0057] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0058] Please see Figure 1 , Figure 1 This is a flow chart of an acceleration control method provided in an embodiment of the present application. The method specifically comprises the following steps:

[0059] Step S100: Obtain current vehicle parameters and preceding vehicle parameters;

[0060] Step S200: If the driver switches the driving mode while pressing the accelerator, the collision risk is evaluated based on the current vehicle parameters and the preceding vehicle parameters;

[0061] Step S300: performing acceleration control according to the evaluation result to obtain the mode switching acceleration;

[0062] Step S400: controlling the electric drive torque when the driving mode is switched according to the mode switching acceleration, and completing the driving mode switching.

[0063] By controlling the acceleration when switching modes, not only can the risk of rear-end collision be avoided, but also the abrupt feeling caused by the acceleration difference when switching modes can be reduced.

[0064] Based on the above embodiments, Figure 2 As shown in FIG. 1 , it is a flow chart of vehicle parameter acquisition, and step S100 specifically includes the following steps:

[0065] Step S101: obtaining the current throttle opening, vehicle speed and current driving mode acceleration of the vehicle;

[0066] Get vehicle parameters, including current throttle opening, vehicle speed (V1), and current driving mode acceleration Map.

[0067] Pure electric vehicles have separate accelerator pedal maps for different modes. The corresponding vehicle acceleration is different at the same throttle opening, especially the power difference between energy-saving and sports modes is obvious, such as Figure 3 As shown, it is a schematic diagram of the acceleration map under different driving modes, so it is necessary to control the acceleration when switching driving modes.

[0068] Step S102: Obtain the longitudinal distance between the vehicle and the preceding vehicle and the relative speed of the preceding vehicle.

[0069] The longitudinal distance S between the vehicle and the front vehicle and the relative speed V0 of the front vehicle are obtained through radar detection. The front radar of the vehicle detects whether there is a vehicle in the same lane. If a vehicle exists, the radar detection generates a relative speed signal V0 of the front vehicle and a longitudinal distance S signal with the front vehicle.

[0070] like Figure 4 As shown in FIG. 1 , it is a collision risk assessment flowchart, and step S200 specifically includes the following steps:

[0071] Step S201: Calculate the speed of the preceding vehicle based on the vehicle speed and the relative speed of the preceding vehicle;

[0072] Step S202: If the longitudinal distance is not greater than the set distance value, there is a risk of collision and acceleration limitation is required.

[0073] When the driver steps on the accelerator and switches the driving mode at the same time, the vehicle controller calculates the acceleration limit a in real time based on the collision risk assessment.

[0074] After receiving the relative speed signal V0 between the vehicle and the preceding vehicle detected by the radar and the current vehicle speed signal V1, the vehicle controller calculates the preceding vehicle speed V2: V2=V0+V1.

[0075] After the vehicle controller receives the longitudinal distance S signal between the vehicle and the vehicle in front sent by the radar, when it detects that the distance S is less than or equal to the distance setting value S0 (such as 50m), acceleration limitation is required.

[0076] like Figure 5 As shown in FIG. 1 , it is a flow chart of mode switching acceleration acquisition, and step S300 specifically includes the following steps:

[0077] Step S310: determining the remaining distance according to the longitudinal distance and the safety distance setting value;

[0078] The remaining distance is the longitudinal distance S minus the reserved safety distance setting value μ.

[0079] Step S320: Calculating the maximum allowed acceleration according to the speed of the preceding vehicle, the speed of the own vehicle and the remaining distance;

[0080] The specific calculation formula is:

[0081]

[0082] Among them, S represents the longitudinal distance, μ represents the safety distance setting value, V1 represents the speed of the vehicle, and V2 represents the speed of the preceding vehicle.

[0083] Step S330: obtaining a mode switching acceleration according to the maximum acceleration and the original acceleration.

[0084] like Figure 6As shown in FIG. 1 , it is a specific calculation flow chart of the mode switching acceleration, and step S330 specifically includes the following steps:

[0085] Step S331: the mode switching acceleration is the minimum value of the maximum acceleration and the original acceleration, and the mode switching acceleration is not less than 0;

[0086] If the maximum allowable acceleration a calculated above exceeds the original acceleration value, the original value is executed, that is, min(original acceleration, maximum acceleration), and the minimum value of the smaller acceleration is greater than or equal to 0.

[0087] Step S332: smoothing the mode switching acceleration.

[0088] The vehicle controller can smooth the mode switching acceleration to ensure smooth driving. Figure 7 As shown, this is a schematic diagram of acceleration control.

[0089] Finally, the vehicle switches the mode according to the calculated acceleration control and requests the size of the electric drive torque to complete the safe switching of driving modes.

[0090] When the driver steps on the accelerator and switches the driving mode at the same time, the vehicle controller can calculate the vehicle's acceleration limit in real time based on this method, and convert it into the target torque of the electric drive after smoothing to control the vehicle's driving, further improving the safety of the vehicle and avoiding the risk of rear-end collision.

[0091] The present application also provides an acceleration control device, which is applied to the above-mentioned acceleration control method. Figure 8 The figure is a structural block diagram of an acceleration control device, which includes but is not limited to:

[0092] The parameter acquisition module 100 is used to acquire the current vehicle parameters and the preceding vehicle parameters;

[0093] An evaluation module 200 is used to evaluate the collision risk based on current vehicle parameters and preceding vehicle parameters if the driver switches the driving mode while pressing the accelerator;

[0094] A calculation module 300 is used to perform acceleration control according to the evaluation result to obtain a mode switching acceleration;

[0095] The control module 400 is used to control the electric drive torque when the driving mode is switched according to the mode switching acceleration and complete the driving mode switching.

[0096] The device can assess the collision risk and control the mode switching acceleration when the vehicle switches driving modes, thereby completing the switching of driving modes safely and smoothly and avoiding the risk of rear-end collision caused by sudden increase in acceleration.

[0097] Among them, Fig. 9FIG. 1 is a structural block diagram of another acceleration control device. Based on the above embodiment, the parameter acquisition module 100 includes:

[0098] The vehicle parameter acquisition module 101 is used to obtain the current throttle opening, vehicle speed and current driving mode acceleration of the vehicle;

[0099] The preceding vehicle parameter acquisition module 102 is used to acquire the longitudinal distance between the vehicle and the preceding vehicle and the relative speed of the preceding vehicle.

[0100] The evaluation module 200 includes:

[0101] A vehicle speed calculation module 201 is used to calculate the speed of the preceding vehicle based on the vehicle speed and the relative speed of the preceding vehicle;

[0102] The risk judgment module 202 is used to determine that if the longitudinal distance is not greater than a set distance value, there is a risk of collision and acceleration limitation is required.

[0103] The computing module 300 includes:

[0104] The remaining distance calculation module 310 is used to determine the remaining distance according to the longitudinal distance and the safety distance setting value;

[0105] A maximum acceleration calculation module 320, used to calculate the maximum allowed acceleration according to the speed of the preceding vehicle, the speed of the own vehicle and the remaining distance;

[0106] The mode switching acceleration determination module 330 is used to obtain the mode switching acceleration according to the maximum acceleration and the original acceleration.

[0107] The mode switching acceleration determination module 330 includes:

[0108] The acceleration acquisition module 331 is used for the mode switching acceleration to be the minimum value of the maximum acceleration and the original acceleration, and the mode switching acceleration is not less than 0;

[0109] The smoothing processing module 332 is used to perform smoothing on the mode switching acceleration.

[0110] An embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the above-mentioned acceleration control method.

[0111] An embodiment of the present application provides a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the above-mentioned acceleration control method is executed.

[0112] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0113] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0114] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0115] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0116] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0117] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. An acceleration control method, characterized in that: The method comprises: Get the current vehicle parameters and the preceding vehicle parameters; If the driver switches driving modes while pressing the accelerator, the collision risk is assessed based on the current parameters of the vehicle and the preceding vehicle; Perform acceleration control according to the evaluation result to obtain the mode switching acceleration; The electric drive torque when the driving mode is switched is controlled according to the mode switching acceleration, and the driving mode switching is completed.

2. The acceleration control method according to claim 1, characterized in that: The obtaining of current vehicle parameters and preceding vehicle parameters includes: Get the current throttle opening, vehicle speed and current driving mode acceleration of the vehicle; Obtain the longitudinal distance between the vehicle and the front vehicle and the relative speed of the front vehicle.

3. The acceleration control method according to claim 2, characterized in that: If the driver switches the driving mode while pressing the accelerator, the collision risk is evaluated based on the current vehicle parameters and the preceding vehicle parameters, including: Calculate the speed of the preceding vehicle based on the speed of the own vehicle and the relative speed of the preceding vehicle; If the longitudinal distance is not greater than the distance setting value, there is a risk of collision and acceleration limitation is required.

4. The acceleration control method according to claim 2, characterized in that: The performing acceleration control according to the evaluation result to obtain the mode switching acceleration includes: Determining the remaining distance according to the longitudinal distance and the safety distance setting value; Calculate the maximum permissible acceleration according to the speed of the preceding vehicle, the speed of the own vehicle and the remaining distance; A mode switching acceleration is obtained according to the maximum acceleration and the original acceleration.

5. The acceleration control method according to claim 4, characterized in that: The calculating the maximum allowable acceleration according to the speed of the preceding vehicle, the speed of the own vehicle and the remaining distance includes: Calculate the maximum allowed acceleration: Among them, S represents the longitudinal distance, μ represents the safety distance setting value, V1 represents the speed of the vehicle, and V2 represents the speed of the preceding vehicle.

6. The acceleration control method according to claim 4, characterized in that: The obtaining the mode switching acceleration according to the maximum acceleration and the original acceleration includes: The mode switching acceleration is the minimum value of the maximum acceleration and the original acceleration, and the mode switching acceleration is not less than 0; The mode switching acceleration is smoothed.

7. An acceleration control device, characterized in that: The device comprises: Parameter acquisition module, used to obtain the current vehicle parameters and the preceding vehicle parameters; An evaluation module, used to evaluate the collision risk based on the current vehicle parameters and the preceding vehicle parameters if the driver switches the driving mode while pressing the accelerator; A calculation module, used for performing acceleration control according to the evaluation result to obtain the mode switching acceleration; The control module is used to control the electric drive torque when the driving mode is switched according to the mode switching acceleration and complete the driving mode switching.

8. The acceleration control device according to claim 7, characterized in that: The parameter acquisition module includes: The vehicle parameter acquisition module is used to obtain the current throttle opening, vehicle speed and current driving mode acceleration of the vehicle; The preceding vehicle parameter acquisition module is used to obtain the longitudinal distance between the vehicle and the preceding vehicle and the relative speed of the preceding vehicle.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the acceleration control method according to any one of claims 1 to 6.

10. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the acceleration control method according to any one of claims 1 to 6 is executed.

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