A driving control method, device and electronic equipment of a vehicle

Abstract

The application provides a driving control method and device of a vehicle and an electronic device. The method comprises: receiving a mode switching request, the mode switching request being used to indicate that the driving control mode of the vehicle is switched from a first driving mode to a second driving mode; in response to the mode switching request, controlling the vehicle to enter a limited control state, wherein the motor torque value of the vehicle is controlled to be adjusted to a target torque value in steps in the limited control state, and an initial input parameter in the limited control state is determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being the motor torque value at the moment of driving mode switching; and in response to the motor torque value of the vehicle reaching the target torque value, controlling the vehicle to drive according to a torque control strategy in the second driving mode. The motor torque value is adjusted in steps, so that significant disturbance caused by sharp change of the motor torque at the moment of driving mode conversion is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a driving control method and device of a vehicle and an electronic device. BACKGROUND

[0002] The speed control strategy of an electric commercial vehicle is extremely critical to the performance and driving comfort of the vehicle, especially in the case of variable load and complex driving conditions, the accurate control of the motor speed is required to be higher, whether manual or automatic control, the motor speed needs to be adjusted in detail.

[0003] However, when the manual control and the automatic control mode are switched, due to the different mechanisms of adjusting the motor torque in the two modes, the motor torque will fluctuate sharply due to the significant difference in the output value at the moment of switching, thereby causing a large system disturbance. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a driving control method and device of a vehicle and an electronic device, which can prevent significant disturbance caused by sharp change of motor torque at the moment of driving mode conversion by adjusting the motor torque value in steps.

[0005] In a first aspect, the present application provides a driving control method of a vehicle, the method comprising: receiving a mode switching request, the mode switching request being used to indicate that the driving control mode of the vehicle is switched from a first driving mode to a second driving mode; in response to the mode switching request, controlling the vehicle to enter a limited control state, wherein the motor torque value of the vehicle is controlled to be adjusted to a target torque value in steps in the limited control state, the initial input parameter in the limited control state being determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being the motor torque value at the moment of driving mode switching; in response to the motor torque value of the vehicle reaching the target torque value, controlling the vehicle to drive according to a torque control strategy in the second driving mode.

[0006] In a possible implementation, the first driving mode is one of a manual driving mode and an automatic driving mode, and the second driving mode is the other of the manual driving mode and the automatic driving mode, wherein the target torque value is determined in one of the following ways: according to a set vehicle speed in the second driving mode carried in the mode switching request, or according to a recently stored motor torque value of the vehicle, the recently stored motor torque value including the motor torque value at the moment of driving mode switching.

[0007] In a possible implementation, the mode switching request is used to indicate switching from the manual driving mode to the automatic driving mode, and the torque control strategy in the second driving mode comprises controlling driving of the vehicle based on a proportional-integral (PI) controller, an input of the PI controller being a deviation speed, the deviation speed being a difference between a target speed of the motor and a current speed of the motor, and the vehicle is controlled to enter a limited control state by: setting an initial deviation speed of the PI controller to 0 in response to the mode switching request; and adjusting the input of the PI controller from 0 in a step-by-step manner until a motor torque value reaches a target torque value.

[0008] In a possible implementation, the mode switching request is used to indicate switching from the automatic driving mode to the manual driving mode, and the vehicle is controlled to enter a limited control state by: controlling the motor of the vehicle to operate according to the specified motor torque value in response to the mode switching request; and adjusting the motor torque value of the motor from the specified motor torque value to the target torque value in a step-by-step manner.

[0009] In a possible implementation, the vehicle is controlled to drive according to the torque control strategy in the manual driving mode by: obtaining motor state information of the vehicle to determine a whole-vehicle motor torque limit value; determining a maximum motor torque value corresponding to a current motor speed of the vehicle according to the current motor speed of the vehicle and an external characteristic of the motor of the vehicle; selecting a smaller value between the whole-vehicle motor torque limit value and the maximum motor torque value as a target torque limit value; determining a torque coefficient according to a current vehicle speed and a pedal opening degree of the vehicle, to determine a first torque value according to the target torque limit value and the torque coefficient; and controlling the motor of the vehicle to drive the vehicle according to the first torque value.

[0010] In a possible implementation, the method further comprises: in the manual driving mode, obtaining a current vehicle speed and a current motor torque value of the vehicle; switching from the manual driving mode to the automatic driving mode when the current vehicle speed reaches a limit vehicle speed, and controlling the motor speed of the vehicle to adjust to a limit motor speed corresponding to the limit vehicle speed, and controlling the vehicle to drive according to the torque control strategy in the automatic driving mode; detecting a depression depth of a brake pedal, and determining the current motor torque value of the vehicle according to the depression depth; and when the current motor torque value is less than a limit torque value corresponding to the limit vehicle speed, adjusting the motor torque value of the vehicle to the current motor torque value, and switching to the manual driving mode to control the vehicle to drive according to the torque control strategy in the manual driving mode.

[0011] In a possible implementation, the vehicle is controlled to travel according to the torque control strategy in the automatic driving mode by: determining a target motor speed, the target motor speed being determined based on the set vehicle speed; determining a target deviation speed, the target deviation speed being a difference between the target motor speed and a current motor speed of the vehicle; and controlling the vehicle to travel according to the target deviation speed by a proportional-integral controller.

[0012] In a possible implementation, the method further includes: in the automatic driving mode, detecting a depression depth of a brake pedal; in response to the depression depth of the brake pedal being lower than a switching threshold depth, exiting the automatic driving mode, and determining a target brake torque value of the vehicle according to the depression depth of the brake pedal to control the motor torque value of the vehicle to be adjusted to the target brake torque value; and controlling the vehicle to travel according to the torque control strategy in the manual driving mode.

[0013] In a second aspect, the present application provides a driving control device of a vehicle, the device comprising: a receiving module configured to receive a mode switching request, the mode switching request being configured to indicate that a driving control mode of the vehicle is switched from a first driving mode to a second driving mode; a limiting control module configured to control the vehicle to enter a limiting state in response to the mode switching request, wherein a motor torque value of the vehicle is controlled to be adjusted to a target torque value in steps in the limiting state, an initial input parameter in the limiting state being determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being a motor torque value at a time of driving mode switching; and a responding module configured to control the vehicle to travel according to a torque control strategy in the second driving mode in response to the motor torque value of the vehicle reaching the target torque value.

[0014] In a third aspect, the present application further provides an electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory being in communication through the bus when the electronic device is running, the machine readable instructions being executed by the processor to perform the steps of the above method.

[0015] The application provides a driving control method, device and electronic equipment of a vehicle, the method comprising: receiving a mode switching request, the mode switching request being used to indicate that the driving control mode of the vehicle is switched from a first driving mode to a second driving mode; in response to the mode switching request, controlling the vehicle to enter a limited control state, wherein the motor torque value of the vehicle is controlled to be adjusted to a target torque value in steps in the limited control state, and an initial input parameter in the limited control state is determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being the motor torque value at the moment of driving mode switching; and in response to the motor torque value of the vehicle reaching the target torque value, controlling the vehicle to drive according to a torque control strategy in the second driving mode. The application prevents significant disturbance caused by sharp change of the motor torque at the moment of driving mode conversion by adjusting the motor torque value in steps.

[0016] In order to make the above objectives, characteristics and advantages of the application more apparent, the following will describe a preferred embodiment in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0018] Figure 1 A flowchart of a driving control method of a vehicle provided by the embodiments of the application;

[0019] Figure 2 A flowchart of controlling a vehicle to enter a limited control state provided by the embodiments of the application;

[0020] Figure 3 Another flowchart of controlling a vehicle to enter a limited control state provided by the embodiments of the application;

[0021] Figure 4 A flowchart of controlling a vehicle to drive in a manual driving mode provided by the embodiments of the application;

[0022] Figure 5 Another flowchart of controlling a vehicle to drive in a manual driving mode provided by the embodiments of the application;

[0023] Figure 6 A flowchart of controlling a vehicle to drive in an automatic driving mode provided by the embodiments of the application;

[0024] Figure 7A flowchart of another vehicle driving control method provided by the embodiments of the present application;

[0025] Figure 8 A structural schematic diagram of a vehicle driving control device provided by the embodiments of the present application;

[0026] Figure 9 A structural schematic diagram of an electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without creative work belongs to the scope of protection of the present application.

[0028] Firstly, the application scenarios applicable to the present application are introduced. The present application can be applied to the field of automobiles.

[0029] It is found through research that the speed control strategy of an electric commercial vehicle is crucial to ensuring the power performance and driving comfort of the whole vehicle, especially when facing the challenges of frequent load changes and complex driving conditions, higher requirements are put forward for the precise control of the motor speed, whether in manual control mode or automatic control mode, fine adjustment of the motor speed is required, in the existing speed control system of the electric commercial vehicle, the target torque of the motor is determined in a linear manner according to the accelerator pedal opening degree stepped on by the driver in the manual control mode, so as to achieve the vehicle speed expected by the driver, and when the vehicle enters the cruise mode or the speed limit mode and other automatic control modes, the system adjusts the motor torque through the PI regulator according to the target vehicle speed and the current motor speed, so as to reach the preset vehicle speed. However, when the manual control mode and the automatic control mode are switched to each other, due to the difference between the output values in the two control modes, the motor torque will change sharply at the switching moment, thereby generating a large disturbance.

[0030] Based on this, the embodiments of the present application provide a vehicle driving control method, please refer to Figure 1 , Figure 1 A flowchart of a vehicle driving control method provided by the embodiments of the present application. As shown in Figure 1 , the vehicle driving control method provided by the embodiments of the present application comprises:

[0031] S101, receiving a mode switching request.

[0032] Here, the mode switching request is used to indicate that the driving control mode of the vehicle is switched from the first driving mode to the second driving mode.

[0033] S102, in response to the mode switching request, controlling the vehicle to enter a limit control state.

[0034] Here, the limit control state refers to a specific stage or mode in the process of vehicle driving control, and its main purpose is to smoothly and orderly adjust the key parameters of the vehicle, especially the motor torque value, when the driving mode is switched. The addition of the limit control state is to prevent the vehicle from being unstable or having safety hazards due to sudden changes in parameters such as motor torque values during driving mode switching. The motor torque value of the vehicle is controlled in the limit control state to be adjusted to the target torque value in a step-by-step manner. The initial input parameter in the limit control state is determined according to the specified motor torque value of the vehicle in the first driving mode.

[0035] Specifically, in the limit control state, the motor torque value of the vehicle is not instantly jumped to the target value, but is gradually adjusted in a "step-by-step" manner, which means that the torque value will gradually increase or decrease according to the preset step or rate within a period of time until it reaches the target torque value. This way can reduce the impact on the vehicle caused by torque mutation, and improve the smoothness and safety of mode switching.

[0036] The initial input parameter in the limit control state, especially the starting point of the motor torque value, is determined according to the specified motor torque value of the vehicle in the first driving mode. The specified motor torque value refers to the torque value maintained by the vehicle motor at the moment of driving mode switching. The specified motor torque value is used as the starting point of the step-by-step adjustment to ensure that the torque adjustment process matches the current state of the vehicle and reduces unnecessary fluctuations.

[0037] In the embodiments of the present application, the first driving mode is one of the manual driving mode and the automatic driving mode, and the second driving mode is the other one of the manual driving mode and the automatic driving mode. The target torque value is determined in one of the following ways: according to the set speed for the second driving mode carried in the mode switching request, or according to the last stored motor torque value of the vehicle, which includes the motor torque value at the moment of driving mode switching.

[0038] In a preferred example of the present application, the mode switching request is used to indicate switching from the manual driving mode to the automatic driving mode, and the torque control strategy in the second driving mode includes controlling the driving of the vehicle based on a proportional-integral (PI) controller, and the input of the PI controller is a deviation speed, which is the difference between the target speed and the current speed of the motor.

[0039] Specifically, the proportional-integral (PI) controller is a commonly used control algorithm for adjusting the output of a system to approach or reach a desired target value. When switching from the manual driving mode to the automatic driving mode, the PI controller is used to control the driving of the vehicle, and the input of the PI controller is a deviation speed, which is the difference between the target speed and the current speed of the motor, to achieve precise control of the motor torque.

[0040] The following describes Figure 2 a specific process of controlling the vehicle to enter a limited state.

[0041] Figure 2 a flowchart of controlling the vehicle to enter a limited state provided by an embodiment of the present application.

[0042] S201, in response to the mode switching request, setting the initial deviation speed of the PI controller to 0.

[0043] Here, when receiving the mode switching request from the manual driving mode to the automatic driving mode, the PI controller is initialized, and the initial deviation speed of 0 means that at the initial moment of mode switching, the PI controller considers that there is no deviation between the current speed and the target speed of the motor. This is because at the moment when the automatic driving mode starts, the system usually expects the motor to smoothly transition from the current state to the new target state, rather than immediately producing a large speed change, therefore, setting the initial deviation speed to 0 helps to achieve this smooth transition.

[0044] S202, controlling the input of the PI controller to be adjusted step by step from 0 until the motor torque value reaches the target torque value.

[0045] Here, the input quantity of the PI controller, i.e. the deviation speed, starts to be adjusted step by step from 0, and the step-by-step adjustment means that the input quantity is not continuously changed, but is increased or decreased at discrete time points according to a preset step or rate. This adjustment mode helps to reduce the impact on the system caused by the sudden change of the input quantity, so that the speed of the motor can smoothly approach the target speed. As the deviation speed is adjusted, the PI controller will calculate the corresponding control output, i.e. the target torque value of the motor, according to its control algorithm. This target torque value will be gradually increased or decreased until the actual speed of the motor reaches the target speed in the autonomous driving mode. In this process, the PI controller will continuously adjust the output according to the deviation between the current speed and the target speed to achieve accurate speed control. The adjustment of the input quantity of the PI controller can be continuous, but the adjustment rate or step is limited within a certain range to achieve a similar smooth transition effect. The target torque value is not reached instantaneously, but needs a certain time to gradually approach.

[0046] In another preferred example of the present application, the mode switching request is used to indicate switching from the autonomous driving mode to the manual driving mode.

[0047] The following describes Figure 3 another specific process of controlling the vehicle to enter the limited state.

[0048] Figure 3 Another flowchart of controlling the vehicle to enter the limited state is provided in the embodiments of the present application.

[0049] S301, in response to the mode switching request, controlling the motor of the vehicle to operate according to the specified motor torque value.

[0050] Here, the specified motor torque value is the motor torque value when the vehicle is about to switch to the manual driving mode in the autonomous driving mode. The purpose of this is to maintain the continuity and stability of the vehicle power output in the instant of mode switching, and to avoid unnecessary interference on the vehicle driving caused by sudden torque change.

[0051] S302, controlling the motor torque value of the motor to be adjusted step by step from the specified motor torque value to the target torque value in a step-by-step manner.

[0052] Here, the torque value of the motor is not directly jumped from the specified motor torque value to the target torque value in the manual driving mode, but is adjusted in a step-by-step and phased manner. During this process, the adjustment takes into account the current state of the vehicle, the input of the driver and the road conditions, etc. to ensure that the adjustment process is smooth and safe.

[0053] Returning to Figure 1, S103, in response to the motor torque value of the vehicle reaching the target torque value, controlling the vehicle to travel according to a torque control strategy in the second driving mode.

[0054] In a preferred example of the application, the second driving mode is a manual driving mode.

[0055] The following describes a specific process of controlling a vehicle to travel in a manual driving mode. Figure 4

[0056] The following describes a specific process of controlling a vehicle to travel in a manual driving mode. Figure 4 S401, obtaining motor state information of the vehicle to determine a whole-vehicle motor torque limit value.

[0057] Here, the motor state information is the maximum motor torque in the current state, the current battery management system power limit, the current gear torque limit of the gearbox, and the motor power and torque limit in the whole-vehicle fault state, to determine the whole-vehicle motor torque limit.

[0058] S402, determining a maximum motor torque value corresponding to the current motor speed of the vehicle according to the current motor speed of the vehicle and the motor external characteristic of the vehicle.

[0059] Here, the motor external characteristic refers to the maximum torque value that the motor can output at different speeds, which is an important parameter of motor design and performance.

[0060] S403, selecting the smaller value between the whole-vehicle motor torque limit value and the maximum motor torque value as a target torque limit value.

[0061] S404, determining a torque coefficient according to the current vehicle speed and the pedal opening degree, to determine a first torque value according to the target torque limit value and the torque coefficient.

[0062] Here, when the vehicle accelerates, the driver steps on the accelerator pedal, and the torque coefficient is determined according to the opening degree, vehicle speed and acceleration, multiplied by the target torque limit value to determine the first torque value; when the vehicle decelerates, the driver steps on the brake pedal, and the recovery torque coefficient is determined according to the opening degree, vehicle speed and acceleration, multiplied by the target torque limit value to determine the first torque value.

[0063] S405, controlling the motor of the vehicle to drive the vehicle to travel according to the first torque value.

[0064] The following describes a specific process of controlling a vehicle to travel in a manual driving mode.

[0065] Figure 5 The following describes a specific process of controlling a vehicle to travel in a manual driving mode.

[0066] Figure 5 ​Another flowchart for controlling a vehicle to travel in a manual driving mode is provided in the embodiments of the present application.

[0067] S501, in the manual driving mode, obtaining a current vehicle speed and a current motor torque value of the vehicle.

[0068] S502, when the current vehicle speed reaches the limit speed, switching from the manual driving mode to the automatic driving mode, in the automatic driving mode, controlling the motor speed of the vehicle to adjust to the limit motor speed corresponding to the limit speed, and controlling the vehicle to travel according to the torque control strategy in the automatic driving mode.

[0069] Here, the limit motor speed corresponds to the limit speed, which means that when the vehicle speed reaches the limit speed, the motor should reach the speed value.

[0070] S503, detecting the depression depth of the brake pedal, and determining the current motor torque value of the vehicle according to the depression depth.

[0071] Here, the brake pedal depression depth refers to the force and depth when the driver steps on the brake pedal, by detecting the depression depth of the brake pedal, the driver's braking intention can be judged, and the torque output of the motor is adjusted accordingly to achieve the braking effect.

[0072] S504, when the current motor torque value is less than the limit torque value corresponding to the limit speed, controlling the motor torque value of the vehicle to adjust to the current motor torque value, and switching to the manual driving mode to control the vehicle to travel according to the torque control strategy in the manual driving mode.

[0073] Here, the limit torque value is the corresponding motor torque value when the vehicle speed reaches the limit speed in the automatic driving mode.

[0074] In a preferred example of the application, the second driving mode is the automatic driving mode.

[0075] The following will be described Figure 6 A specific process for controlling a vehicle to travel in an automatic driving mode is introduced.

[0076] Figure 6 A flowchart for controlling a vehicle to travel in an automatic driving mode is provided in the embodiments of the present application.

[0077] S601, determining a target motor speed.

[0078] Here, the target motor speed is determined based on the set speed, which can be the speed specified by the driver through the cruise control or speed setting function, or the safe speed determined by the automatic driving system according to the road conditions and traffic rules.

[0079] S602, determine a target deviation speed.

[0080] Here, the target deviation speed is the difference between the target motor speed and the current motor speed of the vehicle.

[0081] S603, control the vehicle to travel according to the target deviation speed through a proportional-integral controller.

[0082] Here, the PI controller calculates a control increment according to the size and rate of change of the target deviation speed, which is used to adjust the output torque or power of the motor. By continuously adjusting the output torque or power of the motor, the system can gradually reduce the target deviation speed, so that the vehicle's speed gradually approaches and stabilizes at the set speed.

[0083] The following describes another specific process of a vehicle travel control method. Figure 7

[0084] Figure 7 The flowchart of another vehicle travel control method provided by the embodiments of the present application.

[0085] S701, in the automatic driving mode, detect the depression depth of the brake pedal.

[0086] S702, in response to the depression depth of the brake pedal being lower than the switching threshold depth, exit the automatic driving mode, and determine a target braking torque value of the vehicle according to the depression depth of the brake pedal to control the motor torque value of the vehicle to adjust to the target braking torque value.

[0087] Here, when it is detected that the depression depth of the brake pedal is lower than a preset switching threshold depth, it means that the driver wants to intervene in the automatic driving with a certain braking force, so the vehicle exits the automatic driving mode and switches to the manual driving mode. The switching threshold depth can be set according to the situation. In actual application, the setting of the switching threshold depth needs to consider multiple factors, including but not limited to driving safety, driving comfort, driver intention recognition, and comprehensive consideration of road and traffic conditions, to ensure that the interaction and cooperation between the automatic driving system and the driver are smoother and safer. At the same time of exiting the automatic driving mode, the system determines a target braking torque value according to the depression depth of the brake pedal. The target braking torque value is calculated through a preset mapping relationship or algorithm, which reflects the braking effect expected by the driver. Then, the system controls the motor torque value of the vehicle to adjust to the target braking torque value to achieve the deceleration effect expected by the driver. The motor torque value of the vehicle is immediately adjusted to the target braking torque value to ensure the safety of the driver.

[0088] S703, control the vehicle to travel according to the torque control strategy in the manual driving mode. ​

[0089] Based on the same inventive concept, the embodiment of the present application also provides a vehicle driving control device corresponding to the vehicle driving control method. Since the principle of the device in the embodiment of the present application solves the problem is similar to the vehicle driving control method described above, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described here.

[0090] Please refer to Figure 8 , Figure 8 The structure schematic diagram of the vehicle driving control device provided by the embodiment of the present application is shown in FIG. 8. Figure 8 The vehicle driving control device 800 includes:

[0091] The receiving module 801 is configured to receive a mode switching request, the mode switching request being used to indicate that the driving control mode of the vehicle is switched from the first driving mode to the second driving mode.

[0092] The limiting module 802 is configured to control the vehicle to enter a limiting state in response to the mode switching request, wherein the motor torque value of the vehicle is controlled to be adjusted to a target torque value in steps in the limiting state, and an initial input parameter in the limiting state is determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being the motor torque value at the driving mode switching moment.

[0093] The response module 803 is configured to control the vehicle to drive according to a torque control strategy in the second driving mode in response to the motor torque value of the vehicle reaching the target torque value.

[0094] Please refer to Figure 9 , Figure 9 The structure schematic diagram of an electronic device provided by the embodiment of the present application is shown in FIG. 9. Figure 9 The electronic device 900 includes a processor 910, a memory 920 and a bus 930.

[0095] The memory 920 stores machine readable instructions executable by the processor 910, when the electronic device 900 is running, the processor 910 and the memory 920 communicate through the bus 930, and the machine readable instructions are executed by the processor 910, which can execute the steps of the vehicle driving control method in the method embodiment as shown in the above Figures 1-7 The specific implementation can refer to the method embodiment, and will not be described here.

[0096] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, and will not be described here.

[0097] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. The described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0098] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. In actual implementation, some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0099] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit.

[0100] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

[0101] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any skilled person in the art can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, within the technical scope disclosed by the present application. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within 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 travel control method of a vehicle, characterized by, The method comprises: receiving a mode switching request, the mode switching request being used to indicate that the driving control mode of the vehicle is switched from a first driving mode to a second driving mode, the first driving mode being one of a manual driving mode and an automatic driving mode, and the second driving mode being the other of the manual driving mode and the automatic driving mode; in response to the mode switching request, controlling the vehicle to enter a limit control state, wherein the motor torque value of the vehicle is controlled to be adjusted to a target torque value in steps in the limit control state, and an initial input parameter in the limit control state is determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being a motor torque value at a driving mode switching time; in response to the motor torque value of the vehicle reaching the target torque value, controlling the vehicle to drive according to a torque control strategy in the second driving mode, wherein the target torque value is determined by one of the following methods: according to a set vehicle speed in the second driving mode carried in the mode switching request, or according to a last stored motor torque value of the vehicle, the last stored motor torque value including the motor torque value at the driving mode switching time, wherein the mode switching request is used to indicate a switch from the manual driving mode to the automatic driving mode, the torque control strategy in the second driving mode includes controlling the vehicle to drive based on a proportional-integral (PI) controller, and an input quantity of the PI controller is a deviation speed, the deviation speed being a difference between a target speed of the motor and a current speed of the motor, wherein the vehicle is controlled to enter the limit control state by the following method: in response to the mode switching request, setting an initial deviation speed of the PI controller to 0; controlling the input quantity of the PI controller to be adjusted from 0 in steps until the motor torque value reaches the target torque value.

2. The method of claim 1, wherein, the mode switching request is used to indicate a switch from the automatic driving mode to the manual driving mode, wherein the vehicle is controlled to enter the limit control state by the following method: in response to the mode switching request, controlling the motor of the vehicle to operate according to the specified motor torque value; controlling the motor torque value of the motor to be adjusted from the specified motor torque value to the target torque value in steps.

3. The method of claim 1, wherein, The vehicle is controlled to drive according to the torque control strategy in the manual driving mode by the following method: obtaining motor state information of the vehicle to determine a whole-vehicle motor torque limit value; determining a maximum motor torque value corresponding to a current motor speed of the vehicle according to the current motor speed of the vehicle and an external characteristic of the motor of the vehicle; selecting a smaller value between the whole-vehicle motor torque limit value and the maximum motor torque value as a target torque limit value; determining a torque coefficient according to a current vehicle speed and a pedal opening degree of the vehicle to determine a first torque value according to the target torque limit value and the torque coefficient; controlling the motor of the vehicle to drive the vehicle according to the first torque value.

4. The method of claim 3, wherein, Further comprising: in the manual driving mode, obtaining a current vehicle speed and a current motor torque value of the vehicle; When the current vehicle speed reaches the limit vehicle speed, switching from the manual driving mode to the automatic driving mode, in which the motor speed of the vehicle is adjusted to a limit motor speed corresponding to the limit vehicle speed, and the vehicle is controlled to travel according to a torque control strategy in the automatic driving mode; detecting a depression depth of a brake pedal, and determining a current motor torque value of the vehicle according to the depression depth; when the current motor torque value is less than a limit torque value corresponding to the limit vehicle speed, adjusting the motor torque value of the vehicle to the current motor torque value, and switching to the manual driving mode to control the vehicle to travel according to a torque control strategy in the manual driving mode.

5. The method of claim 1, wherein, The vehicle is controlled to travel according to the torque control strategy in the automatic driving mode by: determining a target motor speed, which is determined based on the set vehicle speed; determining a target deviation speed, which is a difference between the target motor speed and a current motor speed of the vehicle; controlling the vehicle to travel according to the target deviation speed by a proportional-integral controller.

6. The method of claim 5, wherein, Further comprising: in the automatic driving mode, detecting a depression depth of a brake pedal; in response to the depression depth of the brake pedal being lower than a switching threshold depth, exiting the automatic driving mode, and determining a target braking torque value of the vehicle according to the depression depth of the brake pedal to control the motor torque value of the vehicle to be adjusted to the target braking torque value; controlling the vehicle to travel according to a torque control strategy in the manual driving mode.

7. A travel control device of a vehicle characterized by comprising: The apparatus comprises: a receiving module configured to receive a mode switching request, the mode switching request being used to indicate that a driving control manner of the vehicle is switched from a first driving mode to a second driving mode, the first driving mode being one of a manual driving mode and an automatic driving mode, and the second driving mode being the other one of the manual driving mode and the automatic driving mode; a limit control module configured to, in response to the mode switching request, control the vehicle to enter a limit control state, wherein in the limit control state, the motor torque value of the vehicle is adjusted to a target torque value in a step-by-step manner, and an initial input parameter in the limit control state is determined according to a specified motor torque value of the vehicle in the first driving mode, the specified motor torque value being a motor torque value at a driving mode switching time; a response module configured to, in response to the motor torque value of the vehicle reaching the target torque value, control the vehicle to travel according to a torque control strategy in the second driving mode, wherein the limit control module is further configured to determine the target torque value by one of the following manners: according to a set vehicle speed in the second driving mode carried in the mode switching request, or according to a most recently stored motor torque value of the vehicle, the most recently stored motor torque value including the motor torque value at the driving mode switching time. The mode switching request is used to indicate switching from the manual driving mode to the automatic driving mode, the torque control strategy in the second driving mode comprises controlling the driving of the vehicle based on a proportional-integral (PI) controller, an input of the PI controller is a deviation speed, the deviation speed is a difference between a target speed of the motor and a current speed of the motor, The limiting module is further configured to: in response to the mode switching request, set an initial deviation speed of the PI controller to 0; control the input of the PI controller to be adjusted from 0 in a step-by-step manner until a motor torque value reaches a target torque value.

8. An electronic device, comprising: comprise: a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the processor executes the machine readable instructions to execute the steps of the method in any one of claims 1 to 6.

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