Single-pedal acceleration and deceleration control method and system, storage medium and equipment

Abstract

The invention provides a single-pedal acceleration and deceleration control method and system, a storage medium and equipment, the control method is used for controlling braking of a vehicle, the vehicle comprises a driving unit and a braking control unit, and the control method comprises the steps that when the current vehicle is in a single-pedal control mode, the braking control unit is started; acquiring an opening parameter of a pedal and an energy recovery torque corresponding to the opening parameter in real time; the running state of a driving unit and / or a braking control unit is controlled according to the energy recovery torque, so that braking of the vehicle is controlled in real time; when the energy recovery torque is smaller than the preset target energy recovery torque, the driving unit conducts braking deceleration on the vehicle through the energy recovery torque, torque compensation is conducted on the energy recovery torque through the braking control unit, the energy recovery torque meets the target energy recovery torque, and the vehicle is controlled to enter a braking mode; through the arrangement, the effects of stable deceleration and comfortable braking of the vehicle can be guaranteed.

Description

Technical Field

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

[0002] The current automobile is in the era of dual pedals, but with the rise of electric vehicles, the concept of single pedal mode has gradually become popular. In single pedal mode, when the pedal opening is greater than a certain set value, the drive motor provides driving torque to drive the vehicle, and when the pedal opening is less than a certain set value, the drive motor provides braking torque to achieve vehicle deceleration and braking.

[0003] The current single-pedal system uses energy recovery to achieve deceleration braking, controls the motor's reverse drag, and executes the target recovery torque. When the single-pedal function is used in electric braking, the body shakes. In addition, when electric braking is used, the motor's reverse torque is affected by the battery charge, vehicle speed, ambient temperature, etc. The motor's recovery capacity is limited and the consistency of the vehicle's deceleration cannot be guaranteed, resulting in changes in the driving experience. In addition, when the battery status is in a state where recharging is not allowed or the recharging power is allowed to be low, the pedal-release braking function cannot be achieved.

[0004] Therefore, the existing single-pedal braking function of the vehicle may cause vehicle body shaking, affect driving experience, and make vehicle braking unreliable. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a single-pedal acceleration and deceleration control method, system, storage medium and device to solve the technical problems of the existing single-pedal braking function of the vehicle in the background technology, such as body shaking, affecting driving experience, and unreliable vehicle braking.

[0006] A first aspect of the present invention is to provide a single-pedal acceleration and deceleration control method, the control method is used to control the braking of a vehicle, the vehicle comprising a drive unit and a brake control unit;

[0007] The control method comprises:

[0008] When the vehicle is currently in a single-pedal control mode, obtaining in real time an opening parameter of the pedal and an energy recovery torque corresponding to the opening parameter;

[0009] Controlling the operating state of the drive unit and / or the brake control unit according to the energy recovery torque, so as to perform real-time control on the braking of the vehicle;

[0010] When the energy recovery torque is less than a preset target energy recovery torque, the drive unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the braking control unit, so that the energy recovery torque meets the target energy recovery torque, so as to control the vehicle to enter a braking mode.

[0011] Furthermore, before the step of when the energy recovery torque is less than the preset target energy recovery torque, the method further includes:

[0012] When the energy recovery torque is not less than a preset target energy recovery torque, the drive unit performs braking control on the vehicle according to the energy recovery torque to make the vehicle enter a braking mode.

[0013] Furthermore, before the step of when the energy recovery torque is less than the preset target energy recovery torque, the method further includes:

[0014] When the energy recovery torque is greater than a preset target energy recovery torque, the braking control unit controls the vehicle to enter a braking mode.

[0015] Further, in the step when the energy recovery torque is less than a preset target energy recovery torque, the drive unit includes a motor and a battery pack;

[0016] Wherein, the control method:

[0017] When the energy recovery torque is less than a preset target energy recovery torque, the motor brakes and decelerates the vehicle according to the energy recovery torque.

[0018] Further, after the step of the motor braking and decelerating the vehicle according to the energy recovery torque, the method further includes:

[0019] The torque corresponding to the braking deceleration is recovered in the battery pack to form a recovery torque for storage in the battery pack.

[0020] Further, in the step of acquiring the pedal opening parameter and the energy recovery torque corresponding to the opening parameter in real time:

[0021] The opening data and the energy recovery torque change in real time according to the actual vehicle speed of the vehicle.

[0022] Furthermore, when the vehicle is in braking mode, the opening data and the energy recovery torque are real parameters.

[0023] A second aspect of the present invention is to provide a single-pedal acceleration / deceleration control system, the system comprising:

[0024] an acquisition module, for acquiring in real time an opening parameter of the pedal and an energy recovery torque corresponding to the opening parameter when the vehicle is currently in a single-pedal control mode;

[0025] A control module, used for controlling the operating state of the drive unit and / or the brake control unit according to the energy recovery torque, so as to perform real-time control on the braking of the vehicle;

[0026] The braking module is used for, when the energy recovery torque is less than a preset target energy recovery torque, the driving unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the braking control unit so that the energy recovery torque satisfies the target energy recovery torque, so as to control the vehicle to enter a braking mode.

[0027] A third aspect of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned single-pedal acceleration and deceleration control method.

[0028] The fourth aspect of the present invention is to provide a single-pedal acceleration and deceleration control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned single-pedal acceleration and deceleration control method when executing the program.

[0029] Compared with the prior art, the single-pedal acceleration and deceleration control method, system, storage medium and device shown in the present invention have the following beneficial effects:

[0030] In a single-pedal acceleration and deceleration control method provided by the present invention, the opening parameter of the pedal and the energy recovery torque corresponding to the opening parameter are obtained in real time; then the operating state of the drive unit and / or the brake control unit is controlled according to the energy recovery torque, so that the braking of the vehicle is controlled in real time; finally, when the energy recovery torque is less than the preset target energy recovery torque, the drive unit brakes and decelerates the vehicle with the energy recovery torque, and the energy recovery torque is torque compensated by the brake control unit, so that the energy recovery torque meets the target energy recovery torque, so as to control the vehicle to enter the braking mode. Through this setting, the smooth deceleration and comfortable braking of the vehicle can be guaranteed, and the vehicle body shaking, affecting the driving experience, and the technical problems of unreliable vehicle braking can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flow chart of a single-pedal acceleration and deceleration control method in a first embodiment of the present invention;

[0032] Figure 2It is a schematic diagram of the working state of the opening parameter in the first embodiment of the present invention;

[0033] Figure 3 A schematic diagram of a control system for preventing slipping when starting on a hill in a third embodiment of the present invention;

[0034] Figure 4 Schematic diagram of a hill start anti-slip control device in a fourth embodiment of the present invention.

[0035] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0036] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0039] First embodiment

[0040] See also Figure 1 , shown is a single-pedal acceleration and deceleration control method in a first embodiment of the present invention, the control method is used to control the braking of a vehicle, and the vehicle includes a drive unit and a braking control unit.

[0041] It should be noted that, in the present embodiment, the drive unit and the brake control unit are units included in the vehicle system, and the drive unit and the brake control unit are not limited to each unit in the vehicle, but specifically, also include other units constituting the vehicle. Since other units belong to the conventional prior art in the field, they are not specifically explained here.

[0042] Specifically, the control method includes:

[0043] S01, when the current vehicle is in a single-pedal control mode, obtaining a pedal opening parameter and an energy recovery torque corresponding to the opening parameter in real time.

[0044] Specifically, the single-pedal acceleration and deceleration control method shown in this example can be applied to vehicles with dual pedals, such as vehicles with an accelerator pedal and a brake pedal, and can also be applied to vehicles with a single pedal. When applied to a dual-pedal vehicle, the single-pedal control mode shown in this embodiment is for the user to switch the control mode of the vehicle through the vehicle computer. The accelerator pedal can be used to drive the vehicle and can also be used as a brake pedal to brake the vehicle. In other words, the accelerator pedal is a single pedal with driving and braking functions.

[0045] The opening parameter shown in this example is the opening degree of the pedal when the user steps on it. It can be understood that the opening parameter refers to the vertical distance traveled by the pedal from a stationary state to when it is fully stepped on. It can also be understood as the extent to which the pedal sinks during this process. For further understanding of this case, please refer to Figure 2 As shown, the solid line portion is a single pedal in an initial state, the dotted line portion is in a stepped state, and an opening parameter is formed between the solid line portion and the dotted line portion.

[0046] It should be noted that the opening data and the energy recovery torque change in real time according to the actual speed of the current vehicle, and when the vehicle is in braking mode, the opening data and the energy recovery torque are real parameters. That is to say, the vehicle will be in different driving states when driving, such as high-speed driving state and low-speed driving state. The opening data and the energy recovery torque corresponding to the high-speed driving state are different from the opening data and the energy recovery torque corresponding to the low-speed driving state. When the vehicle is in braking mode, that is, the vehicle is not started, the opening data and the energy recovery torque are real data, that is, the initial state. It should be noted that the energy recovery torque is the torque corresponding to deceleration or braking.

[0047] S02, controlling the operating state of the drive unit and / or the brake control unit according to the energy recovery torque, so as to perform real-time control on the braking of the vehicle.

[0048] It should be noted that the energy recovery torque in this embodiment is a reverse drag torque, which can achieve the effect of decelerating or braking the vehicle.

[0049] S03, when the energy recovery torque is less than the preset target energy recovery torque, the drive unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the braking control unit, so that the energy recovery torque meets the target energy recovery torque, so as to control the vehicle to enter the braking mode.

[0050] Specifically, the vehicle is first braked and decelerated by the drive unit, but insufficient torque will occur in this process, making the vehicle unable to brake. To ensure smooth transition and braking of the vehicle, the drive unit is used to brake and decelerate the vehicle so that the vehicle can transition smoothly. Finally, the energy recovery torque is compensated by the braking control unit so that the vehicle can enter the braking mode, ensuring the wheel speed and comfortable braking.

[0051] In summary, the single-pedal acceleration / deceleration control method shown in the first embodiment has at least the following beneficial effects compared with the single-pedal acceleration / deceleration control method of the vehicle in the prior art:

[0052] In a single-pedal acceleration and deceleration control method provided by the present invention, the pedal opening parameters and the energy recovery torque corresponding to the opening parameters are obtained in real time; then the operating status of the drive unit and / or the brake control unit is controlled according to the energy recovery torque, so that the braking of the vehicle is controlled in real time; finally, when the energy recovery torque is less than the preset target energy recovery torque, the drive unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the brake control unit, so that the energy recovery torque meets the target energy recovery torque, so as to control the vehicle to enter the braking mode. Through this setting, the vehicle can be decelerated smoothly and stopped comfortably, and the vehicle body shakes, driving experience is affected, and technical problems such as unreliable braking of the vehicle can be avoided.

[0053] Second embodiment

[0054] The second embodiment of the present invention provides a single-pedal acceleration and deceleration control method. The single-pedal acceleration and deceleration control method in this embodiment is different from the single-pedal acceleration and deceleration control method in the first embodiment in that, in this embodiment:

[0055] In the step when the energy recovery torque is less than a preset target energy recovery torque, the drive unit includes a motor and a battery pack;

[0056] Among them, the control method is:

[0057] When the energy recovery torque is less than the preset target energy recovery torque, the motor brakes and decelerates the vehicle according to the energy recovery torque;

[0058] The torque corresponding to the braking deceleration is recovered in the battery pack to form a recovery torque for storage in the battery pack.

[0059] Specifically, the motor responds to the energy recovery torque as a reverse-drag torque, and the reverse-drag torque can be stored in the battery pack as recovered energy, thereby increasing the vehicle's range and achieving a deceleration effect.

[0060] Furthermore, in some preferred embodiments, before the step of when the energy recovery torque is less than the preset target energy recovery torque, the step further includes:

[0061] When the energy recovery torque is not less than the preset target energy recovery torque, the drive unit performs braking control on the vehicle according to the energy recovery torque to put the vehicle into a braking mode.

[0062] That is to say, the vehicle can be decelerated and braked directly through the drive unit, and the corresponding driving state is low-speed driving.

[0063] In some other preferred embodiments, before the step of when the energy recovery torque is less than the preset target energy recovery torque, the step further includes:

[0064] When the energy recovery torque is greater than the preset target energy recovery torque, the braking control unit controls the vehicle to enter the braking mode.

[0065] In other words, the vehicle can be decelerated and braked directly through the brake control unit, and the corresponding driving state at this time is high-speed driving.

[0066] In summary, the single-pedal acceleration / deceleration control method shown in this embodiment has at least the following beneficial effects compared with the single-pedal acceleration / deceleration control method in the first embodiment:

[0067] In the single-pedal acceleration and deceleration control method of the second embodiment of the present invention, the corresponding energy recovery torque is different according to the different driving states of the vehicle, and the drive unit and / or brake control unit can be controlled to operate separately to ensure that the vehicle can decelerate and brake smoothly.

[0068] Third embodiment

[0069] Another aspect of the present invention is to provide a single pedal acceleration and deceleration control system. Figure 3 , which shows a single-pedal acceleration / deceleration control system in a third embodiment of the present invention, and the single-pedal acceleration / deceleration control system comprises:

[0070] An acquisition module 11 is used to acquire the pedal opening parameter and the energy recovery torque corresponding to the opening parameter in real time when the current vehicle is in a single-pedal control mode;

[0071] A control module 12, used to control the operating state of the drive unit and / or the brake control unit according to the energy recovery torque, so as to perform real-time control on the braking of the vehicle;

[0072] The braking module 13 is used for, when the energy recovery torque is less than the preset target energy recovery torque, the driving unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the braking control unit so that the energy recovery torque meets the target energy recovery torque, so as to control the vehicle to enter the braking mode.

[0073] Fourth embodiment

[0074] Another aspect of the present invention also provides a single-pedal acceleration and deceleration control device, see Figure 4 , shown is a single-pedal acceleration / deceleration control device according to the fourth embodiment of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, the single-pedal acceleration / deceleration control method as described above is implemented.

[0075] Among them, the device of the single-pedal acceleration and deceleration control method can specifically be a vehicle, and the processor 10 in some embodiments can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, which is used to run the program code stored in the memory 20 or process data, such as executing access restriction programs.

[0076] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of the single-pedal acceleration and deceleration control device, such as the hard disk of the single-pedal acceleration and deceleration control device. In other embodiments, the memory 20 can also be an external storage device of the single-pedal acceleration and deceleration control device, such as a plug-in hard disk equipped on the single-pedal acceleration and deceleration control device, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDiɡital, SD) card, a flash card (FlashCard), etc. Further, the memory 20 can also include both the internal storage unit and the external storage device of the single-pedal acceleration and deceleration control device. The memory 20 can not only be used to store application software and various types of data installed in the single-pedal acceleration and deceleration control device, but also can be used to temporarily store data that has been output or is to be output.

[0077] It should be pointed out that Figure 4 The structure shown does not constitute a limitation on the single-pedal acceleration / deceleration control device. In other embodiments, the single-pedal acceleration / deceleration control device may include fewer or more components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0078] The embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the single-pedal acceleration and deceleration control method as described above.

[0079] Those skilled in the art will appreciate that the logic or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable storage medium for use by an instruction execution system, device or apparatus (e.g., based on a computer system, including a processor system or other system that can fetch instructions from an instruction execution system, device or apparatus and execute an instruction system), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable storage medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0080] More specific examples of computer-readable storage media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or processing in another suitable manner as necessary, and then stored in a computer memory.

[0081] It should be understood that the various parts of the present invention can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PgA), a field programmable gate array (FpgA), etc.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0083] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A single-pedal acceleration and deceleration control method, characterized in that: The control method is used to control the braking of a vehicle, the vehicle comprising a drive unit and a braking control unit; The control method comprises: When the vehicle is currently in a single-pedal control mode, obtaining in real time an opening parameter of the pedal and an energy recovery torque corresponding to the opening parameter; Controlling the operating state of the drive unit and / or the brake control unit according to the energy recovery torque, so as to perform real-time control on the braking of the vehicle; When the energy recovery torque is less than a preset target energy recovery torque, the drive unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the braking control unit, so that the energy recovery torque meets the target energy recovery torque, so as to control the vehicle to enter a braking mode.

2. The single-pedal acceleration and deceleration control method according to claim 1, characterized in that: Before the step of when the energy recovery torque is less than the preset target energy recovery torque, the method further includes: When the energy recovery torque is not less than a preset target energy recovery torque, the drive unit performs braking control on the vehicle according to the energy recovery torque to make the vehicle enter a braking mode.

3. The single-pedal acceleration and deceleration control method according to claim 1, characterized in that: Before the step of when the energy recovery torque is less than the preset target energy recovery torque, the method further includes: When the energy recovery torque is greater than a preset target energy recovery torque, the braking control unit controls the vehicle to enter a braking mode.

4. The single-pedal acceleration and deceleration control method according to claim 1, characterized in that: In the step when the energy recovery torque is less than a preset target energy recovery torque, the drive unit includes a motor and a battery pack; Wherein, the control method: When the energy recovery torque is less than a preset target energy recovery torque, the motor brakes and decelerates the vehicle according to the energy recovery torque.

5. The single-pedal acceleration and deceleration control method according to claim 4, characterized in that: After the step of braking and decelerating the vehicle by the motor according to the energy recovery torque, the method further includes: The torque corresponding to the braking deceleration is recovered in the battery pack to form a recovery torque for storage in the battery pack.

6. The single-pedal acceleration and deceleration control method according to claim 1, characterized in that: In the step of acquiring the pedal opening parameter and the energy recovery torque corresponding to the opening parameter in real time: The opening data and the energy recovery torque change in real time according to the actual vehicle speed of the vehicle.

7. The single-pedal acceleration and deceleration control method according to claim 6, characterized in that: When the vehicle is in braking mode, the opening data and the energy recovery torque are real parameters.

8. A single-pedal acceleration and deceleration control system, characterized in that: The system is used to implement the single-pedal acceleration and deceleration control method according to any one of claims 1 to 7, and the system comprises: an acquisition module, for acquiring in real time an opening parameter of the pedal and an energy recovery torque corresponding to the opening parameter when the vehicle is currently in a single-pedal control mode; A control module, used for controlling the operating state of the drive unit and / or the brake control unit according to the energy recovery torque, so as to perform real-time control on the braking of the vehicle; The braking module is used for, when the energy recovery torque is less than a preset target energy recovery torque, the driving unit brakes and decelerates the vehicle with the energy recovery torque, and performs torque compensation on the energy recovery torque through the braking control unit so that the energy recovery torque satisfies the target energy recovery torque, so as to control the vehicle to enter a braking mode.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a single-pedal acceleration / deceleration control method according to any one of claims 1 to 7 is implemented.

10. A single-pedal acceleration and deceleration control device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, a single-pedal acceleration / deceleration control method as claimed in any one of claims 1 to 7 is implemented.

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