A single-pedal acceleration and deceleration control method, system, storage medium and device

Abstract

The application provides a single-pedal acceleration and deceleration control method, system, storage medium and equipment. The control method is used for controlling the braking of a vehicle. The vehicle comprises a driving unit and a braking control unit. The control method comprises the following steps: when the current vehicle is in a single-pedal control mode, the opening parameter of a pedal and the energy recovery torque corresponding to the opening parameter are acquired in real time; the operating state of the driving unit and / or the braking control unit is controlled according to the energy recovery torque, so that the braking of the vehicle is controlled in real time; when the energy recovery torque is less than a preset target energy recovery torque, the driving unit brakes and decelerates the vehicle at the energy recovery torque, and the braking control unit compensates the energy recovery torque, so that the energy recovery torque meets the target energy recovery torque, and the vehicle enters the braking mode, thereby guaranteeing the stable deceleration and comfortable stopping effect of the vehicle.

Description

Technical Field

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

[0002] While the automotive industry is currently in the era of two-pedal driving, the concept of one-pedal driving mode is gradually gaining popularity with the rise of electric vehicles. In one-pedal driving mode, when the pedal opening is greater than a certain set value, the drive motor provides driving torque to propel the vehicle; when the pedal opening is less than a certain set value, the drive motor provides braking torque to decelerate and brake the vehicle.

[0003] The current single-pedal braking system uses energy recovery to achieve deceleration and braking by controlling the motor to reverse drag and execute the target recovery torque. When the single-pedal function uses electric braking, the vehicle body will shake. Moreover, when using electric braking, the motor's reverse drag torque is affected by factors such as battery charge, vehicle speed, and ambient temperature, which limits the motor's recovery capacity and cannot guarantee the consistency of the vehicle's deceleration, resulting in changes to the driving experience. Furthermore, when the battery is in a state where recharging is not allowed or the allowed recharging power is low, the pedal release braking function cannot be achieved.

[0004] Therefore, the existing single-pedal braking function for vehicles suffers from issues such as vehicle vibration, impact on driving experience, and unreliable braking. 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 existing single-pedal braking functions for vehicles in the background art, such as vehicle body vibration, impact on driving experience and unreliable vehicle braking.

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

[0007] The control method includes:

[0008] When the vehicle is in single-pedal control mode, the opening parameters of the pedal and the energy recovery torque corresponding to the opening parameters are acquired in real time.

[0009] The operating state of the drive unit and / or the braking control unit is controlled according to the energy recovery torque, so that the braking of the vehicle can be controlled in real time.

[0010] 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 brake control unit compensates for the energy recovery torque so that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter the braking mode.

[0011] Furthermore, the step prior to the step where the energy recovery torque is less than the preset target energy recovery torque includes:

[0012] 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, so that the vehicle enters the braking mode.

[0013] Furthermore, the step prior to the step where the energy recovery torque is less than the preset target energy recovery torque includes:

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

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

[0016] The control method further includes:

[0017] 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.

[0018] Furthermore, 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 braking deceleration is recovered into the battery pack to form a recovered torque for storage in the battery pack.

[0020] Furthermore, 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 parameter and the energy recovery torque change in real time according to the actual speed of the vehicle.

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

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

[0024] The acquisition module is used to acquire the pedal opening parameters and the energy recovery torque corresponding to the opening parameters in real time when the vehicle is currently in single-pedal control mode.

[0025] The control module is 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 control the braking of the vehicle in real time.

[0026] The braking module is used to brake and decelerate the vehicle with the energy recovery torque when the energy recovery torque is less than the preset target energy recovery torque, and to compensate the energy recovery torque through the braking control unit so that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter the 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-described single-pedal acceleration / deceleration control method.

[0028] A fourth aspect of the present invention is to provide a single-pedal acceleration / deceleration control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described single-pedal acceleration / deceleration control method.

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

[0030] In a single-pedal acceleration / deceleration control method provided by this invention, the opening parameters of the pedal and the corresponding energy recovery torque are acquired in real time; the operating state of the drive unit and / or the brake control unit is then controlled according to the energy recovery torque to enable real-time control of the vehicle's braking; finally, when the energy recovery torque is less than a preset target energy recovery torque, the drive unit brakes and decelerates the vehicle using the energy recovery torque, and the brake control unit compensates for the energy recovery torque to ensure that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter braking mode. This setting ensures smooth vehicle deceleration and comfortable braking, avoiding technical problems such as vehicle body vibration, impact on driving experience, and unreliable vehicle braking. Attached Figure Description

[0031] Figure 1 This is a flowchart of the single-pedal acceleration / deceleration control method in the first embodiment of the present invention;

[0032] Figure 2This 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 the anti-roll-off control system for ramp start-up in the third embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the control device for preventing slippage during ramp start-up in the fourth embodiment of the present invention.

[0035] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0036] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0037] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] First Embodiment

[0040] Please see Figure 1 The figure shows a single-pedal acceleration / deceleration control method in the first embodiment of the present invention. The control method is used to control the braking of a vehicle, which includes a drive unit and a braking control unit.

[0041] It should be noted that in this embodiment, the drive unit and the brake control unit are units that are present in the vehicle system. The drive unit and the brake control unit are not limited to each unit in the vehicle. In particular, they also include other units that constitute the vehicle. Since other units are conventional prior art in this field, they will not be specifically described here.

[0042] Specifically, the control methods include:

[0043] S01, when the current vehicle is in single-pedal control mode, the pedal opening parameters and the corresponding energy recovery torque are obtained 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 accelerator and brake pedals, as well as vehicles with a single pedal. When applied to vehicles with dual pedals, the single-pedal control mode shown in this embodiment allows the user to switch the vehicle control mode through the vehicle's infotainment system. The accelerator pedal can be used to drive the vehicle or as a brake pedal to brake the vehicle. In other words, the accelerator pedal is a single pedal with both driving and braking functions.

[0045] The pedal opening parameter shown in this example refers to the opening degree of the pedal when the user presses it. This can be understood as the vertical distance the pedal travels from a stationary state to when it is fully depressed, or the extent to which the pedal sinks during this process. For further understanding of this example, please refer to [link to relevant documentation]. Figure 2 As shown, the solid line represents the single pedal in its initial state, while the dashed line represents the pedal being stepped on. The opening parameter is formed between the solid and dashed lines.

[0046] It should be noted that the opening parameters and energy recovery torque change in real time according to the actual vehicle speed. When the vehicle is in braking mode, the opening parameters and energy recovery torque are the actual parameters. That is to say, when the vehicle is driving, it will be in different driving states, such as high-speed driving state and low-speed driving state. The opening parameters and energy recovery torque corresponding to high-speed driving state are different from those corresponding to low-speed driving state. When the vehicle is in braking mode, that is, the vehicle is in the off state, the opening parameters and energy recovery torque are the actual 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, based on the operating status of the energy recovery torque control drive unit and / or brake control unit, enables real-time control of the vehicle's braking.

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

[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 the brake control unit compensates for the energy recovery torque so that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter the braking mode.

[0050] Specifically, the vehicle is first braked and decelerated by the drive unit. However, during this process, insufficient torque may occur, causing the vehicle to be unable to brake. To ensure a smooth transition and braking, the drive unit is used to brake and decelerate the vehicle, allowing the vehicle to transition smoothly. Finally, the brake control unit compensates for the energy recovery torque, enabling the vehicle to enter braking mode and maintain wheel speed and achieve a comfortable stop.

[0051] In summary, the single-pedal acceleration / deceleration control method shown in the first embodiment has at least the following advantages compared with the existing single-pedal vehicle acceleration / deceleration control methods:

[0052] In the single-pedal acceleration / deceleration control method provided by this invention, the pedal opening parameters and the corresponding energy recovery torque are acquired in real time; the operating state of the drive unit and / or brake control unit is then controlled according to the energy recovery torque to enable real-time control of vehicle braking; finally, when the energy recovery torque is less than the preset target energy recovery torque, the drive unit brakes and decelerates the vehicle using the energy recovery torque, and the brake control unit compensates for the energy recovery torque to ensure that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter braking mode. This setting ensures smooth vehicle deceleration and comfortable braking, avoiding technical problems such as vehicle body vibration, impact on driving experience, and unreliable vehicle braking.

[0053] Second Embodiment

[0054] The second embodiment of this invention provides a single-pedal acceleration / deceleration control method. The single-pedal acceleration / deceleration control method in this embodiment differs from that in the first embodiment in that:

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

[0056] The control methods also include:

[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 braking deceleration is recovered into the battery pack to form a recovered torque for storage in the battery pack.

[0059] Specifically, the motor's response energy recovery torque is a reverse drag torque, which can be stored as recovered energy in the battery pack, thereby increasing the vehicle's driving range and enabling the vehicle to decelerate.

[0060] Furthermore, in some preferred embodiments, the step of determining when the energy recovery torque is less than a preset target energy recovery torque is preceded by:

[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 braking mode.

[0062] In other words, 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, the step of determining when the energy recovery torque is less than a preset target energy recovery torque is further included:

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

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

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

[0067] In the single-pedal acceleration / deceleration control method of the second embodiment of the present invention, the energy recovery torque is different depending on 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] In another aspect, the present invention also provides a single-pedal acceleration / deceleration control system, please refer to [link / reference needed]. Figure 3 The figure shows a single-pedal acceleration / deceleration control system according to a third embodiment of the present invention. The single-pedal acceleration / deceleration control system includes:

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

[0071] The control module 12 is 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 control the braking of the vehicle in real time.

[0072] The braking module 13 is used to brake and decelerate the vehicle with the energy recovery torque when the energy recovery torque is less than the preset target energy recovery torque, and to compensate 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] In another aspect, the present invention also proposes a single-pedal acceleration / deceleration control device, please refer to [link / reference needed]. Figure 4 The image shows 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, it implements the single-pedal acceleration / deceleration control method as described above.

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

[0076] The memory 20 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of the single-pedal acceleration / deceleration control device, such as the hard disk of the single-pedal acceleration / deceleration control device. In other embodiments, the memory 20 can also be an external storage device of the single-pedal acceleration / deceleration control device, such as a plug-in hard disk, SmartMediaCard (SMC), SecureDigital (SD) card, FlashCard, etc., equipped on the single-pedal acceleration / deceleration control device. Furthermore, the memory 20 can include both internal storage units and external storage devices of the single-pedal acceleration / deceleration control device. The memory 20 can be used not only to store application software and various data installed on the single-pedal acceleration / deceleration control device, but also to temporarily store data that has been output or will 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, or combine certain components, or have different component arrangements.

[0078] This invention also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the single-pedal acceleration / deceleration control method described above.

[0079] Those skilled in the art will understand that the logic or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, including a processor system or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can mean any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0080] More specific examples (a non-exhaustive list) of computer-readable storage media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable storage media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0081] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0082] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A single-pedal acceleration / deceleration control method, characterized in that, The control method is used to control the braking of a vehicle, which includes a drive unit and a braking control unit. The control method includes: When the vehicle is in single-pedal control mode, the opening parameters of the pedal and the energy recovery torque corresponding to the opening parameters are acquired in real time. The operating state of the drive unit and / or the braking control unit is controlled according to the energy recovery torque, so that the braking of the vehicle can be controlled in real time. 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 brake control unit compensates for the energy recovery torque so that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter the braking mode. The step before the step where the energy recovery torque is less than the preset target energy recovery torque includes: 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 so that the vehicle enters the braking mode. The step before the step where the energy recovery torque is less than the preset target energy recovery torque includes: When the energy recovery torque is greater than the preset target energy recovery torque, the braking control unit controls the vehicle to enter braking mode. In the step of acquiring the pedal opening parameter and the energy recovery torque corresponding to the opening parameter in real time: The opening parameter and the energy recovery torque change in real time according to the actual speed of the vehicle.

2. The single-pedal acceleration / deceleration control method according to claim 1, characterized in that, In the step where the energy recovery torque is less than the preset target energy recovery torque, the drive unit includes a motor and a battery pack; The control method further includes: 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.

3. The single-pedal acceleration / deceleration control method according to claim 2, characterized in that, After the step of the motor braking and decelerating the vehicle according to the energy recovery torque, the method further includes: The torque corresponding to braking deceleration is recovered into the battery pack to form a recovered torque for storage in the battery pack.

4. The single-pedal acceleration / deceleration control method according to claim 1, characterized in that, When the vehicle is in braking mode, the opening parameter and the energy recovery torque are the actual parameters.

5. A single-pedal acceleration / deceleration control system, characterized in that, The system is used to implement the single-pedal acceleration / deceleration control method according to any one of claims 1-4, and the system includes: The acquisition module is used to acquire the pedal opening parameters and the energy recovery torque corresponding to the opening parameters in real time when the vehicle is currently in single-pedal control mode. The control module is 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 control the braking of the vehicle in real time. The braking module is used to brake and decelerate the vehicle with the energy recovery torque when the energy recovery torque is less than the preset target energy recovery torque, and to compensate the energy recovery torque through the braking control unit so that the energy recovery torque meets the target energy recovery torque, thereby controlling the vehicle to enter the braking mode.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the single-pedal acceleration / deceleration control method as described in any one of claims 1-4.

7. A single-pedal acceleration / deceleration control device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the single-pedal acceleration / deceleration control method as described in any one of claims 1-4.

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