Vehicle, control method and device thereof and controller

Abstract

The invention discloses a vehicle, a control method and device thereof and a controller, and relates to the technical field of vehicles. Under the condition that the vehicle runs on the road of the target type and an acceleration instruction is received, if the controller determines that the expected output torque of the power system is larger than the target torque and the torque rising gradient is larger than the gradient threshold value, the output torque of the power system can be increased according to the target gradient smaller than the torque rising gradient. Under the conditions that the output torque of the power system reaches the expected output torque and the slip rate of the wheels is larger than the slip rate threshold value, the controller can trigger the traction force control system to conduct torque control. Therefore, when the wheels slip, the stability of the vehicle can be improved by controlling the torque through the traction force control system. And before, when the vehicle predicts that the vehicle slips on the basis of the expected output torque and the torque rise gradient, the torque rise gradient can be limited in advance, so that the vehicle is prevented from slipping to a great extent, and the driving stability of the vehicle is further improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle and a control method, device and controller thereof. Background Art

[0002] When a vehicle is driving on a slippery road, if the vehicle accelerates suddenly, it may become unstable and slip due to excessive acceleration. In severe cases, it may even cause the vehicle to fall, posing a safety hazard. Summary of the invention

[0003] The present invention provides a vehicle and a control method, device and controller thereof, which can solve the problem in the related art that when a vehicle is traveling on a slippery road, the vehicle is destabilized and slips due to emergency acceleration. The technical solution is as follows:

[0004] In one aspect, a vehicle control method is provided, which is applied to a vehicle, wherein the vehicle includes: a power system, wheels, and a traction control system (TCS), and the method includes:

[0005] When the vehicle is traveling on a road of a target type, in response to an acceleration command, a desired output torque and a torque gradient of the power system are obtained, the target type comprising one of the following types: an adhesion coefficient less than a coefficient threshold, and an adhesion coefficient inconsistent;

[0006] If the expected output torque is greater than the target torque, and the torque increase gradient is greater than the gradient threshold, the output torque of the power system is increased according to the target gradient, the target gradient is less than the torque increase gradient, and the target torque is determined based on the adhesion coefficient of the road;

[0007] If the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the traction control system is triggered to perform torque control.

[0008] Optionally, before increasing the output torque of the power system according to the target gradient, the method further includes:

[0009] The target gradient is determined based on the expected output torque and the corresponding relationship between the torque and the gradient.

[0010] Optionally, the vehicle further includes: an accelerator pedal and a power chassis domain controller; obtaining the expected output torque and torque gradient of the power system, including:

[0011] Receiving a desired output torque of a power system sent by a power chassis domain controller, where the desired output torque is determined based on the depth of an accelerator pedal;

[0012] Get the depth and position change rate of the accelerator pedal;

[0013] Based on the depth and position change rate, the torque gradient of the power system is determined.

[0014] Optionally, the method further includes:

[0015] Acquiring an image of a road on which the vehicle is traveling;

[0016] The type of road is obtained based on image recognition.

[0017] Optionally, the vehicle further includes: an image acquisition component; acquiring an image of the road on which the vehicle is traveling, including:

[0018] An optical image of the road on which the vehicle is traveling is acquired through an image acquisition component.

[0019] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle control method described in the above aspects is implemented.

[0020] On the other hand, a computer program product is provided. The computer program product includes a computer program or computer instructions. When the computer program or computer instructions are executed by a processor, the vehicle control method described in the above aspects is implemented.

[0021] On the other hand, a controller is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method described in the above aspects is implemented.

[0022] On the other hand, a vehicle is provided, comprising: a power system, wheels, a traction control system, and the controller described in the above aspects.

[0023] In another aspect, a vehicle control device is provided, which is applied to a vehicle, wherein the vehicle comprises: a power system, wheels and a traction control system; the device comprises:

[0024] an acquisition module, for acquiring, in response to an acceleration instruction, a desired output torque and a torque gradient of a power system when the vehicle is traveling on a target type of road, the target type comprising one of the following types: an adhesion coefficient less than a coefficient threshold, and an adhesion coefficient inconsistent;

[0025] A first control module, configured to increase the output torque of the power system according to the target gradient if the expected output torque is greater than the target torque and the torque increase gradient is greater than the gradient threshold, the target gradient is less than the torque increase gradient, and the target torque is determined based on the adhesion coefficient of the road;

[0026] The second control module is used to trigger the traction control system to perform torque control if the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold.

[0027] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0028] The present invention provides a vehicle and a control method, device, and controller thereof. When the vehicle is traveling on a target type of road and receives an acceleration command, if the controller determines that the expected output torque of the power system is greater than the target torque and the torque increase gradient is greater than the gradient threshold, the output torque of the power system can be increased according to a target gradient less than the torque increase gradient. When the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the controller can trigger the traction control system to perform torque control. It can be seen that when the vehicle provided by the embodiment of the present invention slips, the torque can be controlled by the traction control system to improve the stability of the vehicle. Before that, when the vehicle is predicted to slip based on the expected output torque and the torque increase gradient, the torque increase gradient can be limited in advance to avoid the vehicle from slipping to a large extent, thereby further improving the driving stability of the vehicle.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present invention;

[0031] Figure 2 is a flow chart of another vehicle control method provided by an embodiment of the present invention;

[0032] Figure 3 is a structural schematic diagram of a vehicle provided by an embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of a controller provided by an embodiment of the present invention;

[0034] Figure 5 It is a block diagram of a vehicle control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] Figure 11 is a flow chart of a vehicle control method provided by an embodiment of the present invention, the method is applied to a controller (such as a pre-control controller) in a vehicle. The vehicle also includes: a power system, wheels and a traction control system. Figure 1 , the method comprising:

[0037] Step 101: When a vehicle is traveling on a target type of road, in response to an acceleration instruction, obtain a desired output torque and a torque gradient of a power system.

[0038] The target type includes one of the following types: the adhesion coefficient of the road surface is less than the coefficient threshold, and the adhesion coefficient of the road surface is inconsistent. The road surface with an adhesion coefficient less than the coefficient threshold is a low adhesion road surface, such as an icy road surface, a slippery road surface, or a road surface with a lot of water. The road surface with inconsistent adhesion coefficient refers to: a dry and wet intersection road surface, that is, a split road surface. The coefficient threshold can be pre-stored in the controller.

[0039] In an embodiment of the present invention, the vehicle further includes an accelerator pedal, and the acceleration instruction may be triggered by a stepping operation on the accelerator pedal. Alternatively, the vehicle may include a microphone. If the vehicle collects a voice from the driver to instruct the vehicle to accelerate through the microphone, it may be determined that the acceleration instruction has been received, and then the acceleration instruction may be responded to.

[0040] Step 102: If the expected output torque is greater than the target torque, and the torque increase gradient is greater than the gradient threshold, the output torque of the power system is increased according to the target gradient.

[0041] In an embodiment of the present invention, after the vehicle obtains the expected output torque and the torque increase gradient, it can detect whether the expected output torque is greater than the target torque, and detect whether the torque increase gradient is greater than the gradient threshold. If the vehicle determines that the expected output torque is greater than the target torque, and the torque increase gradient is greater than the gradient threshold, it can be determined that the driver expects the vehicle's power system to quickly increase torque and output a larger torque. However, the road surface of the road currently traveled by the vehicle is a low-adhesion road surface or an open road surface. At this time, if the torque increase is too fast and the output torque is large, the driving force of the wheel will exceed the adhesion, thereby causing the vehicle to slip. Based on this, the controller can increase the output torque of the power system according to a target gradient smaller than the torque increase gradient, that is, the controller can control the rate of increase of the output torque to make the increase of the output torque more stable, so that the driving force of the wheel will not exceed the maximum adhesion between the wheel and the road surface too quickly. In this way, the phenomenon of vehicle slipping due to too fast torque increase can be avoided, thereby improving the driving stability of the vehicle to a certain extent.

[0042] Step 103: If the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the traction control system is triggered to perform torque control.

[0043] In the process of increasing the output torque according to a smaller target gradient, the controller can detect whether the output torque reaches the expected output torque, and detect whether the slip rate of the wheel is greater than the slip rate threshold. When it is determined that the output torque of the power system reaches the expected output torque, the controller can determine that it is no longer possible to ensure the stability of the vehicle by limiting the torque increase gradient. Therefore, when the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold (that is, the vehicle has slipped), the controller can trigger the traction control system to perform torque control to ensure the driving stability of the vehicle.

[0044] In summary, an embodiment of the present invention provides a method for controlling a vehicle. When the vehicle is traveling on a target type of road and receives an acceleration command, if the controller determines that the expected output torque of the power system is greater than the target torque and the torque increase gradient is greater than the gradient threshold, the output torque of the power system can be increased according to a target gradient that is less than the torque increase gradient. When the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the controller can trigger the traction control system to perform torque control. It can be seen that when the vehicle provided by the embodiment of the present invention slips, the traction control system can control the torque to improve the stability of the vehicle. Before that, when the vehicle is predicted to slip based on the expected output torque and the torque increase gradient, the torque increase gradient can be limited in advance to avoid the vehicle from slipping to a greater extent, thereby further improving the driving stability of the vehicle.

[0045] The embodiment of the present invention takes the acceleration instruction triggered by the stepping-down operation of the accelerator pedal of the vehicle as an example to exemplarily illustrate a vehicle control method provided by the embodiment of the present invention. The method can be applied to a controller in a vehicle. Figure 2 , the method may include:

[0046] Step 201: Acquire an image of the road on which the vehicle is traveling.

[0047] The image may be a radar image or an optical image. The radar image may be acquired by a radar, and the optical image may be acquired by an image acquisition component (such as a camera).

[0048] Taking the image of the road on which the vehicle is traveling as an optical image and the image acquisition component as a camera as an example, the process of acquiring the image is exemplarily described:

[0049] See also Figure 3The vehicle 100 may include a camera 20 connected to the controller 10. The camera 20 may capture an optical image of the road on which the vehicle 100 is traveling, and send the optical image to the controller 10. Accordingly, the controller 10 may obtain the optical image of the road on which the vehicle 100 is traveling.

[0050] Optionally, the camera 20 may be connected to the controller 10 via a controller area network communication (CAN) network.

[0051] Step 202: Obtain the type of road based on image recognition.

[0052] The types of roads may include at least: low adhesion road surface, split road surface and high adhesion road surface. Low adhesion road surface is a road surface with an adhesion coefficient less than a coefficient threshold, split road surface is a road surface with inconsistent adhesion coefficients, and high adhesion road surface is a road surface with an adhesion coefficient greater than or equal to the coefficient threshold.

[0053] Optionally, the controller pre-stores a road type determination model. The controller may input an optical image of the road on which the vehicle is traveling into the road type determination model to obtain the type of the road output by the road type determination model.

[0054] In an embodiment of the present invention, before the controller inputs the image into the road type determination model, it may first obtain multiple sample data and perform model training on the multiple sample data to obtain the road type determination model. Each sample data includes: images of multiple sample roads, and the type of road in the image of each sample road. When performing model training, the type of road in the image of the sample road can be used as a type label. Optionally, the type of road in the image of each sample road can be obtained by manual annotation.

[0055] Step 203: When the vehicle is traveling on a target type of road, in response to an acceleration instruction, obtain a desired output torque and a torque gradient of the power system.

[0056] The target type includes one of the following types: the adhesion coefficient is less than the coefficient threshold, and the adhesion coefficient is inconsistent. That is, the road surface of the target type is a low adhesion road surface or a split road surface. The acceleration instruction may be triggered by the driver stepping on the accelerator pedal.

[0057] In the embodiment of the present invention, Figure 3As shown, the vehicle 100 may also include: a power chassis domain controller 30, which is connected to the controller 10 (for example, connected via a CAN network). The power chassis domain controller 30 may send the desired output torque and the torque rise gradient to the controller 10 in response to the acceleration instruction. Accordingly, the controller 10 can obtain the desired output torque and the torque rise gradient. Specifically, the power chassis domain controller 30 may obtain the depth and position change rate of the accelerator pedal in response to the acceleration instruction, and may determine the desired output torque based on the depth of the accelerator pedal, and determine the torque rise gradient based on the depth and position change rate of the accelerator pedal. Among them, the position change rate refers to: the ratio of the depth difference before and after stepping on the accelerator pedal to the time taken to step on the accelerator pedal.

[0058] For example, the power chassis domain controller 30 may pre-store a first correspondence between depth and torque, and may determine the torque corresponding to the depth of the accelerator pedal in the first correspondence as the desired output torque of the power system. The power chassis domain controller 30 may also pre-store a second correspondence between depth, position change rate, and gradient, and may determine the gradient corresponding to the depth and position change rate of the accelerator pedal in the second correspondence as the torque gradient of the power system.

[0059] Alternatively, the power chassis domain controller 30 may send the desired output torque, the depth of the accelerator pedal, and the position change rate to the controller 10 in response to the acceleration command. The controller 10 may then determine the torque increase gradient based on the depth and position change rate. Specifically, the controller 10 may pre-store a second correspondence between the depth, the position change rate, and the gradient. The controller 10 may determine the gradient corresponding to the depth and position change rate of the accelerator pedal in the second correspondence as the torque increase gradient of the power system.

[0060] In an embodiment of the present invention, a displacement sensor may be provided on the accelerator pedal, and the controller may obtain the current depth of the accelerator pedal through the displacement sensor. In addition, the controller may obtain the initial depth of the accelerator pedal before the driver steps on the accelerator pedal, and the time when the accelerator pedal begins to be stepped on. Afterwards, the controller may determine the difference between the current depth of the accelerator pedal and the initial depth as the depth difference, and determine the difference between the current time and the time when the accelerator pedal begins to be stepped on as the duration of the stepping-on.

[0061] Step 204: If the expected output torque is greater than the target torque, and the torque increase gradient is greater than the gradient threshold, the output torque of the power system is increased according to the target gradient.

[0062] In an embodiment of the present invention, after the vehicle obtains the expected output torque and the torque-up gradient, it can detect whether the expected output torque is greater than the target torque, and detect whether the torque-up gradient is greater than the gradient threshold. The target torque can be determined based on the adhesion coefficient of the road on which the vehicle is traveling, and the target torque is the current maximum allowed driving force determined based on the adhesion coefficient. For example, the controller can also store a third corresponding relationship between the coefficient and the torque, and the controller determines the torque corresponding to the adhesion coefficient of the road on which the vehicle is currently traveling in the third corresponding relationship as the target torque.

[0063] If the expected output torque is greater than the target torque, and the torque increase gradient is greater than the gradient threshold, it can be determined that the driver expects the vehicle's power system to quickly increase torque and output a large torque, that is, the accelerator pedal is pressed quickly and deeply. However, the road surface on which the vehicle is currently traveling is a low-adhesion road surface or an open road surface. At this time, if the torque is increased too quickly and the output torque is large, the driving force of the wheel will exceed the adhesion, causing the vehicle to slip. Based on this, the controller can increase the output torque of the power system according to a target gradient that is smaller than the torque increase gradient, that is, the controller can control the rate of increase of the output torque to make the increase of the output torque more stable, so that the driving force of the wheel will not exceed the maximum adhesion between the wheel and the road surface too quickly. In this way, the phenomenon of vehicle slipping due to excessive torque increase can be avoided, thereby improving the stability of the vehicle to a certain extent.

[0064] If the expected output torque is less than or equal to the target torque, and / or the torque increase gradient is less than or equal to the gradient threshold, the controller can determine that the driving force of the wheel will not exceed the adhesion and the vehicle will not slip if the torque is increased to the expected output torque according to the torque increase gradient, so the controller can increase the output torque of the power system according to the torque increase gradient until the output torque reaches the expected output torque. The gradient threshold can be pre-stored in the vehicle.

[0065] Optionally, the controller may pre-store a fourth correspondence between torque and gradient. The controller may determine the target gradient based on the desired output torque and the fourth correspondence between torque and gradient. For example, the controller may determine the gradient corresponding to the desired output torque in the fourth correspondence as the target gradient.

[0066] Optionally, the road type determination model may also output an adhesion coefficient of the road. Specifically, the controller may input an optical image of the road on which the vehicle is traveling into the road type determination model to obtain the type of road output by the road type determination model and the adhesion coefficient of the road.

[0067] Step 205: If the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the traction control system is triggered to perform torque control.

[0068] In the process of increasing the output torque according to a smaller target gradient, the controller can detect whether the output torque reaches the expected output torque, and detect whether the slip rate of the wheel is greater than the slip rate threshold. The slip rate threshold can be pre-stored in the controller. When it is determined that the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the controller can determine that it is no longer possible to ensure the stability of the vehicle by limiting the torque increase gradient. Therefore, when the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold (that is, the vehicle has slipped), the controller can trigger the traction control system to perform torque control. The traction control system can improve the phenomenon of excessive slip of the drive wheel, so that the vehicle starts smoothly and improves the driving stability of the vehicle.

[0069] If the output torque of the power system reaches the expected output torque and the wheel slip rate is less than or equal to the slip rate threshold, the controller can determine that the vehicle is not slipping and will not trigger the traction control system to perform torque control.

[0070] Optional, see Figure 3 The vehicle 100 further includes a wheel speed sensor 40 disposed on the wheel, and the wheel speed sensor 40 is connected to the controller 10 , for example, by a hard wire connection. The controller 10 can obtain the slip rate of the wheel through the wheel speed sensor 40 .

[0071] It is understandable that the order of the steps of the vehicle control method provided by the embodiment of the present invention can be appropriately adjusted, and the steps can be increased or decreased accordingly according to the situation. For example, step 201 can be deleted according to the situation. Any technician familiar with the technical field can easily think of a method of change within the technical scope disclosed in this application, which should be included in the protection scope of this application, so it will not be repeated.

[0072] In summary, an embodiment of the present invention provides a method for controlling a vehicle. When the vehicle is traveling on a target type of road and receives an acceleration command, if the controller determines that the expected output torque of the power system is greater than the target torque and the torque increase gradient is greater than the gradient threshold, the output torque of the power system can be increased according to a target gradient that is less than the torque increase gradient. When the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the controller can trigger the traction control system to perform torque control. It can be seen that when the vehicle provided by the embodiment of the present invention slips, the traction control system can control the torque to improve the stability of the vehicle. Before that, when the vehicle is predicted to slip based on the expected output torque and the torque increase gradient, the torque increase gradient can be limited in advance to avoid the vehicle from slipping to a greater extent, thereby further improving the driving stability of the vehicle.

[0073] An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned vehicle control method is implemented. Figure 1 or Figure 2 The vehicle control method shown.

[0074] An embodiment of the present invention provides a computer program product, which includes a computer program or a computer instruction. When the computer program or the computer instruction is executed by a processor, the above-mentioned vehicle control method is implemented. Figure 1 or Figure 2 The vehicle control method shown.

[0075] Figure 4 is a schematic diagram of a controller structure provided by an embodiment of the present invention, such as Figure 4 As shown, the controller 10 may include a memory 401, a processor 402, and a computer program stored in the memory 401 and executable on the processor 402. When the processor 402 executes the computer program, the above-mentioned embodiments are implemented. Figure 1 or Figure 2 The vehicle control method shown.

[0076] Figure 5 is a block diagram of a vehicle control device provided by an embodiment of the present invention, which is applied to a vehicle, the vehicle comprising: a power system, wheels and a traction control system, such as Figure 5 As shown, the control device 50 includes:

[0077] The acquisition module 501 is used to obtain the expected output torque and torque gradient of the power system in response to an acceleration command when the vehicle is traveling on a target type of road. The target type includes one of the following types: the adhesion coefficient is less than the coefficient threshold, and the adhesion coefficient is inconsistent.

[0078] The first control module 502 is used to increase the output torque of the power system according to the target gradient if the expected output torque is greater than the target torque and the torque increase gradient is greater than the gradient threshold, the target gradient is less than the torque increase gradient, and the target torque is determined based on the adhesion coefficient of the road.

[0079] The second control module 503 is configured to trigger the traction control system to perform torque control if the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold.

[0080] Optionally, the control device 50 may further include a determination module 504, which may be used to determine a target gradient based on a desired output torque and a corresponding relationship between the torque and the gradient before increasing the output torque of the power system according to the target gradient.

[0081] Optionally, the vehicle further includes: an accelerator pedal and a power chassis domain controller; an acquisition module 501, which can be used to:

[0082] Receiving a desired output torque of a power system sent by a power chassis domain controller, where the desired output torque is determined based on the depth of an accelerator pedal;

[0083] Get the depth and position change rate of the accelerator pedal;

[0084] Based on the depth and position change rate, the torque gradient of the power system is determined.

[0085] Optionally, the control device 50 may further include an identification module 505, and the identification module 505 may be used to:

[0086] Acquiring an image of a road on which the vehicle is traveling;

[0087] The type of road is obtained based on image recognition.

[0088] Optionally, the vehicle further includes: an image acquisition component; the recognition module 505 can be used to:

[0089] An optical image of the road on which the vehicle is traveling is acquired through an image acquisition component.

[0090] In summary, an embodiment of the present invention provides a vehicle control device. When the vehicle is traveling on a target type of road and receives an acceleration command, if the controller determines that the expected output torque of the power system is greater than the target torque and the torque increase gradient is greater than the gradient threshold, the output torque of the power system can be increased according to a target gradient less than the torque increase gradient. When the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than the slip rate threshold, the controller can trigger the traction control system to perform torque control. It can be seen that when the vehicle provided by the embodiment of the present invention slips, the traction control system can control the torque to improve the stability of the vehicle. And before that, when the vehicle is predicted to slip based on the expected output torque and the torque increase gradient, the torque increase gradient can be limited in advance to avoid the vehicle from slipping to a large extent, thereby further improving the driving stability of the vehicle.

[0091] It should be noted that the logic and / 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 specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can 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 combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be 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 and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0092] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for 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.

[0093] 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.

[0094] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0095] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0096] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0097] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0098] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A vehicle control method, characterized in that: Applied to a vehicle, the vehicle comprises: a power system, wheels and a traction control system; the method comprises: When the vehicle is traveling on a road of a target type, in response to an acceleration command, obtaining a desired output torque and a torque gradient of the power system, the target type comprising one of the following types: an adhesion coefficient is less than a coefficient threshold, and the adhesion coefficient is inconsistent; If the expected output torque is greater than the target torque, and the torque increase gradient is greater than a gradient threshold, the output torque of the power system is increased according to the target gradient, the target gradient is less than the torque increase gradient, and the target torque is determined based on the adhesion coefficient of the road; If the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than a slip rate threshold, the traction control system is triggered to perform torque control.

2. The method according to claim 1, characterized in that: Before increasing the output torque of the power system according to the target gradient, the method further includes: The target gradient is determined based on the expected output torque and the corresponding relationship between the torque and the gradient.

3. The method according to claim 1, characterized in that The vehicle further includes: an accelerator pedal and a power chassis domain controller; obtaining the expected output torque and torque gradient of the power system, including: Receiving an expected output torque of the power system sent by the power chassis domain controller, wherein the expected output torque is determined based on obtaining a depth of the accelerator pedal; Obtaining the depth and position change rate of the accelerator pedal; Based on the depth and the rate of position change, a torque gradient of the power system is determined.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquiring an image of a road on which the vehicle is traveling; The type of the road is obtained based on the image recognition.

5. The method according to claim 4, characterized in that The vehicle further comprises: an image acquisition component; acquiring an image of the road on which the vehicle is traveling, comprising: An optical image of the road on which the vehicle is traveling is acquired through the image acquisition component.

6. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 5 is implemented.

7. A controller, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vehicle control method according to any one of claims 1 to 5 is implemented.

8. A vehicle, characterized in that: include: A powertrain, wheels, a traction control system, and a controller as claimed in claim 7.

9. A vehicle control device, characterized in that: Applied to vehicles; The vehicle comprises: a power system, wheels and a traction control system; the device comprises: an acquisition module, configured to acquire, in response to an acceleration instruction, a desired output torque and a torque gradient of the power system when the vehicle is traveling on a target type of road, wherein the target type includes one of the following types: an adhesion coefficient less than a coefficient threshold, and an adhesion coefficient inconsistent; a first control module, configured to increase the output torque of the power system according to a target gradient if the expected output torque is greater than a target torque and the torque increase gradient is greater than a gradient threshold, the target gradient is less than the torque increase gradient, and the target torque is determined based on an adhesion coefficient of the road; The second control module is configured to trigger the traction control system to perform torque control if the output torque of the power system reaches the expected output torque and the slip rate of the wheel is greater than a slip rate threshold.

10. The device according to claim 9, characterized in that The device further includes a determination module for determining a target gradient based on the expected output torque and a corresponding relationship between the torque and the gradient before increasing the output torque of the power system according to the target gradient.

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