Vehicle control method, vehicle and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle and a storage medium, and relates to the technical field of vehicles, the method comprises the following steps: obtaining an execution torque and a request torque of the vehicle; under the condition that the difference value between the execution torque and the request torque is larger than a preset threshold value, the moving state parameters of the vehicle are obtained according to the current vehicle speed of the vehicle; determining a torque adjustment parameter according to the moving state parameter; and the torque of the vehicle is reduced according to the torque adjusting parameters, and the vehicle is controlled to run according to the reduced torque. The invention aims to improve the smoothness of vehicle driving so as to improve the comfort and safety of users in the vehicle.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a vehicle control method, a vehicle, and a storage medium. Background Art

[0002] When a vehicle is in the intelligent assisted driving state, the intelligent assisted driving controller generally calculates the requested torque according to the vehicle state and gives it to the motor controller, and the motor controller executes according to the received requested torque.

[0003] In related technologies, when the torque actually executed by the motor controller exceeds a certain threshold of the requested torque, the intelligent assisted driving controller directly sends the requested torque = 0 to the motor controller, so that the motor driving force of the vehicle is cut off and it cannot move forward. However, such a method will cause a large sudden change in the vehicle speed, and the smoothness of the vehicle driving is not good, affecting the comfort and safety of the passengers in the vehicle. Summary of the Invention

[0004] The main purpose of this application is to provide a vehicle control method, a vehicle, and a storage medium, aiming to improve the smoothness of vehicle driving, so as to improve the comfort and safety of the passengers in the vehicle.

[0005] To achieve the above object, this application proposes a vehicle control method, and the method includes:

[0006] Obtain the execution torque and the requested torque of the vehicle;

[0007] When the difference between the execution torque and the requested torque is greater than a preset threshold, obtain the movement state parameter of the vehicle according to the current vehicle speed of the vehicle;

[0008] Determine the torque adjustment parameter according to the movement state parameter;

[0009] Reduce the torque of the vehicle according to the torque adjustment parameter, and control the operation of the vehicle according to the reduced torque.

[0010] In an embodiment, the step of obtaining the movement state parameter of the vehicle according to the current vehicle speed of the vehicle includes:

[0011] When the vehicle speed is less than the preset vehicle speed, obtain the acceleration of the vehicle, and the movement state parameter includes the acceleration.

[0012] In an embodiment, the step of determining the torque adjustment parameter according to the movement state parameter includes:

[0013] Determine the target acceleration interval where the acceleration is located;

[0014] Determine the preset deceleration rate corresponding to the target acceleration range as the torque adjustment rate, and the torque adjustment parameter includes the torque adjustment rate.

[0015] In one embodiment, after the step of reducing the torque of the vehicle according to the torque adjustment parameter and controlling the operation of the vehicle according to the reduced torque, the method further includes: after an interval of a first duration, returning to execute the step of obtaining the acceleration of the vehicle.

[0016] And / or, after the step of obtaining the acceleration of the vehicle, the method further includes:

[0017] In a case where the deviation value between the acceleration and a first preset acceleration is greater than a first preset deviation, execute the step of determining the torque adjustment parameter according to the movement state parameter.

[0018] In a case where the deviation value between the acceleration and the first preset acceleration is less than or equal to the first preset deviation, control the vehicle to perform a braking operation.

[0019] Wherein, the first preset acceleration indicates that the vehicle speed change rate of the vehicle is less than a preset change rate.

[0020] In one embodiment, the step of obtaining the movement state parameter of the vehicle according to the current vehicle speed of the vehicle includes:

[0021] In a case where the vehicle speed is greater than or equal to the preset vehicle speed, obtain the acceleration of the vehicle and the wheel speed of non-driving wheels of the vehicle, and the movement state parameter includes the acceleration and the wheel speed.

[0022] In one embodiment, the step of determining the torque adjustment parameter according to the movement state parameter includes:

[0023] Determine the target acceleration range where the acceleration is located, and determine the target wheel speed range where the wheel speed is located.

[0024] Determine the preset torque adjustment amplitude corresponding to the target acceleration range and the target wheel speed range as the torque adjustment amplitude, and the torque adjustment parameter includes the torque adjustment amplitude.

[0025] In one embodiment, after the step of reducing the torque of the vehicle according to the torque adjustment parameter and controlling the operation of the vehicle according to the reduced torque, the method further includes: after an interval of a second duration, returning to execute the step of obtaining the acceleration of the vehicle and the wheel speed of non-driving wheels of the vehicle.

[0026] And / or, after the step of obtaining the acceleration of the vehicle and the wheel speed of non-driving wheels of the vehicle, the method further includes:

[0027] When the first condition is satisfied, set the requested torque of the vehicle to the target negative torque, and control the operation of the vehicle according to the target negative torque so that the vehicle is in the energy recovery stage;

[0028] When the first condition is not satisfied, perform the step of determining the torque adjustment parameter according to the moving state parameter;

[0029] Wherein, the first condition includes that the deviation value between the acceleration and the second preset acceleration is less than or equal to the second preset deviation and / or the deviation value between the wheel speed and the reference wheel speed is less than the third preset deviation.

[0030] In one embodiment, the method further includes:

[0031] Determine the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located.

[0032] In one embodiment, the step of determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located includes:

[0033] When the second condition is satisfied, determine the first wheel speed as the reference wheel speed;

[0034] When the second condition is not satisfied, determine the second wheel speed as the reference wheel speed;

[0035] Wherein, the second condition includes at least one of the following: the remaining power is less than the first preset power, the remaining power is greater than the second preset power, the ambient temperature is less than the first preset ambient temperature, the ambient temperature is greater than the second preset ambient temperature, the first preset power is less than the second preset power, the first preset ambient temperature is less than the second preset ambient temperature, and the first wheel speed is less than the second wheel speed.

[0036] In one embodiment, the method further includes:

[0037] When there is no fault in the battery system of the vehicle, perform the step of determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located;

[0038] When the battery system has a fault, determine the preset wheel speed as the reference wheel speed;

[0039] Wherein, the preset wheel speed is the maximum wheel speed allowed for the non-driving wheels when the actual recharge power of the battery system under standard working conditions is less than the maximum allowed recharge power.

[0040] In addition, to achieve the above object, the present application further provides a vehicle, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. The computer program is configured to implement the steps of the vehicle control method as described above.

[0041] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the vehicle control method as described above.

[0042] One or more technical solutions provided by the present application have at least the following technical effects: When the execution torque of the vehicle exceeds a certain threshold of the requested torque, the torque adjustment parameter is determined based on the vehicle's movement characteristic parameters corresponding to the current vehicle speed to reduce the torque of the vehicle, and the vehicle is controlled to run according to the reduced torque. Compared with the method of directly cutting off the driving force, the torque of the vehicle is dynamically reduced in real time to adapt to the vehicle state corresponding to the current vehicle speed, which can effectively reduce the large sudden change in the vehicle speed and effectively improve the smoothness of the vehicle driving, thereby improving the comfort and safety of the passengers in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0044] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 It is a schematic diagram of the device structure of the hardware operating environment related to the vehicle control method in the embodiments of the present application;

[0046] Figure 2 It is a schematic flowchart provided in the first embodiment of the vehicle control method of the present application;

[0047] Figure 3 It is a schematic flowchart provided in the second embodiment of the vehicle control method of the present application;

[0048] Figure 4 It is a schematic flowchart provided in the third embodiment of the vehicle control method of the present application.

[0049] The implementation, functional features, and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solution of the present application and are not used to limit the present application.

[0051] To better understand the technical solution of the present application, the following will be described in detail in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0052] The main solution of the embodiment of the present application is: obtaining the execution torque and the requested torque of the vehicle; when the difference between the execution torque and the requested torque is greater than a preset threshold, obtaining the movement state parameter of the vehicle according to the current vehicle speed of the vehicle; determining a torque adjustment parameter according to the movement state parameter; reducing the torque of the vehicle according to the torque adjustment parameter, and controlling the vehicle to run according to the reduced torque.

[0053] In this embodiment, for the convenience of description, the vehicle is used as the execution subject for the following elaboration.

[0054] In the related art, when the torque actually executed by the motor controller exceeds a certain threshold of the requested torque, the intelligent assisted driving controller will directly send the requested torque = 0 to the motor controller, so that the motor driving force of the vehicle is cut off and the vehicle cannot move forward. However, such a method will cause a large sudden change in the vehicle speed, and the smoothness of the vehicle driving is poor, affecting the comfort and safety of the passengers in the vehicle.

[0055] The present application provides the above solution. When the execution torque of the vehicle exceeds a certain threshold of the requested torque, a torque adjustment parameter is determined based on the movement characteristic parameter of the vehicle corresponding to the current vehicle speed to reduce the torque of the vehicle, and the vehicle is controlled to run according to the reduced torque. Compared with the method of directly cutting off the driving force, the torque of the vehicle decreases dynamically in real time according to the vehicle state corresponding to the current vehicle speed, which can effectively reduce the large sudden change in the vehicle speed and effectively improve the smoothness of the vehicle driving, thereby improving the comfort and safety of the passengers in the vehicle.

[0056] An embodiment of the present application provides a vehicle, which can be a new energy vehicle or a traditional energy vehicle.

[0057] In this embodiment, referring to Figure 1 , the vehicle includes a control device 100 and a motor system 200 communicatively connected to the control device 100. In this embodiment, the control device 100 is an intelligent assisted driving controller (ADCU). The motor system 200 includes a motor and a motor controller connected to the motor, and the control device 100 is communicatively connected to the motor controller.

[0058] The control device 100 can send an instruction corresponding to the requested torque to the motor controller, and the motor controller can control the operation of the motor according to the received requested torque. The motor controller can also monitor the state data during the operation of the motor (including at least one of the following: the feedback instruction corresponding to the execution torque, the motor speed, the regenerative torque, etc.), and feedback the motor state data to the control device.

[0059] Refer to Figure 1 , the vehicle may further include a brake system (IBC) 300 communicatively connected to the control device 100. The brake system 300 can feedback the movement state parameters of the vehicle to the control device 100. The movement state parameters may include at least one of the following: vehicle speed signal, wheel speed signals of each wheel, acceleration signal, deceleration signal, wheel-end braking torque signal, etc.

[0060] Refer to Figure 1 , the vehicle may further include a power battery system 400 communicatively connected to the control device 100. The power battery system 400 can feedback the battery state parameters of the power battery to the control device 100. The battery state parameters may include at least one of the following: remaining battery power, battery system state, etc.

[0061] Wherein, the control device 100 includes: at least one processor 1001; and, a memory 1002 communicatively connected to the at least one processor 1001, etc.; wherein, the memory 1002 stores instructions executable by the at least one processor 1001, and the instructions are executed by the at least one processor 1001 so that the at least one processor 1001 can execute the vehicle control method in the following embodiments.

[0062] Next, refer to Figure 1 , which shows a schematic structural diagram of the control device 100 suitable for implementing the embodiments of the present application. The control device 100 in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, PADs (Portable Application Description: tablet computers), vehicle-mounted terminals, etc. and fixed terminals such as digital TVs, desktop computers, etc. Figure 1 The shown control device 100 is only an example and should not impose any limitations on the functions and usage scopes of the embodiments of the present application.

[0063] As Figure 1As shown, the control device 100 may include a processor 1001 (such as a central processing unit, a graphics processing unit, etc.), which may perform various appropriate actions and processes according to a program stored in the memory 1002. Here, the program in the memory 1002 may be a program in a read-only memory (ROM: Read Only Memory) or a program loaded from a storage device into a random access memory (RAM: Random Access Memory). In the RAM, various programs and data required for the operation of the control device 100 are also stored. The processor 1001 and the memory 1002 (ROM and RAM) are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus. Generally, the following systems may be connected to the I / O interface: input devices including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; storage devices including, for example, a magnetic tape, a hard disk, etc.; and a communication device. The communication device may allow the control device 100 to communicate with other devices wirelessly or wiredly to exchange data. Although the control device 100 with various systems is shown in the figure, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be implemented or had alternatively.

[0064] In particular, according to the embodiments disclosed in the present application, the method flow described in the following embodiments may be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program codes for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network through the communication device, or installed from the memory 1002. When the computer program is executed by the processor 1001, the above functions defined in the vehicle control method of the embodiments disclosed in the present application are executed.

[0065] The vehicle provided by the present application adopts the vehicle control method in the following embodiments, and can solve the technical problem of how to improve the smoothness of vehicle driving to improve the comfort and safety of the users in the vehicle. Compared with the prior art, the beneficial effects of the vehicle provided by the present application are the same as those of the vehicle control method provided by the following embodiments, and the other technical features in the vehicle are the same as those disclosed in the method of the following embodiments, and will not be elaborated here.

[0066] It should be noted that the execution entity of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle, etc. that can implement the above functions. Hereinafter, taking a vehicle as an example, this embodiment and the following embodiments will be described.

[0067] Based on this, an embodiment of the present application provides a vehicle control method. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the vehicle control method of the present application.

[0068] In this embodiment, the vehicle control method includes steps S10 to S40:

[0069] Step S10, obtain the execution torque and the requested torque of the vehicle;

[0070] The requested torque is the torque that the vehicle's motor needs to execute based on the current driving condition parameters. The driving condition parameters may include the scene state parameters (such as road state data and / or traffic conditions ahead during vehicle driving) detected by an on-vehicle detection module (including at least one of a radar, a camera, etc.). Among them, the driving condition parameters may also include the state parameters of the power battery system. After the on-vehicle control device determines the requested torque, it can be sent to the motor system, so that the motor in the motor system executes according to the requested torque.

[0071] The execution torque is the torque actually executed by the motor in the vehicle, and the execution torque can be obtained by monitoring the operating state of the motor.

[0072] In this embodiment, step S10 is executed when the vehicle is in the intelligent assisted driving mode.

[0073] Step S20, when the difference between the execution torque and the requested torque is greater than a preset threshold, obtain the movement state parameters of the vehicle according to the current vehicle speed of the vehicle;

[0074] Here, the difference is the calculation result obtained by subtracting the requested torque from the execution torque. The difference being greater than the preset threshold indicates that the execution torque is greater than the requested torque and the deviation between the two is large. The preset threshold can be a fixed value set in advance, or a threshold determined according to the current vehicle speed of the vehicle and / or the seat belt wearing situation of the user in the vehicle, etc.

[0075] The movement state parameters are parameters representing the current movement state of the vehicle, and the movement state parameters may include at least one of the following: acceleration, deceleration, driving wheel speed, non-driving wheel speed, etc.

[0076] Among them, different vehicle speeds correspond to obtaining different moving state parameters. When the vehicle speed is within the first vehicle speed range, the first moving characteristic parameter is obtained as the moving state parameter; when the vehicle speed is within the second vehicle speed range, the second moving characteristic parameter is obtained as the moving state parameter; the first moving characteristic parameter and the second moving characteristic parameter are different parameters, and the first moving characteristic parameter and the second moving range parameter can be respectively one of the multiple parameters listed above.

[0077] Step S30, determining a torque adjustment parameter according to the moving state parameter;

[0078] The torque adjustment parameter may include a torque adjustment rate and / or a torque adjustment amplitude and / or a torque adjustment period, etc.

[0079] If the parameter value of the moving state parameter is different, the corresponding torque adjustment parameter is different. If the type of the moving state parameter is different, the corresponding relationship between the moving state parameter and the torque adjustment parameter is different. That is, if the vehicle speed range where the vehicle speed is located is different, the corresponding moving state parameter is different, and the corresponding relationship between the moving state parameter and the torque adjustment parameter is different. The corresponding relationship between the moving state parameter and the torque adjustment parameter can be preset, and the corresponding relationship can include forms such as a relational expression and a mapping table. Based on this corresponding relationship, the torque adjustment parameter corresponding to the current moving state parameter can be determined.

[0080] In one implementation, the mapping relationship (such as a mapping table, etc.) between the moving state parameter range and the preset torque adjustment parameter can be preset, then the target parameter range where the moving state parameter is located is determined, and the preset torque adjustment parameter corresponding to the target parameter range is used as the torque adjustment parameter. In another implementation, the preset relational expression between the moving state parameter and the torque adjustment parameter can be preset, and then the moving state parameter is substituted into the preset relational expression to calculate the torque adjustment parameter.

[0081] Step S40, reducing the torque of the vehicle according to the torque adjustment parameter, and controlling the vehicle to run according to the reduced torque.

[0082] Reducing the current requested torque according to the torque adjustment parameter to obtain a new requested torque, and controlling the operation of the motor in the vehicle according to the new requested torque. The reduction of the requested torque can make the vehicle travel in a decelerated state.

[0083] When the torque adjustment parameter is a torque adjustment amplitude, a new requested torque can be obtained by reducing the torque adjustment amplitude on the basis of the current requested torque, and the operation of the motor in the vehicle is controlled.

[0084] When the torque adjustment parameter is a torque adjustment rate, the current requested torque of the vehicle can be reduced according to the torque adjustment rate to obtain a new requested torque, and the operation of the motor in the vehicle is controlled.

[0085] This embodiment provides a vehicle control method. When the execution torque of the vehicle exceeds a certain threshold of the requested torque, a torque adjustment parameter is determined based on the moving characteristic parameter of the vehicle corresponding to the current vehicle speed to reduce the torque of the vehicle, and the vehicle operation is controlled according to the reduced torque. Compared with the way of directly cutting off the driving force, the torque of the vehicle is dynamically reduced in real time to adapt to the vehicle state corresponding to the current vehicle speed, which can effectively reduce the large sudden change of the vehicle speed and effectively improve the smoothness of the vehicle driving, thereby improving the comfort and safety of the passengers in the vehicle.

[0086] Based on any of the above embodiments, in the second embodiment of the present application, the same or similar content as the above embodiments can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , where S20 includes:

[0087] Step S21, when the difference between the execution torque and the requested torque is greater than a preset threshold and the vehicle speed is less than a preset vehicle speed, obtain the acceleration of the vehicle, and the moving state parameter includes the acceleration.

[0088] In this embodiment, the torque adjustment parameter can be determined according to the acceleration of the vehicle, and the torque adjustment parameter includes the torque adjustment rate. Different accelerations correspond to different torque adjustment rates. In this embodiment, the torque adjustment rate is positively correlated with the acceleration, which is beneficial to further improve the smoothness of the vehicle driving and further improve the comfort and safety of the passengers in the vehicle. In some other implementation manners, the torque adjustment rate can also be negatively correlated with the acceleration.

[0089] In this embodiment, step S30 may include:

[0090] Step S31, determine the target acceleration interval where the acceleration is located; determine the preset descent rate corresponding to the target acceleration interval as the torque adjustment rate, and the torque adjustment parameter includes the torque adjustment rate.

[0091] In this embodiment, at least two acceleration intervals are pre-divided, and different acceleration intervals are associated with different preset descent rates. The at least two acceleration intervals can be continuous intervals or discontinuous intervals.

[0092] For example, if at least two acceleration intervals include a first acceleration interval, a second acceleration interval, a third acceleration interval, and a fourth acceleration interval, when the acceleration is in the first acceleration interval, the first adjustment rate can be determined as the torque adjustment rate; when the acceleration is in the second acceleration interval, the second adjustment rate can be determined as the torque adjustment rate; when the acceleration is in the third acceleration interval, the third adjustment rate can be determined as the torque adjustment rate; when the acceleration is in the fourth acceleration interval, the fourth adjustment rate can be determined as the torque adjustment rate, where the first adjustment rate > the second adjustment rate > the third adjustment rate > the fourth adjustment rate, and the acceleration in the first acceleration interval > the acceleration in the second acceleration interval > the acceleration in the third acceleration interval > the acceleration in the fourth acceleration interval.

[0093] In this embodiment, through the above method, when the vehicle speed is low, based on the acceleration, the corresponding torque adjustment parameter is determined to reduce the torque of the vehicle, which is beneficial to ensuring that the deceleration of the vehicle can match the actual acceleration state, thereby effectively reducing the discomfort of the user's riding experience caused by sudden speed changes and affecting the user's safety, and further improving the smoothness of the vehicle, the comfort of the passengers in the vehicle, and the safety.

[0094] In other embodiments, the torque adjustment rate can also be calculated by substituting the acceleration into a pre-set quantitative relationship.

[0095] In other embodiments, when the vehicle speed is less than the preset vehicle speed, the torque adjustment parameter can also include the torque adjustment amplitude.

[0096] In a feasible implementation manner, based on step S21 and step S31, referring to Figure 3 , after step S40, it further includes: at an interval of a first duration, return to execute the step of obtaining the acceleration of the vehicle.

[0097] The first duration can be a pre-set fixed duration or a duration determined according to the actual situation of the vehicle. For example, the first duration can be determined according to the change amount of the torque before and after the reduction of the requested torque of the vehicle, and so on.

[0098] After the torque of the vehicle is reduced, the acceleration of the vehicle will also change accordingly. Based on this, during the driving of the vehicle, the torque of the vehicle is dynamically reduced in a cycle to adapt to the change of the acceleration of the vehicle, so as to control the vehicle to decelerate smoothly, and further improve the smoothness of the vehicle driving, the comfort of the passengers in the vehicle, and the safety.

[0099] In a feasible implementation manner, referring to Figure 3 , after step S21, it further includes:

[0100] Step S201: Determine whether the deviation value between the acceleration and the first preset acceleration is greater than the first preset deviation, where the first preset acceleration represents that the vehicle speed change rate of the vehicle is less than the preset change rate;

[0101] In the case where the deviation value between the acceleration and the first preset acceleration is greater than the first preset deviation, execute step S30; in the case where the deviation value between the acceleration and the first preset acceleration is less than or equal to the first preset deviation, execute step S50;

[0102] In this embodiment, the first preset acceleration represents that the vehicle is in a uniform speed state or close to a uniform speed state. The first preset acceleration can be a preset fixed value, or a value determined according to the actual situation of the vehicle. For example, it can be determined according to the road surface type of the road where the vehicle is currently located and / or the driving states of other vehicles within a preset distance range where the vehicle's current position is located, etc.

[0103] The deviation value between the acceleration and the first preset acceleration being less than or equal to the preset deviation indicates that the vehicle is in a state close to uniform speed; the deviation value between the acceleration and the first preset acceleration being greater than the preset deviation indicates that the vehicle is still in an accelerating state.

[0104] Step S50: Control the vehicle to perform a braking operation.

[0105] In this embodiment, set the requested torque of the vehicle to 0, that is, the vehicle stops torque output, and then the vehicle performs braking.

[0106] In this embodiment, through the above method, it can be ensured that the vehicle will brake only when the vehicle speed is close to uniform speed and the vehicle speed is very low, thereby further improving the smoothness of vehicle driving and further improving the safety and comfort of the users inside the vehicle.

[0107] Based on any of the above embodiments, in the third embodiment of the present application, for the same or similar content as the above embodiments, reference can be made to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 4 , where S20 includes:

[0108] Step S22: When the vehicle speed is greater than or equal to the preset vehicle speed, obtain the acceleration of the vehicle and the wheel speed of the non-driving wheels of the vehicle, and the moving state parameters include the acceleration and the wheel speed.

[0109] In this embodiment, the torque adjustment parameter can be determined according to the acceleration of the vehicle and the wheel speed of the non-driven wheels. The torque adjustment parameter includes the torque adjustment amplitude (i.e., the torque reduction gradient). Different accelerations and wheel speeds of the non-driven wheels correspond to different torque adjustment amplitudes. In this embodiment, when the wheel speed of the non-driven wheels is constant, the torque adjustment amplitude is positively correlated with the acceleration; when the acceleration is constant, the torque adjustment amplitude is positively correlated with the wheel speed of the non-driven wheels, which is beneficial to further improve the smoothness of vehicle driving and further enhance the comfort and safety of the users in the vehicle. In some other implementation manners, when the wheel speed of the non-driven wheels is constant, the torque adjustment amplitude can also be negatively correlated with the acceleration; and / or when the acceleration is constant, the torque adjustment amplitude can be negatively correlated with the wheel speed of the non-driven wheels.

[0110] In this embodiment, step S30 includes:

[0111] Step S32, determining the target acceleration interval where the acceleration is located and the target wheel speed interval where the wheel speed is located; determining the preset torque adjustment amplitude corresponding to the target acceleration interval and the target wheel speed interval as the torque adjustment amplitude, and the torque adjustment parameter includes the torque adjustment amplitude.

[0112] In this embodiment, at least two acceleration intervals and at least two wheel speed intervals are pre-divided. Combinations of different acceleration intervals and wheel speed intervals are associated with different preset torque adjustment amplitudes. The at least two acceleration intervals and / or the at least two wheel speed intervals can be continuous intervals or discontinuous intervals. The relationships between different acceleration intervals, wheel speed intervals and preset torque adjustment amplitudes can be shown in the following table:

[0113] Wheel speed range 1 Wheel speed range 2 Wheel speed range 3 Acceleration range 1 R11 R12 R13 Acceleration range 2 R21 R22 R23 Acceleration range 3 R31 R32 R33

[0114] Among them, the acceleration in acceleration interval 1 > the acceleration in acceleration interval 2 > the acceleration in acceleration interval 3, the wheel speed in wheel speed interval 1 > the wheel speed in wheel speed interval 2 > the wheel speed in wheel speed interval 3, R11, R12, R13, R21, R22, R23, R31, R32, R33, R11 > R21 > R31, R12 > R22 > R32, R13 > R23 > R33, R11 > R12 > R13, R21 > R22 > R23, R31 > R32 > R33.

[0115] In this embodiment, through the above method, when the vehicle speed is relatively high, the energy that can be recovered by the vehicle is relatively large. At this time, the combination of the acceleration and the wheel speed of the non-driven wheels can accurately represent the running state of the vehicle. Therefore, adapting to the acceleration and the wheel speed of the non-driven wheels to determine the corresponding torque adjustment parameter to dynamically reduce the vehicle torque in real time can effectively ensure the stable and safe decrease of the vehicle speed while ensuring the energy recovery efficiency of the vehicle.

[0116] In other embodiments, the torque adjustment amplitude can also be calculated by substituting the acceleration and wheel speed into a preset quantitative relationship.

[0117] In other embodiments, when the vehicle speed is greater than or equal to a preset vehicle speed, the torque adjustment parameter may also include a torque adjustment rate.

[0118] In a feasible implementation manner, referring to Figure 4 , based on steps S22 and S32, after step S40, the method further includes: after an interval of a second duration, returning to execute the step of obtaining the acceleration of the vehicle and the wheel speed of the non-driving wheels of the vehicle;

[0119] The second duration can be a preset fixed duration or a duration determined according to the actual situation of the vehicle. For example, the second duration can be determined according to the change amount of the torque before and after the requested torque of the vehicle is reduced, and so on.

[0120] After the torque of the vehicle is reduced, the acceleration and wheel speed of the vehicle will also change accordingly. Based on this, during the driving process of the vehicle, the torque of the vehicle is dynamically reduced by cyclically adapting to the changes in the acceleration and wheel speed of the vehicle, so as to effectively balance the driving stability and energy recovery of the vehicle.

[0121] In other embodiments, after step S40, it is also possible to return to execute the step of obtaining the movement state parameters of the vehicle according to the current vehicle speed of the vehicle after an interval of a second duration.

[0122] In a feasible implementation manner, referring to Figure 4 , after step S22, the method further includes:

[0123] Step S202, determining whether a first condition is satisfied, where the first condition includes that the deviation value between the acceleration and a second preset acceleration is less than or equal to a second preset deviation and / or the deviation value between the wheel speed and a reference wheel speed is less than a third preset deviation;

[0124] When the first condition is satisfied, step S60 is executed; when the first condition is not satisfied, the step of determining the torque adjustment parameter according to the movement state parameter is executed;

[0125] Here, satisfying the first condition means that the energy recovery power of the vehicle (that is, the charging power of the battery system) does not exceed the maximum charging power allowed by the battery system, and energy recovery is allowed.

[0126] Step S60, setting the requested torque of the vehicle to a target negative torque, and controlling the vehicle to run according to the target negative torque so that the vehicle is in the energy recovery stage;

[0127] The target negative torque can be a preset torque or a torque determined according to the actual situation of the vehicle. Here, the target negative torque of the vehicle is determined according to the torque data, battery system status and remaining power data of the vehicle at the current moment.

[0128] The energy recovery process of the vehicle is executed by the motor system and is charged back to the battery pack through the high-voltage system.

[0129] The second preset deviation and / or the third preset deviation can be preset fixed values or parameter values determined according to the actual operating conditions of the vehicle.

[0130] In this embodiment, through the above method, it is possible to achieve safe and stable deceleration of the vehicle while taking into account the effectiveness of vehicle energy recovery, and avoid excessive charging power from affecting the driving safety and smoothness of the vehicle.

[0131] In a feasible implementation manner, the method further includes: determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located.

[0132] Different remaining powers and / or ambient temperatures correspond to different reference wheel speeds.

[0133] In one implementation manner, it is possible to determine the power range where the remaining power is located and / or the temperature range where the ambient temperature is located, and determine the reference wheel speed according to the power range and / or the temperature range. In another implementation manner, the remaining power and / or the ambient temperature can be substituted into a preset relational expression to calculate the reference wheel speed.

[0134] In this embodiment, when the second condition is satisfied, the first wheel speed is determined as the reference wheel speed; when the second condition is not satisfied, the second wheel speed is determined as the reference wheel speed; wherein, the second condition includes at least one of the following: the remaining power is less than the first preset power, the remaining power is greater than the second preset power, the ambient temperature is less than the first preset ambient temperature, the ambient temperature is greater than the second preset ambient temperature, the first preset power is less than the second preset power, the first preset ambient temperature is less than the second preset ambient temperature, and the first wheel speed is less than the second wheel speed. The first wheel speed and the second wheel speed can be preset fixed values or parameter values determined according to the actual situation of the vehicle.

[0135] In this embodiment, when the actual recharge power of the battery system under the standard working conditions (the ambient temperature is greater than or equal to the first preset ambient temperature and less than or equal to the second preset ambient temperature, and the remaining power is greater than or equal to the first preset power and less than or equal to the second preset power) that can be preset for the second wheel speed is less than the maximum allowable recharge power, the maximum wheel speed allowed for the non-driving wheels is considered. In the case where the remaining power is less than the first preset power and / or the ambient temperature is less than the first preset ambient temperature, the first wheel speed correction value can be determined according to the difference between the remaining power and the first preset power and / or the difference between the ambient temperature and the first preset ambient temperature, and the first wheel speed can be obtained by correcting the second wheel speed according to the first wheel speed correction value; in the case where the remaining power is greater than the first preset power and / or the ambient temperature is greater than the second preset ambient temperature, the second wheel speed correction value can be determined according to the difference between the remaining power and the second preset power and / or the difference between the ambient temperature and the second preset ambient temperature, and the first wheel speed can be obtained by correcting the second wheel speed according to the second wheel speed correction value.

[0136] In this embodiment, through the above method, it can be ensured that regardless of how the vehicle driving conditions change, the smoothness and safety of vehicle deceleration can be guaranteed while improving the efficiency of vehicle energy recovery.

[0137] In a feasible implementation manner, the method further includes: when there is no fault in the battery system in the vehicle, performing the step of determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located; when there is a fault in the battery system, determining the preset wheel speed as the reference wheel speed; where the preset wheel speed is the maximum wheel speed allowed for the non-driving wheels when the actual recharge power of the battery system in the vehicle under the standard working conditions is less than the maximum allowable recharge power.

[0138] In this embodiment, the preset rotational speed here and the above-mentioned second rotational speed may refer to the same concept. Or, in some implementation manners, the above-mentioned second rotational speed may also be the rotational speed determined according to the actual working conditions of the vehicle, which is a different concept from the preset rotational speed.

[0139] When there is a fault in the battery system, the energy recovery function is turned off. At this time, all the target negative torques are executed by the braking system. At this time, the influence of the remaining battery power and the ambient temperature on energy recovery is not considered, and the preset wheel speed corresponding to the standard working conditions is directly used as the reference rotational speed; when the battery system is not faulty, the energy recovery function is normal. At this time, the influence of the battery power and / or the ambient temperature on energy recovery is considered to set the reference wheel speed. Based on this, it can be ensured that whether the battery system is faulty or not, the actual recharge power of the battery system can be effectively ensured to be less than the maximum allowable recharge power, and unnecessary data processing is reduced when the battery system is faulty, improving the timeliness and safety of vehicle deceleration.

[0140] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the vehicle control method of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0141] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle control method in the above embodiments.

[0142] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device. The program code contained on the computer-readable storage medium can be transmitted by any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0143] The above computer-readable storage medium can be included in a vehicle; it can also exist separately and not be assembled into the vehicle.

[0144] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by a vehicle, the vehicle performs the following processes: obtaining the execution torque and the requested torque of the vehicle; in the case where the difference between the execution torque and the requested torque is greater than a preset threshold, obtaining the movement state parameters of the vehicle according to the current vehicle speed; determining the torque adjustment parameters according to the movement state parameters; reducing the torque of the vehicle according to the torque adjustment parameters, and controlling the vehicle to run according to the reduced torque.

[0145] Computer program code for performing the operations of the present application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, by connecting through the Internet using an Internet service provider).

[0146] The readable storage medium provided by the present application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned vehicle control method, and can solve the technical problem of how to improve the smoothness of vehicle driving to improve the comfort and safety of users in the vehicle. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as those of the vehicle control method provided by the above-mentioned embodiment, and will not be elaborated here.

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0148] It should be understood that each part disclosed in this application can be implemented by hardware, software, firmware, or a combination thereof. The modules described in the embodiments of this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0149] The above are only partial embodiments of this application, and do not limit the patent scope of this application accordingly. Any equivalent structural transformation made under the technical concept of this application by using the content of the specification and drawings of this application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Obtaining the execution torque and the requested torque of the vehicle; When the difference between the execution torque and the requested torque is greater than a preset threshold, obtaining the movement state parameters of the vehicle according to the current vehicle speed of the vehicle; Determining a torque adjustment parameter according to the movement state parameters; Reducing the torque of the vehicle according to the torque adjustment parameter, and controlling the vehicle to run according to the reduced torque.

2. The vehicle control method according to claim 1, wherein, The step of obtaining the movement state parameters of the vehicle according to the current vehicle speed of the vehicle includes: When the vehicle speed is less than a preset vehicle speed, obtaining the acceleration of the vehicle, and the movement state parameters include the acceleration.

3. The vehicle control method according to claim 2, wherein The step of determining the torque adjustment parameter according to the movement state parameters includes: Determining the target acceleration interval where the acceleration is located; Determining the preset deceleration rate corresponding to the target acceleration interval as the torque adjustment rate, and the torque adjustment parameter includes the torque adjustment rate.

4. The vehicle control method according to claim 2, wherein, After the step of reducing the torque of the vehicle according to the torque adjustment parameter and controlling the vehicle to run according to the reduced torque, it further includes: after an interval of a first duration, returning to execute the step of obtaining the acceleration of the vehicle; And / or, after the step of obtaining the acceleration of the vehicle, it further includes: When the deviation value between the acceleration and a first preset acceleration is greater than a first preset deviation, executing the step of determining the torque adjustment parameter according to the movement state parameters; When the deviation value between the acceleration and the first preset acceleration is less than or equal to the first preset deviation, controlling the vehicle to perform a braking operation; Wherein, the first preset acceleration indicates that the vehicle speed change rate of the vehicle is less than a preset change rate.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that, The step of obtaining the movement state parameters of the vehicle according to the current vehicle speed of the vehicle includes: When the vehicle speed is greater than or equal to the preset vehicle speed, obtaining the acceleration of the vehicle and the wheel speed of the non-driving wheels of the vehicle, and the movement state parameters include the acceleration and the wheel speed.

6. The vehicle control method according to claim 5, characterized in that, The step of determining the torque adjustment parameter according to the movement state parameters includes: Determining the target acceleration interval where the acceleration is located, and determining the target wheel speed interval where the wheel speed is located; Determining the preset torque adjustment amplitude corresponding to the target acceleration interval and the target wheel speed interval as the torque adjustment amplitude, and the torque adjustment parameter includes the torque adjustment amplitude.

7. The vehicle control method according to claim 5, characterized in that, After the step of reducing the torque of the vehicle according to the torque adjustment parameter and controlling the vehicle to run according to the reduced torque, it further includes: after an interval of a second duration, returning to execute the step of obtaining the acceleration of the vehicle and the wheel speed of the non-driving wheels of the vehicle; And / or, after the step of obtaining the acceleration of the vehicle and the wheel speed of the non-driving wheels of the vehicle, it further includes: When a first condition is satisfied, setting the requested torque of the vehicle to a target negative torque, and controlling the vehicle to run according to the target negative torque so that the vehicle is in an energy recovery stage; When the first condition is not satisfied, executing the step of determining the torque adjustment parameter according to the movement state parameters; Wherein, the first condition includes that the deviation value between the acceleration and a second preset acceleration is less than or equal to a second preset deviation and / or the deviation value between the wheel speed and a reference wheel speed is less than a third preset deviation.

8. The vehicle control method according to claim 7, wherein The method further includes: determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located.

9. The vehicle control method according to claim 8, wherein The step of determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located includes: when a second condition is satisfied, determining a first wheel speed as the reference wheel speed; when the second condition is not satisfied, determining a second wheel speed as the reference wheel speed; wherein, the second condition includes at least one of the following: the remaining power is less than a first preset power, the remaining power is greater than a second preset power, the ambient temperature is less than a first preset ambient temperature, the ambient temperature is greater than a second preset ambient temperature, the first preset power is less than the second preset power, the first preset ambient temperature is less than the second preset ambient temperature, and the first wheel speed is less than the second wheel speed.

10. The vehicle control method according to claim 8, wherein, The method further includes: when there is no fault in the battery system in the vehicle, performing the step of determining the reference wheel speed according to the remaining power of the battery in the vehicle and / or the ambient temperature of the environment where the vehicle is located; when there is a fault in the battery system, determining a preset wheel speed as the reference wheel speed; wherein, the preset wheel speed is the maximum wheel speed allowed for the non-driving wheels when the actual recharge power of the battery system under standard working conditions is less than the maximum allowed recharge power.

11. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle control method according to any one of claims 1 to 10.

12. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the vehicle control method according to any one of claims 1 to 10.

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