Vehicle starting control method and device, electronic equipment and vehicle

Abstract

The invention provides a vehicle starting control method and device, electronic equipment and a vehicle. The method comprises the steps that driving parameters of the vehicle are obtained, and the driving parameters at least comprise the accelerator pedal opening degree; if the driving parameters meet the preset conditions, the initial torque and the initial acceleration of the vehicle are determined based on the opening degree of an accelerator pedal; based on the real-time acceleration and the initial acceleration of the vehicle, the compensation torque of the current vehicle is determined; determining a target torque according to the initial torque and the compensation torque; and outputting the target torque to a motor controller of the vehicle. According to the vehicle starting control method, different response speeds can be obtained under different vehicle conditions and load conditions, and the stability of vehicle starting is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving, and in particular to a vehicle starting control method, device, electronic equipment and vehicle. Background Art

[0002] In different scenarios, buses have different power requirements when driving at different loads and on different road conditions. Bus loads can include: empty, half-loaded, or fully loaded, and road conditions can include good urban road conditions, suburban road conditions, steep slopes in scenic mountainous areas, and road conditions over speed bumps. When a bus is empty and running on good urban roads, the vehicle has sufficient power. When starting uphill with a full load, the vehicle's starting response speed is slower than when driving on an empty flat road. If the operating conditions and road conditions are differentiated, the vehicle's torque output scheme often brings some problems, such as delayed starting, uncontrollable acceleration time in the later stages after starting on a speed bump with high resistance and then changing to a straight road.

[0003] Therefore, a vehicle starting method is urgently needed to obtain a starting response speed under different vehicle conditions and load conditions. Summary of the Invention

[0004] In order to solve the above technical problems in the prior art, the present application provides a vehicle starting control method, device, electronic equipment and vehicle to obtain the corresponding starting speed under different vehicle conditions and load conditions.

[0005] According to a first aspect of an embodiment of the present application, a vehicle starting control method is provided, the method comprising:

[0006] Acquiring driving parameters of the vehicle, the driving parameters at least including an accelerator pedal opening;

[0007] If the driving parameters meet the preset conditions, the initial torque and initial acceleration of the vehicle are determined based on the accelerator pedal opening;

[0008] Determining a current compensation torque of the vehicle based on the real-time acceleration and initial acceleration of the vehicle;

[0009] Determine the target torque according to the initial torque and the compensation torque;

[0010] Outputs the target torque to the vehicle's motor controller.

[0011] In an optional implementation, determining the vehicle initial torque and initial acceleration includes:

[0012] Acquire first data and second data, the first data being a mapping relationship between the accelerator pedal opening, the vehicle speed, and the initial torque; and the second data being a mapping relationship between the accelerator pedal opening and the initial acceleration;

[0013] determining an initial torque of the vehicle according to the first data and an accelerator pedal opening;

[0014] An initial acceleration of the vehicle is determined based on the second data and the accelerator pedal opening.

[0015] In an optional embodiment, the method further includes:

[0016] If the driving parameter does not meet the preset condition, the target torque is determined based on the first data.

[0017] In an optional embodiment, determining the current compensation torque of the vehicle based on the real-time acceleration and initial acceleration of the vehicle includes:

[0018] determining an acceleration deviation of the vehicle based on the real-time acceleration and the initial acceleration of the vehicle;

[0019] Based on the proportional-integral result of the acceleration deviation, the compensation torque of the vehicle is determined.

[0020] In an optional embodiment, determining the compensation torque of the vehicle based on the proportional integral result of the acceleration deviation includes:

[0021] Acquire third data and fourth data, where the third data is a mapping relationship between the acceleration deviation and the first compensation torque, where the first compensation torque is a torque compensated based on a proportional link; and the fourth data is a mapping relationship between the acceleration deviation and the second compensation torque, where the second compensation torque is a compensation torque based on an integral link.

[0022] determining a first compensation torque according to the acceleration deviation and the third data;

[0023] determining a second compensation torque according to the acceleration deviation and fourth data;

[0024] A compensation torque of the vehicle is determined based on the first compensation torque and the second compensation torque.

[0025] In an optional implementation, obtaining the real-time acceleration of the vehicle includes:

[0026] Get the first speed of the vehicle at the current moment and the second speed of the vehicle at the previous moment;

[0027] The real-time acceleration is determined according to a ratio of the first speed and the second speed to the time interval.

[0028] In an optional embodiment, the driving parameters further include: vehicle status, vehicle gear position, parking brake status, and vehicle speed; the driving parameters meeting the preset conditions include:

[0029] The vehicle state is a ready state, the gear position of the vehicle is not a neutral position, the state of the parking brake is a non-braking state, and the vehicle speed is less than a preset vehicle speed threshold.

[0030] According to a second aspect of an embodiment of the present application, a vehicle starting control device is provided, comprising:

[0031] an acquisition unit, configured to acquire driving parameters of the vehicle, the driving parameters including at least an accelerator pedal opening;

[0032] a first determining unit, configured to determine an initial torque and an initial acceleration of the vehicle based on an accelerator pedal opening if the driving parameter meets a preset condition;

[0033] a second determining unit, configured to determine a current compensation torque of the vehicle based on the real-time acceleration and the initial acceleration of the vehicle;

[0034] a third determining unit, configured to determine a target torque according to the initial torque and the compensation torque;

[0035] The output unit is used to output the target torque to the motor controller of the vehicle.

[0036] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including a memory and a processor;

[0037] The memory is connected to the processor and is used to store programs;

[0038] The processor is used to implement the vehicle starting control method as described in the first aspect or any one of the embodiments of the first aspect by running the program in the memory.

[0039] According to a fourth aspect of an embodiment of the present application, a vehicle is provided, comprising the electronic device as described in the third aspect.

[0040] The vehicle launch control method, device, electronic device, and vehicle provided herein obtain vehicle driving parameters. When the driving parameters meet preset conditions, the method determines the vehicle's initial torque and initial acceleration based on the accelerator pedal opening, and then determines the vehicle's compensation torque based on the current load and operating conditions. The compensation torque is then added to the initial torque to ultimately obtain the target torque, which is then output to the vehicle's motor controller. The vehicle launch control method provided herein can achieve intelligent starting during the vehicle's launch phase, resulting in a faster launch response speed and subsequent acceleration control capabilities to meet the vehicle's driving needs under varying loads and road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0042] Figure 1 A schematic diagram of an implementation environment for an embodiment of the present application;

[0043] Figure 2 A flowchart of a vehicle starting control method provided in an embodiment of the present application;

[0044] Figure 3 A structural block diagram of a vehicle starting control device provided in an embodiment of the present application;

[0045] Figure 4 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0047] In different scenarios, buses have different power requirements when they have different loads and are traveling on different road conditions. The loads of buses can include: empty, half-loaded, or fully loaded, and the road conditions can include good urban road conditions, suburban road conditions, steep slopes in scenic mountainous areas, and road conditions over speed bumps. When the bus is empty and running on good urban road conditions, the power of the entire vehicle is relatively sufficient. When starting uphill with a full load, the starting response speed of the entire vehicle is worse than that of an empty vehicle on a flat road. If the working conditions and road conditions are distinguished, the vehicle's torque output scheme often brings some problems, such as starting delays, uncontrollable subsequent acceleration time after the working conditions change from a straight road to a high resistance speed bump after starting. Therefore, there is an urgent need for a vehicle starting method to obtain the starting response speed under different vehicle conditions and load conditions.

[0048] The vehicle starting control method, device, electronic device, and vehicle provided in the embodiments of the present application obtain vehicle driving parameters. When the driving parameters meet preset conditions, the initial torque and initial acceleration of the vehicle are determined based on the accelerator pedal opening, and then the compensation torque of the vehicle based on the current load and operating conditions is determined. The compensation torque is superimposed on the initial torque to ultimately obtain the target torque, and the target torque is output to the vehicle's motor controller. The vehicle starting control method provided in the present application can achieve intelligent starting of the vehicle during the starting phase, thereby achieving a faster starting response speed and later acceleration control capability to meet the driving conditions required by the vehicle under different loads and different road conditions.

[0049] Exemplary Implementation Environment

[0050] Please refer to Figure 1 , Figure 1 A schematic diagram of an implementation environment according to the present invention.

[0051] like Figure 1 As shown, this application scenario involves vehicle 1. Vehicle 1 may be equipped with a vehicle control unit (VCU). The VCU is responsible for integrating and processing parameters from vehicle 1, such as vehicle status, gear position, parking brake status, and vehicle speed. Based on the vehicle's driving parameters, the VCU determines the target torque for the vehicle during the starting phase and outputs the value to the motor controller.

[0052] Exemplary Methods

[0053] Figure 2 This is a flow chart of the vehicle start control method provided in the embodiment of the present application. Figure 2 In an exemplary embodiment, a vehicle launch control method is provided, which may include:

[0054] S210: Acquire driving parameters of the vehicle, where the driving parameters at least include an accelerator pedal opening.

[0055] The present embodiment is applied to the vehicle's starting phase. The vehicle's driving parameters are transmitted to the VCU via the CAN line. The accelerator pedal opening is the physical displacement or angle of the accelerator pedal pressed by the driver, typically expressed as a percentage (0%-100%), which quantifies the intensity of the driver's request for vehicle acceleration.

[0056] Driving parameters may also include: vehicle status, vehicle gear, braking status of the parking brake, vehicle speed, etc.

[0057] S230: If the driving parameters meet the preset conditions, determining the initial torque and initial acceleration of the vehicle based on the accelerator pedal opening;

[0058] The preset condition may be a judgment condition for the vehicle starting phase, for example, the preset condition may be that the vehicle state is a ready state, the vehicle is in D gear or R gear, the parking brake is in a non-braking state, and the vehicle speed is less than 1 km / h.

[0059] In practice, the initial torque can be obtained by querying the torque map. The torque map stores the mapping between accelerator pedal position, vehicle speed, and torque, and determines the current motor torque based on these values. The vehicle can also obtain the initial acceleration by querying the acceleration map. The acceleration map maps the accelerator pedal position and acceleration, and determines the initial acceleration based on the accelerator pedal position.

[0060] S250: Determine the current compensation torque of the vehicle based on the real-time acceleration and initial acceleration of the vehicle.

[0061] In the embodiment of the present application, during the starting phase of the vehicle, a compensation torque is determined based on the real-time acceleration and initial acceleration of the vehicle to overcome the resistance during the starting phase so that the vehicle can start quickly.

[0062] S270: Determine the target torque according to the initial torque and the compensation torque.

[0063] S290: Output the target torque to the motor controller of the vehicle.

[0064] The target torque may be the sum of the initial torque and the compensation torque. After the target torque is determined, it is sent to the motor controller so that the motor outputs according to the target torque.

[0065] The vehicle launch control method provided in the embodiments of this application is different from the prior art, which requires a long wait time even after the driver deeply presses the accelerator. For example, when a fully loaded vehicle starts on a slope, the vehicle must overcome a large starting resistance. The vehicle launch control method provided in the embodiments of this application determines the compensation torque based on the real-time accelerator pedal opening, superimposing the target torque on the initial torque, enabling a quick vehicle launch and improving vehicle launch stability.

[0066] In an optional implementation, determining the vehicle initial torque and initial acceleration may include:

[0067] Acquire first data and second data, the first data being a mapping relationship between the accelerator pedal opening, the vehicle speed, and the initial torque; and the second data being a mapping relationship between the accelerator pedal opening and the initial acceleration;

[0068] determining an initial torque of the vehicle according to the first data and an accelerator pedal opening;

[0069] An initial acceleration of the vehicle is determined based on the second data and the accelerator pedal opening.

[0070] In practical applications, the first data may be a torque map, which stores the relationship between accelerator pedal opening, vehicle speed, and torque. The initial torque can be obtained by querying the torque map. The second data may be an acceleration map, which stores the relationship between accelerator pedal opening and acceleration. The initial acceleration can be obtained by querying the acceleration map.

[0071] In an optional embodiment, the method may further include:

[0072] If the driving parameter does not meet the preset condition, the target torque is determined based on the first data.

[0073] When the driving parameters do not meet the preset conditions, that is, the vehicle state is not ready, the vehicle is not in D gear or R gear, the parking brake is in the braking state, and the vehicle speed is greater than 1 km / h, the vehicle determines the target torque based on the first data, that is, the vehicle directly determines the target torque based on the accelerator pedal opening and the vehicle speed, without the need for torque compensation.

[0074] In actual applications, the vehicle performs torque compensation during the starting phase to enable the vehicle to start quickly. After the vehicle starts, the torque compensation mode is exited to prevent the vehicle from accelerating too quickly after starting. While improving the vehicle's starting response characteristics, it can also improve the vehicle's acceleration stability.

[0075] In an optional embodiment, determining the current compensation torque of the vehicle based on the real-time acceleration and the initial acceleration of the vehicle may include:

[0076] determining an acceleration deviation of the vehicle based on the real-time acceleration and the initial acceleration of the vehicle;

[0077] Based on the proportional-integral result of the acceleration deviation, the compensation torque of the vehicle is determined.

[0078] In this embodiment, the vehicle's acceleration is used as the control target. By identifying the vehicle's real-time and initial acceleration, the VCU performs closed-loop torque compensation based on the acceleration target. In practical applications, fuzzy proportional-integral control is used to control acceleration and obtain compensation torque, effectively resolving delays when driving over speed bumps and starting on steep slopes.

[0079] In an optional embodiment, determining the compensation torque of the vehicle based on the proportional integral result of the acceleration deviation may include:

[0080] Acquire third data and fourth data, where the third data is a mapping relationship between the acceleration deviation and the first compensation torque, where the first compensation torque is a torque compensated based on a proportional link; and the fourth data is a mapping relationship between the acceleration deviation and the second compensation torque, where the second compensation torque is a compensation torque based on an integral link.

[0081] determining a first compensation torque according to the acceleration deviation and the third data;

[0082] determining a second compensation torque according to the acceleration deviation and fourth data;

[0083] A compensation torque of the vehicle is determined based on the first compensation torque and the second compensation torque.

[0084] In the embodiment of the present application, the compensation torque of the vehicle is determined by the proportional integral result of the acceleration deviation. It should be noted that the proportional integral used in the embodiment of the present application is fuzzy PI, and the control parameters are dynamically adjusted through fuzzy logic, including: proportional coefficient K p and the integral coefficient Ki , to adapt to system uncertainties, nonlinearities, or time-varying characteristics, thereby improving control performance. The third data stores a mapping between acceleration deviation and the first compensation torque. The first compensation torque can be determined from the acceleration deviation. In this embodiment, the first compensation torque is based on a proportional mechanism, directly generating the compensation torque based on the current error. As shown in Table 1, when the acceleration deviation is 0, the compensation torque is 0 N·m, and when the acceleration deviation is 0.8, the compensation torque is 2400 N·m. The fourth data stores a mapping between acceleration deviation and the second torque. The second compensation torque can be determined from the acceleration deviation. In this embodiment, the second compensation torque is based on an integral mechanism, gradually increasing the control effect by accumulating errors over all past moments until the error returns to zero. As shown in Table 2, when the acceleration deviation is 0, the compensation torque is 0 N·m, and when the acceleration deviation is 0.2, the compensation torque is 0.02 N·m. Table 1 shows the mapping between acceleration deviation and the first compensation torque. Table 2 shows the mapping between acceleration deviation and the second torque.

[0085] Table 1

[0086] acceleration deviation 0 0.2 0.4 0.6 0.8 P 0 600 1200 1800 2400

[0087] Table 2

[0088]

[0089] In an optional implementation, obtaining the real-time acceleration of the vehicle may include:

[0090] Get the first speed of the vehicle at the current moment and the second speed of the vehicle at the previous moment;

[0091] The real-time acceleration is determined according to a ratio of the first speed and the second speed to the time interval.

[0092] In practice, the real-time acceleration can be determined by taking the ratio of the vehicle's current first velocity to the previous second velocity, divided by the time interval. To more accurately determine the real-time acceleration, calculate the acceleration five times in a row, sort the accelerations from smallest to largest, remove the minimum and maximum values, and then take the average of the three middle accelerations to determine the current real-time acceleration.

[0093] In an optional embodiment, the driving parameters may further include: vehicle status, vehicle gear position, parking brake status, and vehicle speed; the driving parameters meeting the preset conditions include:

[0094] The vehicle state is a ready state, the gear position of the vehicle is not a neutral position, the state of the parking brake is a non-braking state, and the vehicle speed is less than a preset vehicle speed threshold.

[0095] The launch control method of the present embodiment applies a compensating torque during the launch phase, facilitating faster vehicle launch under varying loads and operating conditions, effectively addressing delays in starting over speed bumps and on steep slopes. After launch, if the vehicle's driving conditions no longer meet the preset requirements, the compensating torque is immediately reset to zero. The vehicle then outputs a driving torque value based on first data, namely, the accelerator pedal opening and vehicle speed. Because this torque rises slowly, the compensating torque is withdrawn after launch, allowing the torque to be determined using a torque map. This effectively addresses the need for extremely slow vehicle acceleration. For example, some urban buses require a 0-50 km / h acceleration time of 20-25 seconds. Using the launch control method provided by the present embodiment, when encountering a slight slope during the launch phase, the compensating torque is applied. After launch, due to the withdrawal of the compensating torque, the vehicle's driving torque is relatively low. Driven solely by the torque output from the torque map, the vehicle's subsequent acceleration time can be well controlled, for example, achieving a 0-50 km / h acceleration time of 20 seconds, and linear acceleration can be achieved in the subsequent acceleration.

[0096] Exemplary devices

[0097] Accordingly, the embodiment of the present application further provides a vehicle starting control device, Figure 3 This is a structural block diagram of the vehicle starting control device provided in the embodiment of the present application. Figure 3 , the apparatus may include:

[0098] An acquisition unit 310 is configured to acquire driving parameters of the vehicle, wherein the driving parameters include at least an accelerator pedal opening;

[0099] A first determining unit 330 is configured to determine an initial torque and an initial acceleration of the vehicle based on an accelerator pedal opening if the driving parameter meets a preset condition;

[0100] A second determining unit 350 is configured to determine a current compensation torque of the vehicle based on the real-time acceleration and the initial acceleration of the vehicle;

[0101] a third determining unit 370, configured to determine a target torque according to the initial torque and the compensation torque;

[0102] The output unit 390 is configured to output the target torque to the motor controller of the vehicle.

[0103] The vehicle start control device provided in this embodiment shares the same concept as the vehicle start control method provided in the aforementioned embodiments of this application. It can execute the vehicle start control method provided in any of the aforementioned embodiments of this application and possesses the corresponding functional modules and beneficial effects of executing the vehicle start control method. Technical details not fully described in this embodiment can be found in the specific processing details of the vehicle start control method provided in the aforementioned embodiments of this application and will not be further elaborated here.

[0104] The functions implemented by the above acquisition unit 310, first determination unit 330, second determination unit 350, third determination unit 370 and output unit 390 can be implemented by the same or different processors respectively, and the embodiment of the present application is not limited thereto.

[0105] It should be understood that the acquisition unit 310, first determination unit 330, second determination unit 350, third determination unit 370, and output unit 390 in the above device can be implemented in the form of a processor calling software. For example, the device includes a processor connected to a memory, the memory storing instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or the functions of each unit of the device. The processor can be a general-purpose processor, such as a CPU or a microprocessor, and the memory can be a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be implemented through the design of the hardware circuits. The hardware circuits can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units can be implemented through the design of the logical relationships between the components within the circuits. For another example, the hardware circuit can be implemented using a PLD. For example, an FPGA can include a large number of logic gate circuits, and the connections between the logic gate circuits are configured through a configuration file to implement the functions of some or all of the above units. All units of the above apparatus may be implemented entirely in the form of software called by a processor, or entirely in the form of hardware circuits, or partially in the form of software called by a processor and the rest in the form of hardware circuits.

[0106] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and execute instructions, such as a CPU, a microprocessor, a GPU, or a DSP. In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0107] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0108] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, such as a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0109] Exemplary electronic devices

[0110] Another embodiment of the present application further provides an electronic device, see Figure 4 As shown, the device includes:

[0111] Memory 400 and processor 410;

[0112] The memory 400 is connected to the processor 410 and is used to store programs;

[0113] The processor 410 is configured to implement the vehicle starting control method disclosed in any of the above embodiments by running the program stored in the memory 400 .

[0114] Specifically, the electronic device may further include: a bus, a communication interface 420 , an input device 430 and an output device 440 .

[0115] The processor 410, the memory 400, the communication interface 420, the input device 430 and the output device 440 are interconnected via a bus.

[0116] A bus may include a pathway that transfers information between components of a computer system.

[0117] Processor 410 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. Alternatively, it can be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0118] The processor 410 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0119] The memory 400 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which includes computer operating instructions. More specifically, the memory 400 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, etc.

[0120] The input device 430 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0121] Output device 440 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0122] The communication interface 420 may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0123] The processor 410 executes the program stored in the memory 400 and calls other devices, which can be used to implement each step of any vehicle starting control method provided in the above embodiments of the present application.

[0124] An embodiment of the present application also provides a vehicle, comprising the above-mentioned electronic device.

[0125] An embodiment of the present application also proposes a chip, which includes a processor and a data interface. The processor reads and runs a program stored in a memory through the data interface to execute the vehicle starting control method introduced in any of the above embodiments. The specific processing process and its beneficial effects can be found in the above-mentioned embodiment introduction of the vehicle starting control method.

[0126] Exemplary computer program products and storage media

[0127] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle starting control method according to various embodiments of the present application described in any of the above-mentioned embodiments of this specification.

[0128] The computer program product may be written in any combination of one or more programming languages to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0129] In addition, the embodiment of the present application may also be a storage medium having a computer program stored thereon. The computer program is used by a processor to execute the steps of the vehicle launch control method according to various embodiments of the present application described in any of the above embodiments of this specification. Specifically, the following steps may be implemented:

[0130] S210: Acquire driving parameters of the vehicle, where the driving parameters at least include an accelerator pedal opening.

[0131] S230: If the driving parameters meet the preset conditions, determining the initial torque and initial acceleration of the vehicle based on the accelerator pedal opening;

[0132] S250: Determine the current compensation torque of the vehicle based on the real-time acceleration and initial acceleration of the vehicle.

[0133] S270: Determine the target torque according to the initial torque and the compensation torque.

[0134] S290: Output the target torque to the motor controller of the vehicle.

[0135] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0136] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0137] The steps in the methods of each embodiment of the present application can be adjusted in sequence, merged, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0138] The modules and sub-modules in the devices and terminals of the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0140] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0141] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0142] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0143] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0144] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0145] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle starting control method, characterized in that: include: Acquiring driving parameters of the vehicle, wherein the driving parameters at least include an accelerator pedal opening; If the driving parameter meets a preset condition, determining an initial torque and an initial acceleration of the vehicle based on the accelerator pedal opening; determining a current compensation torque of the vehicle based on the real-time acceleration of the vehicle and the initial acceleration; determining a target torque according to the initial torque and the compensation torque; The target torque is output to a motor controller of the vehicle.

2. The vehicle starting control method according to claim 1, characterized in that: The determining of the vehicle initial torque and initial acceleration includes: Acquire first data and second data, wherein the first data is a mapping relationship between the accelerator pedal opening, the vehicle speed, and the initial torque; and the second data is a mapping relationship between the accelerator pedal opening and the initial acceleration; determining an initial torque of the vehicle according to the first data and the accelerator pedal opening; An initial acceleration of the vehicle is determined based on the second data and the accelerator pedal opening.

3. The vehicle starting control method according to claim 2, characterized in that: The method further comprises: If the driving parameter does not meet the preset condition, the target torque is determined based on the first data.

4. The vehicle starting control method according to claim 1, characterized in that: The determining of the current compensation torque of the vehicle based on the real-time acceleration and the initial acceleration of the vehicle includes: determining an acceleration deviation of the vehicle based on the real-time acceleration of the vehicle and the initial acceleration; Based on a proportional-integral result of the acceleration deviation, a compensation torque of the vehicle is determined.

5. The vehicle starting control method according to claim 4, characterized in that: The determining of the compensation torque of the vehicle based on the proportional integral result of the acceleration deviation includes: Acquire third data and fourth data, wherein the third data is a mapping relationship between the acceleration deviation and a first compensation torque, where the first compensation torque is a torque compensated based on a proportional link; and the fourth data is a mapping relationship between the acceleration deviation and a second compensation torque, where the second compensation torque is a compensation torque based on an integral link; determining the first compensation torque according to the acceleration deviation and the third data; determining the second compensation torque according to the acceleration deviation and the fourth data; A compensation torque of the vehicle is determined based on the first compensation torque and the second compensation torque.

6. The vehicle starting control method according to claim 1, characterized in that: Obtaining the real-time acceleration of the vehicle includes: Obtaining a first speed of the vehicle at a current moment and a second speed of the vehicle at a previous moment; The real-time acceleration is determined according to a ratio of the first speed and the second speed to a time interval.

7. The vehicle starting control method according to claim 1, characterized in that: The driving parameters also include: vehicle status, vehicle gear position, parking brake status and vehicle speed; the driving parameters meet the preset conditions, including: The vehicle state is a ready state, the gear position of the vehicle is a non-neutral gear position, the state of the parking brake is a non-braking state, and the vehicle speed is less than a preset vehicle speed threshold.

8. A vehicle starting control device, characterized in that: include: an acquiring unit, configured to acquire driving parameters of the vehicle, wherein the driving parameters at least include an accelerator pedal opening; a first determining unit, configured to determine an initial torque and an initial acceleration of the vehicle based on the accelerator pedal opening if the driving parameter meets a preset condition; a second determining unit, configured to determine a current compensation torque of the vehicle based on the real-time acceleration of the vehicle and the initial acceleration; a third determining unit, configured to determine a target torque according to the initial torque and the compensation torque; An output unit is used to output the target torque to a motor controller of the vehicle.

9. An electronic device, characterized in that: including memory and processor; The memory is connected to the processor and is used to store programs; The processor is configured to implement the vehicle starting control method according to any one of claims 1 to 7 by running the program in the memory.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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