Vehicle control method and device and vehicle

Abstract

The invention relates to the field of vehicle control, and particularly discloses a vehicle control method and device and a vehicle, the vehicle control method is applied to an electric vehicle, and the method comprises the steps that after a gear shifting action of a user is received, whether a simulation gear shifting condition is met or not is judged based on a current gear and a driving mode of the vehicle; if the simulation gear shifting condition is met, a first gear is determined based on the current vehicle speed of the vehicle; based on the gear shifting action and the first gear, a second gear and a vehicle speed limiting range corresponding to the second gear are determined; based on the first gear and the second gear, the vehicle output torque of the vehicle within the preset duration after the gear shifting action is determined; and controlling vehicle driving based on the vehicle output torque. When the simulated gear shifting condition is met, simulated gear shifting is carried out based on the gear shifting action of the user, and the corresponding vehicle output torque in the gear shifting process and after the gear shifting process is determined, so that the user has the driving experience closer to that of an oil vehicle, and the driving fun is improved.

Description

Technical Field

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

[0002] Electric vehicles are vehicles that use batteries as a power source. Since there are no fuel engines in electric vehicles, the noise and pollution emissions of electric vehicles are far less than those of fuel vehicles, making electric vehicles increasingly popular among users.

[0003] However, since there is no fuel engine in electric vehicles, electric vehicles run too smoothly during driving, so it is difficult for users to get the driving pleasure of driving a fuel vehicle when driving an electric vehicle. Summary of the Invention

[0004] In view of the above problems, the present disclosure provides a vehicle control method, device and vehicle that overcome the above problems or at least partially solve the above problems. The technical solutions are as follows:

[0005] A vehicle control method, characterized in that it is applied to an electric vehicle, the method comprising:

[0006] After receiving the user's gear shift action, based on the vehicle's current gear position and driving mode, it determines whether the simulated gear shift conditions are met;

[0007] If the simulated gear shift condition is met, determining the first gear based on the current vehicle speed;

[0008] determining a second gear position and a vehicle speed limit range corresponding to the second gear position based on the gear shifting action and the first gear position;

[0009] determining a vehicle output torque of the vehicle within a preset time period after the gear shifting action based on the first gear and the second gear;

[0010] The vehicle is controlled to travel based on the vehicle output torque so that the vehicle speed falls within the vehicle speed limit range.

[0011] After receiving the user's gear shifting action, the system determines whether the simulated gear shifting conditions are met based on the vehicle's current gear position and driving mode. When the simulated gear shifting conditions are met, the system performs a simulated gear shift based on the user's gear shifting action, and determines the corresponding vehicle output torque during and after the gear shifting process, thereby allowing users to have a driving experience closer to that of a gasoline vehicle and improving driving pleasure.

[0012] Optionally, the simulated shift condition is:

[0013] The current gear of the vehicle is a forward gear, and the driving mode of the vehicle is a preset driving mode, which includes at least one of a sport mode and a launch mode.

[0014] This application uses the vehicle's current gear position and driving mode as factors to determine whether the simulated shifting conditions are met, so that the timing of executing the simulated shifting can be more in line with user expectations, thereby improving the user's driving experience.

[0015] Optionally, determining the first gear based on the current vehicle speed specifically includes:

[0016] Determine a pre-built vehicle speed and gear matching table;

[0017] In the vehicle speed and gear matching table, the first gear corresponding to the current vehicle speed is determined.

[0018] By pre-building a vehicle speed and gear matching table and storing the vehicle speed and gear matching table in the vehicle's processor, it is possible to quickly determine the first gear corresponding to the current vehicle speed during the simulated gear shifting process, thereby improving the response speed of the simulated gear shifting and ensuring the stability of the simulated gear shifting process.

[0019] Optionally, determining the second gear position based on the gear shifting action and the first gear position specifically includes:

[0020] Determining an action type corresponding to the shift action, where the action type includes an upshift action and a downshift action;

[0021] Based on the action type and the first gear, the second gear is determined among gears adjacent to the first gear.

[0022] This application monitors the user's shifting action and distinguishes the action type of the shifting action to judge the user's shifting intention, and determines the second gear after the shift based on the first gear and the shifting intention, thereby improving the stability of the simulated shifting process.

[0023] Optionally, determining the vehicle output torque of the vehicle within a preset time period after the gear shifting action based on the first gear and the second gear specifically includes:

[0024] Determining first simulated shift parameters corresponding to the first gear and the second gear, the first simulated shift parameters including a first output torque, a second output torque, a third output torque, a first preset time, a second preset time, and a third preset time;

[0025] within a first preset time period after the gear shifting action, increasing the vehicle output torque from the first output torque to the second output torque;

[0026] During a second preset time period after the first preset time period, maintaining the vehicle output torque at a second output torque;

[0027] The vehicle output torque is reduced from the second output torque to a third output torque within a third preset time period after the second preset time period.

[0028] During the simulated gear shifting process, the vehicle's output torque is first increased, and then reduced after maintaining it for a period of time, so that the user can feel a push-back feeling during the simulated gear shifting process, thereby improving the user's driving experience in electric vehicles.

[0029] Optionally, when the action type of the shifting action is an upshift action, the third output torque is lower than the first output torque;

[0030] When the action type of the shift action is a downshift action, the third output torque is higher than the first output torque.

[0031] This application adjusts the output torque range of the vehicle after the gear shift simulation through the action type of the gear shift action, so that the driving experience of the electric vehicle is closer to that of the gasoline vehicle, and can provide a more appropriate vehicle output torque based on the user's needs, thereby improving the user's driving experience.

[0032] Optionally, the determining first simulated shift parameters corresponding to the first gear and the second gear specifically includes:

[0033] Obtaining the current output torque, current vehicle speed, and current pedal depth of the vehicle;

[0034] Using the current output torque as the first output torque in the first simulated shift parameter;

[0035] determining a torque change value corresponding to the current vehicle speed and the current pedal depth based on the first gear and the second gear;

[0036] determining the second output torque based on the first output torque and the torque change value;

[0037] A third output torque among the first simulated gear shift parameters is determined based on the first gear position, the second gear position, the current vehicle speed, and the current pedal depth.

[0038] By monitoring the vehicle speed data and pedal depth data during the gear shift simulation, the vehicle output torque corresponding to the current vehicle speed data and pedal depth data is determined to ensure that the vehicle's torque changes during the gear shift simulation are smoother, and the push-back feeling provided by the gear shift simulation process can match the vehicle speed and pedal opening to ensure that the user can clearly feel the push-back feeling at different vehicle speeds and different pedal depths, thereby ensuring the user's driving experience.

[0039] Optionally, determining first simulated shift parameters corresponding to the first gear and the second gear specifically includes:

[0040] Obtaining an engine displacement simulation request from a user, and determining an engine simulation displacement based on the engine displacement simulation request;

[0041] Determine second simulated shift parameters corresponding to the simulated engine displacement, wherein the second simulated shift parameters include a first preset time, a first torque change slope within the first preset time, a second preset time, a third preset time, and a second torque change slope within the third preset time.

[0042] This application can simulate engines of different displacements and engines of the same displacement but different models, thereby providing different output torques during the gear shift simulation process to bring users different driving experiences and meet their driving preferences.

[0043] The present application also provides a vehicle control device, which is applied to an electric vehicle and includes:

[0044] The condition judgment module, after receiving the user's gear shift action, determines whether the simulated gear shift conditions are met based on the vehicle's current gear position and driving mode;

[0045] a first gear determination module, configured to determine a first gear based on a current vehicle speed if the simulated gear shift condition is satisfied;

[0046] a second gear determination module, configured to determine a second gear and a vehicle speed limit range corresponding to the second gear based on the gear shifting action and the first gear;

[0047] an output torque determination module, which determines a vehicle output torque of the vehicle within a preset time period after the gear shifting action based on the first gear position and the second gear position;

[0048] The torque control module controls the vehicle to travel based on the vehicle output torque so that the vehicle speed is within the speed limit range.

[0049] The present application also provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the above-described vehicle control methods when executing the computer program.

[0050] By means of the above technical solution, the present disclosure provides a vehicle twisting method, device and vehicle, which, after receiving the user's gear shifting action, determines whether the simulated gear shifting conditions are met through the vehicle's current gear position and driving mode, and when the simulated gear shifting conditions are met, performs simulated gear shifting based on the user's gear shifting action, and determines the corresponding vehicle output torque during and after the gear shifting process, thereby allowing the user to have a driving experience closer to that of a gasoline vehicle and improving driving pleasure.

[0051] The above description is only an overview of the technical solution of the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific implementation methods of the present disclosure are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present disclosure. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0053] Figure 1 A schematic flow chart of a vehicle control method according to an embodiment of the present disclosure is shown;

[0054] Figure 2 A schematic diagram showing changes in output torque during an upshift in an embodiment of the present disclosure is shown;

[0055] Figure 3 A schematic diagram showing changes in output torque during a downshifting process according to an embodiment of the present disclosure is shown;

[0056] Figure 4 A schematic structural diagram of a vehicle control device according to an embodiment of the present disclosure is shown;

[0057] Figure 5 A schematic structural diagram of a vehicle in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0058] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0059] Electric vehicles are vehicles that use batteries as a power source. Since there are no fuel engines in electric vehicles, the noise and pollution emissions of electric vehicles are far less than those of fuel vehicles, making electric vehicles increasingly popular among users.

[0060] However, since electric vehicles do not have fuel engines, they are too stable during driving, making it difficult for users to experience the same driving pleasure as a fuel-powered vehicle. Therefore, this application provides a vehicle control method for electric vehicles. This method can be applied to various business areas. The process can be executed by a computing device installed in the vehicle. Certain input parameters or intermediate results in the process can be manually adjusted to help improve accuracy.

[0061] The implementation of the analysis method involved in the embodiment of the present application can be a terminal device or a server, and the present application does not impose any special restrictions on this. For the convenience of understanding and description, the following embodiments are described in detail using the server as an example. It should be noted that the server can be a single device or a system composed of multiple devices, that is, a distributed server, and the present application does not impose any specific restrictions on this. Figure 1 As shown, the method includes:

[0062] S101: After receiving the user's gear shifting action, determine whether the simulated gear shifting conditions are met based on the vehicle's current gear position and driving mode.

[0063] First, after receiving the shift action from the user, the vehicle computer needs to determine whether the vehicle meets the simulated shift conditions. The shift action here refers to the action that can prompt the user to perform a simulated shift or issue a simulated shift instruction. For example, a paddle for simulated shifting can be set next to the steering wheel. When the user pulls the paddle, it is considered that the user has issued an execution action. Alternatively, a specific simulated shift button can be set on the steering wheel. When the user presses the button, it is considered that the user has executed the shift action. This application will later explain the steering wheel paddle as the shift action.

[0064] To determine whether the simulated shift conditions are met, the vehicle's current gear and driving mode are obtained to determine whether the vehicle meets the simulated shift conditions. If the conditions are met, the simulated shift function is enabled and the user can use the simulated shift function. For electric vehicles, the current gear includes forward gear, park gear, reverse gear, and other gears, and the driving modes include active mode, classic mode, sport mode, and launch mode.

[0065] In one embodiment, when determining whether a vehicle satisfies the simulated shifting conditions, it is first necessary to determine whether the vehicle's current gear is a forward gear. It is understandable that only when the vehicle is in a forward state does the electric vehicle have the motivation to perform the simulated shifting function of a fuel vehicle. When the vehicle is in a parking gear or a reverse gear, the simulated shifting conditions are not met. On the basis that the vehicle's current gear is a forward gear, it is also necessary to obtain the vehicle's driving mode. When determining the driving mode, it is necessary to make the driving mode belong to a more aggressive mode type. For example, when the vehicle is starting, if it is in a launch mode, the electric vehicle can be subjected to the simulated shifting conditions of a fuel vehicle to provide the user with a better driving experience during the launch start process. When the vehicle is driving, it is required that the driving mode at this time is a sports mode to enhance the user's driving experience.

[0066] S102: If the simulated gear shift condition is met, determining the first gear based on the current vehicle speed;

[0067] If the vehicle meets the simulated shift conditions, after the user moves the steering wheel paddle, the vehicle computer obtains the vehicle's current speed and determines the first gear position based on the current speed. The first gear position here refers to the initial gear position during the simulated shift process.

[0068] Specifically, when determining the first gear of the vehicle, it is necessary to determine a pre-built vehicle speed gear matching table. The vehicle speed gear matching table here stores the first gears corresponding to different current vehicle speeds. An example is as follows:

[0069]

[0070]

[0071] The speed ranges corresponding to the different first gears in the speed and gear matching table can be pre-calibrated. For example, the speed ranges corresponding to different gears of a fuel-powered vehicle can be pre-acquired. The speed ranges here should ensure that the vehicle does not experience abnormal noise or vibration. This speed range is then used as the speed range corresponding to the simulated gear of the electric vehicle and written into the speed and gear matching table. After the user performs a gear shift, the speed range of the current vehicle speed can be determined based on the pre-stored speed and gear matching table. The corresponding first gear can then be determined based on the speed range, and the first gear obtained from the query can be uploaded to the vehicle computer.

[0072] By pre-building a vehicle speed and gear matching table and storing it in the vehicle's processor, the first gear corresponding to the current vehicle speed can be quickly determined during the simulated gear shifting process, thereby preventing the mismatch between the vehicle speed and the gear during gear shifting and ensuring the stability of the simulated gear shifting process.

[0073] S103: Determining a second gear and a vehicle speed limit range corresponding to the second gear based on the gear shifting action and the first gear;

[0074] After determining the vehicle's first gear, the second gear after the simulated shift is completed can be determined based on the shift action and the first gear, and the vehicle speed limit after the simulated shift is determined based on the second gear. It will be appreciated that the steering wheel paddles can be set in two directions: one direction can be set for upshifting, and the other direction can be set for downshifting. Therefore, the second gear can be determined based on the shift action and the first gear.

[0075] Specifically, when determining the second gear position based on the first unit and the shift action, the action type corresponding to the shift action must first be determined, that is, the direction of the steering wheel paddle movement. Here, the action types are categorized as upshift actions and downshift actions. Then, based on the action type and the first gear position, the second gear position can be determined from a gear position adjacent to the first gear position. For example, if the current gear position is second gear and the shift action is an upshift action, third gear must be selected as the second gear position from the two gear positions adjacent to second gear (first and third gear).

[0076] This application monitors the user's shifting action and distinguishes the action type of the shifting action to judge the user's shifting intention, and determines the second gear after the shift based on the first gear and the shifting intention, thereby improving the stability of the simulated shifting process.

[0077] It is understood that upshifting and downshifting can be further subdivided. For example, upshifting can include skip upshifting and sequential upshifting. Sequential upshifting means that only one gear is shifted up in one upshifting, while skip upshifting means that multiple gears are shifted up in one upshifting.

[0078] It is understandable that in addition to requiring the user to manually execute or input through the car computer screen, the gear shifting action can also be issued through voice commands. After receiving the voice command corresponding to the gear shifting action, the car computer will identify the voice command to determine the keywords it contains and determine whether the voice command of the gear shifting action corresponds to an upshifting action or a downshifting action.

[0079] S104: Based on the first gear and the second gear, determine the vehicle output torque within a preset time period after the gear shifting action.

[0080] After the first gear position and the second gear position are determined, the vehicle output torque during and after the simulated gear shift process may be determined based on the first gear position and the second gear position.

[0081] In one embodiment, in order to allow the user to have a clear perception during the gear shifting process, a short output torque increase can be added during the simulated gear shifting process, so that the user can clearly feel a push back feeling every time a simulated gear shift is performed during the simulated gear shifting process, thereby enhancing the user's perception of gear changes. Specifically, the corresponding simulated gear shift parameters can be determined based on the first gear and the second gear. The simulated gear shift parameters here include the first output torque, the second output torque, the third output torque, the first preset time, the second preset time, and the third preset time. Among them, the first output torque refers to the initial output torque during the simulated gear shifting process, that is, the output torque of the electric vehicle when the user pulls the steering wheel paddle. The third output torque refers to the corresponding output torque after the simulated gear shifting process is completed.

[0082] After determining the simulated shift parameters, the vehicle output torque can be increased from the first output torque to the second output torque within a first preset time period after the shift action (e.g., 0.4 seconds). The vehicle output torque is maintained at the second output torque for a second preset time period after the first preset time period (e.g., 0.3 seconds), thereby providing the user with a more pronounced push-back feeling. Towards the end of the simulated shift, that is, within a third preset time period after the second preset time period, the vehicle output torque is reduced from the second output torque to the third output torque.

[0083] During the simulated gear shifting process, the vehicle's output torque is first increased, and then reduced after maintaining it for a period of time, so that the user can feel a push-back feeling during the simulated gear shifting process, thereby improving the user's driving experience in electric vehicles.

[0084] In one embodiment, when the shifting action is an upshifting action, the third output torque will be lower than the first output torque. At this time, the vehicle output torque in the simulated shifting process is as follows: Figure 2 As shown, Figure 2 This is a schematic diagram of the instantaneous change of torque during the shift from second gear to third gear. Before the simulated shift, the vehicle is in the speed range corresponding to the second gear. At this time, the corresponding output torque is torque 2 (the first output torque), and within the first preset time after the simulated shift ( Figure 2 The torque is increased from torque 2 to Δ torque (second output torque) within the Ta period in the , and Figure 2The vehicle output torque is maintained constant during the Tb period (Tb), and the vehicle output torque is maintained constant during the third preset time ( Figure 2 The output torque of the vehicle is reduced from Δ torque to torque 3 (third output torque) within the Tc time period in the vehicle, and the third output torque is lower than the first output torque.

[0085] On the contrary, when the gear shifting action is a downshifting action, the third output torque will be higher than the first output torque. At this time, the vehicle output torque in the simulated gear shifting process is as follows: Figure 3 As shown, Figure 3 Schematic diagram of the instantaneous change of torque during the process of shifting from sixth gear to fifth gear. Before the simulated gear shift, the vehicle is in the speed range corresponding to the sixth gear. At this time, the corresponding output torque is torque 6 (the first output torque), and within the first preset time after the simulated gear shift ( Figure 3 The torque is increased from torque 6 to Δ torque (second output torque) within the Ta' period in the second preset time ( Figure 3 The vehicle output torque is maintained constant during the Tb' period (Tb' in the vehicle output torque is maintained constant during the third preset time ( Figure 3 During the Tc' period (in the 'Tc' time period), the vehicle's output torque is reduced from ∆ torque to torque 5 (the third output torque), with the third output torque being lower than the first output torque. When downshifting (such as when downshifting to overtake), the driver should be aware of the "downshift" through the instantaneous torque change, while simultaneously increasing the maximum motor torque.

[0086] This application adjusts the output torque range of the vehicle after the gear shift simulation through the action type of the gear shift action, so that the driving experience of the electric vehicle is closer to that of the gasoline vehicle, and can provide a more appropriate vehicle output torque based on the user's needs, thereby improving the user's driving experience.

[0087] It should be noted that during the aforementioned upshift and downshift processes, the values ​​corresponding to the first output torque, second output torque, third output torque, first preset duration, second preset duration, and third preset duration must be calibrated in advance. Calibration should be based on the vehicle type and the driver's actual experience. The upshift and downshift processes are also very short, completing within 1 second to simulate a gear shift. After the simulated shift is complete, the vehicle output torque is controlled within the speed limit corresponding to the second gear.

[0088] In one embodiment, it is understood that during the simulated shift process, the vehicle output torque corresponding to each time point is related to the vehicle speed and the current accelerator pedal opening. Even during the same shift from second gear to third gear, the corresponding first, second, and third output torques differ at different accelerator pedal openings. Similarly, under different vehicle speed conditions (within the speed limit of the same gear, such as 21 km / h and 29 km / h), the second output torque of the vehicle also varies to ensure a similar push-back feeling experienced by the driver. Therefore, when determining the vehicle output torque at each time point during the simulated shift process, it is necessary to consider the impact of pedal depth and vehicle speed on the driver's perception. Specifically, the simulated shift parameters must be pre-calibrated based on different pedal depths and vehicle speeds. After pre-calibration, the vehicle speed-pedal depth-output torque values ​​must be stored in a preset table. When determining the vehicle output torque during the simulated shift process, the table is looked up using the current vehicle speed and pedal depth to determine the vehicle output torque corresponding to each time point.

[0089] Specifically, when determining the simulated shift parameters during the simulated shift process, it is necessary to obtain the current output torque, current vehicle speed, and current pedal depth of the vehicle. The current output torque is used as the first output torque in the first simulated shift parameter, and based on the first gear and the second gear, the torque change value corresponding to the current vehicle speed and the current pedal depth (i.e., the torque increase value within the first preset time length) is determined. The second output torque can be determined by adding the first output torque to the torque change value. Based on the first gear, the second gear, the current vehicle speed, and the current pedal depth, the third output torque in the pre-calibrated first simulated shift parameter can be determined.

[0090] By monitoring the vehicle speed data and pedal depth data during the gear shift simulation, the vehicle output torque corresponding to the current vehicle speed data and pedal depth data is determined to ensure that the vehicle's torque changes during the gear shift simulation are smoother, and the push-back feeling provided by the gear shift simulation process can match the vehicle speed and pedal opening to ensure that the user can clearly feel the push-back feeling at different vehicle speeds and different pedal depths, thereby ensuring the user's driving experience.

[0091] The simulated shift parameters may be pre-stored in a storage device of the computer device. When the vehicle output torque needs to be determined during a simulated shift, the computer device may retrieve the simulated shift parameters from the storage device. Of course, the computer device may also obtain the simulated shift parameters from other external devices. For example, the simulated shift parameters may be stored in a cloud. When the vehicle output torque needs to be determined during a simulated shift, the computer device may retrieve the simulated shift parameters from the cloud. This embodiment does not limit the method for obtaining the simulated shift parameters.

[0092] In one embodiment, since the present application simulates the vehicle output torque of a fuel vehicle through an electric vehicle, different engine output torques can be selected for simulation during the simulation, for example, engines of different displacements can be selected for simulation, or engines of the same displacement but different models can be selected for simulation. During the simulation, it is necessary to first obtain the engine displacement simulation request from the user, so as to determine the simulated shifting process and the corresponding simulated engine displacement after the simulated shifting process is completed. For example, if the user selects a 2.0T displacement engine for simulation, then during the simulated shifting process, the first output torque, the second output torque, and the third output torque are converted into the output torque corresponding to the 2.0T displacement engine based on the current vehicle speed and pedal depth, and after the simulated shifting is completed, the vehicle output torque corresponding to the 2.0T displacement engine is determined based on the current vehicle speed and pedal depth.

[0093] Specifically, after obtaining the simulated engine displacement in advance, during the user's simulated shifting process, the vehicle determines the simulated engine displacement based on the engine displacement simulation request sent by the user. It also determines second simulated shift parameters corresponding to the simulated engine displacement. These second simulated shift parameters include parameters such as a first preset duration, a first torque change slope within the first preset duration, a second preset duration, a third preset duration, and a second torque change slope within the third preset duration.

[0094] Furthermore, in addition to simulating engines of different displacements as described above, it is also possible to simulate engines of the same displacement but different models. Simply by obtaining the engine output torque of that engine model at different vehicle speeds and pedal depths in advance, the vehicle output torque can be simulated during and after the simulated shifting process. During the simulation, to distinguish between engines of the same displacement but different models, the sound waves of that engine model at different output torques can also be obtained in advance and stored in the electric vehicle. During driving, if the simulated shifting conditions are met, the corresponding engine sound waves of that engine model at different output torques can be output through the vehicle computer to enhance the user's driving experience.

[0095] By simulating engines of different displacements and engines of the same displacement but different models, different output torques can be provided during the gear shift simulation to bring users different driving experiences and meet their driving preferences.

[0096] In one embodiment, when a user is driving on different road sections, different engine displacements can be recommended to the user based on the corresponding road conditions. After the user confirms or makes a selection, the corresponding engine is used for simulation. For example, when the user is driving on a highway with fewer vehicles, the vehicle computer can recommend a larger engine displacement and, after the user confirms, simulate shifting based on the larger engine displacement, thereby improving the user's driving experience.

[0097] In one embodiment, because the simulated shifting process involves a sudden increase in the vehicle's output torque, which may damage the vehicle's electric bridge hardware, the tolerance of the electric bridge hardware must be considered when calibrating the second output torque or torque change slope, and the durability of the electric bridge hardware must be evaluated. Therefore, if the electric bridge hardware of a certain vehicle model cannot withstand the sudden increase in output torque corresponding to an engine of a certain displacement, the electric vehicle of that model will be unable to simulate the shifting of an engine of that displacement, or the duration of the first and third preset time periods will be temporarily increased to reduce the torque change slope, thereby minimizing damage to the electric bridge hardware.

[0098] In one embodiment, to mitigate damage to the electric bridge hardware, the number of simulated shifts should be counted, and the torque change slope during the simulated shift process should be reduced after the number of simulated shifts reaches a certain threshold. For example, the first cumulative number of simulated shifts for the entire vehicle and the second cumulative number of simulated shifts for the vehicle within a shorter time period can be counted; when the cumulative number of simulated shifts exceeds the total number of simulated shifts for the vehicle or the user performs multiple simulated shifts within a short period of time, the user's simulated engine displacement is reduced, such as reducing a 3.0T engine displacement to a 2.0T engine displacement, thereby reducing the torque change slope during the simulated shift process.

[0099] On this basis, if the user is not satisfied with the simulated shifting experience after the displacement is reduced, the simulated shifting function of the entire vehicle can also be disabled after the number of simulated shifts reaches a certain threshold. For example, the first cumulative number of simulated shifts of the entire vehicle and the second cumulative number of simulated shifts of the vehicle in a shorter period of time are counted; when the first cumulative number of simulated shifts exceeds the total number of simulated shifts that the vehicle can simulate or the user performs multiple simulated shifts in a short period of time, the vehicle will not respond to the user's shifting action, that is, the vehicle no longer meets the simulated shifting conditions. At the same time, the reason for disabling the simulated shifting function can be explained to the user through the vehicle display screen and other means, reminding the user to check the life of the electric bridge hardware. This is to prevent the repeated use of the simulated shifting function from affecting the life of the electric bridge hardware, resulting in safety hazards during vehicle driving.

[0100] In order to prevent the sudden change of torque during the simulated gear shifting process from affecting the electric bridge, this application will evaluate the life durability of the electric bridge hardware before using the simulated gear shifting conditions, take into account the tolerance range of the electric bridge hardware, limit the number of times the function is enabled, and reduce the instantaneous output torque during the simulated gear shifting process after the number of times the simulated gear shifting function is enabled reaches the limit, thereby ensuring the hardware safety of the electric bridge hardware.

[0101] S105: Controlling the vehicle to travel based on the vehicle output torque so that the vehicle speed is within the vehicle speed limit range.

[0102] After obtaining the vehicle output torque, the vehicle will be controlled based on the vehicle output torque during and after the simulated shifting process. It is understandable that during the driving process of a gasoline vehicle, different gears correspond to different speed ranges. When the vehicle speed does not match the gear, the vehicle speed will fluctuate. Therefore, in order to simulate the effect of gears during the driving process of a gasoline vehicle, when the simulated shifting conditions are turned on, if the vehicle speed reaches the maximum speed matched by a certain gear, the vehicle controller should actively limit the speed to not exceed this range. At this time, even if the vehicle's throttle opening is large, the speed will not increase significantly. However, after the user shifts the steering wheel paddles again, the gear and speed can be re-matched, thereby breaking through the speed limit range, thereby significantly increasing the speed, and making the driving experience closer to that of a gasoline vehicle.

[0103] In one embodiment, since electric vehicles experience a brief surge in output torque when using the simulated shift function, to prevent this from impacting driving safety, the simulated shift function can be configured to only be enabled after evaluating road conditions, thereby reducing the risk of accidents. Specifically, while the vehicle is in motion, the vehicle computer can first obtain driving environment data, including at least one of road condition data, vehicle data, and pedestrian data, and then determine the vehicle's simulated shift expectation in the current driving environment. If the simulated shift expectation is below a preset expectation threshold, no response to the shift action is performed.

[0104] In order to ensure driving safety, this application will evaluate the road environment of the vehicle before turning on the simulated gear shifting function, and will only turn on the simulated gear shifting function when the road environment meets the requirements, thereby reducing the probability of accidents caused by the user's back push feeling after turning on the simulated gear shifting function in a complex traffic environment.

[0105] The above process is now explained: When obtaining driving environment data, for pedestrian data, the presence of pedestrians or the location information of pedestrians can be detected through on-board cameras, millimeter-wave radars or lidars, V2X technology, etc. Specifically, on-board cameras (especially forward-facing and surround-view cameras) can detect pedestrians through image recognition technology, and combine deep learning algorithms (such as YOLO and Faster R-CNN) to count the number and location of pedestrians. At night or in low light conditions, auxiliary detection can be performed through devices such as infrared cameras or thermal imagers. If an electric vehicle wants to use the launch function in areas such as intersections and near schools, the reflected signal of the millimeter-wave radar or lidar can be used to detect pedestrian dynamics and improve the accuracy of pedestrian detection. Pedestrian location information can also be obtained through smart devices (mobile phones, wearable devices) based on the Internet of Vehicles system.

[0106] When judging the number of vehicles on the road, radar and cameras can be used to detect the number, speed, and distance of surrounding vehicles in real time. If the electric vehicle is equipped with an advanced driver assistance system (such as ADAS), the traffic density can be directly fed back through functions such as AEB and ACC. 3D point cloud data can also be generated by lidar to accurately identify the distribution of vehicles in multiple lanes. If the vehicle is not equipped with the above sensors, real-time traffic flow information can be provided through online navigation (such as AutoNavi Maps and Baidu Maps), and the degree of congestion can be marked with colors. At the same time, some models support V2V (vehicle-to-vehicle communication) to share surrounding vehicle data.

[0107] When obtaining road condition data, in addition to common camera and recognition, radar detection, and navigation map data, road surface smoothness data can also be obtained through suspension system feedback, thereby determining the road surface data corresponding to the vehicle's current section or the section it is about to enter.

[0108] In the process of acquiring the above-mentioned driving environment data, when identifying the number of pedestrians, the number of motor vehicles, roadblocks or road conditions, identification can be carried out through a mathematical model constructed based on a machine learning algorithm, including but not limited to a neural network model, a support vector machine model, etc. At this time, it is necessary to pre-train the constructed recognition model through a training data set. When the set training precision and accuracy are reached, it is determined that the currently trained recognition model has completed training so that it can be used for prediction processing.

[0109] After obtaining driving environment data, a decision can be made based on the driving environment data to determine whether to enable the simulated shift function. It is understood that when the driving environment is relatively complex, if the simulated shift function is enabled, the driver and passengers will feel a push back at the moment of the shift, which will increase the risk of accidents in complex road conditions. Therefore, when the driving environment is relatively complex, the vehicle computer can disable the simulated shift function and notify the user through the vehicle computer screen or other means.

[0110] In one embodiment, in addition to factors outside the vehicle, when using the simulated shifting function, factors inside the vehicle also need to be considered. For example, whether the simulated shifting function can be turned on can be determined based on factors such as the type of passengers in the vehicle, the status of the passengers, and the stacking status of the items in the trunk. Among them, the passenger type refers to whether the vehicle contains types of passengers who require special attention, such as the elderly, pregnant women, or infants. The passenger status refers to whether the vehicle contains passengers in special states, such as passengers who are motion sickness, passengers in the office, or passengers in the sleeping state. The stacking status of the trunk items refers to whether there is a risk of the trunk items falling or tilting. Taking the above factors into consideration can avoid damage to people or objects caused by excessive instantaneous acceleration.

[0111] It is understandable that the data corresponding to the above-mentioned in-vehicle factors can be collected through the in-vehicle camera. In addition, it can also be collected through voice analysis, wearable terminals associated with the vehicle computer, etc., and this application does not limit this.

[0112] It should be noted that the above factors may cause the vehicle computer to determine to avoid using the simulated shift function as much as possible in order to reduce the probability of risk. However, if the driver insists on using the simulated shift function, the vehicle computer can evaluate the risk probability and activate the simulated shift function when the risk probability is lower than the preset risk threshold. By considering the impact of factors inside and outside the vehicle on the simulated shift process, this application can fully consider the possible impact of simulated shifting, thereby reducing the risk of simulated shifting and improving the driving experience brought by the simulated shift function.

[0113] In addition, if Figure 4 As shown, Figure 4 : is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application, the device comprising:

[0114] After receiving the user's gear shifting action, the condition judgment module 401 judges whether the simulated gear shifting condition is met based on the current gear position and driving mode of the vehicle.

[0115] The first gear determination module 402 is configured to determine the first gear based on the current vehicle speed if the simulated gear shift condition is met.

[0116] The second gear determination module 403 determines a second gear and a vehicle speed limit range corresponding to the second gear based on the gear shifting action and the first gear.

[0117] The output torque determination module 404 determines the vehicle output torque of the vehicle within a preset time period after the gear shift action based on the first gear and the second gear.

[0118] The torque control module 405 controls the vehicle to travel based on the vehicle output torque so that the vehicle speed is within the speed limit range.

[0119] In a specific embodiment, the simulated shifting condition stored in the condition judgment module 401 is: the current gear of the vehicle is the forward gear, and the driving mode of the vehicle is a preset driving mode, and the preset driving mode includes at least one of a sports mode and a launch mode.

[0120] In a specific embodiment, the first gear determination module 402 includes: determining a pre-built vehicle speed and gear matching table; and determining the first gear corresponding to the current vehicle speed in the vehicle speed and gear matching table.

[0121] In a specific embodiment, the second gear determination module 403 includes: determining the action type corresponding to the gear shifting action, the action type including upshifting action and downshifting action; based on the action type and the first gear, determining the second gear among the adjacent gears of the first gear.

[0122] In a specific embodiment, the output torque determination module 404 includes: determining first simulated shift parameters corresponding to the first gear and the second gear, the first simulated shift parameters including the first output torque, the second output torque, the third output torque, the first preset time, the second preset time and the third preset time; within the first preset time after the shift action, increasing the vehicle output torque from the first output torque to the second output torque; within the second preset time after the first preset time, maintaining the vehicle output torque at the second output torque unchanged; within the third preset time after the second preset time, reducing the vehicle output torque from the second output torque to the third output torque.

[0123] In a specific embodiment, the output torque determination module 404 includes: when the action type of the gear shifting action is an upshifting action, the third output torque is lower than the first output torque; when the action type of the gear shifting action is a downshifting action, the third output torque is higher than the first output torque.

[0124] In a specific embodiment, the output torque determination module 404 includes: obtaining the current output torque, current vehicle speed and current pedal depth of the vehicle; using the current output torque as the first output torque in the first simulated shift parameter; determining the torque change value corresponding to the current vehicle speed and the current pedal depth based on the first gear and the second gear; determining the second output torque based on the first output torque and the torque change value; and determining the third output torque in the first simulated shift parameter based on the first gear, the second gear, the current vehicle speed and the current pedal depth.

[0125] In a specific embodiment, the output torque determination module 404 includes: obtaining an engine displacement simulation request from a user, and determining an engine simulated displacement based on the engine displacement simulation request; determining a second simulated shift parameter corresponding to the engine simulated displacement, the second simulated shift parameter including a first preset time length, a first torque change slope within the first preset time length, a second preset time length, a third preset time length, and a second torque change slope within the third preset time length.

[0126] In a specific embodiment, the output torque control module 404 includes: counting a first cumulative number of simulated gear shifts of the vehicle and a second cumulative number of simulated gear shifts of the vehicle within a preset time period; if the first cumulative number of simulated gear shifts is higher than a first number threshold or the second cumulative number of simulated gear shifts is higher than a second number threshold, determining a third simulated gear shift parameter based on a second engine simulated displacement, and the second engine simulated displacement is smaller than the first engine displacement.

[0127] In a specific embodiment, the condition determination module 401 includes: obtaining driving environment data of the vehicle, the driving environment data including at least one of road condition data, vehicle data and pedestrian data; determining the gear shift simulation expectation of the vehicle in the current driving environment; if the gear shift simulation expectation is lower than a preset expectation threshold, then no response is given to the gear shift action.

[0128] Regarding the apparatus in the above embodiment, the specific manner in which each unit performs operations has been described in detail in the embodiment of the method, and will not be elaborated on here.

[0129] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0130] For example, Figure 5 As shown, the vehicle includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform the vehicle control method.

[0131] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0132] In the case of dividing each functional module into corresponding functional modules, the vehicle may include:

[0133] The condition judgment module, after receiving the user's gear shifting action, determines whether the simulated gear shifting conditions are met based on the vehicle's current gear position and driving mode.

[0134] The first gear determination module determines the first gear based on the current speed of the vehicle if the simulated gear shift condition is met.

[0135] The second gear determination module determines a second gear and a vehicle speed limit range corresponding to the second gear based on the gear shifting action and the first gear.

[0136] The output torque determination module determines the vehicle output torque of the vehicle within a preset time period after the gear shifting action based on the first gear and the second gear.

[0137] The torque control module controls the vehicle to travel based on the vehicle output torque so that the vehicle speed is within the speed limit range.

[0138] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0139] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0140] In the case of an integrated unit, the vehicle may include a processing module and a storage module, wherein the processing module may be used to control and manage the movement of the vehicle, and the storage module may be used to support the vehicle in executing mutual program codes and data.

[0141] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0142] This embodiment also provides a computer-readable storage medium, which stores computer program code (including but not limited to disk storage, CD-ROM, optical storage, etc.). When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement the vehicle control method provided in the above-mentioned embodiment.

[0143] This embodiment also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement the vehicle control method provided by the above-mentioned embodiment.

[0144] Among them, the beneficial effects of the above embodiments can refer to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0145] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device and medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0146] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0147] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0148] In the description of the present disclosure, it should be understood that if the terms "up", "down", "front", "back", "left" and "right" are used to indicate directions or positional relationships, they are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations of the present disclosure.

[0149] 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. It should also be noted that the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity, 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, commodity, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, commodity, or device comprising the element.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0153] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0154] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0155] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0156] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A vehicle control method, characterized in that: Applied to electric vehicles, the method includes: After receiving the user's gear shift action, based on the vehicle's current gear position and driving mode, it determines whether the simulated gear shift conditions are met; If the simulated gear shift condition is met, determining the first gear based on the current vehicle speed; determining a second gear position and a vehicle speed limit range corresponding to the second gear position based on the gear shifting action and the first gear position; determining a vehicle output torque of the vehicle within a preset time period after the gear shifting action based on the first gear and the second gear; The vehicle is controlled to travel based on the vehicle output torque so that the vehicle speed falls within the vehicle speed limit range.

2. The method according to claim 1, characterized in that The simulated shift conditions are: The current gear of the vehicle is a forward gear, and the driving mode of the vehicle is a preset driving mode, which includes at least one of a sport mode and a launch mode.

3. The method according to claim 1, characterized in that The determining of the first gear position based on the current vehicle speed specifically includes: Determine a pre-built vehicle speed and gear matching table; In the vehicle speed and gear matching table, the first gear corresponding to the current vehicle speed is determined.

4. The method according to claim 1, wherein The determining of the second gear position based on the gear shifting action and the first gear position specifically includes: Determining an action type corresponding to the shift action, where the action type includes an upshift action and a downshift action; Based on the action type and the first gear, the second gear is determined among gears adjacent to the first gear.

5. The method according to claim 4, characterized in that The determining, based on the first gear and the second gear, the vehicle output torque within a preset time period after the gear shifting action specifically includes: Determining first simulated shift parameters corresponding to the first gear and the second gear, the first simulated shift parameters including a first output torque, a second output torque, a third output torque, a first preset time, a second preset time, and a third preset time; within a first preset time period after the gear shifting action, increasing the vehicle output torque from the first output torque to the second output torque; During a second preset time period after the first preset time period, maintaining the vehicle output torque at a second output torque; The vehicle output torque is reduced from the second output torque to a third output torque within a third preset time period after the second preset time period.

6. The method according to claim 5, characterized in that When the action type of the shift action is an upshift action, the third output torque is lower than the first output torque; When the action type of the shift action is a downshift action, the third output torque is higher than the first output torque.

7. The method according to claim 5, characterized in that The determining of first simulated shift parameters corresponding to the first gear and the second gear specifically includes: Obtaining the current output torque, current vehicle speed, and current pedal depth of the vehicle; Using the current output torque as the first output torque in the first simulated shift parameter; determining a torque change value corresponding to the current vehicle speed and the current pedal depth based on the first gear and the second gear; determining the second output torque based on the first output torque and the torque change value; A third output torque among the first simulated gear shift parameters is determined based on the first gear position, the second gear position, the current vehicle speed, and the current pedal depth.

8. The method according to claim 5, characterized in that The determining of first simulated shift parameters corresponding to the first gear and the second gear specifically includes: Obtaining an engine displacement simulation request from a user, and determining an engine simulation displacement based on the engine displacement simulation request; Determine second simulated shift parameters corresponding to the simulated engine displacement, wherein the second simulated shift parameters include a first preset time, a first torque change slope within the first preset time, a second preset time, a third preset time, and a second torque change slope within the third preset time.

9. A vehicle control device, characterized in that: Applications in electric vehicles, including: The condition judgment module, after receiving the user's gear shift action, determines whether the simulated gear shift conditions are met based on the vehicle's current gear position and driving mode; a first gear determination module, configured to determine a first gear based on a current vehicle speed if the simulated gear shift condition is satisfied; a second gear determination module, configured to determine a second gear and a vehicle speed limit range corresponding to the second gear based on the gear shifting action and the first gear; an output torque determination module, which determines a vehicle output torque of the vehicle within a preset time period after the gear shifting action based on the first gear position and the second gear position; The torque control module controls the vehicle to travel based on the vehicle output torque so that the vehicle speed is within the speed limit range.

10. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle control method according to any one of claims 1 to 8 when executing the computer program.

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