Vehicle control method and device, vehicle, storage medium and program product

Abstract

The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product, and belongs to the technical field of vehicles. Thus, under the condition that the vehicle is in the sliding deceleration state, the vehicle can be controlled through the first opening degree, and the first opening degree is smaller than the current opening degree. In this way, when the vehicle is in the sliding deceleration state, the vehicle can be controlled through the first opening degree smaller than the current pedal opening degree. For example, when the pedal generates the current opening degree due to disturbance, according to the scheme, the smaller first opening degree can be used for controlling the vehicle, and therefore interference of disturbance to the original driving state of the vehicle can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle, storage medium, and program product. Background Art

[0002] One-pedal braking is a technology developed in the electric vehicle era to improve vehicle energy efficiency and reduce the burden on hydraulic brakes and drivers. The driver can start the vehicle by pressing the accelerator pedal and decelerate within a certain range by releasing the accelerator pedal. However, in some scenarios, achieving vehicle control with a single pedal may be difficult. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, vehicle, storage medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method, comprising: determining a current degree of pedal opening of the vehicle; When the vehicle is in a coasting deceleration state, the vehicle is controlled by a first opening degree, where the first opening degree is smaller than the current opening degree.

[0005] In some possible implementations, the method includes: Perform attenuation processing on the current opening to obtain the first opening.

[0006] In some possible implementations, performing attenuation processing on the current opening to obtain the first opening includes: determining a first correction value according to the current opening and the determined correlation between the opening and the correction value; When the first correction value is greater than a set reference correction value, determining the reference correction value as a compensation value; When the first correction value is less than or equal to the reference correction value, determining the first correction value as the compensation value; The current opening is compensated according to the compensation value to obtain the first opening.

[0007] In some possible implementations, compensating the current opening according to the compensation value to obtain the first opening includes: Calculating the difference between the current opening and the compensation value; When the difference is greater than 0, determining the difference as the first opening degree; When the difference is less than or equal to 0, 0 is used as the first opening degree.

[0008] In some possible implementations, the vehicle control method includes: In response to the vehicle exiting the coasting deceleration state, the vehicle is controlled by the current opening degree of the vehicle.

[0009] In some possible implementations, the vehicle control method includes: obtaining a driving mode of the vehicle; The reference correction value is determined according to the driving mode.

[0010] In some possible implementations, determining the reference correction value according to the driving mode includes: When the driving mode is a comfort mode, determining the second correction value as the reference correction value; When the driving mode is the sport mode, the third correction value is determined as the reference correction value, and the second correction value is greater than the third correction value.

[0011] In some possible implementations, performing attenuation processing on the current opening to obtain the first opening includes: Determine the attenuation ratio; The product of the current opening and the attenuation ratio is calculated to obtain the first opening.

[0012] In some possible implementations, the vehicle control method includes: When the wheel torque of the vehicle is less than or equal to a first torque threshold, the vehicle speed is greater than a first speed threshold, and the current opening is less than an opening threshold, it is determined that the vehicle is in a coasting deceleration state.

[0013] In some possible implementations, the vehicle control method includes: obtaining a driving mode of the vehicle; One or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold are determined according to the driving mode.

[0014] In some possible implementations, determining one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold according to the driving mode includes: When the driving mode is the comfort mode, the first torque value is determined as the first torque threshold, the first vehicle speed value is determined as the first vehicle speed threshold, and the second opening degree is determined as the opening degree threshold; When the driving mode is the sport mode, the second torque value is determined as the first torque threshold, the second vehicle speed value is determined as the first vehicle speed threshold, and the third opening degree is determined as the opening degree threshold; The first torque value is greater than the second torque value, the first vehicle speed value is less than the second vehicle speed value, and the second opening degree is greater than the third opening degree.

[0015] According to a second aspect of an embodiment of the present disclosure, there is provided a vehicle control device, comprising: A first module is configured to determine a current opening of a pedal of a vehicle; The second module is configured to control the vehicle through a first opening degree when the vehicle is in a coasting deceleration state, where the first opening degree is smaller than the current opening degree.

[0016] In some possible implementations, the vehicle control device includes: The third module is configured to perform attenuation processing on the current opening to obtain the first opening.

[0017] In some possible implementations, the third module includes: A first submodule is configured to determine a first correction value according to the current opening and the determined correlation between the opening and the correction value; A second submodule is configured to determine the reference correction value as a compensation value when the first correction value is greater than a set reference correction value; a third submodule, configured to determine the first correction value as a compensation value when the first correction value is less than or equal to the reference correction value; The fourth submodule is configured to compensate the current opening according to the compensation value to obtain the first opening.

[0018] In some possible implementations, the fourth submodule is configured as follows: Calculating the difference between the current opening and the compensation value; When the difference is greater than 0, determining the difference as the first opening degree; When the difference is less than or equal to 0, 0 is used as the first opening degree.

[0019] In some possible implementations, the vehicle control device includes: The vehicle control module is configured to control the vehicle according to the current opening angle of the vehicle in response to the vehicle exiting the coasting deceleration state.

[0020] In some possible implementations, the vehicle control device includes: A fourth module is configured to obtain a driving mode of the vehicle; A fifth module is configured to determine the reference correction value according to the driving mode.

[0021] In some possible implementations, the fifth module is configured to: When the driving mode is a comfort mode, determining the second correction value as the reference correction value; When the driving mode is the sport mode, the third correction value is determined as the reference correction value, and the second correction value is greater than the third correction value.

[0022] In some possible implementations, the third module includes: a fifth submodule, configured to determine an attenuation ratio; The sixth submodule is configured to calculate the product of the current opening and the attenuation ratio to obtain the first opening.

[0023] In some possible implementations, the vehicle control device includes: The sixth module is configured to determine that the vehicle is in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to a first torque threshold, the vehicle speed is greater than a first speed threshold, and the current opening is less than an opening threshold.

[0024] In some possible implementations, the vehicle control device includes: a seventh module, configured to obtain a driving mode of the vehicle; An eighth module is configured to determine one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold according to the driving mode.

[0025] In some possible implementations, the eighth module is configured as follows: When the driving mode is the comfort mode, the first torque value is determined as the first torque threshold, the first vehicle speed value is determined as the first vehicle speed threshold, and the second opening degree is determined as the opening degree threshold; When the driving mode is the sport mode, the second torque value is determined as the first torque threshold, the second vehicle speed value is determined as the first vehicle speed threshold, and the third opening degree is determined as the opening degree threshold; The first torque value is greater than the second torque value, the first vehicle speed value is less than the second vehicle speed value, and the second opening degree is greater than the third opening degree.

[0026] According to a third aspect of an embodiment of the present disclosure, there is provided a vehicle, comprising: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of any one of the methods described in the first aspect.

[0027] According to a fourth aspect of an embodiment of the present disclosure, there is provided a computer-readable storage medium having a computer program stored thereon, which implements the steps of any one of the methods described in the first aspect when executed by a processor.

[0028] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which implements the steps of any one of the methods in the first aspect when executed by a processor.

[0029] In the above solution, the current opening degree of the vehicle's pedal can be determined. In this way, when the vehicle is in a coasting deceleration state, the vehicle can be controlled by a first opening degree, which is smaller than the current opening degree.

[0030] This solution allows the vehicle to be controlled using a first pedal opening that is smaller than the current pedal opening when the vehicle is in a coasting deceleration state. For example, if the pedal opening is higher than the current opening due to a disturbance, the solution can use the smaller first opening to control the vehicle. This reduces the impact of the disturbance on the vehicle's original driving state.

[0031] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0033] Figure 1 FIG. 4 is a schematic diagram showing a single-pedal performance curve according to an exemplary embodiment.

[0034] Figure 2 is a schematic diagram showing a desired pedal curve according to an exemplary embodiment.

[0035] Figure 3 The figure is a flow chart showing a vehicle control method according to an exemplary embodiment.

[0036] Figure 4 The figure is a flowchart of obtaining a first opening degree according to an exemplary embodiment.

[0037] Figure 5 The figure is a flow chart showing a vehicle control method according to an exemplary embodiment.

[0038] Figure 6 is a block diagram of a vehicle control device according to an exemplary embodiment.

[0039] Figure 7 is a block diagram of a vehicle 600 according to an exemplary embodiment. DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0041] Before introducing the vehicle control method, device, vehicle, storage medium and program product developed by this association, the relevant scenarios of the embodiments of the present disclosure are first exemplified.

[0042] One-pedal braking is a technology developed in the electric vehicle era to improve vehicle energy efficiency and reduce the burden on hydraulic brakes and drivers. The driver can start the vehicle by pressing the accelerator pedal and decelerate within a certain range by releasing the accelerator pedal.

[0043] Single-pedal control may need to account for multiple driving scenarios. For example, when pressing the accelerator pedal during a start, a rapid drive torque response may be required. When releasing the accelerator pedal during deceleration, precise control of regenerative torque may be required. Furthermore, smoothness near zero accelerator pedal opening may also be considered.

[0044] In relevant scenarios, the performance requirements of a single pedal can be met through hardware selection. Figure 1 3 is a schematic diagram of a single-pedal performance curve shown in an exemplary embodiment of the present disclosure, wherein the abscissa is the pedal displacement and the ordinate is the pedal force.

[0045] It should be understood that different types of accelerator pedals have different hardnesses, so when the driver applies the same force, the pedal travel changes differently. Thus, the corresponding accelerator pedal output voltage and the pedal opening calculated based on the output voltage are also different. Figure 1 In order to meet application requirements, you can select a pedal curve that meets your needs from different types of pedal curves.

[0046] It should be noted that in some scenarios, disturbances may cause the pedal to travel a certain distance, leading the vehicle to recognize a certain pedal opening and control the vehicle accordingly, ultimately causing a change in the vehicle's driving state. For example, when the vehicle is in a deceleration and coasting state, the user may not have the need to control the vehicle. Therefore, when the user's foot contacts the pedal, it may cause the pedal to travel a certain distance, thereby affecting the vehicle's deceleration and coasting state.

[0047] Figure 2 FIG. 1 is a schematic diagram of an expected pedal curve according to an exemplary embodiment of the present disclosure. Figure 2 , it is expected that in the pedal curve 201, when the pedal force is within a certain value, the pedal stroke can be maintained at 0, and thus the opening can be maintained at 0. In this way, the disturbance can be shielded, which helps to maintain the driving state of the vehicle. However, Figure 2 The desired pedal curve shown may not be achievable through hardware sizing of the pedal.

[0048] To this end, the present disclosure provides a vehicle control method. Figure 3 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, with reference to Figure 3 , the vehicle control method includes: In step S31 , the current opening degree of the vehicle's pedal is determined.

[0049] For example, the current degree of opening can be obtained by acquiring the degree of opening of the vehicle's pedal in real time. For example, when the pedal travel changes, a related voltage signal can be generated. Based on the voltage signal, the current degree of opening can be calculated.

[0050] In some implementations, the current opening degree may also be periodically acquired based on a set period.

[0051] In step S32 , when the vehicle is in a coasting deceleration state, the vehicle is controlled by a first opening degree, which is smaller than the current opening degree.

[0052] The following is an exemplary description of an implementation method for determining whether the vehicle is in a coasting deceleration state.

[0053] In a possible implementation, the vehicle can be determined to be in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to a first torque threshold, the vehicle speed is greater than a first speed threshold, and the current opening is less than an opening threshold.

[0054] The first torque threshold, the first vehicle speed threshold, and the opening threshold can be set based on demand. For example, the first torque threshold can be -70 N.m, the first vehicle speed threshold can be 1 (unit: kilometer per hour), and the opening threshold can be 1%.

[0055] In this case, it can be determined that the vehicle is in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to -70 N.m, the vehicle speed is greater than 1 (unit: kilometers per hour), and the current opening is less than 1%.

[0056] In a possible implementation, it may also be determined that the vehicle is not in the coasting deceleration state when the vehicle does not meet one or more of the above conditions.

[0057] In one possible implementation, one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold may be determined based on the vehicle's driving mode. In this case, the method may include: obtaining the vehicle's driving mode; and determining one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold based on the driving mode.

[0058] For example, in one embodiment, an association relationship may be established. In this association relationship, different driving modes may be associated with different first torque thresholds, first vehicle speed thresholds, and opening thresholds (or one or more thereof). In this way, the current driving mode of the vehicle can be obtained, and the corresponding first torque threshold, first vehicle speed threshold, and opening threshold (or some of them) can be retrieved through the association relationship.

[0059] In one embodiment, determining one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold according to the driving mode includes: When the driving mode is the comfort mode, the first torque value is determined as the first torque threshold, the first vehicle speed value is determined as the first vehicle speed threshold, and the second opening degree is determined as the opening degree threshold; When the driving mode is the sport mode, the second torque value is determined as the first torque threshold, the second vehicle speed value is determined as the first vehicle speed threshold, and the third opening degree is determined as the opening degree threshold; The first torque value is greater than the second torque value, the first vehicle speed value is less than the second vehicle speed value, and the second opening degree is greater than the third opening degree.

[0060] For example, in comfort mode, the first torque threshold may be -70 Nm, the first vehicle speed threshold may be 1 (kilometers per hour), and the opening threshold may be 2%. In sport mode, the first torque threshold may be -80 Nm, the first vehicle speed threshold may be 3 (kilometers per hour), and the opening threshold may be 1%.

[0061] Thus, in comfort mode, the vehicle can be determined to be in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to -70 N.m, the vehicle speed is greater than 1 (unit: kilometers per hour), and the current opening is less than 2%. In sport mode, the vehicle can be determined to be in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to -80 N.m, the vehicle speed is greater than 3 (unit: kilometers per hour), and the current opening is less than 1%.

[0062] When the vehicle is in a coasting deceleration state, the vehicle may be controlled by a first opening degree, which is smaller than a current opening degree.

[0063] For example, in a possible implementation, the current opening degree may be subjected to attenuation processing to obtain the first opening degree.

[0064] Figure 4 This is a flowchart of obtaining a first opening degree shown in an exemplary embodiment of the present disclosure, referring to Figure 4 , performing attenuation processing on the current opening to obtain the first opening includes: In step S41 , a first correction value is determined according to the current opening degree and the determined correlation between the opening degree and the correction value.

[0065] For example, a correlation between the opening and the correction value can be established by calibrating the actual vehicle. For example, corresponding correction values ​​can be set for various openings. In this way, the correlation can be queried based on the current opening to obtain a first correction value associated with the current opening.

[0066] In step S42 , when the first correction value is greater than the set reference correction value, the reference correction value is determined as the compensation value.

[0067] In step S43 , when the first correction value is less than or equal to the reference correction value, the first correction value is determined as the compensation value.

[0068] The reference correction value can be set based on demand. In one possible implementation, the reference correction value can be set to 1%. In another possible implementation, the reference correction value can be set to 2%.

[0069] In a possible implementation, the reference correction value may also be determined based on a driving mode of the vehicle. In this case, the method may include: acquiring the driving mode of the vehicle; and determining the reference correction value based on the driving mode.

[0070] As an example, an association relationship may be established in which different driving modes may be associated with different reference correction values. In this way, the current driving mode of the vehicle may be obtained and the corresponding reference correction value may be retrieved through the association relationship.

[0071] For example, in one embodiment, determining the reference correction value according to the driving mode includes: When the driving mode is a comfort mode, determining the second correction value as the reference correction value; When the driving mode is the sport mode, the third correction value is determined as the reference correction value, and the second correction value is greater than the third correction value.

[0072] For example, when the driving mode is a comfort mode, 2% may be determined as the reference correction value; and when the driving mode is a sport mode, 1% may be determined as the reference correction value.

[0073] In this way, by determining the reference correction value according to the driving mode, different correction methods can be provided in different driving modes, thereby providing users with different driving experiences.

[0074] After the compensation value is determined, in step S44 , the current opening is compensated according to the compensation value to obtain a first opening.

[0075] For example, in a possible implementation, compensating the current opening according to the compensation value to obtain the first opening includes: Calculating the difference between the current opening and the compensation value; When the difference is greater than 0, determining the difference as the first opening degree; When the difference is less than or equal to 0, 0 is used as the first opening degree.

[0076] For example, if the current opening is 1% and the compensation value is 1%, the difference is 0. Therefore, 0 can be used as the first opening, allowing the vehicle to be controlled at an opening of 0. In other words, even if the vehicle's single pedal has a current opening of 1%, the above solution can still compensate for the current opening and control the vehicle at an opening of 0. This can effectively filter out single-pedal disturbances, helping to maintain the vehicle's deceleration and coasting state.

[0077] Furthermore, in a possible implementation manner, performing attenuation processing on the current opening to obtain the first opening includes: Determine the attenuation ratio; The product of the current opening and the attenuation ratio is calculated to obtain the first opening.

[0078] The attenuation ratio can be set based on actual needs, and can be between (0, 1). For example, the value can be 0.1. This allows the pedal opening angle caused by a disturbance during vehicle deceleration (e.g., a driver lightly resting their foot on the single pedal) to be attenuated, thereby minimizing disruption to the vehicle's driving state.

[0079] In one possible implementation, the attenuation ratio can also be related to the driving mode. For example, the attenuation ratio in Comfort mode can be greater than that in Sport mode. This allows for more robust pedal opening filtering in Comfort mode, thereby helping to maintain the vehicle's driving mode.

[0080] This solution allows the vehicle to be controlled using a first pedal opening that is smaller than the current pedal opening when the vehicle is in a coasting deceleration state. For example, if the pedal opening is affected by a disturbance, the solution can use the smaller first opening to control the vehicle. This reduces the impact of the disturbance on the vehicle's original driving state.

[0081] Figure 5 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present disclosure, with reference to Figure 5 , the method comprising: Initialization. For example, the accelerator pedal opening threshold WpedPct_thd can be initialized. As an example, WpedPct_thd=0.

[0082] In addition, the vehicle can determine whether it meets the conditions for entering the coasting deceleration state. For example, if the actual wheel torque TqTot_act of the vehicle is less than or equal to -70 N.m, the accelerator pedal opening raw signal WpedPct_raw is less than 1%, and the current vehicle speed is greater than 1 km / h, the vehicle can be determined to meet the conditions for entering the coasting deceleration state and enter the coasting deceleration state.

[0083] In this way, the accelerator pedal opening correction threshold value can be calculated. For example, the accelerator pedal opening correction threshold value WpedPct_thd can be calculated by the following calculation formula: WpedPct_thd=Min(1%, Max(0%, WpedPct_tab)).

[0084] WpedPct_tab can be the first correction value in the above embodiment, which can be determined based on the current pedal opening and the pre-calibrated relationship between the opening and the correction value. 1% is a reference correction value, which can be set based on demand. 0% can be an error correction parameter. By calculating Max(0%, WpedPct_tab), abnormal cases where WpedPct_tab has a negative value can be filtered out.

[0085] In addition, the accelerator pedal opening correction signal value WpedPct_fild can also be calculated according to the accelerator pedal opening correction threshold WpedPct_thd: WpedPct_fild= Max (WpedPct_raw-WpedPct_thd, 0%).

[0086] Wherein, WpedPct_fild can be the first opening in the above embodiment. Thus, the first opening is obtained through correction, and the vehicle can be controlled by the first opening. In this way, the interference of the disturbance on the original driving state of the vehicle can be reduced.

[0087] In addition, refer to Figure 5 When the vehicle does not meet the conditions for entering the coasting deceleration state, it can also be determined whether the vehicle meets the conditions for exiting the coasting deceleration state. For example, the vehicle can be determined to meet the conditions for exiting the coasting deceleration state when the vehicle meets one or more of the following conditions: The actual wheel torque TqTot_act of the vehicle is greater than or equal to -10 N.m; The accelerator pedal opening raw signal WpedPct_raw is greater than or equal to 1%; The vehicle's current speed is 0.

[0088] If the vehicle meets the conditions for exiting the coasting deceleration state, an accelerator pedal opening correction threshold can be calculated and set to 0. This allows WpedPct_fild to be calculated using the following formula: WpedPct_fild = Max(WpedPct_raw - WpedPct_thd, 0%). This allows vehicle control based on WpedPct_fild.

[0089] If the vehicle neither meets the conditions for entering nor exiting coasting deceleration, the current pedal opening correction threshold can be maintained and WpedPct_fild can be calculated using the formula: WpedPct_fild = Max (WpedPct_raw - WpedPct_thd, 0%). This allows the vehicle to be controlled using WpedPct_fild.

[0090] With the above solution, when the vehicle is stationary and the accelerator pedal is fully released, if the driver lightly touches the accelerator pedal, the vehicle can respond more sensitively to the driver's operation of pressing the accelerator pedal, thereby starting quickly.

[0091] Furthermore, when the vehicle is in coasting mode and the accelerator pedal is fully released, if the driver lightly touches the accelerator pedal, the vehicle can partially shield the slight accelerator pedal contact, thereby maintaining the previous coasting mode. If the driver continues to press the accelerator pedal to a certain degree, beyond the range of slight pedal disturbance, the vehicle can respond more linearly to the driver's accelerator pedal press.

[0092] Furthermore, when the vehicle is in motion and the driver gradually releases the accelerator pedal, the vehicle can transition from driving to deceleration. At this point, the vehicle responds relatively linearly to the driver's release of the accelerator pedal. When the driver releases the accelerator pedal to near zero, the vehicle clearly and stably enters and maintains the coasting recovery state at zero, while also partially shielding against even the slightest accelerator pedal movement.

[0093] Based on the same inventive concept, an embodiment of the present disclosure provides a vehicle control device. Figure 6 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present disclosure, with reference to Figure 6 , the vehicle control device includes: The first module 601 is configured to determine the current opening degree of the vehicle's pedal; The second module 602 is configured to control the vehicle through a first opening degree when the vehicle is in a coasting deceleration state, where the first opening degree is smaller than the current opening degree.

[0094] The above vehicle control device can control the vehicle using a first pedal opening that is smaller than the current pedal opening when the vehicle is in a coasting deceleration state. For example, if the current pedal opening is caused by a disturbance, the above solution can use the smaller first opening to control the vehicle. This can reduce the impact of the disturbance on the vehicle's original driving state.

[0095] In some possible implementations, the vehicle control device includes: The third module is configured to perform attenuation processing on the current opening to obtain the first opening.

[0096] In some possible implementations, the third module includes: A first submodule is configured to determine a first correction value according to the current opening and the determined correlation between the opening and the correction value; A second submodule is configured to determine the reference correction value as a compensation value when the first correction value is greater than a set reference correction value; a third submodule, configured to determine the first correction value as a compensation value when the first correction value is less than or equal to the reference correction value; The fourth submodule is configured to compensate the current opening according to the compensation value to obtain the first opening.

[0097] In some possible implementations, the fourth submodule is configured as follows: Calculating the difference between the current opening and the compensation value; When the difference is greater than 0, determining the difference as the first opening degree; When the difference is less than or equal to 0, 0 is used as the first opening degree.

[0098] In some possible implementations, the vehicle control device includes: A fourth module is configured to obtain a driving mode of the vehicle; A fifth module is configured to determine the reference correction value according to the driving mode.

[0099] In some possible implementations, the fifth module is configured to: When the driving mode is a comfort mode, determining the second correction value as the reference correction value; When the driving mode is the sport mode, the third correction value is determined as the reference correction value, and the second correction value is greater than the third correction value.

[0100] In some possible implementations, the third module includes: a fifth submodule, configured to determine an attenuation ratio; The sixth submodule is configured to calculate the product of the current opening and the attenuation ratio to obtain the first opening.

[0101] In some possible implementations, the vehicle control device includes: The vehicle control module is configured to control the vehicle according to the current opening angle of the vehicle in response to the vehicle exiting the coasting deceleration state.

[0102] In some possible implementations, the vehicle control device includes: The sixth module is configured to determine that the vehicle is in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to a first torque threshold, the vehicle speed is greater than a first speed threshold, and the current opening is less than an opening threshold.

[0103] In some possible implementations, the vehicle control device includes: a seventh module, configured to obtain a driving mode of the vehicle; An eighth module is configured to determine one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold according to the driving mode.

[0104] In some possible implementations, the eighth module is configured as follows: When the driving mode is the comfort mode, the first torque value is determined as the first torque threshold, the first vehicle speed value is determined as the first vehicle speed threshold, and the second opening degree is determined as the opening degree threshold; When the driving mode is the sport mode, the second torque value is determined as the first torque threshold, the second vehicle speed value is determined as the first vehicle speed threshold, and the third opening degree is determined as the opening degree threshold; The first torque value is greater than the second torque value, the first vehicle speed value is less than the second vehicle speed value, and the second opening degree is greater than the third opening degree.

[0105] The present disclosure also provides a vehicle, including: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the vehicle control method provided in at least one embodiment of the present disclosure.

[0106] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle control method provided in at least one embodiment of the present disclosure are implemented.

[0107] An embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the vehicle control method provided in at least one embodiment of the present disclosure.

[0108] Regarding the vehicle control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the vehicle control method, and will not be elaborated here.

[0109] Figure 7 FIG6 is a block diagram illustrating a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0110] Reference Figure 7 Vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 600 may be interconnected via wired or wireless means.

[0111] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

[0112] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0113] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0114] The drive system 640 may include components that provide power to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0115] Some or all functions of the vehicle 600 are controlled by a computing platform 650. The computing platform 650 may include at least one processor 651 and a memory 652. The processor 651 may execute instructions 653 stored in the memory 652.

[0116] The processor 651 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0117] The memory 652 may be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0118] In addition to instructions 653 , memory 652 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 652 may be used by computing platform 650 .

[0119] In the embodiment of the present disclosure, the processor 651 can execute the instruction 653 to complete all or part of the steps of the above-mentioned vehicle control method.

[0120] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented through electronic hardware, computer software, or a combination of both. Whether such functions are implemented through hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0121] Furthermore, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous over other aspects or designs. Rather, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is, unless otherwise specified or clear from the context, "X applies to A or B" is intended to mean any of the natural inclusive permutations. That is, if X applies to A; X applies to B; or X applies to both A and B, then "X applies to A or B" satisfies any of the aforementioned instances. Furthermore, the articles "a" and "an," as used in this application and the appended claims, are generally understood to mean "one or more," unless otherwise specified or clear from the context to refer to the singular form.

[0122] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. With particular regard to the various functions performed by the components (e.g., modules) described above, unless otherwise indicated, terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. In addition, although particular features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application. Furthermore, to the extent that the terms "include," "have," "have," "have," or variations thereof are used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "comprising."

[0123] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0124] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0125] In addition, unless otherwise specified, the features of some embodiments of the present disclosure described herein may be combined with each other. As used herein, the term "and / or" includes any one of the relevant listed items and any combination of any two or more thereof; similarly, "at least one of" includes any one of the relevant listed items and any combination of any two or more thereof.

[0126] Although terms such as "first", "second" and "third" may be used herein to describe various modules, these modules are not limited to these terms. On the contrary, these terms are only used to distinguish one module from another. Therefore, without departing from the teachings of the various examples, the first module mentioned in the examples described herein may also be referred to as the second module. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, for example two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A vehicle control method, characterized in that: include: determining a current degree of pedal opening of the vehicle; When the vehicle is in a coasting deceleration state, the vehicle is controlled by a first opening degree, where the first opening degree is smaller than the current opening degree.

2. The method according to claim 1, characterized in that The method comprises: Perform attenuation processing on the current opening to obtain the first opening.

3. The method according to claim 2, characterized in that The performing attenuation processing on the current opening to obtain the first opening includes: determining a first correction value according to the current opening and the determined correlation between the opening and the correction value; When the first correction value is greater than a set reference correction value, determining the reference correction value as a compensation value; When the first correction value is less than or equal to the reference correction value, determining the first correction value as the compensation value; The current opening is compensated according to the compensation value to obtain the first opening.

4. The method according to claim 3, characterized in that The compensating the current opening according to the compensation value to obtain the first opening includes: Calculating the difference between the current opening and the compensation value; When the difference is greater than 0, determining the difference as the first opening degree; When the difference is less than or equal to 0, 0 is used as the first opening degree.

5. The method according to claim 3, characterized in that include: obtaining a driving mode of the vehicle; The reference correction value is determined according to the driving mode.

6. The method according to claim 5, characterized in that The determining the reference correction value according to the driving mode includes: When the driving mode is a comfort mode, determining the second correction value as the reference correction value; When the driving mode is the sport mode, the third correction value is determined as the reference correction value, and the second correction value is greater than the third correction value.

7. The method according to claim 2, characterized in that The performing attenuation processing on the current opening to obtain the first opening includes: Determine the attenuation ratio; The product of the current opening and the attenuation ratio is calculated to obtain the first opening.

8. The method according to any one of claims 1 to 7, characterized in that include: In response to the vehicle exiting the coasting deceleration state, the vehicle is controlled by the current opening degree of the vehicle.

9. The method according to any one of claims 1 to 7, characterized in that include: When the wheel torque of the vehicle is less than or equal to a first torque threshold, the vehicle speed is greater than a first speed threshold, and the current opening is less than an opening threshold, it is determined that the vehicle is in a coasting deceleration state.

10. The method according to claim 9, characterized in that include: obtaining a driving mode of the vehicle; One or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold are determined according to the driving mode.

11. The method according to claim 10, characterized in that Determining one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold according to the driving mode includes: When the driving mode is the comfort mode, the first torque value is determined as the first torque threshold, the first vehicle speed value is determined as the first vehicle speed threshold, and the second opening degree is determined as the opening degree threshold; When the driving mode is the sport mode, the second torque value is determined as the first torque threshold, the second vehicle speed value is determined as the first vehicle speed threshold, and the third opening degree is determined as the opening degree threshold; The first torque value is greater than the second torque value, the first vehicle speed value is less than the second vehicle speed value, and the second opening degree is greater than the third opening degree.

12. A vehicle control device, characterized in that: include: A first module is configured to determine a current opening of a pedal of a vehicle; The second module is configured to control the vehicle through a first opening degree when the vehicle is in a coasting deceleration state, where the first opening degree is smaller than the current opening degree.

13. The vehicle control device according to claim 12, wherein: The vehicle control device comprises: The third module is configured to perform attenuation processing on the current opening to obtain the first opening.

14. The vehicle control device according to claim 13, wherein: The third module includes: A first submodule is configured to determine a first correction value according to the current opening and the determined correlation between the opening and the correction value; A second submodule is configured to determine the reference correction value as a compensation value when the first correction value is greater than a set reference correction value; a third submodule, configured to determine the first correction value as a compensation value when the first correction value is less than or equal to the reference correction value; The fourth submodule is configured to compensate the current opening according to the compensation value to obtain the first opening.

15. The vehicle control device according to claim 14, characterized in that: The fourth submodule is configured as follows: Calculating the difference between the current opening and the compensation value; When the difference is greater than 0, determining the difference as the first opening degree; When the difference is less than or equal to 0, 0 is used as the first opening degree.

16. The vehicle control device according to claim 14, characterized in that The vehicle control device comprises: A fourth module is configured to obtain a driving mode of the vehicle; A fifth module is configured to determine the reference correction value according to the driving mode.

17. The vehicle control device according to claim 16, characterized in that: The fifth module is configured as follows: When the driving mode is a comfort mode, determining the second correction value as the reference correction value; When the driving mode is the sport mode, the third correction value is determined as the reference correction value, and the second correction value is greater than the third correction value.

18. The vehicle control device according to claim 13, wherein: The third module includes: a fifth submodule, configured to determine an attenuation ratio; The sixth submodule is configured to calculate the product of the current opening and the attenuation ratio to obtain the first opening.

19. The vehicle control device according to any one of claims 12 to 18, characterized in that: The vehicle control device comprises: The vehicle control module is configured to control the vehicle according to the current opening angle of the vehicle in response to the vehicle exiting the coasting deceleration state.

20. The vehicle control device according to any one of claims 12 to 18, characterized in that: The vehicle control device comprises: The sixth module is configured to determine that the vehicle is in a coasting deceleration state when the wheel torque of the vehicle is less than or equal to a first torque threshold, the vehicle speed is greater than a first speed threshold, and the current opening is less than an opening threshold.

21. The vehicle control device according to claim 20, characterized in that: The vehicle control device comprises: a seventh module, configured to obtain a driving mode of the vehicle; An eighth module is configured to determine one or more of the first torque threshold, the first vehicle speed threshold, and the opening threshold according to the driving mode.

22. The vehicle control device according to claim 21, characterized in that: The eighth module is configured as follows: When the driving mode is the comfort mode, the first torque value is determined as the first torque threshold, the first vehicle speed value is determined as the first vehicle speed threshold, and the second opening degree is determined as the opening degree threshold; When the driving mode is the sport mode, the second torque value is determined as the first torque threshold, the second vehicle speed value is determined as the first vehicle speed threshold, and the third opening degree is determined as the opening degree threshold; The first torque value is greater than the second torque value, the first vehicle speed value is less than the second vehicle speed value, and the second opening degree is greater than the third opening degree.

23. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the steps of the method according to any one of claims 1 to 11.

24. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

25. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

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