CN108556844A - Vehicle control method, device and equipment and vehicle - Google Patents
Vehicle control method, device and equipment and vehicle Download PDFInfo
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- CN108556844A CN108556844A CN201810621238.4A CN201810621238A CN108556844A CN 108556844 A CN108556844 A CN 108556844A CN 201810621238 A CN201810621238 A CN 201810621238A CN 108556844 A CN108556844 A CN 108556844A
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- 238000000034 method Methods 0.000 title claims abstract description 68
- 238000012544 monitoring process Methods 0.000 claims abstract description 57
- 230000008569 process Effects 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims description 22
- 230000004888 barrier function Effects 0.000 claims description 16
- 230000004044 response Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000009467 reduction Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
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- 230000001133 acceleration Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention provides a vehicle control method, a device, equipment and a vehicle, and relates to the technical field of vehicle control, wherein the method comprises the following steps: monitoring a first signal that a brake pedal is stepped on during the running process of the vehicle; when the first signal is monitored, acquiring the motion speed of the brake pedal when being stepped and the opening degree of the brake pedal after being stepped; and if the movement speed of the brake pedal when being stepped is greater than a first preset speed and the opening degree of the brake pedal is greater than a first preset opening degree, determining the braking torque responding to the first signal according to the distance between the rear of the vehicle and the obstacle. According to the invention, the movement speed of the vehicle when the brake pedal is stepped is greater than the first preset speed, and the opening degree of the brake pedal is greater than the first preset opening degree, so that the vehicle can be judged to be braked emergently, and the braking torque responding to the first signal is determined according to the distance between the rear part of the vehicle and the obstacle, so that the braking judgment method is more intelligent, and is beneficial to the driver to brake the vehicle.
Description
Technical field
The present invention relates to technical field of vehicle control, and in particular to a kind of control method of vehicle, device, equipment and vehicle
.
Background technology
Currently, electric vehicle is in electrified and intelligent development, wherein advanced driving assistance system and body electronics are stablized
Systematic difference gradually increases, and vehicle recovers energy in braking or when emergency braking, and vehicle cannot be automatic according to travel situations
Determine applicable mode of braking, economy and safety to vehicle etc. are affected.
Therefore, there is an urgent need for a kind of control method of vehicle, device, equipment and vehicles, and can solve vehicle cannot be according to traveling
Situation automatically determines the problem of applicable mode of braking.
Invention content
An embodiment of the present invention provides a kind of control method of vehicle, device, equipment and vehicles, cannot to solve vehicle
The problem of applicable mode of braking being automatically determined according to travel situations.
In order to solve the above technical problems, an embodiment of the present invention provides a kind of control methods of vehicle, including：
The first signal that brake pedal is trampled in monitoring vehicle travel process；
When monitoring the first signal, the braking after obtaining movement velocity when brake pedal is trampled and being trampled is stepped on
Plate aperture；
If movement velocity when brake pedal is trampled is more than the first pre-set velocity and the brake pedal aperture is more than the
One default aperture determines the braking torque for responding first signal then according to the distance between rear of vehicle and barrier.
Preferably, the method further includes：
If movement velocity when brake pedal is trampled is not more than the first pre-set velocity and the brake pedal aperture is little
In the first default aperture, it is determined that the braking torque of response first signal is the first predetermined torque；
If movement velocity when brake pedal is trampled is not more than the first pre-set velocity and the brake pedal aperture is more than
First default aperture, it is determined that the braking torque of response first signal is the second predetermined torque；
Wherein, first predetermined torque is less than second predetermined torque.
Preferably, the method further includes：
The current vehicle speed of vehicle and accelerator pedal are by being trampled be changed into when being lifted the in monitoring vehicle travel process
Binary signal；
When monitoring the second signal, and when the current vehicle speed is more than preset vehicle speed, obtains accelerator pedal and be lifted
When accelerator pedal aperture；
When monitoring that the accelerator pedal aperture is not more than the second default aperture, according to the accelerator pedal aperture and in advance
Correspondence between the different accelerator pedal apertures first set and braking torque determines braking corresponding with the second signal
Torque.
Preferably, the method further includes：
The third signal that accelerator pedal is trampled in monitoring vehicle travel process；
In vehicle travel process simultaneously when monitoring first signal and the third signal, response described the is determined
The braking torque of one signal；
Control vehicle is braked with the braking torque for responding first signal.
Preferably, if the movement velocity when brake pedal is trampled is more than the first pre-set velocity and the brake pedal
Aperture is more than the first default aperture, then according to the distance between rear of vehicle and barrier, determines and respond first signal
Braking torque includes：
Judge whether the distance is more than pre-determined distance；
When the distance is more than the pre-determined distance, control vehicle carries out mechanical braking with second predetermined torque；
When the distance is not more than the pre-determined distance, control vehicle is alarmed.
The embodiment of the present invention additionally provides a kind of control device of vehicle, including：
First monitoring modular, the first signal trampled for monitoring brake pedal in vehicle travel process；
First acquisition module, for when monitoring the first signal, obtain movement velocity when brake pedal is trampled with
And the brake pedal aperture after being trampled；
First processing module, if movement velocity when being trampled for brake pedal is more than the first pre-set velocity and the system
Dynamic pedal aperture is more than the first default aperture, then according to the distance between rear of vehicle and barrier, determines response described first
The braking torque of signal.
Preferably, described device further includes：
Second processing module, if movement velocity when being trampled for brake pedal is no more than the first pre-set velocity and described
Brake pedal aperture is not more than the first default aperture, it is determined that the braking torque of response first signal is the first default torsion
Square；
Third processing module, if movement velocity when being trampled for brake pedal is no more than the first pre-set velocity and described
Brake pedal aperture is more than the first default aperture, it is determined that the braking torque of response first signal is the second predetermined torque；
Wherein, first predetermined torque is less than second predetermined torque.
Preferably, described device further includes：
Second monitoring modular is turned for monitoring the current vehicle speed of vehicle and accelerator pedal in vehicle travel process by being trampled
Second signal when becoming being lifted；
Second acquisition module is obtained for when monitoring the second signal, and when the current vehicle speed is more than preset vehicle speed
Accelerator pedal aperture when accelerator pedal being taken to be lifted；
Fourth processing module, for monitor the accelerator pedal aperture be not more than the second default aperture when, according to institute
State the correspondence between accelerator pedal aperture and preset different accelerator pedal aperture and braking torque, determine with it is described
The corresponding braking torque of second signal.
Preferably, described device further includes：
Third monitoring modular, the third signal trampled for monitoring accelerator pedal in vehicle travel process；
5th processing module, for monitoring first signal and the third signal simultaneously in vehicle travel process
When, determine the braking torque for responding first signal；
Control module is braked for vehicle processed with the braking torque for responding first signal.
Preferably, the first processing module includes：
Judging unit, for judging whether the distance is more than pre-determined distance；
First control unit, for when the distance is more than the pre-determined distance, control vehicle to be default with described second
Torque carries out mechanical braking；
Second control unit, for when the distance is not more than the pre-determined distance, control vehicle to be alarmed.
The embodiment of the present invention additionally provides a kind of vehicle, including：The control device of vehicle as described above.
The embodiment of the present invention additionally provides a kind of control device of vehicle, including：Memory, processor and it is stored in storage
On device and the computer program that can run on a processor, the processor are realized as described above when executing the computer program
Vehicle control method in either step.
Compared with prior art, the control method of vehicle provided in an embodiment of the present invention, device, equipment and vehicle, at least
It has the advantages that：
It is more than the first pre-set velocity by the movement velocity when brake pedal is trampled and the brake pedal aperture is big
In the first default aperture, it can be determined that vehicle is carrying out emergency brake, at this time according to the distance between rear of vehicle and barrier,
Determine the braking torque for responding first signal, the method for braking judgement is more intelligent, and driver is contributed to carry out vehicle
Braking.
Description of the drawings
Fig. 1 is the flow chart of the control method of vehicle provided in an embodiment of the present invention；
Fig. 2 is the particular flow sheet of the control method of vehicle provided in an embodiment of the present invention；
Fig. 3 is the structure diagram of the control device of vehicle provided in an embodiment of the present invention；
Fig. 4 is the curve graph of Motor torque provided in an embodiment of the present invention and accelerator pedal aperture；
Reference sign：
The first monitoring modulars of 1-, the second monitoring modulars of 2-, 3- third monitoring modulars, the first acquisition modules of 4-, 5- second are obtained
Modulus block, 6- first processing modules, 61- judging units, the first control units of 62-, the second control units of 63-, 7- second processings
Module, 8- third processing modules, 9- fourth processing modules, the 5th processing modules of 10-, 11- control modules.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.In the following description, such as specific configuration is provided and the specific detail of component is only
In order to help comprehensive understanding the embodiment of the present invention.It therefore, it will be apparent to those skilled in the art that can be to reality described herein
Example is applied to make various changes and modifications without departing from scope and spirit of the present invention.In addition, for clarity and brevity, it is omitted pair
The description of known function and construction.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic includes at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these specific feature, knots
Structure or characteristic can in any suitable manner combine in one or more embodiments.
In various embodiments of the present invention, it should be appreciated that the size of the serial number of following each processes is not meant to execute suitable
The execution sequence of the priority of sequence, each process should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Process constitutes any restriction.
An embodiment of the present invention provides a kind of control methods of vehicle, as shown in Figure 1, including：
Step S1 monitors the first signal that brake pedal is trampled in vehicle travel process；
Step S2, when monitoring the first signal, after obtaining movement velocity when brake pedal is trampled and being trampled
Brake pedal aperture；
Step S3, if movement velocity when brake pedal is trampled is more than the first pre-set velocity and the brake pedal aperture
More than the first default aperture, then according to the distance between rear of vehicle and barrier, the braking for responding first signal is determined
Torque.
The above embodiment of the present invention, by the movement velocity when brake pedal is trampled be more than the first pre-set velocity and
The brake pedal aperture is more than the first default aperture, it can be determined that vehicle is carrying out emergency brake, at this time according to rear of vehicle
The distance between barrier determines the braking torque for responding first signal, and the method for braking judgement is more intelligent, has
Help driver and carries out vehicle braking.
As shown in Fig. 2, illustrating the specific implementation process of said program with reference to detailed process：
Step S11 is monitored and is accelerated in the first signal, vehicle travel process that brake pedal is trampled in vehicle travel process
The current vehicle speed of vehicle and accelerator pedal are turned by being trampled in third signal and monitoring vehicle travel process that pedal is trampled
Second signal when becoming being lifted.
Step S12 judges the signal monitored；If only monitor the first signal or monitor simultaneously first signal and
The third signal, enters step S13；If only monitoring second signal, S23 is entered step.
Step S13 is obtained when only monitoring the first signal or monitoring first signal and the third signal simultaneously
Movement velocity when brake pedal being taken to be trampled and the brake pedal aperture after being trampled.
Step S14, judges whether movement velocity when brake pedal is trampled is more than the first pre-set velocity and the system
Whether dynamic pedal aperture is more than the first default aperture.
Step S15, if movement velocity when brake pedal is trampled is not more than the first pre-set velocity and the brake pedal
Aperture is not more than the first default aperture, it is determined that the braking torque of response first signal is the first predetermined torque.
Step S16, if movement velocity when brake pedal is trampled is not more than the first pre-set velocity and the brake pedal
Aperture is more than the first default aperture, it is determined that the braking torque of response first signal is the second predetermined torque；Wherein, described
First predetermined torque is less than second predetermined torque.
Step S17, if movement velocity when brake pedal is trampled is more than the first pre-set velocity and the brake pedal is opened
Degree is more than the first default aperture, then judges whether the distance is more than pre-determined distance.
Step S18, when the distance is more than the pre-determined distance, control vehicle carries out machine with second predetermined torque
Tool is braked.
Step S19, when the distance is not more than the pre-determined distance, control vehicle is alarmed.
Step S23, accelerator pedal is by being trampled the second signal being changed into when being lifted in monitoring vehicle travel process
When, obtain the current vehicle speed of vehicle.
Step S24, judges whether current vehicle speed is more than preset vehicle speed；If it is, entering step S25；If it has not, without
Braking.
Step S25 obtains accelerator pedal when accelerator pedal is lifted and opens when the current vehicle speed is more than preset vehicle speed
Degree.
Step S26, judges whether the accelerator pedal aperture is more than the second default aperture；If it has not, entering step S27；
If it is, without braking.
Step S27, when monitoring that the accelerator pedal aperture is not more than the second default aperture, according to the accelerator pedal
Correspondence between aperture and preset different accelerator pedal apertures and braking torque, determines and the second signal pair
The braking torque answered.
In the specific embodiment of the present invention, as shown in figure 4, during accelerator pedal is trampled, Motor torque with
The increase of accelerator pedal aperture is gradually increasing along solid line O-D-E-F；When current vehicle speed is more than preset vehicle speed, if accelerator pedal quilt
It lifts, accelerator pedal aperture is gradually reduced at this time, and Motor torque is as the reduction of accelerator pedal aperture is under solid line F-E is gradual
Drop, automobile is in driving condition at this time；Wherein, when current vehicle speed is less than or equal to preset vehicle speed, if accelerator pedal is lifted, this
When accelerator pedal aperture be gradually reduced, Motor torque is gradually reduced with the reduction of accelerator pedal aperture along solid line F-E-D-O, this
When automobile be in driving condition.
During by F to E, with the reduction of accelerator pedal aperture, when monitoring that the accelerator pedal aperture is little
When the second default aperture reaches E points, Motor torque gradually reversely rises with the reduction of accelerator pedal aperture along dotted line E-A-B
Height, automobile starts to be in on-position when A-B, and motor exports braking torque；With being gradually reduced for accelerator pedal aperture, work as acceleration
When pedal aperture becomes 0 and reaches B points, the motor torque values of constant braking torque, that is, B points are preset in motor output；If in current vehicle
When speed presets braking speed not less than (being greater than or equal to), the third signal that accelerator pedal is trampled, motor are monitored again
The braking torque of output is gradually reduced, and accelerator pedal aperture gradually increases, i.e. B-C；When accelerator pedal aperture increases to default add
When speed pedal aperture, that is, C points, the braking torque of motor output at this time is decreased to 0, later with the increase of accelerator pedal aperture, electricity
Machine torque rises along C-D-E-F.
Wherein, the motor torque values of constant braking torque, that is, B points are preset in motor output, are equipped in advance if being less than in current vehicle speed
When motor-car speed, the third signal that accelerator pedal is trampled is monitored again, the braking torque of motor output is by B point-O points, then
With the increase of accelerator pedal aperture, Motor torque is gradually increased along O-D-E-F.
The embodiment of the present invention additionally provides a kind of control device of vehicle, as shown in figure 3, including：First monitoring modular 1,
The first signal trampled for monitoring brake pedal in vehicle travel process；First acquisition module 4, for monitoring first
When signal, the brake pedal aperture after obtaining movement velocity when brake pedal is trampled and being trampled；First processing module
6, if movement velocity when being trampled for brake pedal is more than the first pre-set velocity and the brake pedal aperture is more than first
Default aperture determines the braking torque for responding first signal then according to the distance between rear of vehicle and barrier.
The above embodiment of the present invention, by the movement velocity when brake pedal is trampled be more than the first pre-set velocity and
The brake pedal aperture is more than the first default aperture, it can be determined that vehicle is carrying out emergency brake, at this time according to rear of vehicle
The distance between barrier determines the braking torque for responding first signal, and the method for braking judgement is more intelligent, has
Help driver and carries out vehicle braking；Wherein, first signal indicates that the signal that driver steps on brake pedal, braking are stepped on
Movement velocity when plate is trampled is more than the first pre-set velocity and indicates that driver rapidly steps on brake pedal, and brake pedal aperture is more than
First default aperture indicates that driver steps on brake pedal deeply.
In the specific embodiment of the present invention, described device further includes：Second processing module 7, if being used for brake pedal quilt
Movement velocity when trampling is not more than (being less than or equal to) first pre-set velocity and the brake pedal aperture is no more than (i.e. small
In or be equal to) the first default aperture, it is determined that the braking torque of response first signal is the first predetermined torque；Wherein, it makes
Movement velocity when dynamic pedal is trampled indicates that driver is slow no more than (being less than or equal to) first pre-set velocity and steps on braking and step on
Plate, brake pedal aperture indicate that driver gently steps on brake pedal no more than (being less than or equal to) first default aperture；At third
Module 8 is managed, if movement velocity when being trampled for brake pedal is not more than (being less than or equal to) first pre-set velocity and institute
It states brake pedal aperture and is more than the first default aperture, it is determined that the braking torque of response first signal is the second default torsion
Square；Wherein, first predetermined torque is less than second predetermined torque.
In the specific embodiment of the present invention, described device further includes：Second monitoring modular 2, for monitoring vehicle traveling
The current vehicle speed of vehicle and accelerator pedal are by being trampled the second signal being changed into when being lifted in the process；Second acquisition module 5,
For when monitoring the second signal, and when the current vehicle speed is more than preset vehicle speed, obtain when accelerator pedal is lifted
Accelerator pedal aperture；Fourth processing module 9, for monitoring the accelerator pedal aperture no more than (being less than or equal to) the
When two default apertures, according between the accelerator pedal aperture and preset different accelerator pedal apertures and braking torque
Correspondence determines braking torque corresponding with the second signal；Wherein, the second signal indicates in vehicle travel process
Accelerator pedal is by being operated the signal for being changed into and being lifted.
In the specific embodiment of the present invention, described device further includes：Third monitoring modular 3, for monitoring vehicle traveling
The third signal that accelerator pedal is trampled in the process；5th processing module 10, for being monitored simultaneously in vehicle travel process
When first signal and the third signal, the braking torque for responding first signal is determined；Control module 11, for making
Vehicle is braked with the braking torque for responding first signal；Wherein, the third signal indicates in vehicle travel process
The signal that accelerator pedal is operated.
In the specific embodiment of the present invention, the first processing module includes：Judging unit 61, for judge it is described away from
From whether more than pre-determined distance；First control unit 62, for the distance be more than the pre-determined distance when, control vehicle with
Second predetermined torque carries out mechanical braking；Second control unit 63 (is less than or waits for being not more than in the distance
In) pre-determined distance when, control vehicle alarm, at this point, driver can be determined how by real-time condition operation vehicle
, not only carry out the efficient utilization of energy, moreover it is possible to ensure vehicle safe driving and braking.
Wherein, vehicle can pass through voice prompt distance and/or instrument display distance.
It, can basis when only monitoring third signal that accelerator pedal is trampled in the specific embodiment of the present invention
The distance between rear of vehicle and barrier and the distance between vehicle front and barrier judge whether maloperation adds driver
Speed pedal, and the distance between voice prompt rear of vehicle and barrier and the distance between vehicle front and barrier, to
It avoids driver's maloperation accelerator pedal from leading to the generation of safety accident, increases the safety of vehicle traveling.
In the specific embodiment of the present invention, when the brake pedal is trampled, fortune when monitoring brake pedal is trampled
Brake pedal aperture after moving speed and being trampled can also be changed to monitoring master cylinder pressure rate of change and master cylinder pressure, root
Braking torque is determined according to master cylinder pressure pace of change and master cylinder pressure.
It should be noted that the embodiment of the device is device corresponding with the embodiment of the above method, the above method
Embodiment in all realization methods suitable for the embodiment of the device, can also reach identical technique effect.
The embodiment of the present invention additionally provides a kind of vehicle, including：The control device of vehicle described in any embodiment as above.
The embodiment of the present invention additionally provides a kind of control device of vehicle, including：Memory, processor and it is stored in storage
On device and the computer program that can run on a processor, the processor is realized when executing the computer program as above to be implemented
Either step in the control method of vehicle described in example.
In conclusion the embodiment of the present invention is more than the first pre-set velocity by the movement velocity when brake pedal is trampled
And the brake pedal aperture be more than the first default aperture, it can be determined that vehicle carry out emergency brake, at this time according to vehicle after
The distance between side and barrier determine the braking torque for responding first signal, and the method for braking judgement is more intelligent,
Driver is contributed to carry out vehicle braking.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (12)
1. a kind of control method of vehicle, which is characterized in that including：
The first signal that brake pedal is trampled in monitoring vehicle travel process；
When monitoring the first signal, the brake pedal after obtaining movement velocity when brake pedal is trampled and being trampled is opened
Degree；
If movement velocity when brake pedal is trampled is more than the first pre-set velocity and the brake pedal aperture is more than first in advance
If aperture, then according to the distance between rear of vehicle and barrier, the braking torque for responding first signal is determined.
2. the control method of vehicle as described in claim 1, which is characterized in that the method further includes：
If movement velocity when brake pedal is trampled is no more than the first pre-set velocity and the brake pedal aperture no more than the
One default aperture, it is determined that the braking torque of response first signal is the first predetermined torque；
If movement velocity when brake pedal is trampled is no more than the first pre-set velocity and the brake pedal aperture is more than first
Default aperture, it is determined that the braking torque of response first signal is the second predetermined torque；
Wherein, first predetermined torque is less than second predetermined torque.
3. the control method of vehicle as described in claim 1, which is characterized in that the method further includes：
The current vehicle speed of vehicle and accelerator pedal are by being trampled the second letter being changed into when being lifted in monitoring vehicle travel process
Number；
When monitoring the second signal, and when the current vehicle speed is more than preset vehicle speed, obtain when accelerator pedal is lifted
Accelerator pedal aperture；
When monitoring that the accelerator pedal aperture is not more than the second default aperture, set according to the accelerator pedal aperture and in advance
Correspondence between fixed different accelerator pedal apertures and braking torque determines that braking corresponding with the second signal is turned round
Square.
4. the control method of vehicle as described in claim 1, which is characterized in that the method further includes：
The third signal that accelerator pedal is trampled in monitoring vehicle travel process；
When monitoring first signal and the third signal simultaneously in vehicle travel process, response first letter is determined
Number braking torque；
Control vehicle is braked with the braking torque for responding first signal.
5. the control method of vehicle as claimed in claim 2, which is characterized in that if the movement when brake pedal is trampled
Speed is more than the first pre-set velocity and the brake pedal aperture is more than the first default aperture, then according to rear of vehicle and barrier
The distance between, determine that the braking torque for responding first signal includes：
Judge whether the distance is more than pre-determined distance；
When the distance is more than the pre-determined distance, control vehicle carries out mechanical braking with second predetermined torque；
When the distance is not more than the pre-determined distance, control vehicle is alarmed.
6. a kind of control device of vehicle, which is characterized in that including：
First monitoring modular, the first signal trampled for monitoring brake pedal in vehicle travel process；
First acquisition module, for when monitoring the first signal, obtain movement velocity when brake pedal is trampled and by
Brake pedal aperture after trampling；
First processing module, if movement velocity when being trampled for brake pedal is more than the first pre-set velocity and the braking is stepped on
Plate aperture is more than the first default aperture, then according to the distance between rear of vehicle and barrier, determines and respond first signal
Braking torque.
7. the control device of vehicle as claimed in claim 6, which is characterized in that described device further includes：
Second processing module, if movement velocity when being trampled for brake pedal is not more than the first pre-set velocity and the braking
Pedal aperture is not more than the first default aperture, it is determined that the braking torque of response first signal is the first predetermined torque；
Third processing module, if movement velocity when being trampled for brake pedal is not more than the first pre-set velocity and the braking
Pedal aperture is more than the first default aperture, it is determined that the braking torque of response first signal is the second predetermined torque；
Wherein, first predetermined torque is less than second predetermined torque.
8. the control device of vehicle as claimed in claim 6, which is characterized in that described device further includes：
Second monitoring modular is changed into for monitoring the current vehicle speed of vehicle and accelerator pedal in vehicle travel process by being trampled
Second signal when being lifted；
Second acquisition module, for when monitoring the second signal, and when the current vehicle speed is more than preset vehicle speed, obtain plus
Accelerator pedal aperture when speed pedal is lifted；
Fourth processing module, for when monitoring that the accelerator pedal aperture is not more than the second default aperture, being added according to described
Correspondence between speed pedal aperture and preset different accelerator pedal apertures and braking torque, determines and described second
The corresponding braking torque of signal.
9. the control device of vehicle as claimed in claim 6, which is characterized in that described device further includes：
Third monitoring modular, the third signal trampled for monitoring accelerator pedal in vehicle travel process；
5th processing module, when for monitoring first signal and the third signal simultaneously in vehicle travel process,
Determine the braking torque for responding first signal；
Control module is braked for vehicle processed with the braking torque for responding first signal.
10. the control device of vehicle as claimed in claim 7, which is characterized in that the first processing module includes：
Judging unit, for judging whether the distance is more than pre-determined distance；
First control unit, for when the distance is more than the pre-determined distance, control vehicle to be with second predetermined torque
Carry out mechanical braking；
Second control unit, for when the distance is not more than the pre-determined distance, control vehicle to be alarmed.
11. a kind of vehicle, which is characterized in that including：Such as the control device of claim 6~10 any one of them vehicle.
12. a kind of control device of vehicle, which is characterized in that including：Memory, processor and storage are on a memory and can be
The computer program run on processor, the processor are realized when executing the computer program as Claims 1 to 5 is any
Step in the control method of vehicle described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810621238.4A CN108556844B (en) | 2018-06-15 | 2018-06-15 | Vehicle control method, device and equipment and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810621238.4A CN108556844B (en) | 2018-06-15 | 2018-06-15 | Vehicle control method, device and equipment and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108556844A true CN108556844A (en) | 2018-09-21 |
| CN108556844B CN108556844B (en) | 2020-06-30 |
Family
ID=63554087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810621238.4A Active CN108556844B (en) | 2018-06-15 | 2018-06-15 | Vehicle control method, device and equipment and vehicle |
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| CN113734073A (en) * | 2021-09-26 | 2021-12-03 | 重庆长安汽车股份有限公司 | Control method and control system for driver required torque of pure electric vehicle |
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