CN108556844B - Vehicle control method, device and equipment and vehicle - Google Patents
Vehicle control method, device and equipment and vehicle Download PDFInfo
- Publication number
- CN108556844B CN108556844B CN201810621238.4A CN201810621238A CN108556844B CN 108556844 B CN108556844 B CN 108556844B CN 201810621238 A CN201810621238 A CN 201810621238A CN 108556844 B CN108556844 B CN 108556844B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- preset
- signal
- opening degree
- brake pedal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000012544 monitoring process Methods 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 26
- 230000004044 response Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000994 depressogenic effect Effects 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000009467 reduction Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
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
Landscapes
- 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 invention relates to the technical field of vehicle control, in particular to a vehicle control method, device and equipment and a vehicle.
Background
At present, electric automobiles are electrified and intelligently developed, wherein the application of advanced driving assistance systems and automobile body electronic stability systems is gradually increased, when the automobiles brake to recover energy or brake emergently, the automobiles cannot automatically determine the applicable braking mode according to the driving conditions, and the economic efficiency, the safety and the like of the automobiles are greatly influenced.
Therefore, there is a need for a vehicle control method, device, facility and vehicle that can solve the problem that the vehicle cannot automatically determine the applicable braking mode according to the driving situation.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device, vehicle control equipment and a vehicle, which are used for solving the problem that the vehicle cannot automatically determine an applicable braking mode according to a driving condition.
In order to solve the above technical problem, an embodiment of the present invention provides a control method for a vehicle, including:
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.
Preferably, the method further comprises:
if the movement speed of the brake pedal when being stepped is not greater than a first preset speed and the opening degree of the brake pedal is not greater than a first preset opening degree, determining that the brake torque responding to the first signal is a first preset torque;
if the movement speed of the brake pedal when being stepped is not greater than a first preset speed and the opening degree of the brake pedal is greater than a first preset opening degree, determining that the brake torque responding to the first signal is a second preset torque;
wherein the first preset torque is less than the second preset torque.
Preferably, the method further comprises:
monitoring the current speed of the vehicle and a second signal when an accelerator pedal is changed from being stepped to being lifted in the running process of the vehicle;
when the second signal is monitored and the current vehicle speed is greater than the preset vehicle speed, acquiring the opening degree of an accelerator pedal when the accelerator pedal is lifted;
and when the opening degree of the accelerator pedal is monitored to be not larger than a second preset opening degree, determining the braking torque corresponding to the second signal according to the opening degree of the accelerator pedal and the corresponding relationship between the preset different opening degrees of the accelerator pedal and the braking torque.
Preferably, the method further comprises:
monitoring a third signal that an accelerator pedal is stepped on during the running process of the vehicle;
determining a braking torque in response to the first signal when the first signal and the third signal are monitored simultaneously during vehicle travel;
controlling the vehicle to brake with the brake torque in response to the first signal.
Preferably, if the movement speed of the brake pedal when being stepped on is greater than a first preset speed and the brake pedal opening degree is greater than a first preset opening degree, determining the braking torque in response to the first signal according to the distance between the rear of the vehicle and the obstacle includes:
judging whether the distance is greater than a preset distance;
when the distance is larger than the preset distance, controlling the vehicle to perform mechanical braking at the second preset torque;
and when the distance is not greater than the preset distance, controlling the vehicle to give an alarm.
An embodiment of the present invention further provides a control apparatus for a vehicle, including:
the first monitoring module is used for monitoring a first signal that a brake pedal is stepped on in the running process of a vehicle;
the first acquisition module is used for acquiring the motion speed of the brake pedal when being stepped and the opening degree of the brake pedal after being stepped when monitoring the first signal;
the first processing module is used for determining the braking torque responding to the first signal according to the distance between the rear of the vehicle and the obstacle if the movement speed of the brake pedal when being stepped is larger than a first preset speed and the opening degree of the brake pedal is larger than a first preset opening degree.
Preferably, the apparatus further comprises:
the second processing module is used for determining that the braking torque responding to the first signal is a first preset torque if the movement speed of the brake pedal during treading is not greater than a first preset speed and the opening degree of the brake pedal is not greater than a first preset opening degree;
the third processing module is used for determining that the braking torque responding to the first signal is a second preset torque if the movement speed of the brake pedal during treading is not greater than a first preset speed and the opening degree of the brake pedal is greater than a first preset opening degree;
wherein the first preset torque is less than the second preset torque.
Preferably, the apparatus further comprises:
the second monitoring module is used for monitoring the current speed of the vehicle and a second signal when the accelerator pedal is changed from being stepped to being lifted in the running process of the vehicle;
the second acquisition module is used for acquiring the opening degree of an accelerator pedal when the accelerator pedal is lifted when the second signal is monitored and the current vehicle speed is greater than the preset vehicle speed;
and the fourth processing module is used for determining the braking torque corresponding to the second signal according to the corresponding relation between the opening degree of the accelerator pedal and the preset different opening degrees of the accelerator pedal and the braking torque when the opening degree of the accelerator pedal is monitored not to be larger than a second preset opening degree.
Preferably, the apparatus further comprises:
the third monitoring module is used for monitoring a third signal that an accelerator pedal is stepped on in the running process of the vehicle;
the fifth processing module is used for determining the braking torque responding to the first signal when the first signal and the third signal are monitored simultaneously in the running process of the vehicle;
a control module for braking the vehicle with a braking torque in response to the first signal.
Preferably, the first processing module includes:
the judging unit is used for judging whether the distance is greater than a preset distance;
the first control unit is used for controlling the vehicle to perform mechanical braking at the second preset torque when the distance is greater than the preset distance;
and the second control unit is used for controlling the vehicle to give an alarm when the distance is not greater than the preset distance.
An embodiment of the present invention further provides a vehicle, including: the control device for a vehicle described above.
An embodiment of the present invention further provides a control apparatus for a vehicle, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the steps of the control method of the vehicle as described above when executing the computer program.
Compared with the prior art, the vehicle control method, the vehicle control device, the vehicle control equipment and the vehicle provided by the embodiment of the invention at least have the following beneficial effects:
the vehicle can be judged to be emergently braked by the fact that the movement speed of the brake pedal when the brake pedal is stepped is larger than a first preset speed and the opening degree of the brake pedal is larger than a first preset opening degree, the braking torque responding to the first signal is determined according to the distance between the rear of the vehicle and an obstacle, the braking judgment method is more intelligent, and a driver is helped to brake the vehicle.
Drawings
Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present invention;
fig. 2 is a detailed flowchart of a control method for a vehicle according to an embodiment of the present invention;
fig. 3 is a block diagram of a control device of a vehicle according to an embodiment of the present invention;
FIG. 4 is a graph of motor torque versus accelerator pedal opening provided by an embodiment of the present invention;
description of reference numerals:
1-a first monitoring module, 2-a second monitoring module, 3-a third monitoring module, 4-a first acquisition module, 5-a second acquisition module, 6-a first processing module, 61-a judgment unit, 62-a first control unit, 63-a second control unit, 7-a second processing module, 8-a third processing module, 9-a fourth processing module, 10-a fifth processing module, 11-a control module.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
An embodiment of the present invention provides a control method of a vehicle, as shown in fig. 1, including:
step S1, monitoring a first signal that a brake pedal is stepped on during the running process of the vehicle;
step S2, when the first signal is monitored, acquiring the motion speed when the brake pedal is stepped and the opening degree of the brake pedal after being stepped;
and step S3, if the movement speed when the brake pedal is stepped on 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 embodiment of the invention, the movement speed when the brake pedal is stepped is greater than the first preset speed, and the brake pedal opening degree is greater than the first preset opening degree, so that the vehicle can be judged to be braked emergently, and at the moment, 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.
As shown in fig. 2, the following describes a specific implementation process of the above scheme with reference to a specific flow:
and step S11, monitoring a first signal that a brake pedal is trodden during the running of the vehicle, a third signal that an accelerator pedal is trodden during the running of the vehicle, and monitoring the current speed of the vehicle and a second signal when the accelerator pedal is changed from being trodden to being lifted during the running of the vehicle.
Step S12, judging the monitored signal; if only the first signal is monitored or the first signal and the third signal are monitored simultaneously, the step S13 is entered; if only the second signal is detected, the process proceeds to step S23.
And a step S13 of acquiring a motion speed when the brake pedal is depressed and a brake pedal opening after the brake pedal is depressed when only the first signal is monitored or the first signal and the third signal are monitored simultaneously.
Step S14, it is determined whether the movement speed when the brake pedal is stepped on is greater than a first preset speed and the brake pedal opening is greater than a first preset opening.
In step S15, if the movement speed of the brake pedal is not greater than a first preset speed and the opening of the brake pedal is not greater than a first preset opening, the braking torque in response to the first signal is determined to be a first preset torque.
Step S16, if the movement speed of the brake pedal is not larger than a first preset speed and the opening of the brake pedal is larger than a first preset opening, determining the brake torque responding to the first signal as a second preset torque; wherein the first preset torque is less than the second preset torque.
Step S17, if the movement speed when the brake pedal is stepped on is greater than a first preset speed and the brake pedal opening is greater than a first preset opening, determining whether the distance is greater than a preset distance.
And step S18, when the distance is larger than the preset distance, controlling the vehicle to perform mechanical braking at the second preset torque.
And step S19, when the distance is not more than the preset distance, controlling the vehicle to give an alarm.
In step S23, the current vehicle speed of the vehicle is acquired when the second signal when the accelerator pedal is turned from being depressed to being lifted during the running of the vehicle is monitored.
Step S24, judging whether the current vehicle speed is larger than the preset vehicle speed; if yes, go to step S25; if not, no braking is carried out.
And step S25, acquiring the opening degree of an accelerator pedal when the accelerator pedal is lifted when the current vehicle speed is greater than the preset vehicle speed.
Step S26, judging whether the opening degree of the accelerator pedal is larger than a second preset opening degree; if not, go to step S27; if so, no braking is performed.
And step S27, when the accelerator pedal opening is monitored not to be larger than a second preset opening, determining the braking torque corresponding to the second signal according to the accelerator pedal opening and the corresponding relation between different preset accelerator pedal openings and the braking torque.
In one embodiment of the present invention, as shown in FIG. 4, the motor torque gradually increases along the solid line O-D-E-F as the accelerator pedal opening increases while the accelerator pedal is being depressed; when the current vehicle speed is greater than the preset vehicle speed, if the accelerator pedal is lifted, the opening degree of the accelerator pedal is gradually reduced, the torque of the motor is gradually reduced along a solid line F-E along with the reduction of the opening degree of the accelerator pedal, and the vehicle is in a driving state; when the current vehicle speed is less than or equal to the preset vehicle speed, if the accelerator pedal is lifted, the opening degree of the accelerator pedal is gradually reduced, the torque of the motor is gradually reduced along the solid line F-E-D-O along with the reduction of the opening degree of the accelerator pedal, and the vehicle is in a driving state at the moment.
In the process from F to E, along with the reduction of the opening degree of an accelerator pedal, when the opening degree of the accelerator pedal is monitored to be not larger than a second preset opening degree, namely the E point is reached, the torque of the motor is gradually and reversely increased along the broken line E-A-B along with the reduction of the opening degree of the accelerator pedal, the automobile starts to be in a braking state at the time of A-B, and the motor outputs braking torque; along with the gradual reduction of the opening degree of an accelerator pedal, when the opening degree of the accelerator pedal becomes 0, namely the point B is reached, the motor outputs a preset constant braking torque, namely a motor torque value of the point B; if the current vehicle speed is not less than (i.e. greater than or equal to) the preset brake vehicle speed, monitoring a third signal that the accelerator pedal is stepped again, gradually reducing the brake torque output by the motor, and gradually increasing the opening of the accelerator pedal, namely B-C; when the accelerator opening is increased to a preset accelerator opening, namely a point C, the braking torque output by the motor is reduced to 0 at the moment, and then along with the increase of the accelerator opening, the motor torque rises along the C-D-E-F.
The motor outputs a preset constant braking torque, namely a motor torque value at a point B, if the current vehicle speed is smaller than the preset braking vehicle speed, the third signal that the accelerator pedal is stepped on is monitored again, the braking torque output by the motor is from the point B to the point O, and then the motor torque is gradually increased along with the increase of the opening degree of the accelerator pedal.
An embodiment of the present invention further provides a control apparatus for a vehicle, as shown in fig. 3, including: the first monitoring module 1 is used for monitoring a first signal that a brake pedal is stepped on in the running process of a vehicle; the first acquisition module 4 is used for acquiring the motion speed of the brake pedal when being stepped and the opening degree of the brake pedal after being stepped when monitoring the first signal; and the first processing module 6 is used for determining the braking torque responding to the first signal according to the distance between the rear of the vehicle and the obstacle 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.
According to the embodiment of the invention, the vehicle can be judged to be braked emergently by the fact that the movement speed of the brake pedal 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, 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 a driver to brake the vehicle; the first signal represents a signal that a driver steps on a brake pedal, the movement speed of the brake pedal when being stepped is higher than a first preset speed represents that the driver steps on the brake pedal rapidly, and the opening degree of the brake pedal is higher than the first preset opening degree represents that the driver steps on the brake pedal deeply.
In an embodiment of the present invention, the apparatus further includes: a second processing module 7, configured to determine that a braking torque in response to the first signal is a first preset torque if a motion speed when a brake pedal is stepped is not greater than (i.e., less than or equal to) a first preset speed and the brake pedal opening degree is not greater than (i.e., less than or equal to) a first preset opening degree; when the brake pedal is pedaled, the movement speed is not more than (namely less than or equal to) a first preset speed, which means that the driver slowly steps on the brake pedal, and the opening degree of the brake pedal is not more than (namely less than or equal to) the first preset opening degree, which means that the driver lightly steps on the brake pedal; a third processing module 8, configured to determine that a braking torque in response to the first signal is a second preset torque if a motion speed when a brake pedal is stepped is not greater than (i.e., less than or equal to) a first preset speed and the brake pedal opening is greater than a first preset opening; wherein the first preset torque is less than the second preset torque.
In an embodiment of the present invention, the apparatus further includes: the second monitoring module 2 is used for monitoring the current speed of the vehicle and a second signal when an accelerator pedal is changed from being stepped to being lifted in the running process of the vehicle; the second obtaining module 5 is configured to obtain an accelerator pedal opening degree when the accelerator pedal is lifted when the second signal is monitored and the current vehicle speed is greater than a preset vehicle speed; a fourth processing module 9, configured to, when it is monitored that the accelerator pedal opening is not greater than (i.e., less than or equal to) a second preset opening, determine, according to a correspondence between the accelerator pedal opening and preset different accelerator pedal openings and braking torques, a braking torque corresponding to the second signal; wherein the second signal represents a signal that the accelerator pedal is changed from being pressed to being lifted during the running of the vehicle.
In an embodiment of the present invention, the apparatus further includes: the third monitoring module 3 is used for monitoring a third signal that an accelerator pedal is stepped on in the running process of the vehicle; a fifth processing module 10, configured to determine a braking torque in response to the first signal when the first signal and the third signal are monitored simultaneously during a vehicle driving process; a control module 11 for braking the vehicle with a braking torque in response to the first signal; wherein the third signal represents a signal that an accelerator pedal is depressed during the running of the vehicle.
In an embodiment of the present invention, the first processing module includes: a judging unit 61, configured to judge whether the distance is greater than a preset distance; the first control unit 62 is used for controlling the vehicle to perform mechanical braking at the second preset torque when the distance is greater than the preset distance; the second control unit 63 is configured to control the vehicle to alarm when the distance is not greater than (i.e., less than or equal to) the preset distance, and at this time, the driver can analyze how to operate the vehicle through a real-time condition, so that not only is the efficient use of energy performed, but also the safe driving and braking of the vehicle can be ensured.
Wherein the vehicle may indicate the distance and/or the meter display distance via voice.
In a specific embodiment of the invention, when only the third signal that the accelerator pedal is stepped on is monitored, whether the driver mistakenly operates the accelerator pedal can be judged according to the distance between the rear of the vehicle and the obstacle and the distance between the front of the vehicle and the obstacle, and the distance between the rear of the vehicle and the obstacle and the distance between the front of the vehicle and the obstacle are prompted by voice, so that safety accidents caused by the driver mistakenly operating the accelerator pedal are avoided, and the driving safety of the vehicle is improved.
In an embodiment of the invention, when the brake pedal is stepped, the motion speed of the brake pedal when being stepped and the opening degree of the brake pedal after being stepped can be monitored instead of monitoring the master cylinder pressure change rate and the master cylinder pressure, and the braking torque is determined according to the master cylinder pressure change speed and the master cylinder pressure.
It should be noted that the embodiment of the apparatus is an apparatus corresponding to the embodiment of the method, and all implementations in the embodiment of the method are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.
An embodiment of the present invention further provides a vehicle, including: the control device for a vehicle according to any one of the above embodiments.
An embodiment of the present invention further provides a control apparatus for a vehicle, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the steps of the control method of the vehicle as described in the above embodiments when executing the computer program.
In summary, according to the embodiments of the present invention, when the movement speed of the brake pedal is greater than the first preset speed and the brake pedal opening degree is greater than the first preset opening degree, it can be determined that the vehicle is braked suddenly, and at this time, the braking torque responding to the first signal is determined according to the distance between the rear of the vehicle and the obstacle, so that the braking determination method is more intelligent, and is helpful for the driver to brake the vehicle.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A control method of a vehicle, characterized by comprising:
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;
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 brake torque responding to the first signal according to the distance between the rear of the vehicle and the obstacle;
if the movement speed of the brake pedal when being stepped is not greater than a first preset speed and the opening degree of the brake pedal is not greater than a first preset opening degree, determining that the brake torque responding to the first signal is a first preset torque;
if the movement speed of the brake pedal when being stepped is not greater than a first preset speed and the opening degree of the brake pedal is greater than a first preset opening degree, determining that the brake torque responding to the first signal is a second preset torque;
wherein the first preset torque is less than the second preset torque.
2. The control method of a vehicle according to claim 1, characterized by further comprising:
monitoring the current speed of the vehicle and a second signal when an accelerator pedal is changed from being stepped to being lifted in the running process of the vehicle;
when the second signal is monitored and the current vehicle speed is greater than the preset vehicle speed, acquiring the opening degree of an accelerator pedal when the accelerator pedal is lifted;
and when the opening degree of the accelerator pedal is monitored to be not larger than a second preset opening degree, determining the braking torque corresponding to the second signal according to the opening degree of the accelerator pedal and the corresponding relationship between the preset different opening degrees of the accelerator pedal and the braking torque.
3. The control method of a vehicle according to claim 1, characterized by further comprising:
monitoring a third signal that an accelerator pedal is stepped on during the running process of the vehicle;
determining a braking torque in response to the first signal when the first signal and the third signal are monitored simultaneously during vehicle travel;
controlling the vehicle to brake with the brake torque in response to the first signal.
4. The method of controlling a vehicle according to claim 1, wherein the determining the braking torque in response to the first signal according to the distance between the rear of the vehicle and the obstacle if the speed of movement of the brake pedal when depressed is greater than a first preset speed and the brake pedal opening degree is greater than a first preset opening degree includes:
judging whether the distance is greater than a preset distance;
when the distance is larger than the preset distance, controlling the vehicle to perform mechanical braking at the second preset torque;
and when the distance is not greater than the preset distance, controlling the vehicle to give an alarm.
5. A control apparatus of a vehicle, characterized by comprising:
the first monitoring module is used for monitoring a first signal that a brake pedal is stepped on in the running process of a vehicle;
the first acquisition module is used for acquiring the motion speed of the brake pedal when being stepped and the opening degree of the brake pedal after being stepped when monitoring the first signal;
the first processing module is used for determining the braking torque responding to the first signal according to the distance between the rear of the vehicle and the obstacle 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;
the second processing module is used for determining that the braking torque responding to the first signal is a first preset torque if the movement speed of the brake pedal during treading is not greater than a first preset speed and the opening degree of the brake pedal is not greater than a first preset opening degree;
the third processing module is used for determining that the braking torque responding to the first signal is a second preset torque if the movement speed of the brake pedal during treading is not greater than a first preset speed and the opening degree of the brake pedal is greater than a first preset opening degree;
wherein the first preset torque is less than the second preset torque.
6. The control apparatus of a vehicle according to claim 5, characterized by further comprising:
the second monitoring module is used for monitoring the current speed of the vehicle and a second signal when the accelerator pedal is changed from being stepped to being lifted in the running process of the vehicle;
the second acquisition module is used for acquiring the opening degree of an accelerator pedal when the accelerator pedal is lifted when the second signal is monitored and the current vehicle speed is greater than the preset vehicle speed;
and the fourth processing module is used for determining the braking torque corresponding to the second signal according to the corresponding relation between the opening degree of the accelerator pedal and the preset different opening degrees of the accelerator pedal and the braking torque when the opening degree of the accelerator pedal is monitored not to be larger than a second preset opening degree.
7. The control apparatus of a vehicle according to claim 5, characterized by further comprising:
the third monitoring module is used for monitoring a third signal that an accelerator pedal is stepped on in the running process of the vehicle;
the fifth processing module is used for determining the braking torque responding to the first signal when the first signal and the third signal are monitored simultaneously in the running process of the vehicle;
a control module for braking the vehicle with a braking torque in response to the first signal.
8. The control apparatus of a vehicle according to claim 5, wherein the first processing module includes:
the judging unit is used for judging whether the distance is greater than a preset distance;
the first control unit is used for controlling the vehicle to perform mechanical braking at the second preset torque when the distance is greater than the preset distance;
and the second control unit is used for controlling the vehicle to give an alarm when the distance is not greater than the preset distance.
9. A vehicle, characterized by comprising: a control apparatus for a vehicle according to any one of claims 5 to 8.
10. A control apparatus of a vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the control method of the vehicle according to any one of claims 1 to 4 when executing the computer program.
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 CN108556844A (en) | 2018-09-21 |
| CN108556844B true 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108556844B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278725B (en) * | 2018-11-21 | 2020-04-17 | 重庆长安新能源汽车科技有限公司 | Method, system, computer readable storage medium and vehicle for vehicle power control |
| CN111376733B (en) * | 2018-12-28 | 2021-06-25 | 海马新能源汽车有限公司 | Vehicle control method and device |
| CN110126628B (en) * | 2019-04-30 | 2021-11-02 | 奇瑞汽车股份有限公司 | Control method and control device for electric vehicle motor |
| CN112441000B (en) * | 2019-08-16 | 2022-07-19 | 华为技术有限公司 | Vehicle braking control method and device |
| CN112224188B (en) * | 2020-09-29 | 2021-06-18 | 北京五一视界数字孪生科技股份有限公司 | Vehicle brake control method and device and vehicle |
| CN113734073B (en) * | 2021-09-26 | 2023-09-15 | 重庆长安汽车股份有限公司 | Control method and control system for driver demand torque of pure electric vehicle |
| CN114987424B (en) * | 2022-04-29 | 2023-03-03 | 湖南道依茨动力有限公司 | Vehicle control method, device, computer readable storage medium and vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101580061A (en) * | 2009-06-25 | 2009-11-18 | 浙江亚太机电股份有限公司 | Brake method capable of distinguishing brake intention of driver |
| CN104828062A (en) * | 2015-05-11 | 2015-08-12 | 上海工程技术大学 | Brake control method based on driver brake intension recognition |
| CN106828113A (en) * | 2017-02-28 | 2017-06-13 | 杭州衡源汽车科技有限公司 | A kind of vehicle brake control method and system based on accelerator pedal |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5868919B2 (en) * | 2013-09-10 | 2016-02-24 | 富士重工業株式会社 | Control device for four-wheel drive vehicle |
| CN106585389B (en) * | 2015-10-20 | 2019-06-14 | 北京宝沃汽车有限公司 | The control method and device of electric car and electric car regenerative braking |
| CN106864450B (en) * | 2015-12-09 | 2019-04-16 | 北京宝沃汽车有限公司 | Vehicle brake control method, device and vehicle |
| CN106904078B (en) * | 2015-12-22 | 2019-03-12 | 北京宝沃汽车有限公司 | Control method, control system and the vehicle of vehicle |
| CN107009914B (en) * | 2016-01-27 | 2020-11-06 | 比亚迪股份有限公司 | Auxiliary braking system and control method of electric automobile and electric automobile |
| CN106828309B (en) * | 2017-02-28 | 2018-07-03 | 杭州衡源汽车科技有限公司 | A kind of pre- braking method and system based on recognition mode |
| CN108001238B (en) * | 2017-11-30 | 2020-03-10 | 北京新能源汽车股份有限公司 | Control method and device for energy recovery mode of automobile and automobile |
| CN108045268B (en) * | 2017-12-12 | 2020-07-24 | 安徽江淮汽车集团股份有限公司 | Energy recovery method and system for pure electric vehicle |
-
2018
- 2018-06-15 CN CN201810621238.4A patent/CN108556844B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101580061A (en) * | 2009-06-25 | 2009-11-18 | 浙江亚太机电股份有限公司 | Brake method capable of distinguishing brake intention of driver |
| CN104828062A (en) * | 2015-05-11 | 2015-08-12 | 上海工程技术大学 | Brake control method based on driver brake intension recognition |
| CN106828113A (en) * | 2017-02-28 | 2017-06-13 | 杭州衡源汽车科技有限公司 | A kind of vehicle brake control method and system based on accelerator pedal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108556844A (en) | 2018-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108556844B (en) | Vehicle control method, device and equipment and vehicle | |
| CN109131306B (en) | Brake control method and brake control system of electric automobile and automobile | |
| JP6228581B2 (en) | Stop control device | |
| JP6048370B2 (en) | Braking device | |
| CN111422173B (en) | Automatic parking method and device and storage medium | |
| CN113320506B (en) | Comfortable braking control method, storage medium, equipment and device | |
| CN112776809B (en) | Driver hill start assisting method, device, equipment and storage medium | |
| CN111873963A (en) | Brake control system, method, vehicle, and storage medium | |
| CN112959988A (en) | Automatic parking function activation method, automobile and computer-readable storage medium | |
| CN110641435A (en) | Vehicle braking method and device | |
| CN111731105B (en) | Vehicle anti-lock energy recovery control method and device | |
| JP2016084049A (en) | Vehicle travel control apparatus | |
| CN114954394B (en) | Vehicle drift control method and system and vehicle | |
| CN108082152B (en) | Control method and device of single-pedal automobile and single-pedal automobile | |
| CN112896134B (en) | Vehicle brake-by-wire system overheat protection control method, system and storage medium | |
| CN105313705A (en) | Method and apparatus for controlling drive motor | |
| CN112406839B (en) | Safety control method and device for iBooster braking system | |
| US7434894B2 (en) | Method and device for controlling the brake system of a vehicle | |
| CN110217213B (en) | Electronic parking braking method, device and system | |
| KR20070064083A (en) | Apparatus and method of controlling a vehicle using electromyogram | |
| CN112141104B (en) | Vehicle brake control method and device and automobile | |
| CN112757908B (en) | Climbing safety optimization method, device, equipment and storage medium | |
| CN108944952B (en) | Regenerative braking switching alarm method and system | |
| US20230406343A1 (en) | Driver alert system through algorithmic braking events for advanced driver-assistance system | |
| CN111731261B (en) | Torque control method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |