CN111284499A - Vehicle control method and device, controller and vehicle - Google Patents
Vehicle control method and device, controller and vehicle Download PDFInfo
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- CN111284499A CN111284499A CN201811496553.5A CN201811496553A CN111284499A CN 111284499 A CN111284499 A CN 111284499A CN 201811496553 A CN201811496553 A CN 201811496553A CN 111284499 A CN111284499 A CN 111284499A
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- opening degree
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The disclosure relates to a vehicle control method, a vehicle control device, a controller and a vehicle. The method comprises the following steps: acquiring the opening degree of an accelerator pedal of a vehicle when the vehicle runs; determining the variation of the opening of the accelerator pedal within a preset time period; when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than a preset opening degree threshold value, determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal; and controlling the vehicle to reach the target vehicle speed. Thus, the driver can set the target vehicle speed by controlling the opening degree of the accelerator pedal, so that the adjustment time of the vehicle speed is reduced, and the adjustment precision is high.
Description
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a vehicle control method, device, controller, and vehicle.
Background
In the prior art, a driver controls the speed of a vehicle by stepping on an accelerator pedal and a brake pedal during the running of the vehicle.
Specifically, the vehicle speed control is that a vehicle control system calculates a torque demand based on the opening state of an accelerator pedal, calculates the opening of a throttle according to the torque demand, calculates the air inflow according to information such as the opening of the throttle and the like, and finally calculates the oil injection quantity according to the air inflow. Thus, the engine outputs larger power after oil injection and ignition, and the speed of the vehicle is increased under the action of larger power; on the contrary, when the vehicle speed needs to be reduced, the calculated torque demand is reduced, and then the opening of the intake valve is reduced or even closed, and the fuel injection quantity is reduced along with the reduction of the air intake quantity, so that the output power of the engine is reduced, and the vehicle speed is reduced.
Sometimes, after a driver steps on a brake pedal, a vehicle control system sends a fuel cut-off instruction to a fuel injector, the fuel injector does not inject fuel, the output power of an engine is rapidly reduced, and the vehicle speed is rapidly reduced under the action of a brake system.
Disclosure of Invention
The purpose of this disclosure is to provide a convenient, effective vehicle control method, device, controller, and provide a vehicle.
In order to achieve the above object, the present disclosure provides a vehicle control method. The method comprises the following steps: acquiring the opening degree of an accelerator pedal of a vehicle when the vehicle runs; determining the variation of the opening of the accelerator pedal within a preset time period; when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than a preset opening degree threshold value, determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal; and controlling the vehicle to reach the target vehicle speed.
Optionally, the method further comprises: when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than the preset opening degree threshold value, outputting a first prompt message in a first output mode; and when the variation of the opening degree of the accelerator pedal in the preset time length is larger than the preset opening degree threshold value, outputting a second prompt message in a second output mode, wherein the first output mode is different from the second output mode.
Optionally, the method further comprises: and when the variation of the opening degree of the accelerator pedal in the preset time period is smaller than the preset opening degree threshold value, displaying the target vehicle speed in a third output mode.
Optionally, when the variation of the opening degree of the accelerator pedal in the predetermined period of time is smaller than a predetermined opening degree threshold, the step of determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal comprises: and when the variation of the opening of the accelerator pedal in the preset time period is smaller than a preset opening threshold value, determining the target speed of the vehicle according to the average value of the opening of the accelerator pedal in the preset time period.
The present disclosure also provides a vehicle control apparatus. The device comprises: the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the opening degree of an accelerator pedal of a vehicle when the vehicle runs; the acquisition module is used for determining the variation of the opening of the accelerator pedal in a preset time period; the determining module is used for determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than a preset opening degree threshold value; and the control module is used for controlling the vehicle to reach the target speed.
Optionally, the apparatus further comprises: the first output module is used for outputting a first prompt message in a first output mode when the variation of the opening of the accelerator pedal in the preset time length is smaller than the preset opening threshold value; and the second output module is used for outputting a second prompt message in a second output mode when the variation of the opening degree of the accelerator pedal in the preset time length is larger than the preset opening degree threshold value, wherein the first output mode is different from the second output mode.
Optionally, the apparatus further comprises: and the third output module is used for displaying the target vehicle speed in a third output mode when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than the preset opening degree threshold value.
Optionally, the second determining module includes: and the determining submodule is used for determining the target vehicle speed of the vehicle according to the average value of the opening degrees of the accelerator pedals in the preset time period when the variation of the opening degrees of the accelerator pedals in the preset time period is smaller than the preset opening degree threshold value.
The present disclosure also provides a controller including the vehicle control device provided by the present disclosure.
The present disclosure also provides a vehicle comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the above-mentioned vehicle control method provided by the present disclosure.
Through the technical scheme, when the vehicle runs, the target vehicle speed is directly determined according to the opening degree of the accelerator pedal of the vehicle, and the vehicle is controlled to reach the target vehicle speed. Thus, the driver can set the target vehicle speed by controlling the opening degree of the accelerator pedal, so that the adjustment time of the vehicle speed is reduced, and the adjustment precision is high.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment;
FIG. 2 is a graphical illustration of sensor output voltage versus accelerator pedal opening provided by an exemplary embodiment;
fig. 3 is a block diagram of a vehicle control apparatus provided in an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a flow chart of a vehicle control method provided by an exemplary embodiment. As shown in fig. 1, the method may include the following steps.
In step S11, the opening degree of the accelerator pedal of the vehicle is acquired while the vehicle is running.
In step S12, the amount of change in the opening degree of the accelerator pedal within a predetermined period of time is determined.
In step S13, when the amount of change in the opening degree of the accelerator pedal within a predetermined period of time is smaller than a predetermined opening degree threshold, a target vehicle speed of the vehicle is determined according to the opening degree of the accelerator pedal.
In step S14, the vehicle is controlled to reach the target vehicle speed.
Wherein the opening degree of the accelerator pedal may be from zero to the set maximum opening degree. The opening degree of the accelerator pedal reflects the depth of the accelerator pedal which is stepped down by the driver.
The opening degree of the accelerator pedal and the vehicle speed can have a certain corresponding relation, and the corresponding vehicle speed can be determined according to the acquired opening degree of the accelerator pedal. The vehicle speed corresponding to the known opening degree of the accelerator pedal can be obtained by using a look-up table. For example, the vehicle speed corresponding to the acquired accelerator pedal opening degree is searched for in a database in which the correspondence relationship between the accelerator pedal opening degree and the vehicle speed is stored. Wherein, in the database, the opening degree of the accelerator pedal and the vehicle speed can be in positive correlation. That is, the larger the opening degree, the larger the vehicle speed intended by the driver.
When the driver wants to reach a certain target vehicle speed, the opening degree of the accelerator pedal can be stably controlled in a corresponding opening degree state, the variation of the opening degree of the accelerator pedal in a preset time period is smaller than a preset opening degree threshold value, the opening degree of the accelerator pedal is considered to be stable, at the moment, the corresponding vehicle speed is determined as the target vehicle speed, and the vehicle can be automatically controlled to reach the corresponding target vehicle speed. When the variation amount of the opening degree of the accelerator pedal within the predetermined period of time is larger than a predetermined opening degree threshold value, the opening degree of the accelerator pedal is considered to be unstable. Although the unstable opening degree of the accelerator pedal corresponds to the vehicle speed, the corresponding vehicle speed cannot be determined as the target vehicle speed, and the vehicle is not controlled to reach the target vehicle speed. The predetermined period of time (e.g., 2s) and the predetermined opening threshold (e.g., 10) may be empirically derived.
The opening degree of the accelerator pedal may be detected by a position sensor connected to the accelerator pedal. The position sensor may output a voltage signal indicative of the detected opening degree. The position sensor may output the primary signal and the secondary signal simultaneously.
FIG. 2 is a graphical representation of sensor output voltage versus accelerator pedal opening provided by an exemplary embodiment. As shown in fig. 2, curve a is a curve of the main signal output by the sensor, and curve B is a curve of the sub signal output by the sensor. The opening degree a is the opening degree of the idle speed corresponding position of the accelerator pedal, and the opening degree b is the maximum opening degree set by the accelerator pedal. In the embodiment of fig. 2, the opening a corresponds to the idle speed, and the maximum output voltage of the sensor is 0.82V for the main signal and 0.44V for the sub signal. The opening degree b corresponds to the maximum vehicle speed, and the maximum output voltage of the sensor is 4.27V for the main signal and 2.17V for the sub signal. In this embodiment, the sensor output voltage is substantially linearly related to the accelerator pedal opening. The primary and secondary signals may act to verify each other.
For example, for a vehicle type with the maximum vehicle speed of 180km/h, the output voltage of the main signal of the accelerator pedal at idle speed is between 0.65 and 0.82V, and for the maximum vehicle speed of 180km/h, the output voltage of the main signal of the accelerator pedal is between 3.50 and 4.27V, and for other vehicle speed points, linear interpolation is carried out on the output curve.
Through the technical scheme, when the vehicle runs, the target vehicle speed is directly determined according to the opening degree of the accelerator pedal of the vehicle, and the vehicle is controlled to reach the target vehicle speed. Thus, the driver can set the target vehicle speed by controlling the opening degree of the accelerator pedal, so that the adjustment time of the vehicle speed is reduced, and the adjustment precision is high.
The opening degree may be changed for a predetermined period of time when the opening degree of the accelerator pedal is in a steady state, that is, when the amount of change in the opening degree of the accelerator pedal over the predetermined period of time is smaller than a predetermined opening degree threshold. In one embodiment, the corresponding vehicle speed may be found as the target vehicle speed based on an average value of the opening degree of the accelerator pedal for a predetermined period of time. That is, the step of determining the target vehicle speed of the vehicle based on the opening degree of the accelerator pedal (step S13) when the amount of change in the opening degree of the accelerator pedal within the predetermined period of time is smaller than the predetermined opening degree threshold value includes: and when the variation of the opening degree of the accelerator pedal in the preset time period is smaller than the preset opening degree threshold value, determining the target vehicle speed of the vehicle according to the average value of the opening degree of the accelerator pedal in the preset time period. In the embodiment, the target vehicle speed is determined by calculating the average value of the opening degrees of the accelerator pedals in the preset time, and the method is simple, high in processing speed and not prone to errors.
In still another embodiment, the step of controlling the vehicle to reach the target vehicle speed may include:
acquiring the current speed of the vehicle; when the target vehicle speed is greater than the current vehicle speed, controlling the opening of a throttle valve of the vehicle to increase so that the vehicle reaches the target vehicle speed; when the target vehicle speed is less than the current vehicle speed, the opening of a throttle valve of the vehicle is controlled to be reduced so that the vehicle reaches the target vehicle speed.
That is, the opening degree of the throttle valve can be controlled to control the vehicle speed to increase or decrease until the vehicle speed reaches the target vehicle speed, and the control method is simple and is not easy to make mistakes.
Specifically, the step of controlling the opening degree of the throttle valve of the vehicle to decrease to bring the vehicle to the target vehicle speed when the target vehicle speed is less than the current vehicle speed as described above may include:
when the target vehicle speed is less than the current vehicle speed and the difference between the current vehicle speed and the target vehicle speed is less than a preset vehicle speed threshold value, controlling the opening degree of a throttle valve of the vehicle to be reduced so as to enable the vehicle to reach the target vehicle speed;
and when the target vehicle speed is less than the current vehicle speed and the difference between the current vehicle speed and the target vehicle speed is greater than a preset vehicle speed threshold value, controlling the opening of a throttle valve of the vehicle to be reduced, and controlling an oil injector to cut off oil injection until the vehicle reaches the target vehicle speed.
When the target vehicle speed is less than the current vehicle speed and the difference between the current vehicle speed and the target vehicle speed is less than a preset vehicle speed threshold value, the vehicle can be controlled to decelerate only by reducing the opening degree of a throttle valve under the condition that rapid deceleration is not needed; when the target vehicle speed is less than the current vehicle speed and the difference between the current vehicle speed and the target vehicle speed is greater than a preset vehicle speed threshold value, the requirement of rapid deceleration can be considered, and the purpose of rapid deceleration can be achieved by controlling the fuel injector to cut off fuel injection while controlling the opening degree of the throttle valve to be reduced, so that the target vehicle speed can be rapidly achieved, and energy is saved.
In yet another embodiment, the method may further include: when the variation of the opening of the accelerator pedal in a preset time length is smaller than a preset opening threshold value, outputting a first prompt message in a first output mode; and outputting a second prompt message in a second output mode when the variation of the opening of the accelerator pedal in a preset time length is larger than a preset opening threshold value. Wherein the first output mode is different from the second output mode.
The first prompt message is used to indicate that the opening degree of the accelerator pedal has stabilized and the target vehicle speed has been able to be generated. When the opening degree of the accelerator pedal is determined to be stable, a first prompt message is output, so that a driver can know that the current opening degree of the accelerator pedal is stable in time. For example, the first output means may output the first prompt message by lighting a green light in the cab.
The second prompt message is used to indicate that the opening degree of the accelerator pedal has not been stabilized, that is, the target vehicle speed has not been generated. When the opening degree of the accelerator pedal is not stable, the second prompt message is output, so that the driver can know the current state that the opening degree of the accelerator pedal is not stable in time, and the stability is facilitated as soon as possible. For example, the second output means may output the second prompt message by lighting a red light in the cab.
In yet another embodiment, the method may further include: and displaying the target vehicle speed in a third output mode when the variation of the opening degree of the accelerator pedal within the predetermined period of time is less than a predetermined opening degree threshold.
For example, the third output mode may be displaying the vehicle speed in a predetermined color. The target vehicle speed may be displayed in green, for example. That is, when the vehicle speed is displayed in green, indicating that the vehicle speed has been determined as the target vehicle speed, the vehicle has started the control of the vehicle speed.
From the perspective of the driver, when the driver depresses the accelerator pedal during the running of the vehicle, only the current vehicle speed may be displayed on the instrument panel when the opening degree of the accelerator pedal is unstable. When the opening degree of the accelerator pedal is stabilized, the target vehicle speed can be displayed, so that a driver can know whether the target vehicle speed is generated or not at present and know a specific numerical value of the target vehicle speed at the same time, and the vehicle speed can be controlled by adjusting the opening degree of the accelerator pedal intuitively. Therefore, the control process is convenient, the control result is visual, the method is simple and the operation is easy.
Based on the same inventive concept, the present disclosure also provides a vehicle control apparatus. Fig. 3 is a block diagram of a vehicle control apparatus provided in an exemplary embodiment. As shown in fig. 3, the vehicle control apparatus 10 may include an acquisition module 11, a first determination module 12, a second determination module 13, and a control module 14.
The obtaining module 11 is configured to obtain an opening degree of an accelerator pedal of a vehicle when the vehicle is running.
The first determination module 12 is used for determining the variation of the opening of the accelerator pedal within a predetermined time period.
The second determination module 13 is configured to determine the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal when the variation of the opening degree of the accelerator pedal in a predetermined time period is smaller than a predetermined opening degree threshold.
The control module 14 is used to control the vehicle to reach a target vehicle speed.
Optionally, the apparatus 10 may further comprise a first output module and a second output module.
The first output module is used for outputting a first prompt message in a first output mode when the variation of the opening of the accelerator pedal in a preset time length is smaller than a preset opening threshold value.
The second output module is used for outputting a second prompt message in a second output mode when the variation of the opening of the accelerator pedal in a preset time length is larger than a preset opening threshold, wherein the first output mode is different from the second output mode.
Optionally, the apparatus 10 may further comprise a display module.
The display module is used for displaying the target vehicle speed in a third output mode when the variation of the opening degree of the accelerator pedal in a preset time length is smaller than a preset opening degree threshold value.
Optionally, the second determination module 13 may comprise a determination submodule.
The determining submodule is used for determining the target vehicle speed of the vehicle according to the average value of the opening degree of the accelerator pedal in the preset time period when the variation of the opening degree of the accelerator pedal in the preset time period is smaller than the preset opening degree threshold value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Through the technical scheme, when the vehicle runs, the target vehicle speed is directly determined according to the opening degree of the accelerator pedal of the vehicle, and the vehicle is controlled to reach the target vehicle speed. Thus, the driver can set the target vehicle speed by controlling the opening degree of the accelerator pedal, so that the adjustment time of the vehicle speed is reduced, and the adjustment precision is high.
Based on the same inventive concept, the present disclosure also provides a controller including the vehicle control device provided by the present disclosure.
Based on the same inventive concept, the present disclosure also provides a vehicle comprising a memory and a processor.
The memory has a computer program stored thereon; the processor is used for executing the computer program in the memory to realize the steps of the vehicle control method provided by the disclosure.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A vehicle control method, characterized by comprising:
acquiring the opening degree of an accelerator pedal of a vehicle when the vehicle runs;
determining the variation of the opening of the accelerator pedal within a preset time period;
when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than a preset opening degree threshold value, determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal;
and controlling the vehicle to reach the target vehicle speed.
2. The method of claim 1, further comprising:
when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than the preset opening degree threshold value, outputting a first prompt message in a first output mode;
and when the variation of the opening degree of the accelerator pedal in the preset time length is larger than the preset opening degree threshold value, outputting a second prompt message in a second output mode, wherein the first output mode is different from the second output mode.
3. The method of claim 1, further comprising:
and when the variation of the opening degree of the accelerator pedal in the preset time period is smaller than the preset opening degree threshold value, displaying the target vehicle speed in a third output mode.
4. The method according to any one of claims 1 to 3, wherein the step of determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal when the amount of change in the opening degree of the accelerator pedal in the predetermined period of time is smaller than a predetermined opening degree threshold value includes:
and when the variation of the opening of the accelerator pedal in the preset time period is smaller than a preset opening threshold value, determining the target speed of the vehicle according to the average value of the opening of the accelerator pedal in the preset time period.
5. A vehicle control apparatus, characterized in that the apparatus comprises:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the opening degree of an accelerator pedal of a vehicle when the vehicle runs;
the first determination module is used for determining the variation of the opening of the accelerator pedal in a preset time period;
the second determination module is used for determining the target vehicle speed of the vehicle according to the opening degree of the accelerator pedal when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than a preset opening degree threshold value;
and the control module is used for controlling the vehicle to reach the target speed.
6. The apparatus of claim 5, further comprising:
the first output module is used for outputting a first prompt message in a first output mode when the variation of the opening of the accelerator pedal in the preset time length is smaller than the preset opening threshold value;
and the second output module is used for outputting a second prompt message in a second output mode when the variation of the opening degree of the accelerator pedal in the preset time length is larger than the preset opening degree threshold value, wherein the first output mode is different from the second output mode.
7. The apparatus of claim 5, further comprising:
and the display module is used for displaying the target vehicle speed in a third output mode when the variation of the opening degree of the accelerator pedal in the preset time length is smaller than the preset opening degree threshold value.
8. The apparatus of any of claims 5-7, wherein the second determining module comprises:
and the determining submodule is used for determining the target vehicle speed of the vehicle according to the average value of the opening degrees of the accelerator pedals in the preset time period when the variation of the opening degrees of the accelerator pedals in the preset time period is smaller than the preset opening degree threshold value.
9. A controller characterized by comprising the vehicle control apparatus according to any one of claims 5 to 8.
10. A vehicle, characterized by comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the vehicle control method of any one of claims 1-4.
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| CN201811496553.5A CN111284499A (en) | 2018-12-07 | 2018-12-07 | Vehicle control method and device, controller and vehicle |
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| CN201811496553.5A CN111284499A (en) | 2018-12-07 | 2018-12-07 | Vehicle control method and device, controller and vehicle |
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| CN113044151A (en) * | 2021-04-29 | 2021-06-29 | 北京零极创新科技有限公司 | Electric vehicle instantaneous overload control method and control device, electric vehicle and medium |
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