CN112092646A - Vehicle control method and device, storage medium and vehicle - Google Patents

Vehicle control method and device, storage medium and vehicle Download PDF

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Publication number
CN112092646A
CN112092646A CN202010832742.6A CN202010832742A CN112092646A CN 112092646 A CN112092646 A CN 112092646A CN 202010832742 A CN202010832742 A CN 202010832742A CN 112092646 A CN112092646 A CN 112092646A
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China
Prior art keywords
vehicle
engine
torque
load
accelerator pedal
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CN202010832742.6A
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Chinese (zh)
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CN112092646B (en
Inventor
曹林浩
程炳辉
管慧杰
孙雪松
王海龙
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Beiqi Foton Motor Co Ltd
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Beiqi Foton Motor Co Ltd
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Publication of CN112092646A publication Critical patent/CN112092646A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/441—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/44—Drive Train control parameters related to combustion engines
    • B60L2240/443—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The disclosure relates to a vehicle control method and device, a storage medium and a vehicle. The method comprises the following steps: determining a loading state of the vehicle; determining the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine according to the load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, the load state which shows a large load corresponds to a large engine torque; controlling the output torque of the engine according to the determined relationship among the three. Like this, under the vehicle load state of difference, the experience when driver passes through accelerator pedal control vehicle acceleration and deceleration is similar, and it is very fast to have avoided the vehicle unloaded time to accelerate, and the condition that accelerates slowly takes place when the vehicle loads more to driving efficiency has effectively been promoted.

Description

Vehicle control method and device, storage medium and vehicle
Technical Field
The present disclosure relates to the field of vehicle control, and in particular, to a vehicle control method and apparatus, a storage medium, and a vehicle.
Background
Generally, when a vehicle is running, a driver can control the vehicle to accelerate and decelerate by depressing and releasing an accelerator pedal, and in the related art, there is a fixed correspondence relationship among the accelerator pedal opening, the engine speed, and the engine torque, which is a determined value in the case where the accelerator pedal opening and the engine speed are determined. The magnitude of the engine torque determines the magnitude of the driving force of the vehicle. When the loads of the vehicles are different, the driving experience of the drivers is usually different.
Disclosure of Invention
An object of the present disclosure is to provide an efficient and reliable vehicle control method and apparatus, storage medium, and vehicle.
In order to achieve the above object, the present disclosure provides a vehicle control method including:
determining a loading state of the vehicle;
determining the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine according to the load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, the load state which shows a large load corresponds to a large engine torque;
controlling the output torque of the engine according to the determined relationship among the three.
Alternatively, determining the relationship among accelerator opening, engine speed and engine torque according to the load state of the vehicle comprises:
and finding the relation among the accelerator pedal opening, the engine speed and the engine torque corresponding to the determined load state in a preset corresponding relation, wherein the preset corresponding relation is the relation between the load state of the vehicle and the relation among the accelerator pedal opening, the engine speed and the engine torque.
Alternatively, controlling the output torque of the engine according to the determined relationship among the three includes:
acquiring the opening degree of an accelerator pedal of the vehicle and the rotation speed of an engine;
determining the relation between the engine speed and the engine torque according to the relation between the three determined and the obtained opening degree of the accelerator pedal;
determining a target torque of the engine according to the relationship between the determined engine speed and the engine torque and the obtained engine speed;
controlling an output torque of the engine according to the target torque.
Optionally, determining the load state of the vehicle comprises:
acquiring running parameters of the vehicle when the vehicle runs, wherein the running parameters comprise resistance, acceleration and torque of an engine of the vehicle;
estimating a load mass of the vehicle from a resistance, an acceleration, and a torque of an engine of the vehicle;
determining a load state of the vehicle based on the load mass of the vehicle.
Optionally, estimating the load mass of the vehicle from the resistance, acceleration and torque of the engine of the vehicle is performed according to the following formula:
M＝[F(T)-f(v)]/a
where M is a load mass of the vehicle, T is a torque of an engine, F is a driving force of the vehicle, F is a slip resistance of the vehicle, v is a speed of the vehicle, and a is an acceleration of the vehicle.
Optionally, determining the load state of the vehicle according to the load mass of the vehicle comprises:
determining a load mass interval in which the load mass of the vehicle is located from a plurality of predetermined load mass intervals;
and determining the load state of the vehicle as the load state corresponding to the load mass section where the load mass of the vehicle is located.
Optionally, the method further comprises:
and when the vehicle runs next time, the load state of the vehicle is determined again.
The present disclosure also provides a vehicle control apparatus, the apparatus including:
a first determination module to determine a loading state of the vehicle;
the second determination module is used for determining the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine according to the load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, the load state which shows a large load corresponds to a large engine torque;
a control module to control an output torque of the engine based on the determined relationship between the three.
The present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method provided by the present disclosure.
The present disclosure also provides a vehicle comprising an engine, an accelerator pedal, and a controller for performing the steps of the above method provided by the present disclosure.
Through the technical scheme, the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine of the vehicle is changed along with the real-time load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, a larger load corresponds to a larger torque of the engine. That is, the engine driving torque at the equivalent accelerator opening degree is appropriately raised. Like this, under the vehicle load state of difference, the experience when driver passes through accelerator pedal control vehicle acceleration and deceleration is similar, and it is very fast to have avoided the vehicle unloaded time to accelerate, and the condition that accelerates slowly takes place when the vehicle loads more to driving efficiency has effectively been promoted.
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 graph showing the relationship between engine torque and engine speed for a predetermined accelerator pedal opening according to an exemplary embodiment;
FIG. 3 is a block diagram of a vehicle control apparatus provided in an exemplary embodiment;
FIG. 4 is a block diagram of an electronic device shown 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.
The full load output torque characteristic of the engine is fixed, and the improvement is made aiming at the driving experience that the vehicle accelerates faster when the vehicle is unloaded and accelerates slower when the vehicle is loaded more under the non-full load driving working condition.
In more working conditions, the opening degree of an accelerator pedal stepped by a driver is a half accelerator or a small accelerator. If other conditions are the same, the magnitude of the engine drive torque corresponding to the same accelerator opening degree is the same even if the load of the vehicle is different. In order to improve the driving feeling of a driver, the load condition of the vehicle is estimated based on the acceleration performance of the vehicle, and the driving torque under the same accelerator pedal opening degree is properly improved.
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 steps of:
in step S11, the load state of the vehicle is determined.
The load state of the vehicle is a state indicating how much the vehicle is loaded with a person or cargo, and may include, for example, no load, 1/4 load, 1/2 load, 3/4 load, full load, overload, and the like. The load state of the vehicle is generally constant during operation of the vehicle. The load state may be directly input into the vehicle by the driver. For example, after the truck is loaded, the driver may enter the loading amount into the interactive panel of the vehicle or click the loading amount from a plurality of pre-stored loading states.
Step S12 is a step of determining a relationship among an accelerator pedal opening, an engine speed, and an engine torque according to a load state of the vehicle, wherein a load state indicating a large load corresponds to a large engine torque when the accelerator pedal opening and the engine speed are the same.
In the related art, there is a fixed correspondence relationship among the accelerator opening, the engine speed, and the engine torque. In the case where the accelerator opening and the engine speed are determined, the engine torque is a determined value irrespective of the load state of the vehicle. In the present disclosure, different load states correspond to different corresponding relationships among the three.
When the accelerator opening and the engine speed are the same, a load state indicating a large load corresponds to a large engine torque. Thus, a larger load corresponds to a larger driving force for the same accelerator opening.
In step S13, the output torque of the engine is controlled based on the determined relationship among the three.
Through the technical scheme, the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine of the vehicle is changed along with the real-time load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, a larger load corresponds to a larger torque of the engine. That is, the engine driving torque at the equivalent accelerator opening degree is appropriately raised. Like this, under the vehicle load state of difference, the experience when driver passes through accelerator pedal control vehicle acceleration and deceleration is similar, and it is very fast to have avoided the vehicle unloaded time to accelerate, and the condition that accelerates slowly takes place when the vehicle loads more to driving efficiency has effectively been promoted.
In one embodiment, on the basis of fig. 1, the step of determining a relationship among the accelerator opening, the engine speed, and the engine torque according to the load state of the vehicle (step S12) may include:
and finding the relation among the accelerator pedal opening, the engine speed and the engine torque corresponding to the determined load state in the preset corresponding relation, and taking the relation as the relation among the determined accelerator pedal opening, the determined engine speed and the determined engine torque. Wherein the predetermined correspondence relationship is a relationship between a load state of the vehicle and a relationship between the three.
That is, the one-to-one correspondence relationship between the load state of the vehicle and the relationship between the three (accelerator opening degree, engine speed, and engine torque) can be found experimentally or empirically and stored in advance.
When the load state of the vehicle is determined, the relation between the three corresponding to the real-time load state can be found in a table look-up mode. And applying the searched corresponding relation between the three to the control of the vehicle. In the embodiment, the corresponding relation between the three is determined by using a table look-up mode, and the method is simple, high in operation speed and not easy to make mistakes.
In still another embodiment, the step of controlling the output torque of the engine according to the determined relationship among the three (step S13) may include the steps of:
in step S131, the opening degree of an accelerator pedal and the engine speed of the vehicle are acquired.
And step S132, determining the relation between the engine speed and the engine torque according to the relation between the three and the obtained accelerator pedal opening.
That is, there are different correspondences between the engine speed and the engine torque for different accelerator pedal opening degrees. Fig. 2 is a graph showing the relationship between the engine torque and the engine speed in the case where the accelerator opening is a predetermined value, according to an exemplary embodiment. As shown in fig. 2, the abscissa is the engine speed (rpm), the ordinate is the engine torque (Nm), and in the case where the accelerator opening is 30%, there are six curves corresponding to six load states, wherein the curve K1 corresponds to an idling state and the curve K5 corresponds to an overloading state. Under full load conditions, the curves of different load states are consistent, and in the middle part of the curve, the corresponding relation under the non-full load condition aimed at in the disclosure is obtained. Similarly, when the accelerator opening is 40%, the curves corresponding to the six load states are substantially the same. In fig. 2, the accelerator opening is fixed, and if the load state is also determined, there is a fixed correspondence between the engine speed and the engine torque (one curve in fig. 2)
Step S133 determines a target torque of the engine based on the relationship between the determined engine speed and the engine torque, the acquired engine speed.
In step S134, the output torque of the engine is controlled according to the target torque.
For example, in one curve in fig. 2, the ordinate of one point in the curve corresponding to the actual engine speed of the vehicle may be determined as the target torque, and the engine may be directly controlled to output the target torque.
In the embodiment, for the same opening degree of the accelerator pedal, the engine rotating speed and the engine torque can have a determined corresponding relation, the engine torque determined according to the real-time engine rotating speed of the vehicle is output, the method is simple, the operation speed is high, and errors are not prone to occurring.
In another embodiment, the load state may also be automatically estimated during the vehicle travel. In this embodiment, the step of determining the load state of the vehicle (step S11) may include:
step S111, acquiring running parameters of the vehicle when the vehicle runs;
and step S112, determining the load state of the vehicle according to the operation parameters.
According to the running parameters of the vehicle, the motion state of the vehicle can be determined, and the load mass of the vehicle can be roughly estimated through a kinematic and dynamic formula, so that the load state of the vehicle can be further determined. The operating parameters of the vehicle may include, for example, speed, acceleration, engine speed, torque, etc. at which the vehicle is operating.
In this embodiment, the load state of vehicle is determined automatically through the operating parameter when the vehicle moves, has saved the trouble of artifical input on the one hand, has saved the manpower, and degree of automation is high, and on the other hand, the load state that calculates is more accurate to it is better to make the driving experience.
In an embodiment, the step of determining the load state of the vehicle according to the operation parameters (step S111) may include:
step S1111, estimating a load mass (a total weight of the vehicle and the cargo) of the vehicle according to a resistance, an acceleration and a torque of the engine of the vehicle;
in step S1112, the load state of the vehicle is determined based on the load mass of the vehicle.
In this embodiment, the operating parameters of the vehicle may include resistance, acceleration, and torque of the engine of the vehicle, and an equation may be established for the above parameters to calculate the load mass of the vehicle. The mass of the same vehicle when the vehicle is empty and full is fixed, and if the load mass of the current vehicle is known, the load state of the current vehicle can be determined according to the mass of the vehicle when the vehicle is empty and full. For example, if the mass of the vehicle when the vehicle is empty and full is 0.5 ton and 4.5 ton, respectively, and the load mass of the current vehicle is 2.5 ton, the load state of the current vehicle can be considered to be 1/2 load.
In this embodiment, the torque of the engine represents the driving force of the vehicle, and therefore, the load state of the vehicle can be determined more accurately from the resistance, acceleration, and torque of the engine of the vehicle.
In yet another embodiment, estimating the load mass of the vehicle from the resistance, acceleration, and torque of the engine (step S1111) may be performed according to the following equation:
M＝[F(T)-f(v)]/a
where M is the load mass of the vehicle, T is the torque of the engine, F is the driving force of the vehicle, and a is the acceleration of the vehicle.
F (T) represents the driving force F of the vehicle as a function of the torque T of the engine, and F (v) represents the sliding resistance F of the vehicle as a function of the speed v of the vehicle. For example, f (v) av2+ bv + c, wherein a, b, c are constants. The acceleration a of the vehicle may be calculated from the speed of the vehicle.
In this embodiment, the load mass of the vehicle is estimated more accurately by a simple operation.
In still another embodiment, the step of determining the load state of the vehicle according to the load mass of the vehicle (step S1112) described above may include:
determining a load mass section in which the load mass of the vehicle is located from a plurality of predetermined load mass sections; the load state of the vehicle is determined as a load state corresponding to a load mass section in which the load mass of the vehicle is located.
That is, for a fixed vehicle, a plurality of load mass sections may be set according to the load mass (total mass of the vehicle and the cargo) when the vehicle is empty or full, and if the load mass of the current vehicle falls into one of the load mass sections, the load state of the current vehicle is the load state corresponding to the fallen load mass section.
For example, if the vehicle has a mass of 0.5 ton and a mass of 4.5 ton when the vehicle is empty and full, six load mass ranges of empty, 1/4 load, 1/2 load, 3/4 load, full load, and overload may be set, and the corresponding load masses are 0.5 to 0.6 ton, 0.6 to 1.5 ton, 1.6 to 2.5 ton, 2.6 to 3.5 ton, 3.6 to 4.5 ton, and 4.5 ton or more, respectively. If the current load mass of the vehicle is 2.5 tons and the current load mass falls into 1/2 loads of 1.6-2.5 tons, the current load state of the vehicle can be considered to be 1/2 loads.
In the embodiment, the load state is determined according to the plurality of load mass intervals which are divided in advance, the method is simple, the operation speed is high, errors are not prone to occurring, and the result is accurate.
During the running process of the vehicle, the load mass of the vehicle can be calculated only once, and the load mass can also be calculated for multiple times to carry out calibration. In this embodiment, the step of estimating the load mass of the vehicle from the resistance, the acceleration, and the torque of the engine (step S1111) described above may include:
estimating a plurality of initial load masses based on a resistance, an acceleration, and a torque of the engine of the vehicle, respectively, during a plurality of cycles; the load mass of the vehicle is estimated based on the plurality of initial load masses.
That is, the period for calculating the load mass of the vehicle is set in advance, N initial load masses are obtained after a predetermined number N of periods, and the final load mass of the vehicle can be obtained from the N initial load masses by, for example, averaging. Therefore, the situation that the error is large due to the fact that one-time estimation is accidental is avoided, and the estimation result of the load mass of the vehicle is more accurate.
Since there is a possibility of loading or unloading after the vehicle stops, the above-described method can be performed every time the vehicle starts driving. In yet another embodiment, the method may further comprise:
and when the vehicle drives next time, the load state of the vehicle is determined again.
The next driving of the vehicle can be the next driving from zero speed (re-ignition or flameout), or the next power-on or next ignition. After the load state of the vehicle is re-determined, the steps in fig. 1 are re-executed. Therefore, the real-time load state of the vehicle is more accurate, and the driving experience is better.
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 100 may include a first determination module 101, a second determination module 102, and a control module 103.
The first determination module 101 is used to determine the loading state of the vehicle.
The second determination module 102 is configured to determine a relationship among an accelerator opening, an engine speed, and an engine torque according to a load state of the vehicle, where a load state indicating a large load corresponds to a large engine torque when the accelerator opening and the engine speed are the same.
The control module 103 is configured to control an output torque of the engine based on the determined relationship between the three.
Optionally, the first determination module 101 may include a first determination submodule, a second determination submodule, and a third determination submodule.
The first determining submodule is used for acquiring the operating parameters of the vehicle when the vehicle is in operation, and the operating parameters comprise the resistance, the acceleration and the torque of the engine of the vehicle.
The second determination submodule is used for estimating the load mass of the vehicle on the basis of the resistance, the acceleration and the torque of the engine of the vehicle.
The third determination submodule is used for determining the loading state of the vehicle according to the loading mass of the vehicle.
Optionally, in the second determination submodule, estimating a load mass of the vehicle based on the resistance, the acceleration, and the torque of the engine of the vehicle is performed according to the following formula:
M＝[F(T)-f(v)]/a
where M is the load mass of the vehicle, T is the torque of the engine, F is the driving force of the vehicle, F is the slip resistance of the vehicle, v is the speed of the vehicle, and a is the acceleration of the vehicle.
Optionally, the third determination submodule may include a fourth determination submodule and a fifth determination submodule.
The fourth determining submodule is used for determining a load mass interval where the load mass of the vehicle is located from a plurality of preset load mass intervals;
the fifth determination submodule is configured to determine the load state of the vehicle as a load state corresponding to a load mass section in which a load mass of the vehicle is located.
Optionally, the vehicle control apparatus 100 may further include a third determination module.
The third determining module is used for re-determining the load state of the vehicle when the vehicle drives next time.
Optionally, the second determination module 102 includes a sixth determination sub-module.
And the sixth determining submodule is used for searching the relation among the accelerator pedal opening, the engine speed and the engine torque corresponding to the determined load state in the preset corresponding relation to be used as the relation among the determined accelerator pedal opening, the determined engine speed and the determined engine torque. Wherein the predetermined correspondence relationship is a relationship between a load state of the vehicle and a relationship between the three.
Optionally, the control module 103 includes an acquisition sub-module, a seventh determination sub-module, an eighth determination sub-module, and a control sub-module.
The obtaining submodule is used for obtaining the opening degree of an accelerator pedal and the engine speed of the vehicle.
And the seventh determining submodule is used for determining the relation between the engine speed and the engine torque according to the relation between the three and the obtained accelerator opening.
The eighth determining submodule is configured to determine a target torque of the engine based on the relationship between the determined engine speed and the engine torque, and the acquired engine speed.
The control submodule is used for controlling the output torque of the engine according to the target torque.
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, the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine of the vehicle is changed along with the real-time load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, a larger load corresponds to a larger torque of the engine. That is, the engine driving torque at the equivalent accelerator opening degree is appropriately raised. Like this, under the vehicle load state of difference, the experience when driver passes through accelerator pedal control vehicle acceleration and deceleration is similar, and it is very fast to have avoided the vehicle unloaded time to accelerate, and the condition that accelerates slowly takes place when the vehicle loads more to driving efficiency has effectively been promoted.
Fig. 4 is a block diagram illustrating an electronic device 400 according to an example embodiment. As shown in fig. 4, the electronic device 400 may include: a processor 401 and a memory 402. The electronic device 400 may also include one or more of a multimedia component 403, an input/output (I/O) interface 404, and a communications component 405.
The processor 401 is configured to control the overall operation of the electronic device 400, so as to complete all or part of the steps in the vehicle control method. The memory 402 is used to store various types of data to support operation at the electronic device 400, such as instructions for any application or method operating on the electronic device 400 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 402 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 403 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 402 or transmitted through the communication component 405. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 404 provides an interface between the processor 401 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 405 is used for wired or wireless communication between the electronic device 400 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 405 may therefore include: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the vehicle control methods described above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the vehicle control method described above is also provided. For example, the computer readable storage medium may be the memory 402 described above including program instructions executable by the processor 401 of the electronic device 400 to perform the vehicle control method described above.
The present disclosure also provides a vehicle comprising an engine, an accelerator pedal, and a controller for performing the steps of the above method provided by the present 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:
determining a loading state of the vehicle;
determining the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine according to the load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, the load state which shows a large load corresponds to a large engine torque;
controlling the output torque of the engine according to the determined relationship among the three.
2. The method of claim 1, wherein determining a relationship among accelerator pedal opening, engine speed, and engine torque based on the load state of the vehicle comprises:
and finding the relation among the accelerator pedal opening, the engine speed and the engine torque corresponding to the determined load state in a preset corresponding relation, wherein the preset corresponding relation is the relation between the load state of the vehicle and the relation among the accelerator pedal opening, the engine speed and the engine torque.
3. The method of claim 2, wherein controlling the output torque of the engine according to the determined relationship between the three comprises:
acquiring the opening degree of an accelerator pedal of the vehicle and the rotation speed of an engine;
determining the relation between the engine speed and the engine torque according to the relation between the three determined and the obtained opening degree of the accelerator pedal;
determining a target torque of the engine according to the relationship between the determined engine speed and the engine torque and the obtained engine speed;
controlling an output torque of the engine according to the target torque.
4. The method of claim 1, wherein determining the loading state of the vehicle comprises:
acquiring running parameters of the vehicle when the vehicle runs, wherein the running parameters comprise resistance, acceleration and torque of an engine of the vehicle;
estimating a load mass of the vehicle from a resistance, an acceleration, and a torque of an engine of the vehicle;
determining a load state of the vehicle based on the load mass of the vehicle.
5. The method of claim 4, wherein estimating the load mass of the vehicle from the resistance, acceleration, and torque of the engine of the vehicle is performed according to the following equation:
M＝[F(T)-f(v)]/a
where M is a load mass of the vehicle, T is a torque of an engine, F is a driving force of the vehicle, F is a slip resistance of the vehicle, v is a speed of the vehicle, and a is an acceleration of the vehicle.
6. The method of claim 4, wherein determining the loading state of the vehicle based on the loading mass of the vehicle comprises:
determining a load mass interval in which the load mass of the vehicle is located from a plurality of predetermined load mass intervals;
and determining the load state of the vehicle as the load state corresponding to the load mass section where the load mass of the vehicle is located.
7. The method of claim 1, further comprising:
and when the vehicle runs next time, the load state of the vehicle is determined again.
8. A vehicle control apparatus, characterized in that the apparatus comprises:
a first determination module to determine a loading state of the vehicle;
the second determination module is used for determining the relation among the opening degree of an accelerator pedal, the rotating speed of the engine and the torque of the engine according to the load state of the vehicle, wherein under the condition that the opening degree of the accelerator pedal and the rotating speed of the engine are the same, the load state which shows a large load corresponds to a large engine torque;
a control module to control an output torque of the engine based on the determined relationship between the three.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A vehicle comprising an engine, an accelerator pedal, and a controller configured to perform the steps of the method of any of claims 1-7.
CN202010832742.6A 2020-08-18 2020-08-18 Vehicle control method and device, storage medium and vehicle Active CN112092646B (en)

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