CN113858946A - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
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- CN113858946A CN113858946A CN202111238155.5A CN202111238155A CN113858946A CN 113858946 A CN113858946 A CN 113858946A CN 202111238155 A CN202111238155 A CN 202111238155A CN 113858946 A CN113858946 A CN 113858946A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000009193 crawling Effects 0.000 claims description 8
- 230000004044 response Effects 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 claims 2
- 230000006872 improvement Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/14—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to accident or emergency, e.g. deceleration, tilt of vehicle
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- 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 invention provides a vehicle control method, a vehicle control device and a vehicle, wherein the method comprises the steps of responding to a received limp constant speed mode starting instruction after an accelerator pedal is judged to be in a failure state, starting a limp constant speed mode, then setting a limp target vehicle speed corresponding to a comparison result according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold, obtaining output torques corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque regulation strategy, and controlling the vehicle by using the output torques.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and device and a vehicle.
Background
The accelerator pedal is used as a safety important element in the whole vehicle, the driving intention of a driver is reflected, and the vehicle controller collects an electric signal corresponding to the stepping depth of the accelerator pedal and outputs torque to drive the vehicle. When the accelerator pedal fails, the vehicle may be suddenly accelerated or decelerated, which is likely to threaten the safety of the driver and passengers.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device and a vehicle, which aim to solve the technical problem that the vehicle is out of control due to the failure of an existing accelerator pedal.
In order to solve the above technical problem, an embodiment of the present invention provides a vehicle control method, including:
after the accelerator pedal is judged to be in a failure state, responding to a received limp constant speed mode starting instruction, and starting a limp constant speed mode;
according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value, setting a limp target vehicle speed corresponding to the comparison result, and controlling the vehicle according to the limp target vehicle speed;
and obtaining an output torque corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque regulation strategy, and controlling the vehicle by using the output torque.
As an improvement, the vehicle speed threshold includes a lower vehicle speed limit and an upper vehicle speed limit, then,
the setting of the limp target vehicle speed corresponding to the comparison result according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold specifically comprises the following steps:
when the vehicle speed of the limp constant speed mode is less than or equal to the vehicle speed lower limit value, setting a limp target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed of the limp constant speed mode is larger than or equal to the upper limit value of the vehicle speed, setting the limp target vehicle speed as the upper limit value of the vehicle speed;
and when the vehicle speed of the limp constant speed mode is started is greater than the vehicle speed lower limit value and less than the vehicle speed upper limit value, setting the limp target vehicle speed as the vehicle speed of the failed accelerator pedal.
As an improvement, the torque adjustment strategy is:
when the current brake pressure is smaller than or equal to a preset first brake pressure threshold value, the limp target vehicle speed and the output torque meet a preset first corresponding relation;
when the current brake pressure is greater than or equal to a preset second brake pressure threshold value, the output torque is equal to 0;
and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the current brake pressure, the limp home target vehicle speed and the output torque meet a preset third corresponding relation.
As an improvement, the first correspondence is configured to: the output torque is equal to the torque output by the limp target vehicle speed through PI control;
as an improvement, after the accelerator pedal is judged to be in the failure state, the limp constant speed mode is started in response to the received limp constant speed mode starting instruction, and the method specifically includes:
after the accelerator pedal is judged to be in a failure state, starting a user selection setting function of the limp constant speed mode so that a user can select whether to start the limp constant speed mode;
when a limp cruise mode start command is received, a limp cruise mode is started.
As an improvement therein, the method further comprises:
and after the accelerator pedal is judged to be in the failure state, responding to the received crawling mode starting instruction, and starting the crawling mode.
An embodiment of the present invention further provides a vehicle control apparatus, including:
the limp constant speed mode starting module is used for responding to a received limp constant speed mode starting instruction after judging that an accelerator pedal is in a failure state, and starting the limp constant speed mode;
the limp target vehicle speed setting module is used for setting a limp target vehicle speed corresponding to a comparison result according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value, and controlling the vehicle according to the limp target vehicle speed;
and the output torque acquisition module is used for acquiring output torque corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque regulation strategy, and controlling the vehicle according to the output torque.
As an improvement, the vehicle speed threshold includes a lower vehicle speed limit and an upper vehicle speed limit, then,
the limp target vehicle speed setting module is specifically configured to:
when the vehicle speed of the limp constant speed mode is less than or equal to the vehicle speed lower limit value, setting a limp target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed of the limp constant speed mode is larger than or equal to the upper limit value of the vehicle speed, setting the limp target vehicle speed as the upper limit value of the vehicle speed;
and when the vehicle speed of the limp constant speed mode is started is greater than the vehicle speed lower limit value and less than the vehicle speed upper limit value, setting the limp target vehicle speed as the vehicle speed of the failed accelerator pedal.
As an improvement, the torque adjustment strategy is:
when the current brake pressure is smaller than or equal to a preset first brake pressure threshold value, the limp target vehicle speed and the output torque meet a preset first corresponding relation;
when the current brake pressure is greater than or equal to a preset second brake pressure threshold value, the output torque is equal to 0;
and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the current brake pressure, the limp home target vehicle speed and the output torque meet a preset third corresponding relation.
The embodiment of the invention also provides a vehicle which comprises the vehicle control device.
Compared with the prior art, the vehicle control method provided by the embodiment of the invention starts the limp constant speed mode in response to the received limp constant speed mode starting instruction after judging that the accelerator pedal is in the failure state, then sets the limp target vehicle speed corresponding to the comparison result according to the comparison result of the vehicle speed when the limp constant speed mode is started and the preset vehicle speed threshold, obtains the output torques corresponding to the current brake pressure and the limp target vehicle speed based on the preset torque regulation strategy, and controls the vehicle according to the output torques. According to the limp constant speed mode control method and the limp constant speed mode control system, when the accelerator pedal fails and receives a starting instruction of the limp constant speed mode, the limp target speed is adjusted according to the speed when the limp constant speed mode is started, the output torque is adjusted according to the current brake pressure and the limp target speed, so that the current vehicle is controlled, the speed can be limited when the accelerator pedal fails, the situation that the vehicle is out of control due to the failure of the accelerator pedal is avoided, the fault handling capacity of the vehicle can be improved, and the driving safety of drivers and passengers is further guaranteed. Correspondingly, the embodiment of the invention also provides a vehicle control device and a vehicle.
Drawings
FIG. 1 is a schematic flow chart diagram of a vehicle control method provided by an embodiment of the present invention;
fig. 2 is a block diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention.
The vehicle control method provided by the embodiment of the invention comprises the following steps of S11 to S13:
step S11, after judging that the accelerator pedal is in a failure state, responding to the received limp constant speed mode starting instruction, and starting the limp constant speed mode;
step S12, according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value, setting a limp target vehicle speed corresponding to the comparison result, and controlling the vehicle according to the limp target vehicle speed;
and step S13, obtaining output torque corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque regulation strategy, and controlling the vehicle by the output torque.
It should be noted that, in the embodiments of the present invention, the accelerator pedal in the failure state is understood as follows: the accelerator pedal has a fault, but the whole vehicle still has driving capability.
In the embodiment of the present invention, the manner of determining the accelerator pedal failure may be performed in various possible manners, for example, whether the voltage signal of the accelerator pedal 2 is within a preset voltage range may be detected, which is not limited in the embodiment of the present invention.
Based on the scheme provided by the embodiment, when the accelerator pedal is judged to be invalid, the vehicle control unit can also store the corresponding fault code and send out an accelerator pedal abnormity alarm to warn drivers and passengers.
For example, in the process of executing the limp home target vehicle speed control in step S12, the driver may adjust the limp home target vehicle speed by means of the stick after setting the limp home target vehicle speed.
According to the scheme of the embodiment of the invention, when the accelerator pedal fails and a limp constant speed mode starting instruction is received, the limp target vehicle speed is adjusted according to the vehicle speed when the limp constant speed mode is started, and the output torque is adjusted according to the current braking pressure and the limp target vehicle speed so as to control the current vehicle.
In an alternative embodiment, the step S11 "after determining that the accelerator pedal is in the failure state, in response to receiving the limp constant speed mode starting command, starting the limp constant speed mode" specifically includes:
after the accelerator pedal is judged to be in a failure state, starting a user selection setting function of the limp constant speed mode so that a user can select whether to start the limp constant speed mode;
when a limp cruise mode start command is received, a limp cruise mode is started.
Based on the solution provided by the above embodiment, the vehicle control method further includes:
and after the accelerator pedal is judged to be in the failure state, responding to the received crawling mode starting instruction, and starting the crawling mode. Specifically, the creep mode start command may be understood as a command sent by a user to not start a limp cruise mode.
That is, in the event of an accelerator pedal failure, the user-selected setting function of the limp-home cruise mode is triggered, and the vehicle control unit initiates the vehicle limp-home cruise mode only when the user selects the limp-home cruise mode. When the user selects not to activate the limp cruise mode, the creep mode is activated by default.
As an example, the user-selected setting function to initiate a limp-home cruise mode may be: when the accelerator pedal is judged to be failed, displaying user selection setting of the limp constant speed mode on the central control screen, for example, displaying whether the limp constant speed mode is started or not on the central control screen in a text mode, and synchronously playing 'please select whether the limp constant speed mode is started or not on the central control screen' by voice so as to remind the user; the user selects whether to initiate the limp cruise mode by clicking a corresponding button on the center control screen. When the user selects the limp constant speed mode, the vehicle control unit starts the limp constant speed mode and enters the limp constant speed mode, and otherwise, the creep mode is entered by default.
As another example, the user-selected setting function to initiate a limp-home cruise mode may be: when the accelerator pedal is judged to be out of work, the vehicle control unit can prompt a user whether to start the limp constant speed mode in a voice broadcasting mode, if the voice broadcasting mode is used for determining whether to start the limp constant speed mode, the user can select whether to start the limp constant speed mode in a voice mode, and the vehicle control unit determines that the user selects to start the limp constant speed mode after recognizing the voice, namely, the vehicle limp constant speed mode is started.
In an alternative embodiment, the step S12 "setting a limp target vehicle speed corresponding to a comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value" includes:
when the vehicle speed of the limp constant speed mode is less than or equal to the vehicle speed lower limit value, setting a limp target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed of the limp constant speed mode is larger than or equal to the upper limit value of the vehicle speed, setting the limp target vehicle speed as the upper limit value of the vehicle speed;
and when the vehicle speed of the limp constant speed mode is started is greater than the vehicle speed lower limit value and less than the vehicle speed upper limit value, setting the limp target vehicle speed as the vehicle speed of the failed accelerator pedal.
In the embodiment of the invention, a vehicle speed lower limit value and a vehicle speed upper limit value can be preset to limit the vehicle speed range of the safe driving of the vehicle, and in the specific implementation, the vehicle speed when the limp constant speed mode is started is compared with the vehicle speed upper limit value and the vehicle speed lower limit value, so that the limp target vehicle speed corresponding to the comparison result is set, the limp target vehicle speed is controlled not to exceed the vehicle speed upper limit value, the whole vehicle is ensured to drive in the safe vehicle speed range, and the vehicle can be further driven to a maintenance shop safely for maintenance.
In an alternative embodiment, in the step S13, in the process of implementing the output torque control, the torque adjustment strategy is specifically as follows:
when the current brake pressure is smaller than or equal to a preset first brake pressure threshold value, the limp target vehicle speed and the output torque meet a preset first corresponding relation;
when the current brake pressure is greater than or equal to a preset second brake pressure threshold value, the output torque is equal to 0;
and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the current brake pressure, the limp home target vehicle speed and the output torque meet a preset third corresponding relation.
In the embodiment of the invention, in order to avoid the impact of braking caused by too fast torque change, the embodiment of the invention controls the output torque according to the current braking pressure and the limp target vehicle speed.
On the basis of the technical solutions provided by the above embodiments, the first corresponding relationship is configured to: the output torque is equal to the torque output by the limp target vehicle speed through the PI control.
That is, in the embodiment of the invention, when the current brake pressure is less than or equal to the first brake pressure threshold, the vehicle controller performs PI regulation control on vehicle driving according to the limp target vehicle speed; when the current brake pressure is greater than or equal to the second brake pressure threshold value, the whole vehicle controller does not output torque; and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the vehicle control unit adjusts the output torque according to the preset corresponding relation among the brake pressure, the vehicle speed and the output torque, the current brake pressure and the limp target vehicle speed.
Referring to fig. 2, fig. 2 is a block diagram of a vehicle control device according to an embodiment of the present invention. The vehicle control device 10 provided by the embodiment of the invention comprises a limp constant speed mode starting module 11, a limp target vehicle speed setting module 12 and an output torque obtaining module 13. Wherein the content of the first and second substances,
the limp constant speed mode starting module 11 is used for responding to a received limp constant speed mode starting instruction after judging that an accelerator pedal is in a failure state, and starting a limp constant speed mode;
the limp target vehicle speed setting module 12 is configured to set a limp target vehicle speed corresponding to a comparison result according to the comparison result between the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold, and control the vehicle with the limp target vehicle speed;
and the output torque obtaining module 13 is configured to obtain an output torque corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque adjustment strategy, and control the vehicle with the output torque.
In the embodiment of the present invention, the manner of determining the accelerator pedal failure may be performed in various possible manners, for example, whether the voltage signal of the accelerator pedal 2 is within a preset voltage range may be detected. The embodiment of the present invention is not limited thereto.
Based on the scheme provided by the embodiment, the vehicle control device further comprises a fault alarm module, and the alarm module is used for storing the corresponding fault code and sending out an accelerator pedal abnormity alarm to warn drivers and passengers when the accelerator pedal is judged to be invalid.
In an alternative embodiment, the limp-home cruise mode starting module 11 is specifically configured to:
after the accelerator pedal is judged to be in a failure state, starting a user selection setting function of the limp constant speed mode so that a user can select whether to start the limp constant speed mode;
when a limp cruise mode start command is received, a limp cruise mode is started.
In an alternative embodiment, the vehicle control device 10 further comprises a creep mode activation module for:
and after the accelerator pedal is judged to be in the failure state, responding to the received crawling mode starting instruction, and starting the crawling mode.
As an example, the user-selected setting function to initiate a limp-home cruise mode may be: when the accelerator pedal is judged to be failed, displaying user selection setting of the limp constant speed mode on the central control screen, for example, displaying whether the limp constant speed mode is started or not on the central control screen in a text mode, and synchronously playing 'please select whether the limp constant speed mode is started or not on the central control screen' by voice so as to remind the user; the user selects whether to initiate the limp cruise mode by clicking a corresponding button on the center control screen. When the user selects the limp constant speed mode, the vehicle control unit starts the limp constant speed mode and enters the limp constant speed mode, and otherwise, the creep mode is entered by default.
As another example, the user-selected setting function to initiate a limp-home cruise mode may be: when the accelerator pedal is judged to be out of work, the vehicle control unit can prompt a user whether to start the limp constant speed mode in a voice broadcasting mode, if the voice broadcasting mode is used for determining whether to start the limp constant speed mode, the user can select whether to start the limp constant speed mode in a voice mode, and the vehicle control unit determines that the user selects to start the limp constant speed mode after recognizing the voice, namely, the vehicle limp constant speed mode is started.
In an alternative embodiment, the vehicle speed threshold comprises a lower vehicle speed limit and an upper vehicle speed limit, then,
the limp target vehicle speed setting module 12 is specifically configured to:
when the vehicle speed of the limp constant speed mode is less than or equal to the vehicle speed lower limit value, setting a limp target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed of the limp constant speed mode is larger than or equal to the upper limit value of the vehicle speed, setting the limp target vehicle speed as the upper limit value of the vehicle speed;
and when the vehicle speed of the limp constant speed mode is started is greater than the vehicle speed lower limit value and less than the vehicle speed upper limit value, setting the limp target vehicle speed as the vehicle speed of the failed accelerator pedal.
In the embodiment of the invention, a vehicle speed lower limit value and a vehicle speed upper limit value can be preset to limit the vehicle speed range of the safe driving of the vehicle, and in the specific implementation, the vehicle speed when the limp constant speed mode is started is compared with the vehicle speed upper limit value and the vehicle speed lower limit value, so that the limp target vehicle speed corresponding to the comparison result is set, the limp target vehicle speed is controlled not to exceed the vehicle speed upper limit value, the whole vehicle is ensured to drive in the safe vehicle speed range, and the vehicle can be further driven to a maintenance shop safely for maintenance.
In an alternative embodiment, the torque adjustment strategy is:
when the current brake pressure is smaller than or equal to a preset first brake pressure threshold value, the limp target vehicle speed and the output torque meet a preset first corresponding relation;
when the current brake pressure is greater than or equal to a preset second brake pressure threshold value, the output torque is equal to 0;
and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the current brake pressure, the limp home target vehicle speed and the output torque meet a preset third corresponding relation.
On the basis of the technical solutions provided by the above embodiments, the first corresponding relationship is configured to: the output torque is equal to the torque output by the limp target vehicle speed through the PI control.
That is, in the embodiment of the invention, when the current brake pressure is less than or equal to the first brake pressure threshold, the vehicle controller performs PI regulation control on vehicle driving according to the limp target vehicle speed; when the current brake pressure is greater than or equal to the second brake pressure threshold value, the whole vehicle controller does not output torque; and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the vehicle control unit adjusts the output torque according to the preset corresponding relation among the brake pressure, the vehicle speed and the output torque, the current brake pressure and the limp target vehicle speed.
It should be noted that, the vehicle control apparatus provided in the embodiment of the present invention is used for executing all the process steps of the vehicle control method in the above embodiment, and the working principles and beneficial effects of the two are in one-to-one correspondence, and redundant description is not repeated here.
The embodiment of the invention also provides a vehicle which comprises the vehicle control device provided by the embodiment.
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.
Claims (10)
1. A vehicle control method characterized by comprising:
after the accelerator pedal is judged to be in a failure state, responding to a received limp constant speed mode starting instruction, and starting a limp constant speed mode;
according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value, setting a limp target vehicle speed corresponding to the comparison result, and controlling the vehicle according to the limp target vehicle speed;
and obtaining an output torque corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque regulation strategy, and controlling the vehicle by using the output torque.
2. The vehicle control method according to claim 1, wherein the vehicle speed threshold value includes a lower vehicle speed limit value and an upper vehicle speed limit value, then,
the setting of the limp target vehicle speed corresponding to the comparison result according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold specifically comprises the following steps:
when the vehicle speed of the limp constant speed mode is less than or equal to the vehicle speed lower limit value, setting a limp target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed of the limp constant speed mode is larger than or equal to the upper limit value of the vehicle speed, setting the limp target vehicle speed as the upper limit value of the vehicle speed;
and when the vehicle speed of the limp constant speed mode is started is greater than the vehicle speed lower limit value and less than the vehicle speed upper limit value, setting the limp target vehicle speed as the vehicle speed of the failed accelerator pedal.
3. The vehicle control method of claim 1, wherein the torque adjustment strategy is:
when the current brake pressure is smaller than or equal to a preset first brake pressure threshold value, the limp target vehicle speed and the output torque meet a preset first corresponding relation;
when the current brake pressure is greater than or equal to a preset second brake pressure threshold value, the output torque is equal to 0;
and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the current brake pressure, the limp home target vehicle speed and the output torque meet a preset third corresponding relation.
4. The vehicle control method according to claim 3, characterized in that the first correspondence relationship is configured to: the output torque is equal to the torque output by the limp target vehicle speed through the PI control.
5. The vehicle control method according to claim 1, wherein the initiating of the limp-home cruise mode in response to receiving a limp-home cruise mode initiation command after determining that the accelerator pedal is in the failed state specifically comprises:
after the accelerator pedal is judged to be in a failure state, starting a user selection setting function of the limp constant speed mode so that a user can select whether to start the limp constant speed mode;
when a limp cruise mode start command is received, a limp cruise mode is started.
6. The vehicle control method according to any one of claims 1 to 5, characterized by further comprising:
and after the accelerator pedal is judged to be in the failure state, responding to the received crawling mode starting instruction, and starting the crawling mode.
7. A vehicle control apparatus characterized by comprising:
the limp constant speed mode starting module is used for responding to a received limp constant speed mode starting instruction after judging that an accelerator pedal is in a failure state, and starting the limp constant speed mode;
the limp target vehicle speed setting module is used for setting a limp target vehicle speed corresponding to a comparison result according to the comparison result of the vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value, and controlling the vehicle according to the limp target vehicle speed;
and the output torque acquisition module is used for acquiring output torque corresponding to the current brake pressure and the limp target vehicle speed based on a preset torque regulation strategy, and controlling the vehicle according to the output torque.
8. The vehicle control apparatus according to claim 7, wherein the vehicle speed threshold value includes a lower vehicle speed limit value and an upper vehicle speed limit value, then,
the limp target vehicle speed setting module is specifically configured to:
when the vehicle speed of the limp constant speed mode is less than or equal to the vehicle speed lower limit value, setting a limp target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed of the limp constant speed mode is larger than or equal to the upper limit value of the vehicle speed, setting the limp target vehicle speed as the upper limit value of the vehicle speed;
and when the vehicle speed of the limp constant speed mode is started is greater than the vehicle speed lower limit value and less than the vehicle speed upper limit value, setting the limp target vehicle speed as the vehicle speed of the failed accelerator pedal.
9. The vehicle control apparatus of claim 7, wherein the torque adjustment strategy is:
when the current brake pressure is smaller than or equal to a preset first brake pressure threshold value, the limp target vehicle speed and the output torque meet a preset first corresponding relation;
when the current brake pressure is greater than or equal to a preset second brake pressure threshold value, the output torque is equal to 0;
and when the current brake pressure is greater than the first brake pressure threshold and less than the second brake pressure threshold, the current brake pressure, the limp home target vehicle speed and the output torque meet a preset third corresponding relation.
10. A vehicle characterized by comprising the vehicle control apparatus according to any one of claims 7 to 9.
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