CN113858946B - Vehicle control method and device and vehicle - Google Patents
Vehicle control method and device and vehicle Download PDFInfo
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- CN113858946B CN113858946B CN202111238155.5A CN202111238155A CN113858946B CN 113858946 B CN113858946 B CN 113858946B CN 202111238155 A CN202111238155 A CN 202111238155A CN 113858946 B CN113858946 B CN 113858946B
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004044 response Effects 0.000 claims description 5
- 206010022562 Intermittent claudication Diseases 0.000 claims description 2
- 208000024980 claudication Diseases 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 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
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle control method, a device and a vehicle, wherein after judging that an accelerator pedal is in a failure state, the method responds to a received limp constant speed mode starting instruction to start a limp constant speed mode, then, according to a comparison result of a vehicle speed when the limp constant speed mode is started and a preset vehicle speed threshold value, a limp target vehicle speed corresponding to the comparison result is set, and based on a preset torque adjustment strategy, an output torque corresponding to the current brake pressure and the limp target vehicle speed is obtained, the vehicle is controlled by the output torque, the vehicle 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, so that the fault handling capacity of the vehicle can be improved, and the driving safety of drivers and passengers is further ensured.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method and apparatus, 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 whole vehicle controller collects an electric signal corresponding to the stepping depth of the accelerator pedal and then outputs torque to drive the vehicle. When the accelerator pedal fails, the vehicle may be suddenly accelerated or decelerated, which is liable to pose a threat to the safety of the driver.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device and a vehicle, which are used for solving the technical problem that the vehicle is out of control due to the failure of the existing accelerator pedal.
In order to solve the above technical problems, an embodiment of the present invention provides a vehicle control method, including:
after judging that the accelerator pedal is in a failure state, responding to a received limp-home speed mode starting instruction, and starting a limp-home speed mode;
setting a limp target vehicle speed corresponding to a comparison result according to the comparison result of the vehicle speed when the limp fixed speed mode is started and a preset vehicle speed threshold value, and controlling the vehicle according to the limp target vehicle speed;
and obtaining output torque corresponding to the current braking pressure and the limp-home target vehicle speed based on a preset torque adjustment strategy, and controlling the vehicle with the output torque.
As one of the improvements, the vehicle speed threshold value includes a vehicle speed lower limit value and a vehicle speed upper limit value, then,
the method for setting the limp target vehicle speed corresponding to the comparison result according to the comparison result of the vehicle speed when the limp fixed speed mode is started and a preset vehicle speed threshold value specifically comprises the following steps:
when the vehicle speed at the starting of the limp-home speed mode is smaller than or equal to the vehicle speed lower limit value, setting a limp-home target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed at the starting time of the limp-home speed mode is greater than or equal to the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed upper limit value;
and when the vehicle speed at the time of starting the limp-home speed mode is larger than the vehicle speed lower limit value and smaller than the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed at the time of failure of an accelerator pedal.
As one of the improvements, the torque adjustment strategy is:
when the current braking pressure is smaller than or equal to a preset first braking pressure threshold value, the limp-home target vehicle speed and the output torque meet a preset first corresponding relation;
when the current braking pressure is greater than or equal to a preset second braking pressure threshold value, the output torque is equal to 0;
and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the current braking pressure, the limp-home vehicle speed and the output torque meet a preset third corresponding relation.
As one of the improvements, the first correspondence relationship is configured to: the output torque is equal to the torque output by the limp-home vehicle speed through PI control;
as one improvement, after the accelerator pedal is judged to be in a failure state, the limp-home mode is started in response to the received limp-home mode starting command, and specifically includes:
after judging that the accelerator pedal is in a failure state, starting a user selection setting function of a limp-home speed mode so as to enable the user to select whether to start the limp-home speed mode;
and when a limp-home speed mode starting command is received, starting the limp-home speed mode.
As an improvement, the method further comprises:
after judging that the accelerator pedal is in a failure state, responding to a received creeping mode starting instruction, and starting the creeping mode.
The embodiment of the invention also provides a vehicle control device, which comprises:
the limp-home speed mode starting module is used for responding to a received limp-home speed mode starting instruction after judging that the accelerator pedal is in a failure state and starting a limp-home 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 fixed 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 braking pressure and the limp target vehicle speed based on a preset torque adjustment strategy, and controlling the vehicle with the output torque.
As one of the improvements, the vehicle speed threshold value includes a vehicle speed lower limit value and a vehicle speed upper limit value, then,
the claudication target vehicle speed setting module is specifically configured to:
when the vehicle speed at the starting of the limp-home speed mode is smaller than or equal to the vehicle speed lower limit value, setting a limp-home target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed at the starting time of the limp-home speed mode is greater than or equal to the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed upper limit value;
and when the vehicle speed at the time of starting the limp-home speed mode is larger than the vehicle speed lower limit value and smaller than the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed at the time of failure of an accelerator pedal.
As one of the improvements, the torque adjustment strategy is:
when the current braking pressure is smaller than or equal to a preset first braking pressure threshold value, the limp-home target vehicle speed and the output torque meet a preset first corresponding relation;
when the current braking pressure is greater than or equal to a preset second braking pressure threshold value, the output torque is equal to 0;
and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the current braking pressure, the limp-home 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-home speed mode in response to the received limp-home speed mode starting instruction after judging that the accelerator pedal is in the failure state, then sets the limp-home speed corresponding to the comparison result according to the comparison result of the vehicle speed when the limp-home speed mode is started and the preset vehicle speed threshold value, and obtains the output torque corresponding to the current braking pressure and the limp-home speed based on the preset torque adjustment strategy, and controls the vehicle according to the output torque. According to the invention, when the accelerator pedal fails and a limp-home speed mode starting instruction is received, the limp-home speed is adjusted according to the speed when the limp-home speed mode is started, and the output torque is adjusted according to the current braking pressure and the limp-home speed so as to control the current vehicle, so that the speed of the current vehicle 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 ensured. Correspondingly, the embodiment of the invention also provides a vehicle control device and a vehicle.
Drawings
FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present invention;
fig. 2 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart 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 steps of S11 to S13:
step S11, after judging that the accelerator pedal is in a failure state, responding to a received limp-home speed mode starting instruction, and starting a limp-home speed mode;
step S12, 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 step S13, based on a preset torque adjustment strategy, obtaining output torque corresponding to the current braking pressure and the limp target vehicle speed, and controlling the vehicle with the output torque.
It should be noted that, when the accelerator pedal is in the failure state, the following should be understood: the accelerator pedal fails, but the whole vehicle still has driving capability.
In the embodiment of the present invention, the mode of determining the failure of the accelerator pedal may be performed by various existing possible modes, for example, whether the 2-way voltage signal of the accelerator pedal 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 judging that the accelerator pedal fails, the whole vehicle controller can also store a corresponding fault code and send out an abnormal alarm of the accelerator pedal so as to warn drivers and passengers.
For example, in the process of implementing the limp home vehicle speed control in the above-described step S12, after setting the limp home vehicle speed, the driver may adjust the limp home vehicle speed by means of a lever.
According to the scheme provided by the embodiment of the invention, when the accelerator pedal fails and a limp-home speed mode starting instruction is received, the limp-home speed is adjusted according to the speed when the limp-home speed mode is started, and the output torque is adjusted according to the current braking pressure and the limp-home speed so as to control the current vehicle, so that 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 ensured.
In an alternative embodiment, the step S11 "after determining that the accelerator pedal is in the deactivated state, the limp home mode is started in response to the received limp home mode start command", specifically includes:
after judging that the accelerator pedal is in a failure state, starting a user selection setting function of a limp-home speed mode so as to enable the user to select whether to start the limp-home speed mode;
and when a limp-home speed mode starting command is received, starting the limp-home speed mode.
Based on the solution provided in the foregoing embodiment, the vehicle control method further includes:
after judging that the accelerator pedal is in a failure state, responding to a received creeping mode starting instruction, and starting the creeping mode. Specifically, the creep mode start command may be understood as a command sent by the user to not start the limp home mode.
That is, in the event of an accelerator pedal failure, the user-selected setting function of the limp-home mode is triggered, and the vehicle controller activates the vehicle limp-home mode only when the user selects the limp-home mode. When the user chooses not to activate the limp home mode, the creep mode is activated by default.
As an example, the user selected setting function to initiate the limp home mode may be: when judging that the accelerator pedal fails, displaying user selection setting of a limp constant speed mode on the central control screen, for example, displaying whether to start the limp constant speed mode or not in a text mode on the central control screen, and playing a voice to remind a user on the fact that whether to start the limp constant speed mode or not is selected on the central control screen in synchronization; the user selects whether to initiate the limp home mode by clicking the corresponding button on the center control screen. When the user selects the limp-home speed mode, the whole vehicle controller starts the limp-home speed mode and enters the limp-home speed mode, otherwise, the whole vehicle controller enters the creeping mode by default.
As another example, the user selected setting function to initiate the limp home mode may be: when judging that the accelerator pedal fails, the vehicle controller can prompt a user whether to start a limp constant speed mode through a voice broadcasting mode, for example, the user can select whether to start the limp constant speed mode through a voice broadcasting mode, and after recognizing the voice, the vehicle controller confirms that the user selects to start the limp constant speed mode, namely, the vehicle limp constant speed mode is started.
In an optional embodiment, the vehicle speed threshold includes a vehicle speed lower limit value and a vehicle speed upper limit value, and the step S12 "sets a limp target vehicle speed corresponding to a comparison result of the vehicle speed at the time of starting the limp constant speed mode and a preset vehicle speed threshold value" specifically includes:
when the vehicle speed at the starting of the limp-home speed mode is smaller than or equal to the vehicle speed lower limit value, setting a limp-home target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed at the starting time of the limp-home speed mode is greater than or equal to the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed upper limit value;
and when the vehicle speed at the time of starting the limp-home speed mode is larger than the vehicle speed lower limit value and smaller than the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed at the time of failure of an accelerator pedal.
In the embodiment of the invention, the vehicle speed lower limit value and the vehicle speed upper limit value can be preset to limit the vehicle speed range of safe running 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 running of the whole vehicle in the safe vehicle speed range is ensured, and the vehicle can be driven to a maintenance shop continuously and safely for maintenance.
In an alternative embodiment, in the step S13, in implementing the output torque control, the torque adjustment strategy is specifically:
when the current braking pressure is smaller than or equal to a preset first braking pressure threshold value, the limp-home target vehicle speed and the output torque meet a preset first corresponding relation;
when the current braking pressure is greater than or equal to a preset second braking pressure threshold value, the output torque is equal to 0;
and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the current braking pressure, the limp-home vehicle speed and the output torque meet a preset third corresponding relation.
In the embodiment of the invention, in order to avoid impact on 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-home target vehicle speed.
On the basis of the technical solution provided in the foregoing embodiment, the first correspondence is configured to: the output torque is equal to the torque output by the limp-home vehicle speed through PI control.
That is, in the embodiment of the present invention, when the current brake pressure is less than or equal to the first brake pressure threshold, the vehicle controller performs PI adjustment to control the vehicle driving according to the limp-home vehicle speed; when the current braking pressure is greater than or equal to the second braking pressure threshold value, the whole vehicle controller does not output torque; and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the whole vehicle controller adjusts the output torque according to the preset corresponding relation between the braking pressure, the vehicle speed and the output torque, and the current braking pressure and the limp target vehicle speed.
Referring to fig. 2, fig. 2 is a block diagram of a vehicle control apparatus according to an embodiment of the present invention. The vehicle control device 10 provided by the embodiment of the invention comprises a limp-home speed mode starting module 11, a limp-home target vehicle speed setting module 12 and an output torque obtaining module 13. Wherein, the liquid crystal display device comprises a liquid crystal display device,
a limp-home speed mode starting module 11, configured to start a limp-home speed mode in response to a received limp-home speed mode starting instruction after determining that the accelerator pedal is in a failure state;
a limp target vehicle speed setting module 12, configured to set a limp target vehicle speed corresponding to a comparison result of a vehicle speed at the time of starting the limp fixed speed mode and a preset vehicle speed threshold value, and control the vehicle with the limp target vehicle speed;
an output torque obtaining module 13, configured to obtain an output torque corresponding to the current brake pressure and the limp-home 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 mode of determining the failure of the accelerator pedal may be performed in various existing possible manners, for example, whether the 2-way voltage signal of the accelerator pedal 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, wherein the alarm module is used for storing a corresponding fault code when judging that the accelerator pedal fails and sending out an abnormal alarm of the accelerator pedal so as to warn drivers and passengers.
In an alternative embodiment, the limp home mode initiation module 11 is specifically configured to:
after judging that the accelerator pedal is in a failure state, starting a user selection setting function of a limp-home speed mode so as to enable the user to select whether to start the limp-home speed mode;
and when a limp-home speed mode starting command is received, starting the limp-home speed mode.
In an alternative embodiment, the vehicle control device 10 further comprises a creep mode initiation module for:
after judging that the accelerator pedal is in a failure state, responding to a received creeping mode starting instruction, and starting the creeping mode.
As an example, the user selected setting function to initiate the limp home mode may be: when judging that the accelerator pedal fails, displaying user selection setting of a limp constant speed mode on the central control screen, for example, displaying whether to start the limp constant speed mode or not in a text mode on the central control screen, and playing a voice to remind a user on the fact that whether to start the limp constant speed mode or not is selected on the central control screen in synchronization; the user selects whether to initiate the limp home mode by clicking the corresponding button on the center control screen. When the user selects the limp-home speed mode, the whole vehicle controller starts the limp-home speed mode and enters the limp-home speed mode, otherwise, the whole vehicle controller enters the creeping mode by default.
As another example, the user selected setting function to initiate the limp home mode may be: when judging that the accelerator pedal fails, the vehicle controller can prompt a user whether to start a limp constant speed mode through a voice broadcasting mode, for example, the user can select whether to start the limp constant speed mode through a voice broadcasting mode, and after recognizing the voice, the vehicle controller confirms that the user selects to start the limp constant speed mode, namely, the vehicle limp constant speed mode is started.
In an alternative embodiment, the vehicle speed threshold includes a lower vehicle speed limit and an upper vehicle speed limit, then,
the limp home vehicle speed setting module 12 is specifically configured to:
when the vehicle speed at the starting of the limp-home speed mode is smaller than or equal to the vehicle speed lower limit value, setting a limp-home target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed at the starting time of the limp-home speed mode is greater than or equal to the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed upper limit value;
and when the vehicle speed at the time of starting the limp-home speed mode is larger than the vehicle speed lower limit value and smaller than the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed at the time of failure of an accelerator pedal.
In the embodiment of the invention, the vehicle speed lower limit value and the vehicle speed upper limit value can be preset to limit the vehicle speed range of safe running 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 running of the whole vehicle in the safe vehicle speed range is ensured, and the vehicle can be driven to a maintenance shop continuously and safely for maintenance.
In an alternative embodiment, the torque adjustment strategy is:
when the current braking pressure is smaller than or equal to a preset first braking pressure threshold value, the limp-home target vehicle speed and the output torque meet a preset first corresponding relation;
when the current braking pressure is greater than or equal to a preset second braking pressure threshold value, the output torque is equal to 0;
and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the current braking pressure, the limp-home vehicle speed and the output torque meet a preset third corresponding relation.
On the basis of the technical solution provided in the foregoing embodiment, the first correspondence is configured to: the output torque is equal to the torque output by the limp-home vehicle speed through PI control.
That is, in the embodiment of the present invention, when the current brake pressure is less than or equal to the first brake pressure threshold, the vehicle controller performs PI adjustment to control the vehicle driving according to the limp-home vehicle speed; when the current braking pressure is greater than or equal to the second braking pressure threshold value, the whole vehicle controller does not output torque; and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the whole vehicle controller adjusts the output torque according to the preset corresponding relation between the braking pressure, the vehicle speed and the output torque, and the current braking pressure and the limp target vehicle speed.
It should be noted that, the vehicle control device provided in the embodiment of the present invention is configured to execute all the flow steps of the vehicle control method in the foregoing embodiment, and the working principles and beneficial effects of the two correspond to each other one by one, which is not repeated herein.
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 embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (8)
1. A vehicle control method characterized by comprising:
after judging that the accelerator pedal is in a failure state, responding to a received limp-home speed mode starting instruction, and starting a limp-home speed mode;
setting a limp target vehicle speed corresponding to a comparison result according to the comparison result of the vehicle speed when the limp fixed speed mode is started and a preset vehicle speed threshold value, and controlling the vehicle according to the limp target vehicle speed;
based on a preset torque adjustment strategy, obtaining output torque corresponding to the current braking pressure and the limp-home target vehicle speed, and controlling the vehicle with the output torque;
wherein the vehicle speed threshold comprises a vehicle speed lower limit value and a vehicle speed upper limit value, and then,
the method for setting the limp target vehicle speed corresponding to the comparison result according to the comparison result of the vehicle speed when the limp fixed speed mode is started and a preset vehicle speed threshold value specifically comprises the following steps:
when the vehicle speed at the starting of the limp-home speed mode is smaller than or equal to the vehicle speed lower limit value, setting a limp-home target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed at the starting time of the limp-home speed mode is greater than or equal to the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed upper limit value;
and when the vehicle speed at the time of starting the limp-home speed mode is larger than the vehicle speed lower limit value and smaller than the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed at the time of failure of an accelerator pedal.
2. The vehicle control method of claim 1, wherein the torque adjustment strategy is:
when the current braking pressure is smaller than or equal to a preset first braking pressure threshold value, the limp-home target vehicle speed and the output torque meet a preset first corresponding relation;
when the current braking pressure is greater than or equal to a preset second braking pressure threshold value, the output torque is equal to 0;
and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the current braking pressure, the limp-home vehicle speed and the output torque meet a preset third corresponding relation.
3. The vehicle control method according to claim 2, characterized in that the first correspondence relationship is configured to: the output torque is equal to the torque output by the limp-home vehicle speed through PI control.
4. The vehicle control method according to claim 1, characterized in that after the accelerator pedal is judged to be in the deactivated state, a limp home mode is started in response to a received limp home mode start instruction, specifically comprising:
after judging that the accelerator pedal is in a failure state, starting a user selection setting function of a limp-home speed mode so as to enable the user to select whether to start the limp-home speed mode;
and when a limp-home speed mode starting command is received, starting the limp-home speed mode.
5. The vehicle control method according to any one of claims 1 to 4, characterized in that the method further includes:
after judging that the accelerator pedal is in a failure state, responding to a received creeping mode starting instruction, and starting the creeping mode.
6. A vehicle control apparatus characterized by comprising:
the limp-home speed mode starting module is used for responding to a received limp-home speed mode starting instruction after judging that the accelerator pedal is in a failure state and starting a limp-home 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 fixed speed mode is started and a preset vehicle speed threshold value, and controlling the vehicle according to the limp target vehicle speed;
the output torque acquisition module is used for acquiring output torque corresponding to the current braking pressure and the limp target vehicle speed based on a preset torque adjustment strategy, and controlling the vehicle by the output torque;
wherein the vehicle speed threshold comprises a vehicle speed lower limit value and a vehicle speed upper limit value, and then,
the claudication target vehicle speed setting module is specifically configured to:
when the vehicle speed at the starting of the limp-home speed mode is smaller than or equal to the vehicle speed lower limit value, setting a limp-home target vehicle speed as the vehicle speed lower limit value;
when the vehicle speed at the starting time of the limp-home speed mode is greater than or equal to the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed upper limit value;
and when the vehicle speed at the time of starting the limp-home speed mode is larger than the vehicle speed lower limit value and smaller than the vehicle speed upper limit value, setting the limp-home target vehicle speed as the vehicle speed at the time of failure of an accelerator pedal.
7. The vehicle control device of claim 6, wherein the torque adjustment strategy is:
when the current braking pressure is smaller than or equal to a preset first braking pressure threshold value, the limp-home target vehicle speed and the output torque meet a preset first corresponding relation;
when the current braking pressure is greater than or equal to a preset second braking pressure threshold value, the output torque is equal to 0;
and when the current braking pressure is larger than the first braking pressure threshold and smaller than the second braking pressure threshold, the current braking pressure, the limp-home vehicle speed and the output torque meet a preset third corresponding relation.
8. A vehicle comprising the vehicle control device according to any one of claims 6 to 7.
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