CN114103650A - Single-pedal control method and device for vehicle, electronic equipment and storage medium - Google Patents
Single-pedal control method and device for vehicle, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60L15/2009—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 for braking
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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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
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
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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 application discloses single pedal control method, device, electronic equipment and storage medium of a vehicle, and the single pedal control method of the vehicle comprises the following steps: acquiring an accelerator pedal displacement and a target torque corresponding to the accelerator pedal displacement; judging whether the driving intention is a deceleration intention or not according to the accelerator pedal displacement; if the driving intention is judged to be a deceleration intention, judging whether energy recovery is carried out or not; if the energy recovery is determined, controlling the motor to brake the vehicle according to the target torque; if it is determined that energy recovery is not to be performed, mechanical braking is performed by the brake-by-wire system. The method and the device solve the technical problems that the driving intention is low in accuracy and poor in driving experience feeling in the vehicle single-pedal control method in the prior art, and the accuracy and the driving experience feeling of the driving intention in the vehicle single-pedal control method are greatly improved.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for controlling a single pedal of a vehicle, an electronic device, and a storage medium.
Background
Compared with a double-pedal control method for performing acceleration control through an accelerator pedal and deceleration control through a brake pedal, the single-pedal control technology of the vehicle performs acceleration and deceleration control on the vehicle only through different opening degrees of one accelerator pedal, deeply pedals the motor to drive the vehicle to accelerate, controls the motor and a battery system to recover energy and provide anti-dragging braking force when the vehicle is slightly stepped or not stepped so as to achieve the deceleration effect, can reduce the operation difficulty of a driver, has high braking strength and high energy recovery rate, is suitable for urban driving, saves energy and reduces the use frequency of the brake pedal, but can cause that the vehicle cannot perform corresponding deceleration control when the driver reduces the opening degree of the pedal in the driving process of the vehicle and tries to control the vehicle to decelerate, and needs the driver to press the brake pedal to complete the deceleration control when feeling that the vehicle does not decelerate, the technical problem that the accuracy of the driving intention of the single-pedal control method of the vehicle is low in the prior art is solved, and the driving experience of the single-pedal control mode of the vehicle is seriously influenced.
Disclosure of Invention
The application mainly aims to provide a vehicle single-pedal control method, a vehicle single-pedal control device, electronic equipment and a storage medium, and aims to solve the technical problems that in the prior art, the vehicle single-pedal control method is low in driving intention accuracy and poor in driving experience.
To achieve the above object, the present application provides a single pedal control method of a vehicle, including:
acquiring an accelerator pedal displacement and a target torque corresponding to the accelerator pedal displacement;
judging whether the driving intention is a deceleration intention or not according to the accelerator pedal displacement;
if the driving intention is judged to be a deceleration intention, judging whether energy recovery is carried out or not;
if the energy recovery is determined, controlling the motor to brake the vehicle according to the target torque;
if it is determined that energy recovery is not to be performed, mechanical braking is performed by the brake-by-wire system.
Preferably, the step of judging whether to perform energy recovery comprises:
acquiring chargeable power of a battery;
and judging whether to recover energy according to the chargeable power.
Preferably, the step of judging whether to perform energy recovery according to the chargeable power comprises the following steps:
if the chargeable power is lower than the preset power, determining not to carry out energy recovery;
and if the chargeable power is higher than the preset power, judging to perform energy recovery.
Preferably, the step of judging whether to perform energy recovery comprises:
acquiring the working state of a vehicle body stabilizing system;
and judging whether to recover energy according to the working state.
Preferably, the step of judging whether to perform energy recovery according to the operating state includes:
if the working state is the working state, judging that energy recovery is not carried out;
and if the working state is a non-working state, judging that energy recovery is carried out.
Preferably, the step of determining whether the driving intention is a deceleration intention or not based on the accelerator pedal displacement amount includes:
acquiring a current vehicle speed and a reference displacement corresponding to the current vehicle speed;
when the accelerator pedal displacement is smaller than the reference displacement, determining that the driving intention is a deceleration intention;
when the accelerator pedal displacement amount is greater than or equal to the reference displacement amount, it is determined that the driving intention is not the deceleration intention.
Preferably, after the step of determining whether the driving intention is a deceleration intention or not based on the accelerator pedal displacement amount, the method further includes:
and if the driving intention is judged not to be the deceleration intention, controlling the motor to drive the vehicle according to the target torque.
The present application also provides a single-pedal control apparatus of a vehicle, which is applied to a moving picture decomposition device, the single-pedal control apparatus of a vehicle including:
the accelerator pedal displacement acquisition module is used for acquiring accelerator pedal displacement and target torque corresponding to the accelerator pedal displacement;
the driving intention judging module is used for judging whether the driving intention is a deceleration intention according to the accelerator pedal displacement;
the energy recovery judging module is used for judging whether energy recovery is carried out or not if the driving intention is judged to be the deceleration intention;
the braking module is used for controlling the motor to brake the vehicle according to the target torque if energy recovery is carried out;
and the brake module is also used for performing mechanical braking through the brake-by-wire system if energy recovery is not performed.
The present application further provides an electronic device, the electronic device is an entity device, the electronic device includes: a memory, a processor and a program of the vehicle single-pedal control method stored on the memory and operable on the processor, which program, when executed by the processor, may implement the steps of the vehicle single-pedal control method as described above.
The present application also provides a storage medium which is a computer-readable storage medium having stored thereon a program for implementing a single-pedal control method of a vehicle, which when executed by a processor, implements the steps of the single-pedal control method of a vehicle as described above.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of single-pedal control of a vehicle as described above.
The application provides a single-pedal control method, a device, an electronic device and a storage medium of a vehicle, which realize the judgment of driving intention by obtaining the displacement of an accelerator pedal and a target torque corresponding to the displacement of the accelerator pedal and judging whether the driving intention is the deceleration intention or not according to the displacement of the accelerator pedal, realize the condition limitation of the deceleration control by judging whether the energy recovery is carried out or not if the driving intention is the deceleration intention, realize the condition limitation of the deceleration control by controlling a motor to brake the vehicle according to the target torque if the energy recovery is carried out, carry out mechanical braking through a brake-by-wire system if the energy recovery is not carried out, realize the matching of different deceleration control strategies for different energy recovery conditions, automatically control the mechanical braking to finish the deceleration control under the condition that the energy recovery is not carried out, the driver does not need to step down the brake pedal to make up the incomplete deceleration control process of the vehicle when feeling that the vehicle does not decelerate, the driving intention is realized more accurately, the technical problem that the accuracy of realizing the driving intention is low by a single-pedal control method of the vehicle in the prior art is solved, and the driving experience of a single-pedal control mode of the vehicle is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for controlling a single pedal of a vehicle according to the present disclosure;
fig. 2 is a schematic device configuration diagram of a hardware operating environment related to a single-pedal control method of a vehicle in an embodiment of the present application.
The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
Compared with a double-pedal control method for performing acceleration control through an accelerator pedal and deceleration control through a brake pedal, the single-pedal control technology of the vehicle performs acceleration and deceleration control on the vehicle only through different opening degrees of one accelerator pedal, deeply pedals the motor to drive the vehicle to accelerate, controls the motor and a battery system to recover energy and provide anti-drag braking force when the pedal is slightly stepped or not stepped so as to achieve the deceleration effect, can reduce the operation difficulty of a driver, has high braking strength and high energy recovery rate, is suitable for urban driving, saves energy and simultaneously reduces the use frequency of the brake pedal, but can not perform corresponding deceleration control because the vehicle cannot recover energy when the driver reduces the opening degree of the pedal in the driving process of the vehicle and tries to control the vehicle to decelerate in the actual driving process, for example, the battery cannot recover energy at low temperature, the chassis body stabilizing system prohibits energy recovery when working, and the like, and further a driver is required to step on the brake pedal when sensing that the vehicle is not decelerated by himself or herself to replace a single-pedal control mode of the vehicle to complete deceleration control, that is, the technical problem that in the prior art, a single-pedal control method of the vehicle is low in accuracy of achieving driving intention is solved, and the driving experience of the single-pedal control mode of the vehicle is seriously affected.
In a first embodiment of the single pedal control method of the vehicle of the present application, referring to fig. 1, the single pedal control method of the vehicle includes:
step S10, acquiring an accelerator pedal displacement and a target torque corresponding to the accelerator pedal displacement;
the execution main body of the embodiment is a single-pedal control system of a vehicle, and the single-pedal control system of the vehicle is in communication connection with various functional modules of the vehicle, wherein the functional modules of the vehicle include but are not limited to: the vehicle control unit is used for carrying out vehicle system control operation and torque distribution; an accelerator pedal system for acquiring an accelerator pedal displacement amount; the battery management system is used for acquiring the current chargeable power of the power battery; the vehicle body stabilizing system is used for acquiring the working state of the vehicle body stabilizing system; a brake-by-wire electric brake system for performing mechanical brake deceleration control; a motor controller for controlling the motor to perform energy recovery braking deceleration.
In this embodiment, it should be noted that the accelerator pedal displacement is a displacement value generated from an initial state of the accelerator pedal, when the driver does not depress the accelerator pedal, the accelerator pedal is in the initial state, no displacement occurs, and at this time, the accelerator pedal displacement is 0%, when the driver depresses the accelerator pedal to the bottom, the accelerator pedal is maximally displaced, and at this time, the accelerator pedal displacement is 100%, and the accelerator pedal displacement corresponding to a depth at which the driver depresses the accelerator pedal is in a range of 0% to 100%, and the accelerator pedal displacement is used for controlling a motor torque request, so as to control a power output of the motor.
Specifically, an accelerator pedal displacement is obtained through an accelerator pedal system, and a target torque of the accelerator pedal displacement at the current vehicle speed is obtained through a query Map, wherein when the target torque is 0, no torque is output, when the target torque is greater than 0, the target torque is a driving torque, and when the target torque is less than 0, the target torque is a braking torque.
Step S20, judging whether the driving intention is a deceleration intention according to the accelerator pedal displacement;
in the present embodiment, it should be noted that the driving intention is an intention that the driver wants to adjust the current vehicle speed, and includes an acceleration intention, a deceleration intention, an abrupt stop intention, a rapid acceleration intention, an intention of not changing the vehicle speed, and the like.
Specifically, the driving intention of the driver is determined as an acceleration intention or a deceleration intention according to a change tendency of the accelerator pedal displacement (for example, an increase or a decrease in the accelerator pedal displacement), or a magnitude of a reference displacement at which no torque is output at the current vehicle speed, or a positive or negative target torque corresponding to the accelerator pedal displacement, for example: if the displacement of the accelerator pedal is increased, judging that the driving intention is an accelerating intention, and if the displacement of the accelerator pedal is decreased, judging that the driving intention is a decelerating intention; when the accelerator pedal displacement is larger than the reference displacement, judging that the driving intention is an accelerating intention, and when the accelerator pedal displacement is smaller than the reference displacement, judging that the driving intention is a decelerating intention; and if the target torque corresponding to the accelerator pedal displacement is a positive value, judging that the driving intention is an accelerating intention, and if the target torque corresponding to the accelerator pedal displacement is a negative value, judging that the driving intention is a decelerating intention.
Preferably, the step of determining whether the driving intention is a deceleration intention or not based on the accelerator pedal displacement amount includes:
step A10, acquiring a current vehicle speed and a reference displacement corresponding to the current vehicle speed;
in the present embodiment, specifically, the current vehicle speed is detected by the vehicle speed sensor, and the reference displacement amount of the non-output torque at the current vehicle speed is obtained by referring to Map, where the reference displacement amount is the accelerator pedal displacement amount of which the output torque value is 0 while keeping the current vehicle speed unchanged.
A step a20 of determining that the driving intention is a deceleration intention when the accelerator pedal displacement amount is smaller than the reference displacement amount;
step a30, when the accelerator pedal displacement amount is greater than or equal to the reference displacement amount, determines that the driving intention is not a deceleration intention.
In this embodiment, specifically, when the accelerator displacement amount is smaller than the reference displacement amount, the behavior of the driver stepping on the accelerator at the current vehicle speed is to raise the pedal, and then it is determined that the driving intention is a deceleration intention, and when the accelerator displacement amount is greater than or equal to the reference displacement amount, the behavior of the driver stepping on the accelerator at the current vehicle speed is to keep the pedal or to step on the pedal, and then it is determined that the driving intention is not a deceleration intention, and may be an intention not to change the vehicle speed, an acceleration intention, or a rapid acceleration intention, and the behavior of stepping on the accelerator is a reaction of the driver according to the driving intention of the driver, and is directly related to the driving intention, so it is possible to accurately and quickly determine whether the driving intention is a deceleration intention.
After the step of judging whether the driving intention is the deceleration intention according to the accelerator pedal displacement, the method further comprises the following steps:
and if the driving intention is judged not to be the deceleration intention, controlling the motor to drive the vehicle according to the target torque.
In this embodiment, specifically, if it is determined that the driving intention is not a deceleration intention, the accelerator pedal may exert its own output acceleration, and the vehicle controller may obtain a corresponding torque value by querying the Map and request the motor controller to control the motor to apply work, so as to implement that the vehicle keeps the current vehicle speed or accelerates.
Step S30, if it is determined that the driving intention is a deceleration intention, determining whether to perform energy recovery;
in this embodiment, specifically, if it is determined that the driving intention is a deceleration intention, an energy recovery braking request is sent, and energy recovery braking permission information or energy recovery braking prohibition information returned by the vehicle controller according to the energy recovery braking request is received, so as to determine whether to perform energy recovery; or judging whether the vehicle can carry out energy recovery currently by acquiring current state information of the vehicle (such as battery temperature, battery capacity, battery chargeable power, working state of a vehicle body stabilizing system and the like) and judging whether the current state information of the vehicle meets preset energy recovery conditions (such as energy recovery is allowed when the battery temperature is higher than the preset temperature, energy recovery is allowed when the battery chargeable power is higher than the preset power, energy recovery is allowed when the vehicle body stabilizing system is in a non-working state and the like).
Preferably, the step of judging whether to perform energy recovery comprises:
step B10, acquiring the chargeable power of the battery;
in the present embodiment, specifically, the currently chargeable power of the battery is acquired by the battery management system.
And step B20, judging whether to recover energy according to the chargeable power.
In the present embodiment, specifically, conditions (for example, a numerical magnitude relationship, a logical relationship, a functional relationship, or the like) to be satisfied by the chargeable power for performing energy recovery and not performing energy recovery are set in advance, and it is determined whether or not the acquired current chargeable power satisfies the corresponding conditions, and if the conditions for performing energy recovery are satisfied, it is determined that energy recovery is performed, and if the conditions for not performing energy recovery are satisfied, it is determined that energy recovery is not performed.
In this embodiment, whether the battery can also receive the energy recovered by the motor can be directly judged through the chargeable power of the battery, and if the battery cannot receive the energy recovered by the motor, the energy recovery braking cannot be performed, so that whether the vehicle can perform the energy recovery braking can be quickly and accurately judged through the chargeable power of the battery, and the prejudgment of the energy recovery braking result can be completed without sending an energy recovery braking request, thereby reducing information interaction and realizing a quick and accurate judgment process.
Preferably, the step of judging whether to perform energy recovery according to the chargeable power comprises the following steps:
a step B21 of determining not to perform energy recovery if the chargeable power is less than or equal to a preset power;
and step B22, if the chargeable power is higher than the preset power, determining to perform energy recovery.
In this embodiment, specifically, by setting a chargeable power range in which energy recovery and non-energy recovery are performed in advance, if the chargeable power is lower than or equal to a preset power, it is determined that energy recovery is not performed, and if the chargeable power is higher than the preset power, it is determined that energy recovery is performed, the determination process is simple, and the calculation amount is small, so that energy recovery determination can be performed quickly, and the decision time of the braking mode is reduced.
Preferably, the step of judging whether to perform energy recovery comprises:
step C10, acquiring the working state of the vehicle body stabilizing system;
in the present embodiment, it should be noted that the vehicle body stabilization system analyzes the vehicle running state information transmitted from each sensor, then, a deviation rectifying command is sent to an ABS (antilock Brake system), an EBD (Electronic Brake force Distribution) system, etc. to help the vehicle maintain dynamic balance, which is an important device for ensuring the driving safety of the vehicle, when the vehicle body stabilizing system works, the energy recovery is forbidden to avoid influencing the work of the vehicle body stabilizing system, the working state is the current or predicted working state within the preset time range of the vehicle body stabilizing system and comprises a working state, a non-working state, a preparation working state and the like, the method for predicting the working state within the preset time range comprises the step of predicting through information such as working conditions, a map and driving habit data of a driver.
And step C20, judging whether to recover energy according to the working state.
In this embodiment, specifically, by presetting a mapping relationship between energy recovery and energy recovery not, and the operating state, an energy recovery determination result corresponding to the current operating state is determined according to the mapping relationship.
In the embodiment, whether the energy recovery braking can not be normally controlled due to collision with other braking systems of the vehicle can be judged in advance through the working state of the vehicle body stabilizing system, so that the energy recovery braking result can be judged in advance without sending an energy recovery braking request, information interaction is reduced, and the judgment process is quick and accurate.
Preferably, the step of judging whether to perform energy recovery according to the operating state includes:
a step C21 of determining that energy recovery is not to be performed if the operating state is an operating state;
and a step C22 of determining that energy recovery is performed if the operating state is a non-operating state.
In this embodiment, specifically, by setting a mapping relationship between the operating state and the energy recovery, which is used for energy recovery and energy recovery, in advance, if the operating state is the operating state, it is determined that energy recovery is not performed, and if the operating state is the non-operating state, it is determined that energy recovery is performed.
Step S40, if energy is recovered, controlling the motor to brake the vehicle according to the target torque;
in this embodiment, specifically, if it is determined that energy recovery is performed, the vehicle controller sends the target torque request to the motor controller, and then controls the motor controller to control the motor to perform energy recovery according to the target torque, so as to implement vehicle braking.
In step S50, if it is determined that energy recovery is not to be performed, mechanical braking is performed by the brake-by-wire system.
In this embodiment, specifically, if it is determined that energy recovery is not performed, it is determined that energy recovery cannot be performed by controlling the motor to perform energy recovery so as to control vehicle braking, the vehicle controller calculates a mechanical braking torque corresponding to the target torque, and sends a mechanical braking torque request to the electric-by-wire braking system, so that the electric-by-wire braking system controls the vehicle to perform mechanical braking according to the mechanical braking torque, thereby implementing vehicle braking.
In the embodiment, the driving intention is judged by acquiring the displacement of the accelerator pedal and the target torque corresponding to the displacement of the accelerator pedal, whether the driving intention is the deceleration intention is judged according to the displacement of the accelerator pedal, the condition limitation on the deceleration control is further realized by judging whether the energy recovery is carried out or not if the driving intention is judged to be the deceleration intention, the vehicle is braked according to the target torque by controlling the motor if the energy recovery is carried out, the mechanical braking is carried out by the brake-by-wire system if the energy recovery is not carried out, the matching of different deceleration control strategies for different energy recovery conditions is realized, the mechanical braking is automatically controlled to finish the deceleration control under the condition that the energy recovery cannot be carried out, and the condition that a driver steps on the brake pedal to make up the incomplete deceleration control process of the vehicle when feeling that the vehicle is not decelerated automatically is not required to be carried out by the driver, the driving intention is realized more accurately, the technical problem that the accuracy of realizing the driving intention is low in a single-pedal control method of the vehicle in the prior art is solved, and the driving experience of a single-pedal control mode of the vehicle is improved.
The embodiment of the present application further provides a single-pedal control device of a vehicle, where the single-pedal control device of the vehicle is applied to a single-pedal control apparatus of the vehicle, and the single-pedal control device of the vehicle includes:
the accelerator pedal displacement acquisition module is used for acquiring accelerator pedal displacement and target torque corresponding to the accelerator pedal displacement;
the driving intention judging module is used for judging whether the driving intention is a deceleration intention according to the accelerator pedal displacement;
the energy recovery judging module is used for judging whether energy recovery is carried out or not if the driving intention is judged to be the deceleration intention;
the braking module is used for controlling the motor to brake the vehicle according to the target torque if energy recovery is carried out;
and the brake module is also used for performing mechanical braking through the brake-by-wire system if energy recovery is not performed.
Optionally, the energy recovery determination module is further configured to:
acquiring chargeable power of a battery;
and judging whether to recover energy according to the chargeable power.
Optionally, the energy recovery determination module is further configured to:
if the chargeable power is lower than the preset power, determining not to carry out energy recovery;
and if the chargeable power is higher than the preset power, judging to perform energy recovery.
Optionally, the energy recovery determination module is further configured to:
acquiring the working state of a vehicle body stabilizing system;
and judging whether to recover energy according to the working state.
Optionally, the energy recovery determination module is further configured to:
if the working state is the working state, judging that energy recovery is not carried out;
and if the working state is a non-working state, judging that energy recovery is carried out.
Optionally, the driving intention judging module is further configured to:
acquiring a current vehicle speed and a reference displacement corresponding to the current vehicle speed;
when the accelerator pedal displacement is smaller than the reference displacement, determining that the driving intention is a deceleration intention;
when the accelerator pedal displacement amount is greater than or equal to the reference displacement amount, it is determined that the driving intention is not the deceleration intention.
Optionally, the driving intention judging module is further configured to:
and if the driving intention is judged not to be the deceleration intention, controlling the motor to drive the vehicle according to the target torque.
The single-pedal control device for the vehicle provided by the invention adopts the single-pedal control method for the vehicle, and solves the technical problems of low driving intention accuracy and poor driving experience of the single-pedal control method for the vehicle in the prior art. Compared with the prior art, the beneficial effects of the vehicle single-pedal control device provided by the embodiment of the invention are the same as the beneficial effects of the vehicle single-pedal control method provided by the embodiment, and other technical features of the vehicle single-pedal control device are the same as those disclosed by the method of the previous embodiment, which are not repeated herein.
An embodiment of the present invention provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of single pedal control of a vehicle in the above embodiments.
Referring now to FIG. 2, shown is a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., car navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 2 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 2, the electronic device may include a processing apparatus (e.g., a central processing unit, a graphic processor, etc.) that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage apparatus into a Random Access Memory (RAM). In the RAM, various programs and data necessary for the operation of the electronic apparatus are also stored. The processing device, the ROM, and the RAM are connected to each other by a bus. An input/output (I/O) interface is also connected to the bus.
Generally, the following systems may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, and the like; output devices including, for example, Liquid Crystal Displays (LCDs), speakers, vibrators, and the like; storage devices including, for example, magnetic tape, hard disk, etc.; and a communication device. The communication means may allow the electronic device to communicate wirelessly or by wire with other devices to exchange data. While the figures illustrate an electronic device with various systems, it is to be understood that not all illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means, or installed from a storage means, or installed from a ROM. The computer program, when executed by a processing device, performs the above-described functions defined in the methods of the embodiments of the present disclosure.
The electronic equipment provided by the invention adopts the vehicle single-pedal control method in the embodiment, and solves the technical problems of low driving intention accuracy and poor driving experience of the vehicle single-pedal control method in the prior art. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the invention are the same as the beneficial effects of the vehicle single-pedal control method provided by the embodiment, and other technical features of the electronic device are the same as those disclosed in the method of the previous embodiment, which are not repeated herein.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for executing the single pedal control method of a vehicle in the above-described embodiments.
The computer readable storage medium provided by the embodiments of the present invention may be, for example, a USB flash disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present embodiment, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer-readable storage medium may be embodied in an electronic device; or may be present alone without being incorporated into the electronic device.
The computer readable storage medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring an accelerator pedal displacement and a target torque corresponding to the accelerator pedal displacement; judging whether the driving intention is a deceleration intention or not according to the accelerator pedal displacement; if the driving intention is judged to be a deceleration intention, judging whether energy recovery is carried out or not; if the energy recovery is determined, controlling the motor to brake the vehicle according to the target torque; if it is determined that energy recovery is not to be performed, mechanical braking is performed by the brake-by-wire system.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented by software or hardware. Wherein the names of the modules do not in some cases constitute a limitation of the unit itself.
The computer-readable storage medium provided by the invention stores the computer-readable program instructions for executing the single-pedal control method of the vehicle, and solves the technical problems of low accuracy of driving intention and poor driving experience of the single-pedal control method of the vehicle in the prior art. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment of the invention are the same as the beneficial effects of the single-pedal control method of the vehicle provided by the embodiment, and the detailed description is omitted here.
The present application also provides a computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of single-pedal control of a vehicle as described above.
The computer program product solves the technical problems that the driving intention accuracy is low and the driving experience is poor in a single-pedal control method of a vehicle in the prior art. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the invention are the same as the beneficial effects of the vehicle single-pedal control method provided by the embodiment, and the detailed description is omitted here.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A single-pedal control method of a vehicle, characterized by comprising:
acquiring an accelerator pedal displacement and a target torque corresponding to the accelerator pedal displacement;
judging whether the driving intention is a deceleration intention or not according to the accelerator pedal displacement;
if the driving intention is judged to be a deceleration intention, judging whether energy recovery is carried out or not;
if the energy recovery is determined, controlling the motor to brake the vehicle according to the target torque;
if it is determined that energy recovery is not to be performed, mechanical braking is performed by the brake-by-wire system.
2. The single-pedal control method of a vehicle according to claim 1, wherein the step of determining whether to perform energy recovery comprises:
acquiring chargeable power of a battery;
and judging whether to recover energy according to the chargeable power.
3. The single-pedal control method of a vehicle according to claim 2, wherein the step of determining whether to perform energy recovery based on the chargeable power comprises:
if the chargeable power is lower than or equal to the preset power, determining not to recover energy;
and if the chargeable power is higher than the preset power, judging to perform energy recovery.
4. The single-pedal control method of a vehicle according to claim 1, wherein the step of determining whether to perform energy recovery comprises:
acquiring the working state of a vehicle body stabilizing system;
and judging whether to recover energy according to the working state.
5. The single-pedal control method of a vehicle according to claim 4, wherein the step of determining whether to perform energy recovery based on the operating state includes:
if the working state is the working state, judging that energy recovery is not carried out;
and if the working state is a non-working state, judging that energy recovery is carried out.
6. The single-pedal control method of a vehicle according to claim 1, wherein the step of determining whether the driving intention is a deceleration intention based on the accelerator pedal displacement amount includes:
acquiring a current vehicle speed and a reference displacement corresponding to the current vehicle speed;
when the accelerator pedal displacement is smaller than the reference displacement, determining that the driving intention is a deceleration intention;
when the accelerator pedal displacement amount is greater than or equal to the reference displacement amount, it is determined that the driving intention is not the deceleration intention.
7. The single-pedal control method of a vehicle according to claim 1, characterized in that, after the step of determining whether the driving intention is an intention to decelerate based on the accelerator pedal displacement amount, further comprising:
and if the driving intention is judged not to be the deceleration intention, controlling the motor to drive the vehicle according to the target torque.
8. A single-pedal control apparatus of a vehicle, characterized by comprising:
the accelerator pedal displacement acquisition module is used for acquiring accelerator pedal displacement and target torque corresponding to the accelerator pedal displacement;
the driving intention judging module is used for judging whether the driving intention is a deceleration intention according to the accelerator pedal displacement;
the energy recovery judging module is used for judging whether energy recovery is carried out or not if the driving intention is judged to be the deceleration intention;
the braking module is used for controlling the motor to brake the vehicle according to the target torque if energy recovery is carried out;
and the brake module is also used for performing mechanical braking through the brake-by-wire system if energy recovery is not performed.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the vehicle single pedal control method of any one of claims 1 to 7.
10. A storage medium, characterized in that the storage medium is a computer-readable storage medium having stored thereon a program for implementing a single-pedal control method of a vehicle, which is executed by a processor to implement the steps of the single-pedal control method of a vehicle according to any one of claims 1 to 7.
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