CN114889584A - Vehicle control method, device, equipment and storage medium - Google Patents
Vehicle control method, device, equipment and storage medium Download PDFInfo
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- CN114889584A CN114889584A CN202210526553.5A CN202210526553A CN114889584A CN 114889584 A CN114889584 A CN 114889584A CN 202210526553 A CN202210526553 A CN 202210526553A CN 114889584 A CN114889584 A CN 114889584A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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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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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a vehicle control method, a device, equipment and a storage medium, comprising: acquiring current state information of a vehicle body stability control system; predicting the deflection direction of the vehicle when the current state information is in a working state; when the predicted deflection direction is opposite to the current deflection direction, acquiring a first limit driving torque at the current moment and a second limit driving torque at the previous moment of the vehicle body stability control system; when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number; controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque; and controlling the driving motor to respond to the target intervention driving torque to drive the vehicle to run. The method and the device perform pre-judgment when the intervention of the vehicle body stability control system is weakened, and control the incremental torque base number gradient to be increased progressively when the vehicle is opposite to the current deflection direction, so that the turning stability of the vehicle is improved.
Description
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method, apparatus, device, and storage medium.
Background
With the continuous abundance of substances, people pursue higher and higher functions of vehicles, the requirements on driving performance and driving pleasure are increased day by day, the driving conditions are more and more intense, and the scene application is more and more increased; meanwhile, automobile manufacturers are also continuously increasing the functional requirements on vehicles and increasing the requirements on the stable safety performance and the driving control performance of the vehicle body. Therefore, stability, controllability, and safety of vehicle running become more important.
When the vehicle is unstable in the running direction during running, the vehicle is subjected to intervention regulation through a vehicle body stability control system, but the running direction is repeatedly changed, the vehicle body stability control system is repeatedly performed between intervention and non-intervention driving torque control through vehicle body dynamic performance, the vehicle speed can be rapidly increased when the vehicle body stability system is not intervened, the vehicle speed can be reduced under the condition that the driving torque control is intervened and the wheel cylinder pressure is actively increased to brake the wheels, the vehicle speed is fast and slow, the whole operation process is not smooth enough, the safety is reduced, and the subjective evaluation of a driver is poor.
Disclosure of Invention
The present disclosure provides a vehicle control method, apparatus, and storage medium to at least solve the problem of how to improve turning smoothness in the related art. The technical scheme of the disclosure is as follows:
according to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method including:
acquiring current state information of a vehicle body stability control system;
when the current state information of the vehicle body stability control system is in a working state, predicting the deflection direction of the vehicle to obtain a predicted deflection direction;
when the predicted deflection direction is opposite to the current deflection direction, acquiring a first limited driving torque at the current moment and a second limited driving torque at the previous moment of the vehicle body stability control system;
when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number;
controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque;
and controlling a driving motor to respond to the target intervention driving torque to drive the vehicle to run.
In one possible implementation, the predicting the yaw direction of the vehicle to obtain the predicted yaw direction includes:
acquiring current driving data and a preset driving data threshold value of the vehicle;
and predicting the deflection direction of the vehicle according to the current running data and the preset running data threshold value to obtain the predicted deflection direction.
Further, the current travel data includes a current steering wheel angle, a current steering wheel angle change rate, a current yaw rate change rate, and a current output drive torque;
the preset driving data threshold value comprises a first rotation angle threshold value, a second rotation angle change rate threshold value, a second angular speed change rate threshold value and a second torque threshold value; the predicted yaw direction being opposite to the current yaw direction comprises:
the current steering wheel angle is less than the first steering wheel angle threshold, the current rate of change of steering wheel angle is greater than a second steering wheel angle rate of change threshold, the current steering wheel angle decreases, the current yaw rate of change rate is greater than the second angular rate of change threshold, the current yaw rate decreases, and the current output drive torque is greater than a second torque threshold.
Further, the controlling the target torque increase base number to be increased by the current torque increase gradient information to obtain the target intervention driving torque comprises:
controlling the target torque increasing base number to increase to a target output driving torque by the current torque increasing gradient information, and taking the target output driving torque as the target intervention driving torque; and the target output driving torque is the current input torque corresponding to the current accelerator pedal opening of the vehicle.
Further, the controlling the target torque increase base number to be increased by the current torque increase gradient information to obtain the target intervention driving torque comprises:
acquiring a previous output drive torque of the vehicle at the previous time;
acquiring the target output driving torque of the vehicle, wherein the target output driving torque is a current input torque corresponding to the current accelerator pedal opening of the vehicle;
updating the target torque increment base based on a minimum drive torque of the target output drive torque, the first limited drive torque, and the prior output drive torque;
and controlling the updated target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain the target intervention driving torque.
Further, before controlling the target torque increase base number to be increased by the current torque increase gradient information to obtain the target intervention driving torque, the method further comprises:
acquiring a current road adhesion coefficient and a current vehicle speed of a vehicle;
and determining the current torque increasing gradient information according to the current road adhesion coefficient and the current vehicle speed.
Further, the method further comprises:
if the current state information of the vehicle body stability control system is detected to jump to a non-working state in the process that the target torque increasing base number is increased progressively, determining the moment when the vehicle body stability control system jumps to the non-working state;
acquiring the duration of the non-working state of the vehicle body stability control system;
and when the duration is greater than a preset duration threshold, stopping incremental operation.
According to another aspect of the present application, there is also disclosed a driving torque control apparatus of a vehicle, the apparatus including:
the state information acquisition module is used for acquiring the current state information of the vehicle body stability control system;
the deflection direction prediction module is used for predicting the deflection direction of the vehicle to obtain a predicted deflection direction when the current state information of the vehicle body stability control system is in a working state;
the driving torque limit obtaining module is used for obtaining a first driving torque limit at the current moment and a second driving torque limit at the previous moment of the vehicle body stability control system in a preset period when the predicted deflection direction is opposite to the current deflection direction;
a target torque increase base number determination module for setting the second limited driving torque as a target torque increase base number when the first limited driving torque is greater than the second limited driving torque;
the target intervention driving torque determining module is used for controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque;
and the vehicle driving control module is used for controlling the driving motor to respond to the target intervention driving torque and drive the vehicle to run.
According to another aspect of the present application, there is also disclosed an electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the drive torque control method of the vehicle as described above.
According to another aspect of the present application, there is also disclosed a computer-readable storage medium having instructions therein, which when executed by a processor of an electronic device, enable the electronic device to perform the driving torque control method of a vehicle as described above.
According to another aspect of an embodiment of the present disclosure, there is provided a computer program product comprising computer instructions which, when executed by a processor, cause a computer to perform the driving torque control method of a vehicle as described above.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
the vehicle control method comprises the steps of firstly obtaining current state information of a vehicle body stability control system; when the current state information of the vehicle body stability control system is in a working state, predicting the deflection direction of the vehicle to obtain a predicted deflection direction; when the predicted deflection direction is opposite to the current deflection direction, acquiring a first limit driving torque at the current moment and a second limit driving torque at the previous moment of the vehicle body stability control system; when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number; controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque; and controlling a driving motor to respond to the target intervention driving torque to drive the vehicle to run. Therefore, the invention carries out pre-judgment when the intervention of the vehicle body stability control system is weakened, controls the driving torque to slowly increase progressively with a certain base number when judging that the deflection direction of the vehicle about to enter is opposite to the current deflection direction, and limits the release of the driving torque, so that the driving speed is slowly increased, and the turning stability of the vehicle is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
Fig. 1 is a flowchart of a vehicle control method provided in the present embodiment;
fig. 2 is a schematic diagram of an application environment of a vehicle control method provided in the present embodiment;
FIG. 3 is a flowchart of another vehicle control method provided by the present embodiment;
FIG. 4 is a flowchart of another vehicle control method provided by the present embodiment;
fig. 5 is a block diagram showing the structure of a vehicle control apparatus according to an exemplary embodiment.
FIG. 6 shows a block diagram of an electronic device for a vehicle control method, according to an example embodiment.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in other sequences than those illustrated or described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating an application environment of a vehicle control method according to an exemplary embodiment, and as shown in fig. 2, the application environment may include a vehicle body controller 01 and a vehicle body stability control system 02 which are located on a vehicle.
In an alternative embodiment, the connection between the body controller 01 and the body stability control system 02 may be based on a CAN bus. The vehicle body controller 01 may acquire state information of the vehicle body stability control system 02, and the vehicle body stability control system 02 may intervene in the driving torque of the vehicle in the running process.
It should be noted that the following figures show one possible sequence of steps, and in fact do not limit the order that must be strictly followed. Some steps may be performed in parallel without dependency on each other.
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention. As shown in fig. 1, the following steps may be included:
and S100, acquiring current state information of the vehicle body stability control system.
Specifically, the main body of the method may be a Body Control Module (BCM) vehicle body controller, which is used to acquire information transmitted by sensors or other devices. The method includes acquiring current state information of a Vehicle Stability Control (VSC) system, specifically, acquiring whether the VSC system is currently in an operating state or a non-operating state. For example, an indication mark indicating the operation of the vehicle body stability control system exists on the vehicle, and the vehicle body controller may determine whether the vehicle body stability control system is in the operating state or the non-operating state by acquiring information of the indication mark of the vehicle body stability control system. For example, when the indication mark is in a highlight state, the vehicle body stability control system is determined to be in an operating state, and when the indication mark is in a gray state, the vehicle body stability control system is determined to be in a non-operating state. When the current state information of the vehicle body stability control system is in a working state, the vehicle body stability control system intervenes the driving torque of the driving motor, and when the current state information of the vehicle body stability control system is in a non-working state, the vehicle body stability control system stops intervening the driving torque of the driving motor.
And S102, when the current state information of the vehicle body stability control system is in a working state, predicting the deflection direction of the vehicle to obtain the predicted deflection direction.
And S104, when the predicted yaw direction is opposite to the current yaw direction, acquiring a first limited driving torque at the current moment and a second limited driving torque at the previous moment of the vehicle body stability control system.
In one possible implementation scheme, the current driving data and the preset driving data threshold value of the vehicle can be obtained firstly; and predicting the deflection direction of the vehicle according to the current running data and a preset running data threshold value to obtain a predicted deflection direction. Specifically, the current travel data includes a current steering wheel angle, a current steering wheel angle change rate, a current yaw rate change rate, and a current output drive torque;
the preset driving data threshold value comprises a corner first threshold value, a corner change rate second threshold value, an angular speed change rate second threshold value and a torque second threshold value; the predicted yaw direction being opposite to the current yaw direction comprises: the current steering wheel angle is less than the first threshold steering angle, the current rate of change of steering wheel angle is greater than the second threshold rate of change of steering angle, the current steering wheel angle is decreased, the current rate of change of yaw rate is greater than the second threshold rate of change of yaw rate, the current yaw rate is decreased, and the current output drive torque is greater than the second threshold torque.
It is to be understood that the predicted yaw direction is considered to be the same as the current yaw direction when either one of the current steering wheel angle is greater than or equal to the first steering wheel angle threshold, or the current rate of change of steering wheel angle is less than or equal to the second steering wheel angle rate threshold, or the current steering wheel angle is increased, or the current rate of change of yaw rate is less than or equal to the second angular rate threshold, or the current yaw rate is increased, or the current output drive torque is less than or equal to the second torque threshold.
Specifically, the first limited driving torque refers to a limited output driving torque of the vehicle body stability control system to the driving motor at the current moment so as to control the driving motor to drive the vehicle to run with the first limited driving torque, and the second limited driving torque refers to a limited output driving torque of the vehicle body stability control system to the driving motor at the previous moment so as to control the driving motor to drive the vehicle to run with the second limited driving torque.
And S106, when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number.
And S108, controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain the target intervention driving torque.
Specifically, when the first limited driving torque is larger than the second limited driving torque, it indicates that the intervention of the vehicle body stability control system on the driving motor is weakened, and the dynamic control of the vehicle body stability control system on the vehicle is weakened, which may cause the instant release or instant increase of the driving torque under the snake-shaped driving condition, for example, may cause the vehicle to be accelerated or decelerated quickly, resulting in poor driving smoothness and controllability. At this time, the second limited driving torque may be used as a target torque increase base number, and the target torque increase base number is controlled to be increased by the current torque increase gradient information, so as to obtain the target intervention driving torque.
Further, the target torque increase base number is controlled to be increased progressively according to the current torque increase gradient information, and before the target intervention driving torque is obtained, the current torque increase gradient information can be determined, specifically, the current torque increase gradient information can be obtained on the basis of the following steps:
and acquiring the current road adhesion coefficient and the current speed of the vehicle.
And determining current torque increasing gradient information according to the current road adhesion coefficient and the current vehicle speed.
Specifically, the current torque-up gradient information may be a product of a current road adhesion coefficient and a current vehicle speed.
It can be understood that the pre-judgment is carried out when the intervention of the vehicle body stability control system is weakened, and when the deviation direction of the vehicle to enter is judged to be opposite to the current deviation direction, the driving torque is controlled to slowly increase by a certain base number so as to limit the release of the driving torque, so that the driving speed is slowly increased, and the turning stability of the vehicle is improved.
Further, if the current state information of the vehicle body stability control system is detected to jump to the non-working state in the process that the target torque increment base number is increased gradually, the time when the vehicle body stability control system jumps to the non-working state is determined.
Further, in a possible implementation scheme, if the current state information of the vehicle body stability control system is detected to jump to the non-working state in the process that the target torque increasing base number is increased incrementally, the vehicle body stability control system can be considered not to intervene the vehicle any more, and the specific time when the vehicle body stability control system stops intervening can be acquired.
Acquiring the duration of the non-working state of the vehicle body stability control system;
and when the duration is greater than the preset duration threshold, stopping the incremental operation.
Specifically, the preset time threshold may be preset, for example, may be 5min, 6min, and the like, and may be specifically set according to actual requirements. When the duration of the non-working state of the vehicle body stability control system is greater than the preset duration threshold, the fact that the vehicle body stability control system does not interfere with the running of the vehicle for a period of time is indicated, at the moment, the vehicle can be considered to be not in repeated turning, and at the moment, the incremental operation of the target torque increasing base number can be stopped. Specifically, the torque corresponding to when the incremental operation is stopped may be taken as the target drive intervention drive torque at this time.
Further, in another possible implementation scheme, in the process that the target torque multiplication base number is in the process of increasing, a second rotation angle threshold value, a first rotation angle change rate threshold value, a first angular speed change rate threshold value and a first torque threshold value are obtained, wherein the second rotation angle threshold value is greater than the first rotation angle threshold value, the first rotation angle change rate threshold value is smaller than the second rotation angle change rate threshold value, the first angular speed change rate threshold value is smaller than the second angular speed change rate threshold value, and the first torque threshold value is smaller than the second torque threshold value;
and if an activation signal of a brake pedal is received, or the current steering wheel angle of the vehicle is monitored to be larger than a second steering wheel angle threshold, or the current steering wheel angle change rate is smaller than a first steering wheel angle change rate threshold, or the current transverse angular speed change rate is smaller than a first angular speed change rate threshold, or the current output driving torque is smaller than a first torque threshold, stopping incremental operation.
And S110, controlling the driving motor to respond the target intervention driving torque and driving the vehicle to run.
Specifically, after the target intervention driving torque is determined, the driving motor is controlled to drive the vehicle to run in response to the target intervention driving torque, so that the vehicle is controlled through the increased torque.
According to the invention, by adding the control logic, when the intervention weakening of a vehicle body stability control system is determined, the deflection direction of the vehicle to enter is judged in advance, and when the deflection direction of the vehicle to enter is opposite to the current deflection direction, the driving torque is controlled to slowly increase by a certain base number so as to limit the release of the driving torque, so that the driving speed is slowly increased, the phenomena of repeated switching of the driving direction of the vehicle caused by repeatedly rotating a steering wheel, high speed and low speed and difficulty in control under the unstable working condition can be avoided, and the turning stability of the vehicle is improved.
Fig. 3 is a flowchart of a vehicle control method according to an embodiment of the present invention. As shown in fig. 3, the following steps may be included:
and S100, acquiring current state information of the vehicle body stability control system.
And S102, when the current state information of the vehicle body stability control system is in a working state, predicting the deflection direction of the vehicle to obtain the predicted deflection direction.
And S104, when the predicted yaw direction is opposite to the current yaw direction, acquiring a first limited driving torque at the current moment and a second limited driving torque at the previous moment of the vehicle body stability control system.
And S106, when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number.
And S108, controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain the target intervention driving torque.
Specifically, S108: the step of controlling the target torque increase base number to increase by the current torque increase gradient information to obtain the target intervention driving torque may specifically be:
and S200, controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information until the current base number torque reaches the target output driving torque, and taking the target output driving torque as the target intervention driving torque.
Specifically, the target torque increase base number may be controlled to be increased in increments according to the current torque increase gradient information until the target torque increase base number is increased to the target output driving torque, where the target output driving torque is the current input torque corresponding to the current accelerator pedal opening of the vehicle. It is to be understood that the control of the target torque multiplication base to be incremented by the current torque multiplication gradient information may be one increment of the control target torque multiplication base by the current torque multiplication gradient information or a successive increment of the control target torque multiplication base by the current torque multiplication gradient information, the number of increments of the target torque multiplication base being determined based on a difference between the target torque multiplication base and the target output drive torque. It can be further understood that when the torque obtained by the last increment of the target torque increasing base number is larger than the target output driving torque, the torque before the last increment of the target torque increasing base number is taken as the target output driving torque, so as to avoid the problem that the torque after the increment is too large, and the current input torque corresponding to the current accelerator pedal opening degree is insufficient to provide the torque after the increment.
And S110, controlling the driving motor to respond the target intervention driving torque and driving the vehicle to run.
It is understood that, where not described in steps S100 to S108, and step S110, reference may be made to the related description above, and details thereof are not repeated here.
Fig. 4 is a flowchart of a vehicle control method according to an embodiment of the present invention. As shown in fig. 4, the following steps may be included:
and S100, acquiring current state information of the vehicle body stability control system.
And S102, when the current state information of the vehicle body stability control system is in a working state, predicting the deflection direction of the vehicle to obtain the predicted deflection direction.
And S104, when the predicted yaw direction is opposite to the current yaw direction, acquiring a first limited driving torque at the current moment and a second limited driving torque at the previous moment of the vehicle body stability control system.
And S106, when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number.
And S108, controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain the target intervention driving torque.
Specifically, S108: the controlling the target torque increase base number to be increased by the current torque increase gradient information to obtain the target intervention driving torque may specifically include:
and S300, acquiring the prior output driving torque of the vehicle at the previous moment.
And S302, acquiring the target output driving torque of the vehicle.
Specifically, the target output driving torque is a current input torque corresponding to a current accelerator pedal opening degree of the vehicle.
And S304, updating the target torque increase base number based on the target output driving torque, the first limit driving torque and the minimum driving torque in the prior output driving torque.
And S306, controlling the updated target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain the target intervention driving torque.
And S110, controlling the driving motor to respond the target intervention driving torque and driving the vehicle to run.
It is understood that, where not described in steps S100 to S108, and step S110, reference may be made to the related description above, and details thereof are not repeated here.
It can be understood that, by selecting the minimum driving torque of the target output driving torque, the first limit driving torque and the previous output driving torque of the vehicle to be updated to the target torque increment base, the problem that the current input torque corresponding to the current accelerator pedal opening degree is insufficient to provide the torque corresponding to the first limit driving torque or the previous output driving torque when the first limit driving torque or the previous output driving torque is larger than the target output driving torque of the vehicle can be avoided.
Further, as shown in fig. 5, fig. 5 is a block diagram of a vehicle control device according to an embodiment of the present application. The device comprises:
the state information acquisition module is used for acquiring the current state information of the vehicle body stability control system;
the deflection direction prediction module is used for predicting the deflection direction of the vehicle to obtain a predicted deflection direction when the current state information of the vehicle body stability control system is in a working state;
the device comprises a driving torque limit acquisition module, a control module and a control module, wherein the driving torque limit acquisition module is used for acquiring a first driving torque limit at the current moment and a second driving torque limit at the previous moment of the vehicle body stability control system in a preset period when the predicted deflection direction is opposite to the current deflection direction;
a target torque increase base number determination module for setting the second limited driving torque as a target torque increase base number when the first limited driving torque is greater than the second limited driving torque;
the target intervention driving torque determining module is used for controlling a target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque;
and the vehicle driving control module is used for controlling the driving motor to respond the target intervention driving torque and drive the vehicle to run.
Further, the deflection direction prediction module comprises:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring current driving data and a preset driving data threshold value of a vehicle;
and the prediction processing unit is used for performing prediction processing on the deflection direction of the vehicle according to the current running data and a preset running data threshold value to obtain a predicted deflection direction.
Further, the target intervening drive torque determination module includes:
the first determining unit is used for controlling the target torque increasing base number to be increased to the target output driving torque in an incremental manner according to the current torque increasing gradient information, and taking the target output driving torque as the target intervention driving torque; the target output driving torque is a current input torque corresponding to the current accelerator pedal opening of the vehicle.
Further, the target intervening drive torque determination module further comprises:
a previous output drive torque acquisition unit for acquiring a previous output drive torque of the vehicle at a previous time;
the target output driving torque acquisition unit is used for acquiring a target output driving torque of the vehicle, wherein the target output driving torque is a current input torque corresponding to the current accelerator pedal opening of the vehicle;
an updating unit for updating the target torque increase base number based on the target output driving torque, the first limit driving torque, and a minimum driving torque among the previous output driving torques;
and the second determination unit is used for controlling the updated target torque increase base number to increase progressively according to the current torque increase gradient information to obtain the target intervention driving torque.
Furthermore, the device also comprises a current torque-increasing gradient information determining module which is used for acquiring the current road adhesion coefficient and the current vehicle speed of the vehicle and determining the current torque-increasing gradient information according to the current road adhesion coefficient and the current vehicle speed.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 6 is a block diagram illustrating an electronic device for a vehicle control method, which may be a server, according to an exemplary embodiment, and an internal structure thereof may be as shown in fig. 6. The electronic device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a vehicle control method.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and does not constitute a limitation on the electronic devices to which the disclosed aspects apply, as a particular electronic device may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
In an exemplary embodiment, there is also provided an electronic device including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement a vehicle control method as in the embodiments of the present disclosure.
In an exemplary embodiment, there is also provided a computer-readable storage medium in which instructions, when executed by a processor of an electronic device, enable the electronic device to perform a vehicle control method in an embodiment of the present disclosure. The computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In an exemplary embodiment, a computer program product containing instructions that, when run on a computer, cause the computer to perform a vehicle control method in embodiments of the present disclosure is also provided.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring current state information of a vehicle body stability control system;
when the current state information of the vehicle body stability control system is in a working state, predicting the deflection direction of the vehicle to obtain a predicted deflection direction;
when the predicted deflection direction is opposite to the current deflection direction, acquiring a first limited driving torque at the current moment and a second limited driving torque at the previous moment of the vehicle body stability control system;
when the first limited driving torque is larger than the second limited driving torque, taking the second limited driving torque as a target torque increasing base number;
controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque;
and controlling a driving motor to respond to the target intervention driving torque to drive the vehicle to run.
2. The vehicle control method according to claim 1, wherein the performing the prediction process on the yaw direction of the vehicle to obtain the predicted yaw direction includes:
acquiring current driving data and a preset driving data threshold value of the vehicle;
and predicting the deflection direction of the vehicle according to the current running data and the preset running data threshold value to obtain the predicted deflection direction.
3. The vehicle control method according to claim 2,
the current driving data includes a current steering wheel angle, a current steering wheel angle change rate, a current yaw rate change rate, and a current output driving torque;
the preset driving data threshold comprises a first threshold of a corner, a second threshold of a corner change rate, a second threshold of an angular speed change rate and a second threshold of torque; the predicted yaw direction being opposite to the current yaw direction comprises:
the current steering wheel angle is less than the first steering wheel angle threshold, the current rate of change of steering wheel angle is greater than a second steering wheel angle rate of change threshold, the current steering wheel angle decreases, the current yaw rate of change rate is greater than the second angular rate of change threshold, the current yaw rate decreases, and the current output drive torque is greater than a second torque threshold.
4. The vehicle control method of claim 1, wherein the controlling the target torque multiplication base to be incremented by the current torque multiplication gradient information, resulting in a target intervention drive torque comprises:
controlling the target torque increasing base number to increase to a target output driving torque by the current torque increasing gradient information, and taking the target output driving torque as the target intervention driving torque; and the target output driving torque is the current input torque corresponding to the current accelerator pedal opening of the vehicle.
5. The vehicle control method of claim 1, wherein the controlling the target torque multiplication base to be incremented by the current torque multiplication gradient information, resulting in a target intervention drive torque comprises:
acquiring a previous output drive torque of the vehicle at the previous time;
acquiring the target output driving torque of the vehicle, wherein the target output driving torque is a current input torque corresponding to the current accelerator pedal opening of the vehicle;
updating the target torque increment base based on a minimum drive torque of the target output drive torque, the first limited drive torque, and the prior output drive torque;
and controlling the updated target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain the target intervention driving torque.
6. The vehicle control method according to claim 1, wherein the controlling the target torque increase base is incremented by current torque increase gradient information, before the target intervention drive torque is obtained, the method further comprises:
acquiring a current road adhesion coefficient and a current vehicle speed of a vehicle;
and determining the current torque increasing gradient information according to the current road adhesion coefficient and the current vehicle speed.
7. The vehicle control method according to claim 4 or 5, characterized by further comprising:
if the current state information of the vehicle body stability control system is detected to be converted into the non-working state in the process that the target torque increasing base number is increased progressively, determining the moment when the vehicle body stability control system is converted into the non-working state;
acquiring the duration of the non-working state of the vehicle body stability control system;
and when the duration is greater than a preset duration threshold, stopping incremental operation.
8. A driving torque control apparatus of a vehicle, characterized by comprising:
the state information acquisition module is used for acquiring the current state information of the vehicle body stability control system;
the deflection direction prediction module is used for predicting the deflection direction of the vehicle to obtain a predicted deflection direction when the current state information of the vehicle body stability control system is in a working state;
the driving torque limit obtaining module is used for obtaining a first driving torque limit at the current moment and a second driving torque limit at the previous moment of the vehicle body stability control system in a preset period when the predicted deflection direction is opposite to the current deflection direction;
a target torque increase base number determination module for setting the second limited driving torque as a target torque increase base number when the first limited driving torque is greater than the second limited driving torque;
the target intervention driving torque determining module is used for controlling the target torque increasing base number to increase progressively according to the current torque increasing gradient information to obtain a target intervention driving torque;
and the vehicle driving control module is used for controlling the driving motor to respond to the target intervention driving torque and drive the vehicle to run.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement a driving torque control method of a vehicle according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to execute a driving torque control method of a vehicle according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210526553.5A CN114889584A (en) | 2022-05-16 | 2022-05-16 | Vehicle control method, device, equipment and storage medium |
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| CN202210526553.5A CN114889584A (en) | 2022-05-16 | 2022-05-16 | Vehicle control method, device, equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116461607A (en) * | 2023-05-12 | 2023-07-21 | 爱搏特科技(深圳)有限公司 | Distributed drive-by-wire and steering-by-wire method and related device |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116461607A (en) * | 2023-05-12 | 2023-07-21 | 爱搏特科技(深圳)有限公司 | Distributed drive-by-wire and steering-by-wire method and related device |
| CN116461607B (en) * | 2023-05-12 | 2024-02-06 | 爱搏特科技(深圳)有限公司 | Distributed drive-by-wire and steering-by-wire method and related device |
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