CN115384513A - Vehicle control method, device, equipment and storage medium - Google Patents
Vehicle control method, device, equipment and storage medium Download PDFInfo
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- CN115384513A CN115384513A CN202211060303.3A CN202211060303A CN115384513A CN 115384513 A CN115384513 A CN 115384513A CN 202211060303 A CN202211060303 A CN 202211060303A CN 115384513 A CN115384513 A CN 115384513A
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- 238000005516 engineering process Methods 0.000 abstract description 2
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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
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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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Abstract
The present invention relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a vehicle. According to the method and the device, the target request torque and the actual response torque of the target vehicle are obtained according to the abnormal state of the vehicle and the current abnormal state of the vehicle, the target response torque is obtained through the preset torque control model, the target vehicle is controlled according to the target response torque, the abnormal torque generated by the vehicle structure when the vehicle is abnormal is weakened, the technical problem that the vehicle is swung when the vehicle suddenly steps on an accelerator and releases the accelerator in the prior art and safety accidents are caused is solved, and the safety of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a vehicle.
Background
When a driver drives a manual transmission automobile, particularly in the low-gear driving process, the driver suddenly steps on an accelerator (TPI) or releases the accelerator (TPO), so that the phenomenon of vehicle swinging is easily caused, safety accidents are easily caused, and the driving feeling of the driver is influenced.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle control method, a vehicle control device, vehicle control equipment and a storage medium, and aims to solve the technical problems that sudden quick accelerator stepping and quick accelerator releasing of a vehicle can cause vehicle oscillation and cause safety accidents in the prior art.
To achieve the above object, the present invention provides a vehicle control method including the steps of:
receiving a vehicle abnormal signal, and determining the current vehicle abnormal state according to the vehicle abnormal signal;
acquiring a target request torque and an actual response torque of a target vehicle in the current vehicle abnormal state;
obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model;
controlling the target vehicle based on the target response torque.
Optionally, the preset torque control model includes a preset first torque control model or a preset second torque control model, the preset first torque control model is used for controlling torque control in a quick accelerator stepping state, and the preset second torque control model is used for controlling torque control in a quick accelerator releasing state;
the obtaining of the current vehicle abnormal state, the target request torque and the target response torque corresponding to the actual response torque through a preset torque control model includes:
when the current vehicle abnormal state is accelerator quick stepping, obtaining a target response torque corresponding to a target request torque and an actual response torque in the accelerator quick stepping state through the preset first torque control model;
and when the current abnormal state of the vehicle is accelerator quick release, obtaining a target response torque corresponding to the target request torque and the actual response torque in the accelerator quick release state through the preset second torque control model.
Optionally, when the current vehicle abnormal state is a quick accelerator pedal, obtaining a target response torque corresponding to a target request torque and an actual response torque in the quick accelerator pedal state through the preset first torque control model includes:
when the actual response torque is not larger than a preset first torque threshold value, determining a target response torque according to a target request torque in a quick accelerator stepping state;
when the actual response torque is not larger than a preset second torque threshold and is larger than the preset first torque threshold, determining a target response torque according to a preset step length, the preset first torque threshold and first response time, wherein the preset second torque threshold is larger than the preset first torque threshold;
and when the actual response torque is larger than the preset second torque threshold, filtering through a preset first filtering model according to the preset second torque threshold to obtain a target response torque.
Optionally, the filtering by the preset first filtering model according to the preset second torque threshold to obtain the target response torque includes:
acquiring target parameters of the target vehicle in a state of quickly stepping on an accelerator;
determining a corresponding filter coefficient according to the target parameter;
and filtering through a preset first filtering model based on the preset second torque threshold and the filtering coefficient to obtain a target response torque.
Optionally, the obtaining, by the preset second torque control model, a target response torque corresponding to the target request torque and the actual response torque in the accelerator-off state includes:
when the actual response torque is larger than a preset third torque threshold value, determining the target response torque according to the target request torque in the quick release throttle state;
when the actual response torque is larger than a preset fourth torque threshold and not larger than the preset third torque threshold, filtering through a preset second filtering model according to the preset third torque threshold to obtain the target response torque, wherein the preset fourth torque threshold is smaller than the preset third torque threshold;
and when the target response torque is equal to the preset fourth torque threshold value and after a preset time interval, determining the target response torque according to a preset step length, the preset fourth torque threshold value and the second response time.
Optionally, the filtering according to the preset third torque threshold by using the preset second filtering model to obtain the target response torque includes:
acquiring target parameters of the target vehicle in a quick release accelerator state;
determining a corresponding filter coefficient according to the target parameter;
and filtering through a preset second filtering model based on the preset third torque threshold and the filtering coefficient to obtain a target response torque.
Optionally, before obtaining a target response torque corresponding to the target request torque and the actual response torque in the accelerator quick release state through the preset second torque control model when the current vehicle abnormal state is the accelerator quick release, the method further includes:
acquiring vehicle parameters of the target vehicle;
carrying out vehicle torque test according to the vehicle parameters;
obtaining a phase torque threshold according to the vehicle torque test result, wherein the phase torque threshold comprises: the method comprises the steps of presetting a first torque threshold, presetting a second torque threshold, presetting a third torque threshold and presetting a fourth torque threshold.
Further, to achieve the above object, the present invention also proposes a vehicle control device including:
the signal receiving module is used for receiving the vehicle abnormal signal and determining the current vehicle abnormal state according to the vehicle abnormal signal;
the torque acquisition module is used for acquiring a target request torque and an actual response torque of a target vehicle in the current vehicle abnormal state;
the torque control module is used for obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model;
a vehicle control module to control the target vehicle based on the target response torque.
Further, to achieve the above object, the present invention also proposes a vehicle control apparatus including: a memory, a processor and a vehicle control program stored on the memory and executable on the processor, the vehicle control program being configured to implement the steps of the vehicle control method as described above.
Furthermore, to achieve the above object, the present invention also proposes a storage medium having a vehicle control program stored thereon, which when executed by a processor implements the steps of the vehicle control method as described above.
The invention provides a vehicle control method, which includes: receiving a vehicle abnormal signal, and determining the current vehicle abnormal state according to the vehicle abnormal signal; acquiring a target request torque and an actual response torque of a target vehicle in the current vehicle abnormal state; obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model; compared with the prior art, the target vehicle is controlled based on the target response torque, the target request torque and the actual response torque of the target vehicle are obtained according to the abnormal state of the vehicle and the current abnormal state of the vehicle, the target response torque is obtained through the preset torque control model, and the target vehicle is controlled according to the target response torque, so that the abnormal torque generated by the vehicle structure when the vehicle is abnormal is weakened, and the technical problem that safety accidents are caused by vehicle swinging due to sudden quick accelerator stepping and quick accelerator loosening of the vehicle in the prior art is solved.
Drawings
FIG. 1 is a schematic diagram of a vehicle control apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart of a first embodiment of a vehicle control method of the invention;
FIG. 3 is a schematic illustration of torque control stages in an embodiment of a vehicle control method of the present invention;
FIG. 4 is a flowchart illustrating a second embodiment of a vehicle control method according to the present invention;
FIG. 5 is a schematic diagram of filter parameters of an embodiment of a vehicle control method of the present invention;
FIG. 6 is a flowchart illustrating a third embodiment of a vehicle control method according to the present invention;
FIG. 7 is a schematic view illustrating the swing speed of stepping on the accelerator according to an embodiment of the vehicle control method of the present invention;
FIG. 8 is a schematic diagram illustrating the swing speed of the throttle valve according to an embodiment of the vehicle control method of the present invention;
FIG. 9 is a schematic diagram of torque control speed according to an embodiment of the vehicle control method of the present invention;
FIG. 10 is a schematic diagram illustrating step selection according to an embodiment of the vehicle control method of the present invention;
FIG. 11 is a graphical illustration of a preset first torque threshold parameter in accordance with an embodiment of the vehicle control method of the present invention;
FIG. 12 is a graphical illustration of a predetermined second torque threshold parameter in accordance with an embodiment of the vehicle control method of the present invention;
FIG. 13 is a schematic diagram illustrating a default step parameter according to an embodiment of the vehicle control method of the present invention;
fig. 14 is a block diagram showing the configuration of the first embodiment of the vehicle control device of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the vehicle control apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle control program.
In the vehicle control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle control apparatus of the invention may be provided in the vehicle control apparatus that calls the vehicle control program stored in the memory 1005 by the processor 1001 and executes the vehicle control method provided by the embodiment of the invention.
An embodiment of the present invention provides a vehicle control method, and referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of the vehicle control method according to the present invention.
In this embodiment, the vehicle control method includes the steps of:
step S10: and receiving a vehicle abnormal signal, and determining the current vehicle abnormal state according to the vehicle abnormal signal.
It should be noted that the main body of the method of this embodiment may be a device having data processing, data transmission, and data acquisition functions, for example: the present embodiment is not particularly limited to this, and in the present embodiment and the following embodiments, the vehicle-mounted controller will be taken as an example for description.
It is worth to be noted that the vehicle abnormal signal is a vehicle state abnormal signal generated by a vehicle suddenly accelerating or decelerating due to a driver suddenly stepping on or releasing the accelerator, wherein the vehicle has a torque increased due to the driver suddenly stepping on the accelerator, so that the vehicle is accelerated, and the vehicle is caused to swing due to the suddenly increased torque in the process; similarly, the vehicle can reduce the torque of the vehicle due to the sudden release of the throttle by the driver, so that the vehicle is decelerated, and in the process, the vehicle can also swing due to the sudden reduction of the torque of the vehicle.
It should be understood that, since the vehicle torque change results caused by the driver's behavior of accelerator tip-in and accelerator tip-out are completely different, the generated vehicle abnormality signal is also completely different, and in the present embodiment, the current vehicle abnormality state includes: the vehicle abnormality corresponding to the accelerator being stepped on quickly and the vehicle abnormality corresponding to the accelerator being released quickly.
In particular implementations, the vehicle driving data may be obtained by collecting vehicle driving data, and analyzing to obtain,
step S20: and acquiring a target request torque and an actual response torque of the target vehicle in the current vehicle abnormal state.
It should be noted that the target requested torque refers to a torque that the automobile requests to output when the vehicle is in an abnormal state, and referring to fig. 3, for example: when the vehicle is in a state of quickly stepping on an accelerator, the requested torque is suddenly increased so as to realize acceleration; when the vehicle is in a quick release throttle state, the requested torque is suddenly reduced to realize deceleration, and if the vehicle outputs an actual response torque according to the target requested torque, a vehicle swinging phenomenon is generated due to the sudden change of the torque.
In fig. 3, the dotted line portion indicates the target requested torque of the vehicle, and the solid line portion indicates the actual response torque of the vehicle.
Step S30: and obtaining the current vehicle abnormal state, the target request torque and the target response torque corresponding to the actual response torque through a preset torque control model.
It is worth to be noted that the preset torque control model is used for determining a target corresponding torque of the vehicle, wherein the preset torque control model is divided into a preset first torque control model corresponding to a fast accelerator stepping stage and a preset second torque control model corresponding to a fast accelerator releasing stage according to a current vehicle abnormal state.
In the specific implementation, when the current vehicle abnormal state is a quick accelerator stepping stage, a first torque control model is preset to divide torque control into three stages so as to realize control on vehicle torque and reduce the occurrence of vehicle swinging to the maximum extent; when the current vehicle abnormal state is in the stage of quickly loosening the accelerator, the second preset torque control model divides the torque control into four stages so as to realize the control of the vehicle torque and reduce the occurrence of the car swinging phenomenon to the maximum extent.
Step S40: controlling the target vehicle based on the target response torque.
It can be understood that after the target response torque is determined through the preset torque control model, the vehicle is controlled to output the actual torque according to the target corresponding torque, so that vehicle oscillation control of the vehicle at the moment of quickly stepping on the accelerator or quickly releasing the accelerator is realized, the occurrence probability of safety accidents is reduced, and the driving experience of a user is improved.
The present embodiment provides a vehicle control method including: receiving a vehicle abnormal signal, and determining the current vehicle abnormal state according to the vehicle abnormal signal; acquiring a target request torque and an actual response torque of a target vehicle in the current vehicle abnormal state; obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model; the target vehicle is controlled based on the target response torque, according to the abnormal state of the vehicle, the target request torque and the actual response torque of the target vehicle are obtained according to the current abnormal state of the vehicle, the target response torque is obtained through the preset torque control model, and then the target vehicle is controlled according to the target response torque, so that the abnormal torque generated by the vehicle structure when the vehicle is abnormal is weakened, and the technical problem that safety accidents are caused by the fact that the vehicle swings when the vehicle suddenly steps on an accelerator and releases the accelerator in the prior art is solved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a second embodiment of a vehicle control method according to the present invention.
Based on the first embodiment, in this embodiment, the step S30 includes:
step S301: and when the current vehicle abnormal state is accelerator quick stepping, obtaining a target response torque corresponding to the target request torque and the actual response torque in the accelerator quick stepping state through the preset first torque control model.
It is worth to be noted that, the preset first torque control model divides the torque control of the vehicle in the stage of quickly stepping on the accelerator into three stages so as to realize accurate control of the vehicle torque and maximally reduce the vehicle swinging phenomenon of the vehicle caused by torque variation.
Further, in order to realize torque control for a vehicle when the vehicle is quickly stepping on the accelerator by presetting the first torque control model, the step S301 includes:
when the actual response torque is not larger than a preset first torque threshold value, determining a target response torque according to a target request torque in a quick accelerator stepping state;
when the actual response torque is not larger than a preset second torque threshold and is larger than the preset first torque threshold, determining a target response torque according to a preset step length, the preset first torque threshold and first response time, wherein the preset second torque threshold is larger than the preset first torque threshold;
and when the actual response torque is larger than the preset second torque threshold, filtering through a preset first filtering model according to the preset second torque threshold to obtain a target response torque.
It should be noted that the preset first torque threshold may be a TQ _ M _ TPI _ ENBL limit, where the TQ _ M _ TPI _ ENBL limit may be obtained through query of a corresponding first rotation speed-pedal opening MAP table, and the preset first torque threshold is used to determine a first-stage end condition of vehicle torque control when the accelerator is quickly stepped on, that is, when the vehicle is in the accelerator quick-stepping stage, if an actual response torque of the vehicle does not reach the preset first torque threshold, an actual response torque of the vehicle is equal to a target request torque of the vehicle at this stage until the actual response torque is greater than the preset first threshold.
In a specific implementation, in the first stage of quickly stepping on the accelerator, the actual response torque of the vehicle needs to be the same as the target request torque of the on-board controller to ensure that the vehicle can start normally, which corresponds to the section AB in fig. 3, and in the first stage of quickly stepping on the accelerator, the longer the actual response torque of the vehicle is the same as the target request torque of the on-board controller, the faster the vehicle is accelerated corresponding to the section AB, and the more obvious the vehicle swinging is simultaneously performed, so that the actual response torque of the vehicle needs to be controlled to be the same as the target request torque, and the vehicle swinging is reduced.
It should be understood that the preset first torque threshold may be a DSBL limit, where the DSBL limit may be obtained by querying a corresponding second MAP table of rotation speed and pedal opening, the preset second torque threshold is used to determine a second phase ending condition of the vehicle torque control when the vehicle is in a fast accelerator application stage, and determine a third phase starting condition, that is, when the vehicle is in a fast accelerator application stage, if an actual response torque of the vehicle does not reach the preset second torque threshold and is greater than the preset first torque threshold, the actual response torque of the vehicle will be increased from the preset first torque threshold to the preset second torque threshold in a step manner in this phase, where an increased difference value is a preset step size, and the preset step size may be 3N · M, which is not specifically limited in this embodiment.
In a specific implementation, in the second stage of quickly stepping on the accelerator, the actual response torque of the vehicle needs to be increased from the preset first torque threshold to the preset second torque threshold by a preset step length to realize continuous increase of the torque, and meanwhile, the vehicle recoil caused by quickly increasing the torque in the first stage is reduced, corresponding to the BC stage in fig. 3.
It should be noted that, when the actual response torque of the vehicle is greater than the preset second torque threshold, the vehicle performs a third stage in a state of quickly stepping on the accelerator, and in this stage, the actual response torque of the vehicle will increase in torque in a manner of quickly increasing first and slowly increasing later, and ending after the actual response torque of the vehicle reaches the target request torque of the vehicle, by this way, the vehicle can smoothly reach the target request torque, vehicle swing is reduced to the maximum extent, and acceleration is achieved.
In a specific implementation, in a third stage of quickly stepping on the accelerator, an actual response torque of the vehicle needs to be increased from a preset second torque threshold to a target request torque of the vehicle in a first-speed-last-slow manner, which corresponds to a section CD in fig. 3, where in this embodiment, the vehicle may perform filtering through a preset first filtering model, so as to achieve torque increase.
Further, in order to realize the third-stage torque increase in the accelerator quick-stepping stage, the filtering is performed through the preset first filtering model according to the preset second torque threshold value to obtain the target response torque, and the method includes:
acquiring target parameters of the target vehicle in a state of quickly stepping on an accelerator;
determining a corresponding filter coefficient according to the target parameter;
and filtering through a preset first filtering model based on the preset second torque threshold and the filtering coefficient to obtain a target response torque.
It is worth mentioning that the target parameters include: the method comprises the steps of obtaining a corresponding filter coefficient through a table look-up mode according to the running gear of a vehicle and the rotating speed of a vehicle engine, further determining a torque reverse attenuation factor, and finally filtering the actual response torque of the vehicle through a preset first filter model to determine a target response torque, wherein the reference of figure 5 can be made for inquiring the filter coefficient according to the running gear of the vehicle and the rotating speed of the vehicle engine.
Step S302: and when the current abnormal state of the vehicle is accelerator quick release, obtaining a target response torque corresponding to the target request torque and the actual response torque in the accelerator quick release state through the preset second torque control model.
It is worth to be noted that the preset second torque control model divides the torque control of the vehicle at the stage of quickly releasing the accelerator into four stages so as to realize accurate control of the vehicle torque and maximally reduce the vehicle swinging phenomenon of the vehicle caused by torque change.
Further, the step S302 includes:
when the actual response torque is larger than a preset third torque threshold value, determining the target response torque according to the target request torque in the quick release throttle state;
when the actual response torque is larger than a preset fourth torque threshold and not larger than the preset third torque threshold, filtering through a preset second filtering model according to the preset third torque threshold to obtain the target response torque, wherein the preset fourth torque threshold is smaller than the preset third torque threshold;
and when the target response torque is equal to the preset fourth torque threshold value and after a preset time interval, determining the target response torque according to a preset step length, the preset fourth torque threshold value and the second response time.
It should be noted that, when the third preset torque threshold is used for determining a quick release throttle, and a first phase end condition of the vehicle torque control is that when the vehicle is in a quick release throttle phase, if an actual response torque of the vehicle is greater than the first preset torque threshold, the actual response torque of the vehicle is equal to a target request torque of the vehicle at this phase time until the actual response torque is not greater than the third preset threshold.
In a specific implementation, in the first stage of quick release, the actual response torque of the vehicle needs to be the same as the target request torque of the on-board controller to ensure that the vehicle decelerates rapidly, which corresponds to the DE section in fig. 3, and in the first stage of quick release, the longer the actual response torque of the vehicle is the same as the target request torque of the on-board controller, the faster the vehicle torque decreases and the vehicle swinging is more obvious at the same time, so that the actual response torque of the vehicle needs to be controlled to be the same as the target request torque to reduce the vehicle swinging.
It should be understood that the preset fourth torque threshold is used for determining the second phase ending condition of the vehicle torque control when the accelerator is quickly released, and determining the starting condition of the third phase, that is, when the vehicle is in the quick accelerator step-on stage, if the actual response torque of the vehicle is greater than the preset fourth torque threshold and is not greater than the preset third torque threshold, the actual response torque of the vehicle will be reduced in a manner of first quick reduction and then slow reduction within the phase moment until the actual response torque of the vehicle reaches the preset fourth torque threshold and then ends.
In a specific implementation, in a third stage of quickly releasing the accelerator, the actual response torque of the vehicle needs to be reduced from a preset third torque threshold to a preset fourth torque threshold in a first-speed-last-slow manner, which corresponds to an EF segment in fig. 3, where in this embodiment, the vehicle may perform filtering through a preset second filtering model, so as to implement torque reduction.
Further, in order to realize a second-stage torque decrement in a accelerator quick-release stage, the filtering is performed through the preset second filtering model according to the preset third torque threshold, so as to obtain the target response torque, including:
acquiring target parameters of the target vehicle in a quick release accelerator state;
determining a corresponding filter coefficient according to the target parameter;
and filtering through a preset second filtering model based on the preset third torque threshold and the filtering coefficient to obtain a target response torque.
It should be noted that when the actual response torque of the vehicle and the like are equal to the preset fourth torque threshold, the vehicle performs the third stage of the fast-pedaling state, in which the vehicle will remain unchanged for the preset time interval, that is, corresponding to the FG section in fig. 3.
It is understood that, when the actual response torque of the vehicle is smaller than the preset fourth torque threshold, the actual response torque of the vehicle will decrease from the preset fourth torque threshold to the target requested torque in the fast-release throttle state in a step manner, where the decreased difference is a preset step size, and the preset step size may be 3N · M, etc., and the embodiment does not specifically limit this.
In a fourth stage of quickly releasing the accelerator, the actual response torque of the vehicle needs to be decreased from a preset fourth torque threshold value to a target request torque in a state of quickly releasing the accelerator in a preset step length to continuously decrease the torque, and vehicle recoil caused by quickly increasing the torque in the first stage is reduced, which corresponds to the GH stage in fig. 3, where the target request torque in the state of quickly releasing the accelerator is equal to the initial driving torque of the vehicle.
In the embodiment, the problem of vehicle oscillation caused by sudden change of the torque of the vehicle can be greatly reduced through three-stage torque control of quickly stepping on the accelerator and four-stage torque control of quickly loosening the accelerator, and the driving experience of a user is improved.
Referring to fig. 6, fig. 6 is a flowchart illustrating a third embodiment of a vehicle control method according to the present invention.
Based on the second embodiment, in this embodiment, before the step S301, the method further includes:
step S3001: and acquiring the vehicle parameters of the target vehicle.
It should be noted that the vehicle parameters of the target vehicle include, but are not limited to, a vehicle state, a vehicle speed, a pedal opening degree, a torque, an operating gear, and the like, and this embodiment does not specifically limit this.
Step S3002: and carrying out vehicle torque test according to the vehicle parameters.
It should be noted that the vehicle torque test according to the vehicle parameters may be performed by adjusting the values of the various parameters to view the operating state and the operating parameters of the vehicle, such as: when the car swinging problem of the vehicle needs to be checked, a schematic diagram of the speed climbing of the vehicle at the moment that the vehicle steps on the accelerator at the speed of 2 gears and the speed of 3000rpmTPI is obtained, referring to FIG. 7, the waveforms of unsmooth speed climbing and short-time back-and-forth oscillation can be obviously seen, and the car swinging problem of the vehicle under the condition can be judged; similarly, referring to fig. 8, fig. 8 is a schematic view of the speed reduction of the throttle release vehicle by the driver at 2000rpmTPO when the vehicle is in 1 gear.
In the concrete implementation, the vehicle swinging problem can be solved to a greater extent by a control means of lengthening the step length of the BC section or reducing the lower limit value ENBL in the accelerator stepping stage and increasing the upper limit value DSBL or reducing the attenuation coefficient in the accelerator releasing stage, and finally the vehicle rotating speed schematic diagram shown in FIG. 9 is obtained.
The vehicle oscillation is preferentially controlled by adjusting the step length, the limits of the preset first torque threshold and the preset second torque threshold are adjusted to easily lose the power performance of the whole vehicle, and the corresponding gear tachometer is found, referring to fig. 10, when the step length is widened corresponding to the rotating speed, the front and rear monotonicity is required to be ensured when the step length is adjusted.
Step S3003: obtaining a phase torque threshold according to the vehicle torque test result, wherein the phase torque threshold comprises: the method comprises the steps of presetting a first torque threshold, presetting a second torque threshold, presetting a third torque threshold and presetting a fourth torque threshold.
In the present embodiment, the preset first torque threshold, the preset second torque threshold and the preset step size may be queried through fig. 11, fig. 12 and fig. 13, which is not limited in this embodiment.
In this embodiment, through carrying out vehicle torque test to the vehicle, and then obtain each corresponding stage torque threshold value and control parameter to in the follow-up torque control that realizes stepping on the throttle soon and loosening the throttle soon, reduce the appearance of waving the car.
Furthermore, an embodiment of the present invention also proposes a storage medium having a vehicle control program stored thereon, which when executed by a processor implements the steps of the vehicle control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Referring to fig. 14, fig. 14 is a block diagram showing the configuration of the first embodiment of the vehicle control device of the invention.
As shown in fig. 14, a vehicle control device according to an embodiment of the present invention includes:
the signal receiving module 10 is configured to receive a vehicle abnormal signal and determine a current vehicle abnormal state according to the vehicle abnormal signal.
The torque obtaining module 20 is configured to obtain a target requested torque and an actual response torque of the target vehicle in the current vehicle abnormal state.
And the torque control module 30 is configured to obtain the current vehicle abnormal state, the target request torque, and a target response torque corresponding to the actual response torque through a preset torque control model.
A vehicle control module 40 to control the target vehicle based on the target response torque.
The present embodiment provides a vehicle control method including: receiving a vehicle abnormal signal, and determining the current vehicle abnormal state according to the vehicle abnormal signal; acquiring a target request torque and an actual response torque of a target vehicle in the current vehicle abnormal state; obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model; the target vehicle is controlled based on the target response torque, according to the abnormal state of the vehicle, the target request torque and the actual response torque of the target vehicle are obtained according to the current abnormal state of the vehicle, the target response torque is obtained through the preset torque control model, and then the target vehicle is controlled according to the target response torque, so that the abnormal torque generated by the vehicle structure when the vehicle is abnormal is weakened, and the technical problem that safety accidents are caused by the fact that the vehicle swings when the vehicle suddenly steps on an accelerator and releases the accelerator in the prior art is solved.
In an embodiment, the torque control module 30 is further configured to, when the current vehicle abnormal state is a quick accelerator pedal, obtain, through the preset first torque control model, a target response torque corresponding to a target request torque and an actual response torque in the quick accelerator pedal state; and when the current abnormal state of the vehicle is accelerator quick release, obtaining a target response torque corresponding to the target request torque and the actual response torque in the accelerator quick release state through the preset second torque control model.
In an embodiment, the torque control module 30 is further configured to determine a target response torque according to a target request torque in a accelerator tip-in state when the actual response torque is not greater than a preset first torque threshold; when the actual response torque is not larger than a preset second torque threshold and is larger than the preset first torque threshold, determining a target response torque according to a preset step length, the preset first torque threshold and first response time, wherein the preset second torque threshold is larger than the preset first torque threshold; and when the actual response torque is larger than the preset second torque threshold, filtering through a preset first filtering model according to the preset second torque threshold to obtain a target response torque.
In one embodiment, the torque control module 30 is further configured to obtain a target parameter of the target vehicle in a quick-throttle state; determining a corresponding filter coefficient according to the target parameter; and filtering through a preset first filtering model based on the preset second torque threshold and the filtering coefficient to obtain a target response torque.
In an embodiment, the torque control module 30 is further configured to determine the target response torque according to a target requested torque in a quick release throttle state when the actual response torque is greater than a preset third torque threshold; when the actual response torque is larger than a preset fourth torque threshold and not larger than the preset third torque threshold, filtering through a preset second filtering model according to the preset third torque threshold to obtain the target response torque, wherein the preset fourth torque threshold is smaller than the preset third torque threshold; and when the target response torque is equal to the preset fourth torque threshold value and after a preset time interval, determining the target response torque according to a preset step length, the preset fourth torque threshold value and the second response time.
In one embodiment, the torque control module 30 is further configured to obtain a target parameter of the target vehicle in a quick release throttle state; determining a corresponding filter coefficient according to the target parameter; and filtering through a preset second filtering model based on the preset third torque threshold and the filtering coefficient to obtain a target response torque.
In one embodiment, the torque control module 30 is further configured to obtain vehicle parameters of the target vehicle; carrying out vehicle torque test according to the vehicle parameters; obtaining a phase torque threshold according to the vehicle torque test result, wherein the phase torque threshold comprises: the method comprises the steps of presetting a first torque threshold, presetting a second torque threshold, presetting a third torque threshold and presetting a fourth torque threshold.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-mentioned work flows are only illustrative and do not limit the scope of the present invention, and in practical applications, those skilled in the art may select some or all of them according to actual needs to implement the purpose of the solution of the present embodiment, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in the present embodiment may refer to the vehicle control method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
receiving a vehicle abnormal signal, and determining the current vehicle abnormal state according to the vehicle abnormal signal;
acquiring a target request torque and an actual response torque of a target vehicle in the current vehicle abnormal state;
obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model;
controlling the target vehicle based on the target response torque.
2. A vehicle control method according to claim 1, characterized in that the preset torque control model includes a preset first torque control model for controlling torque control in a accelerator tip-in state or a preset second torque control model for controlling torque control in a accelerator tip-out state;
the obtaining of the current vehicle abnormal state, the target request torque and the target response torque corresponding to the actual response torque through a preset torque control model includes:
when the current vehicle abnormal state is accelerator quick stepping, obtaining a target response torque corresponding to a target request torque and an actual response torque in the accelerator quick stepping state through the preset first torque control model;
and when the current abnormal state of the vehicle is accelerator quick release, obtaining a target response torque corresponding to the target request torque and the actual response torque in the accelerator quick release state through the preset second torque control model.
3. A vehicle control method as set forth in claim 2, wherein said obtaining a target response torque corresponding to a target request torque in a accelerator-on state and an actual response torque through said preset first torque control model when said current vehicle abnormal state is accelerator-on comprises:
when the actual response torque is not larger than a preset first torque threshold value, determining a target response torque according to a target request torque in a quick accelerator stepping state;
when the actual response torque is not larger than a preset second torque threshold and is larger than the preset first torque threshold, determining a target response torque according to a preset step length, the preset first torque threshold and first response time, wherein the preset second torque threshold is larger than the preset first torque threshold;
and when the actual response torque is larger than the preset second torque threshold, filtering through a preset first filtering model according to the preset second torque threshold to obtain a target response torque.
4. A vehicle control method according to claim 3, wherein said filtering by said preset first filtering model according to said preset second torque threshold to obtain a target response torque comprises:
acquiring target parameters of the target vehicle in a state of quickly stepping on an accelerator;
determining a corresponding filter coefficient according to the target parameter;
and filtering through a preset first filtering model based on the preset second torque threshold and the filtering coefficient to obtain a target response torque.
5. A vehicle control method according to claim 2, wherein said obtaining a target response torque corresponding to a target request torque in a quick release throttle state and an actual response torque by the preset second torque control model includes:
when the actual response torque is larger than a preset third torque threshold value, determining the target response torque according to the target request torque in the quick release throttle state;
when the actual response torque is larger than a preset fourth torque threshold and not larger than a preset third torque threshold, filtering through a preset second filtering model according to the preset third torque threshold to obtain the target response torque, wherein the preset fourth torque threshold is smaller than the preset third torque threshold;
and when the target response torque is equal to the preset fourth torque threshold value and after a preset time interval, determining the target response torque according to a preset step length, the preset fourth torque threshold value and the second response time.
6. The vehicle control method according to claim 5, wherein the filtering by the preset second filtering model according to the preset third torque threshold to obtain the target response torque comprises:
acquiring target parameters of the target vehicle in a quick release accelerator state;
determining a corresponding filter coefficient according to the target parameter;
and filtering through a preset second filtering model based on the preset third torque threshold and the filtering coefficient to obtain a target response torque.
7. The vehicle control method according to claim 2, before obtaining a target response torque corresponding to the target request torque in the quick release throttle state and the actual response torque through the preset second torque control model when the current vehicle abnormal state is quick release throttle, further comprising:
acquiring vehicle parameters of the target vehicle;
carrying out vehicle torque test according to the vehicle parameters;
obtaining a phase torque threshold according to the vehicle torque test result, wherein the phase torque threshold comprises: the method comprises the steps of presetting a first torque threshold, presetting a second torque threshold, presetting a third torque threshold and presetting a fourth torque threshold.
8. A vehicle control apparatus, characterized by comprising:
the signal receiving module is used for receiving a vehicle abnormal signal and determining the current vehicle abnormal state according to the vehicle abnormal signal;
the torque acquisition module is used for acquiring a target request torque and an actual response torque of the target vehicle in the current vehicle abnormal state;
the torque control module is used for obtaining the current vehicle abnormal state, the target request torque and a target response torque corresponding to the actual response torque through a preset torque control model;
a vehicle control module to control the target vehicle based on the target response torque.
9. A vehicle control apparatus, characterized by comprising: a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, the vehicle control program configured to implement the vehicle control method of any one of claims 1 to 7.
10. A storage medium characterized in that a vehicle control program is stored thereon, which when executed by a processor implements the vehicle control method according to any one of claims 1 to 7.
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| EP0894961A2 (en) * | 1997-08-02 | 1999-02-03 | Daimler-Benz Aktiengesellschaft | Method for suppressing longitidinal oscillations during positive and negative accelerations of motor vehicles |
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| WO2022095991A1 (en) * | 2020-11-09 | 2022-05-12 | 中国第一汽车股份有限公司 | Vehicle torque control method and device, vehicle, and storage medium |
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