CN115848494A

CN115848494A - Vehicle control method and device, electronic equipment and storage medium

Info

Publication number: CN115848494A
Application number: CN202211657204.3A
Authority: CN
Inventors: 陶喆; 刘富庆; 朱鑫杨; 仇江海; 张俊发
Original assignee: Nason Automotive Technology Hangzhou Co ltd
Current assignee: Nason Automotive Technology Hangzhou Co ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2023-03-28

Abstract

The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a storage medium. The vehicle control method may specifically include: determining the current vehicle state of a vehicle to be controlled; carrying out satisfaction judgment on a vehicle torque intervention condition according to the current vehicle state; determining a motor torque reduction request of the vehicle to be controlled according to a satisfaction judgment result; and determining a target motor torque according to the motor torque reduction request so as to control the vehicle to be controlled according to the target motor torque. The technical scheme of the embodiment of the invention can control the torque of the motor in time, and avoid the vehicle from skidding when starting or accelerating on a low-attachment road surface, thereby ensuring the stability and good steering of the vehicle in the driving process.

Description

Vehicle control method and device, electronic equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of automobiles, in particular to a vehicle control method and device, electronic equipment and a storage medium.

Background

With the rapid development of the vehicle field, automobiles have become one of the indispensable tools for people to go out in life. However, automobiles, especially electric automobiles, are prone to slip when starting or accelerating on a road surface with low adhesion (i.e., a low-adhesion road surface).

In the prior art, a Traction Control System (TCS) is generally adopted to perform torque reduction Control on the motor torque. However, in the above method, when the traction control system is in operation, the amount of the slipping of the driving wheels is already very large, and because the torque integral starting point of the traction control system is too high, the amount of the slipping of the driving wheels still continues to increase when the traction control system starts to operate, so that the problem of excessive slipping of the automobile when the automobile starts to start or accelerates on a low-attachment road surface cannot be solved.

Disclosure of Invention

The embodiment of the invention provides a vehicle control method, a vehicle control device, electronic equipment and a storage medium, which can control the torque of a motor in time and avoid the vehicle from skidding when starting or accelerating on a low-attachment road surface, so that the stability and good steering performance of the vehicle in the driving process are ensured.

According to an aspect of the present invention, there is provided a vehicle control method including:

determining the current vehicle state of a vehicle to be controlled;

carrying out satisfaction judgment on a vehicle torque intervention condition according to the current vehicle state;

determining a motor torque reduction request of the vehicle to be controlled according to the satisfaction judgment result;

and determining a target motor torque according to the motor torque reduction request so as to control the vehicle to be controlled according to the target motor torque.

According to another aspect of the present invention, there is provided a vehicle control apparatus including:

the vehicle state determining module is used for determining the current vehicle state of the vehicle to be controlled;

the satisfaction judging module is used for judging the satisfaction of the vehicle torque intervention condition according to the current vehicle state;

the motor torque reduction request module is used for determining a motor torque reduction request of the vehicle to be controlled according to the satisfaction judgment result;

and the vehicle control module is used for determining a target motor torque according to the motor torque reduction request so as to control the vehicle to be controlled according to the target motor torque.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a vehicle control method according to any of the embodiments of the invention.

According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a vehicle control method according to any one of the embodiments of the present invention when executed.

According to the technical scheme of the embodiment of the invention, the current vehicle state of the vehicle to be controlled is determined, the satisfaction judgment is carried out on the vehicle torque intervention condition according to the current vehicle state, the motor torque reduction request of the vehicle to be controlled is determined according to the satisfaction judgment result, the target motor torque is determined according to the motor torque reduction request, and the vehicle to be controlled is controlled according to the target motor torque.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a vehicle control method according to a second embodiment of the present invention;

fig. 3 is a flowchart illustrating an example of a vehicle control method according to a second embodiment of the present invention;

fig. 4 is a schematic diagram of a vehicle control apparatus according to a third embodiment of the present invention;

fig. 5 is a schematic configuration diagram of an electronic device that implements a vehicle control method of an embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above 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 invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, where the embodiment is applicable to avoid a vehicle from slipping when starting or accelerating on a low-attachment road surface, the method may be executed by a vehicle control device, the device may be implemented by software and/or hardware, and may be generally directly integrated in an electronic device executing the method. Specifically, as shown in fig. 1, the vehicle control method may specifically include the steps of:

and S110, determining the current vehicle state of the vehicle to be controlled.

The vehicle to be controlled can be any vehicle which is waiting to be controlled and slips when starting or accelerating on a low-attachment road surface. The current vehicle state may be any state of the vehicle to be currently controlled, for example, the current vehicle state may be a running state of the vehicle to be currently controlled, or states of respective control systems of the vehicle to be currently controlled, and the like, which is not limited in the embodiment of the present invention.

In the embodiment of the invention, after the vehicle to be controlled is determined, the current vehicle state of the vehicle to be controlled may be further determined. It should be noted that, the embodiment of the present invention does not limit the specific implementation manner of determining the vehicle to be controlled, as long as the determination of the vehicle to be controlled can be achieved.

And S120, performing satisfaction judgment on the vehicle torque intervention condition according to the current vehicle state.

The vehicle torque intervention condition may be a condition for intervening in a motor torque of the vehicle to be controlled, for example, the vehicle may reach a certain set driving state, or a certain control system of the vehicle may reach a preset state, and the like, which is not limited in the embodiment of the present invention. The satisfaction determination may be a determination of whether the current vehicle state satisfies the vehicle torque intervention condition.

In the embodiment of the invention, after the current vehicle state of the vehicle to be controlled is determined, the satisfaction judgment of the vehicle torque intervention condition can be further carried out according to the current vehicle state. It is understood that the motor torque of the vehicle to be controlled may be intervened if the current vehicle state satisfies the judgment of the vehicle torque intervention condition. And if the current vehicle state does not meet the judgment of the vehicle torque intervention condition, the intervention on the motor torque of the vehicle to be controlled is not needed.

And S130, determining a motor torque reduction request of the vehicle to be controlled according to the satisfaction judgment result.

The satisfaction judgment result may be a result obtained after the satisfaction judgment, that is, a judgment result of whether the current vehicle state satisfies the vehicle torque intervention condition. The motor derate request may be a request to request the motor to derate torque. It will be appreciated that the motor torque-down request may be a torque-down request sent to the motor to cause the motor to run with reduced torque to avoid skidding of the vehicle to be controlled when starting or accelerating on low-attachment roads.

In the embodiment of the invention, after the satisfaction judgment is carried out on the vehicle torque intervention condition according to the current vehicle state, the motor torque reduction request of the vehicle to be controlled can be further determined according to the satisfaction judgment result. Specifically, the determining of the motor torque reduction request of the vehicle to be controlled according to the satisfaction judgment result may be determining the motor torque reduction request of the vehicle to be controlled when the satisfaction judgment result is that the current vehicle state satisfies the judgment of the vehicle torque intervention condition.

It can be understood that, if the satisfaction judging result is that the current vehicle state meets the judgment of the vehicle torque intervention condition, which indicates that the motor torque of the vehicle to be controlled can be intervened, the motor torque reduction request of the vehicle to be controlled can be further determined. Correspondingly, if the satisfaction judging result is that the current vehicle state does not meet the judgment of the vehicle torque intervention condition, which indicates that the intervention on the motor torque of the vehicle to be controlled is not needed, the control of the vehicle to be controlled, namely the intervention on the motor torque of the vehicle to be controlled, can be quitted.

And S140, determining a target motor torque according to the motor torque reduction request so as to control the vehicle to be controlled according to the target motor torque.

The target motor torque may be a target value of the motor torque.

In the embodiment of the invention, after the motor torque reduction request of the vehicle to be controlled is determined according to the satisfaction judgment result, the target motor torque can be further determined according to the motor torque reduction request so as to control the vehicle to be controlled according to the target motor torque. It is understood that controlling the vehicle to be controlled according to the target motor torque may be controlling the motor of the vehicle to be controlled to operate at the target motor torque.

According to the technical scheme, the current vehicle state of the vehicle to be controlled is determined, the vehicle torque intervention condition is subjected to satisfaction judgment according to the current vehicle state, the motor torque reduction request of the vehicle to be controlled is determined according to the satisfaction judgment result, the target motor torque is determined according to the motor torque reduction request, and the vehicle to be controlled is controlled according to the target motor torque.

Example two

Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention, which further details the above technical solutions and shows various specific optional implementations of determining a current vehicle state of a vehicle to be controlled and determining a torque reduction request of a motor of the vehicle to be controlled according to a satisfaction determination result. The solution in this embodiment may be combined with the various alternatives in one or more of the embodiments described above. As shown in fig. 2, the method may include the steps of:

and S210, determining the current vehicle state of the vehicle to be controlled.

Optionally, the current vehicle state may include a current state of the traction control system, a current state of the master cylinder pressure, a current state of the anti-lock brake system, a current state of the accelerator pedal, a current average positive slip of the driving wheels, a current driving force instability coefficient, and a time period from the end of the last torque intervention.

Wherein the current state of the traction control system may be the state of the current traction control system. The master cylinder pressure current state may be a state of a current master cylinder pressure. The current state of the anti-lock brake system may be a current state of the anti-lock brake system. The current accelerator pedal state may be a current accelerator pedal state. The current driving wheel average positive slip may be an average of the current driving wheel positive slip. The current driving force instability coefficient may be a coefficient that characterizes instability of the current driving force. The period from the end of the last torque intervention may be a period between the current time and the end of the last torque intervention.

Alternatively, determining the current average positive slip of the driving wheels of the vehicle to be controlled may comprise: acquiring the average wheel speed and the current vehicle speed of a current driving wheel of a vehicle to be controlled; and determining the average positive slip quantity of the current driving wheel according to the average wheel speed of the current driving wheel and the current vehicle speed.

Wherein the current driving wheel average wheel speed may be an average wheel speed of the driving wheels of the vehicle to be currently controlled. The current vehicle speed may be a speed of the vehicle currently to be controlled.

Specifically, the current average wheel speed and the current vehicle speed of the vehicle to be controlled are obtained, and the current average positive slip quantity of the driving wheel is determined according to the current average wheel speed and the current vehicle speed. Alternatively, the current driving wheel average speed and the current vehicle speed of the vehicle to be controlled may be obtained in an Electronic Stability Controller (ESC).

Alternatively, the current driving wheel average positive slip amount is determined according to the current driving wheel average wheel speed and the current vehicle speed, and may be determined based on the following formula:

ΔV＝Vf-Vref

wherein Δ V represents the current driving wheel average positive slip amount; vf represents the current driving wheel average wheel speed; vref represents the current vehicle speed.

Alternatively, determining the current driving force instability coefficient of the vehicle to be controlled may include: acquiring the average wheel acceleration of the current driving wheel of the vehicle to be controlled and the current vehicle acceleration; determining the current acceleration deviation according to the current average wheel acceleration of the driving wheel and the current vehicle acceleration; and determining the current driving force instability coefficient according to the current acceleration deviation and the current driving wheel average positive slip quantity.

Wherein the current driving wheel average wheel acceleration may be an average of wheel accelerations of the driving wheels of the vehicle to be currently controlled. The current vehicle acceleration may be an acceleration of the vehicle currently to be controlled. The current acceleration deviation may be a deviation between a current driving wheel average wheel acceleration and a current vehicle acceleration.

Specifically, the current driving wheel average wheel acceleration and the current vehicle acceleration of the vehicle to be controlled are obtained, so that the current acceleration deviation is determined according to the current driving wheel average wheel acceleration and the current vehicle acceleration, and the current driving force instability coefficient is determined according to the current acceleration deviation and the current driving wheel average positive slip quantity. Alternatively, the current driving wheel average wheel acceleration and the current vehicle acceleration of the vehicle to be controlled may be obtained in the electronic stability control system.

Alternatively, the current acceleration deviation is determined from the current driving wheel average wheel acceleration and the current vehicle acceleration, and may be determined based on the following formula:

Δa＝aVf-aVref

where Δ a represents the current acceleration deviation; aVf represents the current driving wheel average wheel acceleration; aVref represents the current vehicle acceleration.

Alternatively, the current driving force instability coefficient is determined according to the current acceleration deviation and the current driving wheel average positive slip amount, and may be determined based on the following formula:

ω＝ΔV*Δa

where ω represents the current driving force instability coefficient.

And S220, performing satisfaction judgment on the vehicle torque intervention condition according to the current vehicle state.

Optionally, the vehicle torque intervention condition includes that the traction control system is in an inactive state, no master cylinder pressure exists, the anti-lock braking system is in an inactive state, the opening degree of an accelerator pedal exists, the average positive slip quantity of the current driving wheel is greater than a preset positive slip quantity threshold, the instability coefficient of the current driving force is greater than a preset coefficient threshold, and the distance from the last torque intervention ending time is greater than a preset time threshold.

The preset positive slip amount threshold may be a preset threshold of an average positive slip amount of the driving wheel. The preset coefficient threshold may be a preset threshold of the driving force instability coefficient. The preset time threshold may be a preset time threshold from the end of the last torque intervention, for example, 3 seconds, and the like, which is not limited by the embodiment of the present invention.

It is to be understood that the satisfaction of the vehicle torque intervention condition with respect to the current vehicle state may be determined in accordance with the current vehicle state for each of the vehicle torque intervention conditions. Specifically, the determination that the current vehicle state satisfies the vehicle torque intervention condition may be determined when the current vehicle state satisfies each of the vehicle torque intervention conditions. When the current vehicle state does not satisfy any of the vehicle torque intervention conditions, a determination that the current vehicle state does not satisfy the vehicle torque intervention conditions may be determined.

S230, determining whether the satisfaction judgment is a first judgment; if yes, go to S240; otherwise, S260 is performed.

Wherein, the first judgment may be the first satisfaction judgment. It is to be understood that the satisfaction determination may be performed once or multiple times, and the embodiment of the present invention does not limit this.

In the embodiment of the invention, after the satisfaction judgment of the vehicle torque intervention condition is made according to the current vehicle state, it may be further determined whether the satisfaction judgment is the first judgment. Specifically, if the satisfaction judgment is the first judgment, the first vehicle coefficient of the vehicle to be controlled may be determined according to the first satisfaction judgment result. If the satisfaction determination is not the first determination, the number of satisfaction determinations of the satisfaction determination and the corresponding satisfaction determination result corresponding to the number of satisfaction determinations may be determined.

S240, determining a first vehicle coefficient of the vehicle to be controlled according to the first satisfaction judgment result.

The first satisfaction judgment result may be a result of the first satisfaction judgment. The first vehicle factor may be a factor corresponding to the vehicle to be controlled. Specifically, the first vehicle coefficient may be a constant coefficient smaller than 1. It will be appreciated that different vehicles to be controlled may correspond to different coefficients.

In the embodiment of the present invention, after determining that the satisfaction judgment is the first judgment, the first vehicle coefficient of the vehicle to be controlled may be further determined according to the first satisfaction judgment result. Specifically, the first vehicle coefficient of the vehicle to be controlled is determined according to the first satisfaction judging result, and the first vehicle coefficient of the vehicle to be controlled may be determined when the first satisfaction judging result is that the current vehicle state meets the judgment of the vehicle torque intervention condition. It is understood that the control of the vehicle under control may be exited if the first satisfaction determination is such that the current vehicle state does not satisfy the determination of the vehicle torque intervention condition.

And S250, acquiring the current motor torque, and determining the motor torque reduction request according to the current motor torque and the first vehicle coefficient.

The current motor torque may be a current motor torque. It is understood that the current time may be a determination that the current vehicle state satisfies the vehicle torque intervention condition.

In the embodiment of the invention, after the first vehicle coefficient of the vehicle to be controlled is determined according to the first satisfaction judgment result, the current motor torque can be further acquired, so that the motor torque reduction request is determined according to the current motor torque and the first vehicle coefficient.

S260, determining the satisfaction judgment times of the satisfaction judgment and corresponding satisfaction judgment results corresponding to the satisfaction judgment times.

The number of times of satisfaction determination may be the number of times of satisfaction determination. Illustratively, the number of satisfiability determinations may be 2 to characterize the second satisfiability determination. The number of times of satisfaction judgment may also be 3 to represent that satisfaction judgment is performed for the third time, and the like, which is not limited in the embodiment of the present invention. It is understood that the number of satisfaction determinations may be a positive integer greater than 1. The correspondence satisfaction determination result may be a satisfaction determination result corresponding to the number of satisfaction determinations. For example, when the number of times of satisfaction determination is 2, it may be determined that the corresponding satisfaction determination result is a result of performing the satisfaction determination for the second time.

In the embodiment of the present invention, after determining that the satisfaction judgment is not the first judgment, the number of satisfaction judgments of the satisfaction judgment and the corresponding satisfaction judgment result may be further determined. It is to be understood that the corresponding satisfaction judgment result may correspond to the number of satisfaction judgments.

S270, determining whether the satisfaction judging times are target judging times or not; if not, executing S280; if yes, go to S2110.

The target number of determinations may be a target value of the number of times of satisfaction determinations. For example, the target judgment number may be 4 to represent the fourth satisfaction judgment, and the like, which is not limited by the embodiment of the present invention.

In the embodiment of the present invention, after determining the number of times of satisfaction judgment of the satisfaction judgment and the corresponding satisfaction judgment result corresponding to the number of times of satisfaction judgment, it may be further determined whether the number of times of satisfaction judgment is the target number of times of judgment. If the satisfaction judgment times are not the target judgment times, the corresponding vehicle coefficient of the vehicle to be controlled can be determined according to the corresponding satisfaction judgment result, and the motor torque reduction request is determined according to the current motor torque and the corresponding vehicle coefficient. If the number of times of satisfaction determinations is the number of times of target determinations, a traction control system may be activated according to the corresponding satisfaction determination result to control the vehicle to be controlled by the traction control system.

And S280, determining a corresponding vehicle coefficient of the vehicle to be controlled according to the corresponding satisfaction judgment result.

The corresponding vehicle coefficient may be a coefficient of the vehicle to be controlled corresponding to the corresponding satisfaction determination result. For example, when the number of times of satisfaction determination is 2, and the result of satisfaction determination is obtained by performing satisfaction determination for the second time, the corresponding vehicle coefficient may be determined as the vehicle coefficient corresponding to satisfaction determination for the second time.

In the embodiment of the present invention, after determining that the number of satisfaction determinations is not the target number of determinations, the corresponding vehicle coefficient of the vehicle to be controlled may be further determined according to the corresponding satisfaction determination result. Specifically, the corresponding vehicle coefficient of the vehicle to be controlled is determined according to the corresponding satisfaction judgment result, and the corresponding vehicle coefficient of the vehicle to be controlled may be determined when the corresponding satisfaction judgment result is that the current vehicle state satisfies the judgment of the vehicle torque intervention condition. It is understood that the control of the vehicle to be controlled may be exited if the correspondence satisfaction determination result is that the current vehicle state does not satisfy the determination of the vehicle torque intervention condition.

And S290, determining the motor torque reduction request according to the current motor torque and the corresponding vehicle coefficient.

In the embodiment of the invention, after the corresponding vehicle coefficient of the vehicle to be controlled is determined according to the corresponding satisfaction judgment result, the torque reduction request of the motor can be further determined according to the current motor torque and the corresponding vehicle coefficient.

And S2100, determining a target motor torque according to the motor torque reduction request, and controlling the vehicle to be controlled according to the target motor torque.

Alternatively, the target motor torque is determined from the motor torque down request, which may be determined based on the following equation:

target motor torque = Mmot0 factor1

Wherein Mmot0 represents the current motor torque; factor1 represents a first vehicle coefficient.

Optionally, the target motor torque is determined according to the motor torque reduction request, and may also be determined based on the following formula:

target motor torque = Mmot0 factor2

Wherein, the factor2 represents the vehicle coefficient corresponding to the second satisfaction determination.

target motor torque = Mmot0 factor3

Wherein, the factor3 indicates a vehicle coefficient corresponding to the third satisfaction determination.

Alternatively, after controlling the vehicle to be controlled according to the target motor torque, it may further include returning to perform the operation of determining the current vehicle state of the vehicle to be controlled.

And S2110, activating a traction control system according to the corresponding satisfaction judgment result so as to control the vehicle to be controlled through the traction control system.

In the embodiment of the present invention, after determining the number of satisfaction determinations as the target number of determinations, the traction control system may be further activated according to the corresponding satisfaction determination result to control the vehicle to be controlled by the traction control system. Specifically, the traction control system may be activated according to the correspondence satisfaction determination result, and the traction control system may be activated when it is determined that the correspondence satisfaction determination result is that the current vehicle state satisfies the determination of the vehicle torque intervention condition.

In one specific example of the embodiment of the present invention, the vehicle control method may be applied to a vehicle traction control module in an electronic stability control system. Fig. 3 is an exemplary flowchart of a vehicle control method according to a second embodiment of the present invention, and the flowchart shown in fig. 3 can be executed every 20ms in the ESC system. Specifically, the vehicle control method may include the following:

(1) The method comprises the steps of obtaining the average wheel speed (Vf) of a driving wheel, the average wheel acceleration (aVf) of the driving wheel, the vehicle speed (Vref), the vehicle acceleration (aVref), the master cylinder pressure, the ABS (antilock brake system) state, the TCS state, the accelerator pedal opening and the time length from the last torque intervention end in an electronic stability control system.

(2) And calculating the average positive slip quantity delta V of the driving wheels, the deviation delta a of the average wheel acceleration of the driving wheels and the vehicle acceleration and the instability coefficient omega of the driving wheels.

(3) It is determined whether intervention to the powertrain torque is to be performed. Specifically, the conditions for powertrain torque intervention include: the method has the advantages that the TCS torque reduction activation is not carried out, the master cylinder pressure is not carried out, the ABS activation is not carried out, the opening degree of an accelerator pedal is provided, the delta V is larger than a preset constant, the omega is larger than the preset constant, and the distance from the last torque intervention end exceeds 3 seconds.

(4) And if the condition of power assembly torque intervention is met, intervening the power assembly torque, determining the current motor torque Mmot0, and sending a torque reduction request to the motor. Specifically, the torque value in the torque down request may be Mmot0 factor1. The factor1 is a preset constant coefficient and can be determined according to a specific vehicle.

Specifically, when the condition of powertrain torque intervention is met, the state machine of the advance torque reduction strategy can be set to be in an activated state. The state machine of the early torque down strategy may be named TC _ Preprocess _ state, where 0 represents inactive and 1 represents active.

(5) And returning to execute the steps 1-3, and sending a torque reduction request to the motor again when the condition of the power assembly torque intervention is met. Specifically, the torque value in the torque down request may be Mmot0 factor2. Wherein, factor2 is a preset constant coefficient, and can be determined according to a specific vehicle.

(6) And returning to execute the steps 1-3, and sending a torque reduction request to the motor again when the condition of the power assembly torque intervention is met. Specifically, the torque value in the torque down request may be Mmot0 factor3. Wherein, the factor3 is a preset constant coefficient and can be determined according to a specific vehicle.

(7) And returning to execute the steps 1-3, and activating the TCS when the condition of the power assembly torque intervention is met so as to transfer the torque control to the TCS.

Specifically, in steps 4-7, if the powertrain torque intervention condition is not met, the torque intervention may be immediately exited.

According to the technical scheme, intervention control can be performed on the power torque in advance when the driving wheel slips but the TCS is not involved, so that the electric automobile is prevented from slipping when starting or accelerating on a low-attachment road.

According to the technical scheme of the embodiment, the current vehicle state of the vehicle to be controlled is determined, so that the satisfaction judgment is carried out on the vehicle torque intervention condition according to the current vehicle state, and whether the satisfaction judgment is the first judgment or not is determined. And when the satisfaction judgment is determined to be the first judgment, determining a first vehicle coefficient of the vehicle to be controlled according to the first satisfaction judgment result, and acquiring the current motor torque so as to determine a motor torque reduction request according to the current motor torque and the first vehicle coefficient. When it is determined that the satisfaction judgment is not the first judgment, the number of satisfaction judgments of the satisfaction judgment and the corresponding satisfaction judgment result are determined, and it is determined whether the number of satisfaction judgments is the target number of judgments. And when the satisfaction judging times are determined not to be the target judging times, determining the corresponding vehicle coefficient of the vehicle to be controlled according to the corresponding satisfaction judging result, and determining a motor torque reduction request according to the current motor torque and the corresponding vehicle coefficient. And after the motor torque reduction request is determined, the target motor torque is determined according to the motor torque reduction request, and then the vehicle to be controlled is controlled according to the target motor torque. And when the satisfaction judgment frequency is determined to be the target judgment frequency, activating the traction control system according to the corresponding satisfaction judgment result so as to control the vehicle to be controlled through the traction control system. The problem that the vehicle slips when starting or accelerating on a low-attachment road surface in the prior art cannot be solved, the motor torque can be controlled in time, the vehicle is prevented from slipping when starting or accelerating on the low-attachment road surface, and therefore the stability and good steering performance of the vehicle in the driving process are guaranteed.

EXAMPLE III

Fig. 4 is a schematic diagram of a vehicle control device according to a third embodiment of the present invention, and as shown in fig. 4, the device includes: a vehicle state determination module 410, a satisfaction determination module 420, a motor torque reduction request module 430, and a vehicle control module 440, wherein:

a vehicle state determination module 410 for determining a current vehicle state of a vehicle to be controlled;

a satisfaction judging module 420, configured to judge satisfaction of the vehicle torque intervention condition according to the current vehicle state;

the motor torque reduction request module 430 is used for determining a motor torque reduction request of the vehicle to be controlled according to the satisfaction judgment result;

and a vehicle control module 440, configured to determine a target motor torque according to the motor torque reduction request, so as to control the vehicle to be controlled according to the target motor torque.

According to the technical scheme, the current vehicle state of the vehicle to be controlled is determined, the satisfaction judgment is carried out on the vehicle torque intervention condition according to the current vehicle state, the motor torque reduction request of the vehicle to be controlled is determined according to the satisfaction judgment result, the target motor torque is determined according to the motor torque reduction request, the vehicle to be controlled is controlled according to the target motor torque, the problem that the vehicle slips when starting or accelerating on a low-attachment road surface in the prior art is solved, the motor torque can be controlled in time, the vehicle is prevented from slipping when starting or accelerating on the low-attachment road surface, and the stability and good steering performance of the vehicle in the driving process are guaranteed.

Optionally, the current vehicle state may include a current state of a traction control system, a current state of a master cylinder pressure, a current state of an anti-lock brake system, a current state of an accelerator pedal, a current average driving wheel slip, a current driving force instability coefficient, and a time period from the end of the last torque intervention.

Optionally, the vehicle torque intervention condition may include that the traction control system is in an inactive state, no master cylinder pressure, the anti-lock braking system is in an inactive state, the accelerator pedal opening degree exists, the current average positive slip of the driving wheels is greater than a preset positive slip threshold value, the current driving force instability coefficient is greater than a preset coefficient threshold value, and the distance from the last torque intervention ending time is greater than a preset time threshold value.

Optionally, the vehicle state determination module 410 may be specifically configured to: acquiring the average wheel speed and the current vehicle speed of a current driving wheel of a vehicle to be controlled; and determining the average positive slip quantity of the current driving wheel according to the average wheel speed of the current driving wheel and the current vehicle speed.

Optionally, the vehicle state determination module 410 may be further specifically configured to: acquiring the average wheel acceleration of the current driving wheel of the vehicle to be controlled and the current vehicle acceleration; determining the current acceleration deviation according to the current average wheel acceleration of the driving wheel and the current vehicle acceleration; and determining the current driving force instability coefficient according to the current acceleration deviation and the current driving wheel average positive slip amount.

Optionally, the motor torque reduction request module 430 may be specifically configured to: under the condition that the satisfaction judgment is determined as the first judgment, determining a first vehicle coefficient of the vehicle to be controlled according to the first satisfaction judgment result; acquiring the current motor torque, and determining a motor torque reduction request according to the current motor torque and a first vehicle coefficient; accordingly, the vehicle control module 440 may be specifically configured to: and returning to executing the operation of determining the current vehicle state of the vehicle to be controlled.

Optionally, the motor torque reduction request module 430 may be specifically configured to: determining the number of times of satisfaction judgment of the satisfaction judgment and a corresponding satisfaction judgment result corresponding to the number of times of the satisfaction judgment in the case that the satisfaction judgment is determined not to be the first judgment; under the condition that the satisfaction judging times are determined to be non-target judging times, determining corresponding vehicle coefficients of the vehicle to be controlled according to the corresponding satisfaction judging results; determining a motor torque reduction request according to the current motor torque and the corresponding vehicle coefficient; accordingly, the vehicle control module 440 may be specifically configured to: and returning to executing the operation of determining the current vehicle state of the vehicle to be controlled.

Optionally, the vehicle control device may be further specifically configured to: under the condition that the satisfaction judging times are determined as the target judging times, activating the traction control system according to the corresponding satisfaction judging result so as to control the target judging times of the vehicle to be controlled through the traction control system

The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example four

FIG. 5 illustrates a schematic diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as a vehicle control method.

In some embodiments, the vehicle control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method characterized by comprising:

determining the current vehicle state of a vehicle to be controlled;

2. The method of claim 1, wherein the current vehicle state comprises a traction control system current state, a master cylinder pressure current state, an anti-lock braking system current state, an accelerator pedal current state, a current driving wheel average positive slip amount, a current driving force instability factor, and a time period from the end of a last torque intervention;

the vehicle torque intervention conditions comprise that a traction control system is in an inactivated state, no master cylinder pressure exists, an anti-lock braking system is in an inactivated state, the opening degree of an accelerator pedal exists, the average positive slip quantity of a current driving wheel is larger than a preset positive slip quantity threshold value, the instability coefficient of the current driving force is larger than a preset coefficient threshold value, and the time length from the last torque intervention ending is larger than a preset time length threshold value.

3. The method of claim 2, wherein the determining a current average positive slip of the driven wheels of the vehicle to be controlled comprises:

acquiring the current average wheel speed and the current vehicle speed of a driving wheel of the vehicle to be controlled;

and determining the average positive slippage of the current driving wheel according to the average wheel speed of the current driving wheel and the current vehicle speed.

4. The method according to claim 3, wherein the determining the current driving force instability coefficient of the vehicle to be controlled comprises:

acquiring the current driving wheel average wheel acceleration and the current vehicle acceleration of the vehicle to be controlled;

determining a current acceleration deviation according to the current driving wheel average wheel acceleration and the current vehicle acceleration;

and determining the current driving force instability coefficient according to the current acceleration deviation and the current driving wheel average positive slip quantity.

5. The method according to claim 1, wherein the determining a motor torque down request of the vehicle to be controlled according to the satisfaction judgment result comprises:

under the condition that the satisfaction judgment is determined to be the first judgment, determining a first vehicle coefficient of the vehicle to be controlled according to a first satisfaction judgment result;

acquiring the current motor torque, and determining the motor torque reduction request according to the current motor torque and the first vehicle coefficient;

after controlling the vehicle to be controlled according to the target motor torque, the method further comprises:

and returning to execute the operation of determining the current vehicle state of the vehicle to be controlled.

6. The method according to claim 5, wherein the determining a motor torque down request of the vehicle to be controlled according to the satisfaction judgment result, further comprises:

determining the satisfaction judgment times of the satisfaction judgment and corresponding satisfaction judgment results corresponding to the satisfaction judgment times under the condition that the satisfaction judgment is determined to be not the first judgment;

under the condition that the satisfaction judging times are determined to be non-target judging times, determining corresponding vehicle coefficients of the vehicle to be controlled according to the corresponding satisfaction judging results;

determining the motor torque reduction request according to the current motor torque and the corresponding vehicle coefficient;

7. The method of claim 6, further comprising:

and under the condition that the satisfaction judging times are determined to be target judging times, activating a traction control system according to the corresponding satisfaction judging result so as to control the vehicle to be controlled through the traction control system.

8. A vehicle control apparatus characterized by comprising:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method of any one of claims 1-7.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle control method of any one of claims 1-7 when executed.