CN116141979A

CN116141979A - Vehicle control method and device based on sliding recovery

Info

Publication number: CN116141979A
Application number: CN202310159371.3A
Authority: CN
Inventors: 李璞; 李陈勇; 刘小飞
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2023-02-21
Filing date: 2023-02-21
Publication date: 2023-05-23

Abstract

The invention discloses a vehicle control method and device based on sliding recovery, relates to the technical field of electric automobiles, and mainly aims to ensure smooth deceleration of vehicle operation when controlling the vehicle to slide, improve the comfort of vehicle operation, improve the driving experience of a user and avoid driving risks. The main technical scheme of the invention is as follows: when the vehicle enters a sliding state, acquiring operation parameters of the vehicle, wherein the operation parameters comprise the vehicle speed and the actual deceleration; determining a target deceleration of the vehicle according to the vehicle speeds, wherein the target deceleration is used for representing the fixed deceleration corresponding to the fixed torque of the vehicle at different vehicle speeds; if the actual deceleration is inconsistent with the target deceleration, dynamically correcting the fixed torque by using a preset torque processing strategy to obtain the actual required torque of the vehicle, wherein the preset torque processing strategy is a strategy for dynamically correcting the fixed torque based on the torque gradient variation periodically; vehicle coasting is controlled based on the actual demand torque.

Description

Vehicle control method and device based on sliding recovery

Technical Field

The invention relates to the technical field of electric automobiles, in particular to a vehicle control method and device based on sliding recovery.

Background

With the continuous innovative development of technology, electric automobiles are popular in the public due to the superiority of the drivability, and the problems of energy conservation and endurance are also greatly valued, so that the sliding energy recovery function is generated. In the driving process of electric vehicles, energy recovery is an important part, and because the electric vehicles are driven by motors, the electric vehicles can charge power batteries in the braking or sliding process, so that most of the electric vehicles currently have the energy recovery function so as to increase the endurance mileage of the electric vehicles.

At present, the existing electric automobile coast recovery is to control the vehicle to coast according to the fixed torque given in a comparison table of the vehicle speed and the torque, however, the table is tested under the conditions of the whole vehicle weight and the flat road surface when only the driver exists in the vehicle, when more people exist in the vehicle or the gradient exists on the road surface, the vehicle coast is controlled according to the fixed torque given by the table, so that the deceleration of the running of the vehicle is frequently changed, the running comfort of the vehicle is affected, the driving experience of a user is reduced, and even the driving risk exists.

Disclosure of Invention

In view of the above problems, the invention provides a vehicle control method and device based on sliding recovery, which mainly aims to ensure smooth deceleration of vehicle operation when controlling the vehicle to slide, improve comfort of vehicle operation, improve driving experience of a user and avoid driving risks.

In order to solve the technical problems, the invention provides the following scheme:

in a first aspect, the present invention provides a method of controlling a vehicle based on coasting recovery, the method comprising:

when a vehicle enters a sliding state, acquiring operation parameters of the vehicle, wherein the operation parameters comprise the vehicle speed and the actual deceleration;

determining a target deceleration of the vehicle according to the vehicle speed, wherein the target deceleration is used for representing a fixed deceleration corresponding to a fixed torque of the vehicle under different vehicle speeds;

if the actual deceleration is inconsistent with the target deceleration, dynamically correcting the fixed torque by using a preset torque processing strategy to obtain the actual required torque of the vehicle, wherein the preset torque processing strategy is a strategy for dynamically correcting the fixed torque periodically based on the torque gradient variation;

and controlling the vehicle to coast based on the actual demand torque.

In a second aspect, the present invention provides a coasting recovery-based vehicle control device, the device comprising:

the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring operation parameters of a vehicle when the vehicle enters a sliding state, and the operation parameters comprise the vehicle speed and the actual deceleration;

a determining unit configured to determine a target deceleration of the vehicle according to the vehicle speed obtained by the obtaining unit, where the target deceleration is used to characterize a fixed deceleration corresponding to a fixed torque of the vehicle at different vehicle speeds;

the processing unit is used for dynamically correcting the fixed torque by utilizing a preset torque processing strategy to obtain the actual required torque of the vehicle if the actual deceleration obtained by the obtaining unit is inconsistent with the target deceleration obtained by the determining unit, wherein the preset torque processing strategy is a strategy for dynamically correcting the fixed torque periodically based on the change amount of the torque gradient;

and a first control unit for controlling the vehicle to slide based on the actual required torque obtained by the processing unit by utilizing a preset torque processing strategy.

In order to achieve the above object, according to a third aspect of the present invention, there is provided a storage medium including a stored program, wherein the apparatus in which the storage medium is controlled to execute the above-described coasting recovery-based vehicle control method of the first aspect when the program runs.

In order to achieve the above object, according to a fourth aspect of the present invention, there is provided a processor for running a program, wherein the program, when run, performs the above-described coasting recovery-based vehicle control method of the first aspect.

By means of the technical scheme, when the vehicle is required to be controlled in the coasting recovery mode, firstly, when the vehicle enters a coasting state, the operation parameters of the vehicle are obtained, the operation parameters comprise the vehicle speed and the actual deceleration, then the target deceleration of the vehicle is determined according to the vehicle speed, the target deceleration is used for representing the fixed deceleration corresponding to the fixed torque of the vehicle at different vehicle speeds, then if the actual deceleration is inconsistent with the target deceleration, the fixed torque is dynamically corrected by using a preset torque processing strategy to obtain the actual required torque of the vehicle, wherein the preset torque processing strategy is a strategy for periodically dynamically correcting the fixed torque based on the change amount of the torque gradient, and finally the vehicle is controlled to coast based on the actual required torque. According to the technical scheme provided by the invention, when the vehicle enters a sliding state, the fixed torque is dynamically corrected by utilizing the preset torque processing strategy when the actual deceleration obtained and the target deceleration corresponding to the fixed torque at the vehicle speed determined based on the vehicle speed are inconsistent, namely, the fixed torque is periodically dynamically corrected based on the torque gradient change amount, so that the actual demand torque is obtained, the vehicle sliding is controlled according to the actual demand torque, the frequent change of the deceleration of the vehicle running when more personnel in the vehicle or the road surface has gradient is effectively avoided, the smooth deceleration of the vehicle running when the vehicle sliding is controlled is ensured, the running comfort of the vehicle is improved, the driving experience of a user is improved, and the driving risk is avoided.

The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

FIG. 1 shows a flow chart of a vehicle control method based on coasting recovery provided by an embodiment of the invention;

FIG. 2 illustrates another vehicle control method flow chart based on coasting recovery provided by an embodiment of the invention;

FIG. 3 shows a block diagram of a vehicle control apparatus based on coasting recovery according to an embodiment of the present invention;

fig. 4 shows a block diagram of another vehicle control apparatus based on coasting recovery according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

At present, the existing electric automobile coast recovery is to control the vehicle to coast according to the fixed torque given in a comparison table of the vehicle speed and the torque, however, the table is tested under the conditions of the whole vehicle weight and the flat road surface when only the driver exists in the vehicle, when more people exist in the vehicle or the gradient exists on the road surface, the vehicle coast is controlled according to the fixed torque given by the table, so that the deceleration of the running of the vehicle is frequently changed, the running comfort of the vehicle is affected, the driving experience of a user is reduced, and even the driving risk exists. According to the invention, when the vehicle enters a sliding state, the fixed torque is dynamically corrected by utilizing a preset torque processing strategy when the actual deceleration obtained and the target deceleration corresponding to the fixed torque at the vehicle speed determined based on the vehicle speed are inconsistent, namely the fixed torque is periodically dynamically corrected based on the torque gradient change amount, so that the actual demand torque is obtained, the vehicle sliding is controlled according to the actual demand torque, the frequent change of the deceleration of the vehicle running when more personnel are in the vehicle or the gradient exists on the road surface is effectively avoided, the smooth deceleration of the vehicle running when the vehicle sliding is controlled is ensured, the running comfort of the vehicle is improved, the driving experience of a user is improved, and the driving risk is avoided.

Therefore, the embodiment of the invention provides a vehicle control method based on sliding recovery, by which the smooth deceleration of the running of a vehicle can be ensured when the vehicle is controlled to slide, the running comfort of the vehicle is improved, the driving experience of a user is improved, the driving risk is avoided, and the specific implementation steps are shown in fig. 1, and the method comprises the following steps:

101. when the vehicle enters a coasting state, the operating parameters of the vehicle are obtained.

Wherein the operating parameters include vehicle speed and actual deceleration. It should be noted that, in this embodiment, the sliding state is a free sliding state where both the accelerator and the brake of the vehicle are released, that is, a sliding energy recovery state is entered, so that the battery of the vehicle is charged based on the sliding of the vehicle, and for this purpose, whether the vehicle enters the sliding state may be determined based on the feedback of the accelerator sensor and the brake sensor, and when the vehicle enters the sliding state, the operation parameters of the vehicle may be obtained, where the vehicle speed and the actual deceleration as the operation parameters are the vehicle speed and the actual deceleration when the vehicle enters the sliding state, and both may be directly obtained.

102. A target deceleration of the vehicle is determined based on the vehicle speed.

The target deceleration is used for representing the fixed deceleration corresponding to the fixed torque of the vehicle at different speeds. It should be noted that, in this embodiment, before the electric vehicle leaves the factory, the coasting recovery function of the electric vehicle is tested and configured, so that a comparison table of vehicle speed and torque is given, that is, a fixed torque is corresponding to a vehicle speed in a certain range, so that the vehicle can directly control the vehicle to slide based on the fixed torque, and a corresponding fixed deceleration can be obtained based on each fixed torque, and the fixed deceleration is the target deceleration.

103. And if the actual deceleration is inconsistent with the target deceleration, dynamically correcting the fixed torque by the preset torque processing strategy to obtain the actual required torque of the vehicle.

The target deceleration is used for representing the fixed deceleration corresponding to the fixed torque of the vehicle at different speeds, and the preset torque processing strategy is a strategy for dynamically correcting the fixed torque based on the torque gradient variation periodically. It should be noted that, in this embodiment, in the ideal state, the actual deceleration is generally consistent with the target deceleration, but due to the influence of factors such as the weight change of the whole vehicle and the road gradient, the actual deceleration is larger or smaller than the target deceleration, which results in that the difference between the sliding distance or the sliding speed of the electric vehicle in the ideal state and the like exists when the vehicle is actually sliding each time, and the running comfort of the electric vehicle in the sliding state is affected.

104. Vehicle coasting is controlled based on the actual demand torque.

It should be noted that, in this embodiment, since the actual demand torque is already known, the vehicle can be controlled to slide based on the actual demand torque, so that the vehicle can adaptively adjust the actual deceleration through the actual demand torque, and make the actual deceleration smoothly change to the target deceleration until the actual deceleration is consistent with the target deceleration, thereby effectively avoiding frequent changes of the deceleration of the vehicle running when more personnel are in the vehicle or the road surface has a gradient, ensuring that the deceleration of the vehicle running is smooth when the vehicle is controlled to slide, improving the comfort of the vehicle running, improving the driving experience of the user, and avoiding the driving risk.

Based on the implementation manner of fig. 1, it can be seen that the vehicle control method based on the coasting recovery provided by the invention is that when the vehicle is required to be controlled in the coasting recovery mode, firstly, when the vehicle enters a coasting state, the operation parameters of the vehicle are obtained, the operation parameters comprise the vehicle speed and the actual deceleration, then the target deceleration of the vehicle is determined according to the vehicle speed, wherein the target deceleration is used for representing the fixed deceleration corresponding to the fixed torque of the vehicle under different vehicle speeds, then if the actual deceleration is inconsistent with the target deceleration, the fixed torque is dynamically corrected by using a preset torque processing strategy, so as to obtain the actual required torque of the vehicle, wherein the preset torque processing strategy is a strategy for dynamically correcting the fixed torque based on the change of the torque gradient periodically, and finally, the vehicle is controlled to coast based on the actual required torque. According to the technical scheme provided by the invention, when the vehicle enters a sliding state, the fixed torque is dynamically corrected by utilizing the preset torque processing strategy when the actual deceleration obtained and the target deceleration corresponding to the fixed torque at the vehicle speed determined based on the vehicle speed are inconsistent, namely, the fixed torque is periodically dynamically corrected based on the torque gradient change amount, so that the actual demand torque is obtained, the vehicle sliding is controlled according to the actual demand torque, the frequent change of the deceleration of the vehicle running when more personnel in the vehicle or the road surface has gradient is effectively avoided, the smooth deceleration of the vehicle running when the vehicle sliding is controlled is ensured, the running comfort of the vehicle is improved, the driving experience of a user is improved, and the driving risk is avoided.

Further, the preferred embodiment of the present invention is a detailed description of the process of controlling the vehicle based on the coasting recovery based on the above-mentioned fig. 1, and the specific steps thereof are as shown in fig. 2, including:

201. and detecting whether a sliding control function integrated in the vehicle-mounted terminal is started or not.

It should be noted that, since the present embodiment is different from the conventional vehicle coast recovery control, in order to ensure the user's selectivity, a functional component for turning on or off the present embodiment, that is, the coast control functional component, may be integrated in the display screen of the vehicle-mounted terminal, and the user may turn on or off the present embodiment through a preset operation, where the preset operation includes, but is not limited to, touch control or voice control, etc., and since the moments used by different users are different, whether the coast control function integrated in the vehicle-mounted terminal is turned on may be detected in real time so as to ensure the accuracy of the vehicle control by the user, when it is detected that the coast control function integrated in the vehicle-mounted terminal is turned on, the following step 202 is performed, and if it is detected that the coast control function integrated in the vehicle-mounted terminal is not turned on, the following step 206 is performed.

202. When the vehicle enters a coasting state, the operating parameters of the vehicle are obtained.

This step is described in conjunction with step 101 in the above method, and the same contents are not repeated here.

203. A target deceleration of the vehicle is determined based on the vehicle speed.

This step is described in conjunction with step 102 in the above method, and the same contents are not repeated here.

204. And if the actual deceleration is inconsistent with the target deceleration, dynamically correcting the fixed torque by using a preset torque processing strategy to obtain the actual required torque of the vehicle.

It should be noted that, in this embodiment, the preset torque processing policy is a policy for dynamically correcting the fixed torque based on the torque gradient variation periodically, where the period may be the same as the communication period of the whole vehicle, that is, 10ms, so as to ensure the real-time performance of the torque variation, and the preset torque processing policy at least includes the following two determining manners:

mode one:

determining a torque gradient change amount based on a magnitude of a difference between the actual deceleration and the target deceleration; and dynamically correcting the fixed torque by utilizing the torque gradient variation to obtain the actual required torque. It should be noted that, a mapping relation table of a difference value between an actual deceleration and a target deceleration and a torque gradient change amount may be preset, so that a torque gradient change amount corresponding to the difference value between the actual deceleration and the target deceleration is determined based on the mapping relation table, and the larger the difference value between the actual deceleration and the target deceleration is, the larger the torque span to be adjusted is described, so that when the difference value is larger, the larger torque gradient change amount may be selected, and when the difference value is smaller, the smaller torque gradient change amount may be selected, so as to ensure the approaching efficiency and stability of the actual deceleration to the target deceleration.

Mode two:

collecting the road surface gradient corresponding to the vehicle; determining the actual weight of the whole vehicle; determining a torque gradient change amount based on the road gradient and/or the actual weight of the whole vehicle; and dynamically correcting the fixed torque by utilizing the torque gradient variation to obtain the actual required torque. It should be noted that, the road gradient may be acquired based on a gradient sensor installed on the chassis of the vehicle, and the actual weight of the whole vehicle may be estimated according to the number of people in the vehicle, or may be estimated according to the tire pressure change, which is not limited in this embodiment, since the comparison table of the vehicle speed and the torque is obtained by testing based on the condition that the vehicle has only a driver (the preset weight of the whole vehicle) and the road surface is flat, when the road surface has a gradient or more people in the vehicle, the deceleration is likely to be affected, and in practical application, when the actual weight of the whole vehicle is the same, the deceleration is reduced, when the road surface is downhill, the deceleration is increased, and the larger the gradient is, the larger the impact on the deceleration is, and similarly, the larger the difference between the actual weight of the whole vehicle and the preset weight of the whole vehicle is, the deceleration is larger, the smaller the difference between the actual weight of the whole vehicle and the preset weight of the whole vehicle is, the smaller the deceleration is, so that the road surface gradient and the actual weight of the whole vehicle can be used as parameters for determining the change amount of the torque gradient, correspondingly, the larger the road surface gradient or the smaller the difference between the actual weight of the whole vehicle and the preset weight of the whole vehicle is, the larger the change amount of the torque gradient is selected, otherwise, the smaller the change amount of the torque gradient is selected, and when the road surface gradient is larger and the difference between the actual weight of the whole vehicle and the preset weight of the whole vehicle is smaller, the road surface gradient is smaller and the difference between the actual weight of the whole vehicle and the preset weight of the whole vehicle is larger, in order to ensure that the actual deceleration approaches to the target deceleration and finally keeps consistent with the target deceleration, the calculation can be performed based on a=fsina/m, wherein sinA is a sine value of a slope angle, so that the change amount of the torque gradient is comprehensively determined, the change of the torque is smoother, frequent change of deceleration is effectively avoided, and smooth deceleration of vehicle operation during vehicle sliding control is ensured.

Further, in order to ensure convenience and accuracy in determining the actual weight of the whole vehicle, the number of occupied seats of the vehicle is specifically collected; and calculating the actual weight of the whole vehicle of the vehicle based on the seat occupation quantity and the preset occupation unit weight. The number of occupied seats can be determined according to the seat occupancy signals, the preset occupancy unit weight can be 70kg, 75kg and the like, specific numerical values can be set in a self-defined mode according to a user in a certain range, the method is not limited, and when the number of occupied seats is determined, the actual weight of the whole vehicle can be determined by adding the product of the number of occupied seats and the preset occupancy unit weight to the weight of the vehicle.

Further, after the torque gradient change amount is determined, the torque gradient change amount can be periodically and dynamically increased or decreased on the fixed torque according to the torque gradient change amount, so that the actual deceleration approaches to the target deceleration through the change of the torque, specifically, when the actual deceleration is greater than the target deceleration, the torque gradient change amount is periodically and dynamically increased on the fixed torque, and the dynamically increased fixed torque is used as the actual required torque; when the actual deceleration is smaller than the target deceleration, the torque gradient change amount is periodically dynamically reduced on the fixed torque, and the dynamically reduced fixed torque is taken as the actual required torque.

205. Vehicle coasting is controlled based on the actual demand torque.

This step is described in conjunction with step 104 in the above method, and the same contents are not repeated here.

206. The vehicle coasting is controlled based on a fixed torque corresponding to a vehicle speed of the vehicle.

In this embodiment, it is known from step 201 that the user does not actively start the coasting control function, so that the vehicle coasting can be controlled based on the comparison table of the vehicle speed and the torque, thereby realizing the coasting energy recovery.

Further, since the vehicle charges the battery during the sliding, and the battery on the vehicle also affects the maximum recharging power thereof along with the change of the electric quantity or the change of the temperature, that is, the maximum recharging power of the battery is changed in real time, if the actual recharging power generated during the sliding is greater than the maximum recharging power of the battery, the actual required torque is greater than the maximum recycling torque corresponding to the recharging power of the battery, and the excessive part of torque also causes frequent change of the deceleration, in order to ensure that the deceleration of the vehicle running is stable during the sliding of the vehicle, specifically, before the sliding of the vehicle is controlled based on the actual required torque, the method further comprises: calculating the maximum recovery torque corresponding to the battery recharging power of the vehicle in real time; when the actual demand torque is greater than the maximum recovery torque, the vehicle is controlled to perform hydraulic braking to assist the actual deceleration to approach the target deceleration. It should be noted that the type of the actual required torque in this step is necessarily the recovered torque, and the hydraulic braking of the vehicle is controlled to assist the actual deceleration to approach the target deceleration by the hydraulic braking, and the specific hydraulic braking amount may be determined based on the difference between the actual required torque and the maximum recovered torque. The actual demand torque is compared with the maximum recovery torque in real time to determine whether the actual deceleration is close to the target deceleration by controlling the vehicle to carry out hydraulic braking, so that the deceleration of the vehicle operation is further ensured to be stable when the vehicle is controlled to slide, the comfort of the vehicle operation is improved, the driving experience of a user is improved, and the driving risk is avoided.

Further, as an implementation of the method embodiments shown in fig. 1-2, the embodiment of the invention provides a vehicle control device based on sliding recovery, which is used for ensuring smooth deceleration of a vehicle running when the vehicle is controlled to slide, improving the running comfort of the vehicle, improving the driving experience of a user and avoiding driving risks. The embodiment of the device corresponds to the foregoing method embodiment, and for convenience of reading, details of the foregoing method embodiment are not described one by one in this embodiment, but it should be clear that the device in this embodiment can correspondingly implement all the details of the foregoing method embodiment. As shown in fig. 3, the device includes:

an acquisition unit 31 for acquiring operation parameters of the vehicle including a vehicle speed and an actual deceleration when the vehicle enters a coasting state;

a determining unit 32 configured to determine a target deceleration of the vehicle according to the vehicle speed obtained by the obtaining unit, wherein the target deceleration is used to characterize a fixed deceleration corresponding to a fixed torque of the vehicle at different vehicle speeds;

a processing unit 33, configured to dynamically correct the fixed torque to obtain an actual required torque of the vehicle by using a preset torque processing policy if the actual deceleration obtained by the obtaining unit 31 is inconsistent with the target deceleration obtained by the processing unit 32, where the preset torque processing policy is a policy that dynamically corrects the fixed torque based on a torque gradient variation periodically;

the first control unit 34 controls the vehicle coasting based on the actual demand torque obtained by the processing unit 33.

Further, as shown in fig. 4, the apparatus further includes:

a calculating unit 35, configured to calculate, in real time, a maximum recovery torque corresponding to a battery recharging power of the vehicle before the first control unit 34;

a second control unit 36 for controlling the vehicle to perform hydraulic braking to assist the actual deceleration to approach the target deceleration when the actual demand torque is greater than the maximum regenerative torque obtained by the calculation unit 35.

Further, as shown in fig. 4, the processing unit 33 includes:

a first determination module 331 for determining a torque gradient change amount based on a magnitude of a difference between the actual deceleration and the target deceleration;

and a processing module 332, configured to dynamically correct the fixed torque by using the torque gradient variation obtained by the first determining module, so as to obtain an actual required torque.

Further, as shown in fig. 4, the processing unit 33 includes:

the acquisition module 333 is configured to acquire a road gradient corresponding to the vehicle;

a second determining module 334, configured to determine an actual weight of the entire vehicle of the vehicle;

a third determining module 335, configured to determine a torque gradient change amount based on the road surface gradient obtained by the collecting module 333 and/or the actual weight of the whole vehicle obtained by the second determining module 334;

the processing module 332 is further configured to dynamically correct the fixed torque by using the torque gradient change amount obtained by the third determining module 334 to obtain an actual required torque.

Further, as shown in fig. 4, the processing module 332 is specifically configured to,

when the actual deceleration is greater than the target deceleration, dynamically increasing the fixed torque on the basis of the torque gradient variation periodically, and taking the dynamically increased fixed torque as the actual required torque;

when the actual deceleration is smaller than the target deceleration, the torque gradient change amount is periodically dynamically reduced on the fixed torque, and the dynamically reduced fixed torque is taken as the actual required torque.

Further, as shown in fig. 4, the second determining module 334 is specifically configured to,

collecting the seat occupation quantity of the vehicle;

and calculating the actual weight of the whole vehicle of the vehicle based on the seat occupation quantity and the preset occupation unit weight.

Further, as shown in fig. 4, the apparatus further includes:

a detecting unit 37 for detecting whether a coasting control function integrated in the in-vehicle terminal is on or not before the acquiring unit 31;

the acquisition unit 31 is, in particular,

if the detection unit 37 detects that the sliding control function integrated in the vehicle-mounted terminal is on, executing a step of acquiring the running parameters of the vehicle when the vehicle enters a sliding state;

and a third control unit 38, configured to control the vehicle to coast based on a fixed torque corresponding to a vehicle speed of the vehicle if the detection unit 38 detects that the coast control function integrated in the vehicle-mounted terminal is not turned on.

Further, an embodiment of the present invention further provides a storage medium, where the storage medium is configured to store a computer program, where the computer program controls a device where the storage medium is located to execute the vehicle control method based on taxi recycling described in fig. 1-2.

Further, an embodiment of the present invention further provides a processor, where the processor is configured to execute a program, where the program executes the vehicle control method based on coasting recovery described in fig. 1-2.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

It will be appreciated that the relevant features of the methods and apparatus described above may be referenced to one another. In addition, the "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent the merits and merits of the embodiments.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It will be appreciated that the teachings of the present invention described herein may be implemented in a variety of programming languages, and the above description of specific languages is provided for disclosure of enablement and best mode of the present invention.

Furthermore, the memory may include volatile memory, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), in a computer readable medium, the memory including at least one memory chip.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A method of vehicle control based on coasting recovery, the method comprising:

and controlling the vehicle to coast based on the actual demand torque.

2. The method of claim 1, wherein prior to controlling the vehicle coasting based on the actual demand torque, the method further comprises:

calculating the maximum recovery torque corresponding to the battery recharging power of the vehicle in real time;

and when the actual required torque is larger than the maximum recovery torque, controlling the vehicle to carry out hydraulic braking so as to assist the actual deceleration to approach the target deceleration.

3. The method of claim 1, wherein dynamically modifying the fixed torque using a preset torque handling strategy to obtain an actual demand torque comprises;

determining a torque gradient change amount based on a magnitude of a difference between the actual deceleration and the target deceleration;

and dynamically correcting the fixed torque by using the torque gradient change amount to obtain the actual required torque.

4. The method of claim 1, wherein dynamically modifying the fixed torque to obtain the actual demand torque using a preset torque handling strategy comprises:

collecting the road gradient corresponding to the vehicle;

determining the actual weight of the whole vehicle of the vehicle;

determining a torque gradient change amount based on the road surface gradient and/or the actual weight of the whole vehicle;

5. A method according to claim 3, wherein dynamically modifying the fixed torque to obtain an actual demand torque using the torque gradient variance comprises:

6. The method of claim 4, wherein determining the actual weight of the entire vehicle comprises:

collecting the seat occupation quantity of the vehicle;

7. The method of claim 1, wherein prior to acquiring the operating parameters of the vehicle when the vehicle enters a coasting state, the method further comprises:

detecting whether a sliding control function integrated in the vehicle-mounted terminal is started or not;

if yes, executing the step of acquiring the running parameters of the vehicle when the vehicle enters a sliding state;

and if not, controlling the vehicle to slide based on the fixed torque corresponding to the speed of the vehicle.

8. A coasting recovery-based vehicle control device, the device comprising:

and the first control unit is used for controlling the vehicle to slide based on the actual required torque obtained by the processing unit.

9. A storage medium comprising a stored program, wherein the program, when executed, controls a device in which the storage medium is located to execute the coasting recovery-based vehicle control method according to any one of claims 1 to 7.

10. A processor for running a program, wherein the program when run performs the coasting recovery-based vehicle control method according to any one of claims 1 to 7.