CN117021970A - Vehicle running control method and device, equipment and medium - Google Patents
Vehicle running control method and device, equipment and medium Download PDFInfo
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- CN117021970A CN117021970A CN202311001569.5A CN202311001569A CN117021970A CN 117021970 A CN117021970 A CN 117021970A CN 202311001569 A CN202311001569 A CN 202311001569A CN 117021970 A CN117021970 A CN 117021970A
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- 238000001514 detection method Methods 0.000 claims description 51
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- 238000004590 computer program Methods 0.000 claims description 16
- 230000002035 prolonged effect Effects 0.000 abstract description 6
- 230000001276 controlling effect Effects 0.000 description 33
- 238000010586 diagram Methods 0.000 description 12
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- 230000008569 process Effects 0.000 description 7
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- 230000003287 optical effect Effects 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
- B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The embodiment of the application discloses a vehicle running control method, a vehicle running control device, a vehicle running control equipment and a vehicle running control medium. The running control method of the vehicle includes: when the vehicle is detected to be in a sliding state, a current running value of the vehicle is obtained, wherein the running value is used for representing the running speed of the vehicle, the magnitude relation between the obtained running value and a preset running threshold value is further detected, and the output torque of the motor is controlled based on the detected magnitude relation. According to the technical scheme, when the vehicle is in a slope sliding state, the output torque of the motor is controlled in real time, the rationality of vehicle running control is improved, and the service life of the battery is prolonged.
Description
Technical Field
The present application relates to the field of vehicle technology, and more particularly, to a vehicle travel control method, a vehicle travel control device, an electronic apparatus, and a computer-readable medium.
Background
At present, a vehicle may face a landslide phenomenon during running, wherein when the vehicle is in a landslide state, a motor of the vehicle is usually controlled to output torque consistent with a current vehicle gear so as to relieve or prevent the landslide of the vehicle. It can be understood that the motor of the vehicle outputs torque opposite to the rotation speed direction, and the motor of the vehicle is always in a power generation state before the rotation speed of the motor of the vehicle is reversed, and at this time, a great charging power is used for charging the power battery of the vehicle, and the phenomena of damaging the battery, reducing the service life of the battery and the like caused by overcharging exist.
Therefore, how to improve the rationality of the vehicle running control to protect the battery is a problem to be solved.
Disclosure of Invention
The embodiment of the application provides a vehicle running control method, device, equipment and medium, which improve the rationality of vehicle running control and prolong the service life of a battery.
In a first aspect, an embodiment of the present application provides a driving control method of a vehicle, including: during running of a vehicle, detecting a landslide condition of the vehicle based on a current gear of the vehicle and a current rotating speed of a motor of the vehicle; if the vehicle is detected to be in a slope sliding state, acquiring a current running value of the vehicle; wherein, the running value is used for representing the running speed of the vehicle; detecting the magnitude relation between the acquired running value and a preset running threshold value; controlling an output torque of the motor based on the detected magnitude relation.
In one embodiment of the present application, based on the foregoing, the controlling the output torque of the motor based on the detected magnitude relation includes: if the magnitude relation characterizes that the acquired running value is smaller than a preset running threshold, detecting the receiving condition of an accelerator torque output instruction to obtain a detection result, and controlling the output torque of the motor based on the detection result; and if the magnitude relation characterizes that the acquired running value is greater than or equal to the preset running threshold value, controlling the motor to output zero torque.
In one embodiment of the present application, based on the foregoing aspect, the controlling the output torque of the motor based on the detection result includes: if the detection result represents that the accelerator torque output instruction is received, controlling the motor to output torque matched with the accelerator torque output instruction; and if the detection result indicates that the accelerator torque output instruction is not received, controlling the motor to output zero torque.
In one embodiment of the present application, based on the foregoing, after said controlling said motor to output a torque matching said throttle torque output command, said method further comprises: acquiring a current running value of the vehicle; detecting the magnitude relation between the acquired running value and the preset running threshold value; controlling an output torque of the motor based on the detected magnitude relation.
In one embodiment of the present application, based on the foregoing, after the controlling the motor to output zero torque, the method further includes: displaying braking prompt information; the braking prompt information is used for indicating a control party of the vehicle to execute vehicle braking operation so as to issue a vehicle braking instruction; the vehicle is controlled to brake based on the received vehicle braking command.
In one embodiment of the present application, based on the foregoing aspect, the detecting the magnitude relation between the acquired running value and the preset running threshold includes: if the running value comprises a speed value and the preset running threshold comprises a preset speed threshold, detecting a magnitude relation between the acquired speed value and the preset speed threshold; and if the running value comprises an acceleration value and the preset running threshold comprises a preset acceleration threshold, detecting the magnitude relation between the acquired acceleration value and the preset acceleration threshold.
In one embodiment of the present application, based on the foregoing aspect, the detecting a landslide condition of the vehicle based on a current gear of the vehicle and a current rotation speed of the vehicle motor includes: if the gear is a forward gear and the direction of the motor rotating speed is negative, a detection result used for representing that the vehicle is in a sliding state is obtained; and if the gear is a reverse gear and the direction of the motor rotating speed is positive, obtaining a detection result used for representing that the vehicle is in a sliding state.
In a second aspect, an embodiment of the present application provides a travel control apparatus for a vehicle, the apparatus including: the first detection module is configured to detect a landslide condition of the vehicle based on a current gear of the vehicle and a current rotating speed of a motor of the vehicle during running of the vehicle; the acquisition module is configured to acquire a current running value of the vehicle if the vehicle is detected to be in a slope sliding state; wherein, the running value is used for representing the running speed of the vehicle; the second detection module is configured to detect the magnitude relation between the acquired running value and a preset running threshold value; a control module configured to control an output torque of the motor based on the detected magnitude relationship.
In a third aspect, embodiments of the present application provide an electronic device, including one or more processors; and a memory for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the travel control method of the vehicle as described above.
In a fourth aspect, an embodiment of the present application provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a running control method of a vehicle as described above.
In a fifth aspect, an embodiment of the present application provides a computer program product comprising computer instructions which, when executed by a processor, implement a method of controlling driving of a vehicle as described above.
In the technical scheme provided by the embodiment of the application:
when the vehicle is detected to be in a sliding state, the current running value of the vehicle is obtained, wherein the running value is used for representing the running speed of the vehicle, the magnitude relation between the obtained running value and a preset running threshold value is further detected, and the output torque of the motor is controlled based on the detected magnitude relation, so that the output torque of the motor is controlled in real time when the vehicle is in the sliding state.
In other words, in the embodiment of the application, when the vehicle is in a sliding state, the output torque of the motor is controlled according to the running speed of the vehicle, so that the phenomenon that the motor always outputs the torque opposite to the rotating speed direction to cause overcharge of the battery due to the fact that the motor is not controlled in the sliding state in the related art is avoided, the rationality of the running control of the vehicle is improved to a great extent, and the service life of the battery is prolonged.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
FIG. 1 is a schematic diagram of an exemplary implementation environment in which embodiments of the present application may be implemented;
fig. 2 is a flowchart showing a running control method of a vehicle according to an exemplary embodiment of the present application;
fig. 3 is a flowchart showing a running control method of a vehicle according to another exemplary embodiment of the present application;
fig. 4 is a flowchart showing a running control method of a vehicle according to another exemplary embodiment of the present application;
fig. 5 is a flowchart showing a running control method of a vehicle according to another exemplary embodiment of the present application;
fig. 6 is a flowchart showing a running control method of a vehicle according to another exemplary embodiment of the present application;
Fig. 7 is a block diagram of a travel control device of a vehicle according to an embodiment of the present application;
fig. 8 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations identical to the present application. Rather, they are merely examples of apparatus and methods that are identical to some aspects of the present application as detailed in the appended claims.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
In the present application, the term "plurality" means two or more. "and/or" describes an association relationship of an association object, meaning that there may be three relationships, e.g., a and/or B may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.
Currently, a new energy vehicle may face a hill-slip phenomenon during running, wherein when the vehicle is in a hill-slip state, a motor of the vehicle is generally controlled to output torque consistent with a current vehicle gear, so as to relieve or prevent the hill-slip of the vehicle. It can be understood that the motor of the vehicle outputs torque opposite to the rotation speed direction, and the motor of the vehicle is always in a power generation state before the rotation speed of the motor of the vehicle is reversed, and at this time, a great charging power is used for charging the power battery of the vehicle, and the phenomena of damaging the battery, reducing the service life of the battery and the like caused by overcharging exist.
Therefore, in order to improve the rationality of the vehicle running control to protect the battery, the present application provides a running control scheme of the vehicle. Referring to fig. 1, fig. 1 is a schematic diagram of an implementation environment according to the present application. The implementation environment mainly includes a vehicle 101 and a controller 102. It will be appreciated that the vehicle 101 and the controller 102 are communicatively coupled via a network, which may include various types of connections, such as wireless communication links, wired and fiber optic cables, and the like. Wherein:
The vehicle 101 may be a new energy automobile; such as trucks, dumpers, off-road vehicles, cars, buses, tractors, semi-trailing vehicles, specialty vehicles, and the like. The cargo vehicle is mainly used for transporting cargoes, and some vehicles can also pull the full trailer; the dump truck is a truck mainly used for transporting goods and provided with a dump container, is mainly suitable for running in bad roads or non-road areas and is mainly used for national defense, forest areas and mines; the off-road vehicle is mainly used for all-wheel driven vehicles with high trafficability in bad road or no road areas, is suitable for running in bad road or no road areas, and is mainly used for national defense, forest areas and mines; the sedan is used for carrying personnel and personal belongings, and the seats are arranged on four-wheel vehicles between two shafts, and can be divided into a mini car (below 1L), a common-grade sedan (1-1.6L), a middle-grade sedan (1.6-2.5L), a middle-grade sedan (2.5-4L) and a high-grade sedan (above 4L) according to the size of engine displacement; the passenger car is a car with a rectangular carriage and is mainly used for carrying personnel and carry-on luggage articles thereof, and can be divided into a long-distance passenger car, a group passenger car, a city bus, a tourist bus and the like according to different purposes; the traction vehicle and the semi-trailer traction vehicle are mainly used for traction vehicles of a trailer or a semi-trailer, and can be divided into the semi-trailer traction vehicle and the full-trailer traction vehicle according to different traction vehicles; the special automobile is provided with special equipment and special functions, and is used for bearing special transportation tasks or special operation automobiles, such as fire trucks, ambulances, tank trucks, bulletproof vehicles, engineering vehicles and the like.
Illustratively, vehicle 101 may also be a battery-powered toy-type smart car; while toy-type smart vehicles are not vehicles that travel on real lanes, they may also have related functions that simulate real vehicles, such as ascending slopes, turning, encountering obstacle alerts, etc.
The controller 102 controls the vehicle.
Illustratively, the controller may be a remote controller. Wherein the remote controller can be any form of electronic device; for example, the electronic device may be a smart phone, tablet, notebook, computer, intelligent voice interaction device, intelligent appliance, intelligent wearable device, aircraft, etc.; or the electronic device may be a server that provides various services, may be an independent physical server, may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content distribution network (Content Delivery Network, CDN), and basic cloud computing services such as big data and an artificial intelligence platform, which are not limited herein. It will be appreciated that the remote controller may receive a control command, which may be issued by the relevant staff member according to the driving situation of the vehicle, i.e. the relevant staff member is not seated in the driving location but may perform driving control of the vehicle remotely in real time.
Illustratively, the controller may be a near-end controller. The near-end controller can be a driver, namely, the driver sits at a driving position to control the vehicle to run in real time.
It should be noted that the number of the vehicles 101 and the controllers 102 in fig. 1 is merely illustrative, and any number of the vehicles 101 and the controllers 102 may be provided according to actual needs.
In one embodiment of the application, the running control method of the vehicle may be performed by the vehicle 101.
Illustratively, the vehicle 101 detects a hill slip condition of the vehicle during traveling of the vehicle based on a current gear of the vehicle and a current rotational speed of a motor of the vehicle; if the vehicle is detected to be in a slope sliding state, a current running value of the vehicle is obtained, and the running value is used for representing the running speed of the vehicle; then detecting the magnitude relation between the acquired running value and a preset running threshold value; the output torque of the motor is then controlled based on the detected magnitude relationship.
In one embodiment of the present application, the running control method of the vehicle may be executed by the controller 102.
Illustratively, the controller 102 detects a hill slip condition of the vehicle during traveling of the vehicle based on a current gear of the vehicle and a current rotational speed of a motor of the vehicle; if the vehicle is detected to be in a slope sliding state, a current running value of the vehicle is obtained, and the running value is used for representing the running speed of the vehicle; then detecting the magnitude relation between the acquired running value and a preset running threshold value; the output torque of the motor is then controlled based on the detected magnitude relationship.
According to the embodiment of the application, when the vehicle is detected to be in a sliding slope state, the current running value of the vehicle is obtained, wherein the running value is used for representing the running speed of the vehicle, the magnitude relation between the obtained running value and the preset running threshold value is further detected, and the output torque of the motor is controlled based on the detected magnitude relation, so that when the vehicle is in the sliding slope state, the output torque of the motor is controlled in real time based on the running speed of the vehicle, the running control rationality of the vehicle is improved, the damage to the battery is reduced as much as possible, and the service life of the battery is prolonged.
Various implementation details of the technical solution of the embodiment of the present application are set forth in detail below:
referring to fig. 2, fig. 2 is a flowchart illustrating a running control method of a vehicle, which may be performed by the vehicle 101, according to an embodiment of the present application. As shown in fig. 2, the driving control method of the vehicle at least includes S201 to S204, and is described in detail as follows:
s201, during running of the vehicle, detecting the landslide condition of the vehicle based on the current gear of the vehicle and the current rotating speed of a motor of the vehicle.
According to the embodiment of the application, the vehicle can detect the landslide condition of the vehicle based on the current gear of the vehicle and the current rotating speed of the motor of the vehicle in the running process of the vehicle, and then corresponding operation is adopted based on the detection result.
S202, if the vehicle is detected to be in a slope sliding state, acquiring a current running value of the vehicle; wherein, the driving value is used for representing the speed condition of the vehicle driving.
In one embodiment of the present application, the vehicle takes the corresponding action based on the detection result, which may include the following two cases:
in case 1, when it is detected that the vehicle is in a landslide state, at this time, due to the current landslide phenomenon, additional driving control needs to be adopted for the vehicle, and specifically, in the embodiment of the application, the current driving value of the vehicle is obtained, where the driving value is a specific embodiment of the driving speed of the vehicle.
The running values in the embodiment of the present application include, but are not limited to, a speed value, an acceleration value, a wind noise value, a tire (wheel tire) noise value, and the like. It will be understood that the speed is a parameter representing the speed of the vehicle from the front, and the acceleration, wind noise and tire noise are parameters representing the speed of the vehicle from the side, and generally the acceleration, wind noise and tire noise are proportional to the speed, i.e. the greater the speed, the greater the acceleration, wind noise and tire noise, and correspondingly the smaller the speed, the less the acceleration, wind noise and tire noise. Optionally, the acceleration, wind noise or tire noise can be obtained through a sensor, and in practical application, the obtaining mode of the acceleration, wind noise or tire noise can be flexibly adjusted according to specific application scenes.
And 2, detecting that the vehicle is not in a slope sliding state, wherein the vehicle can not be processed at the moment, namely, the vehicle can keep normal running because the vehicle is not in a slope sliding phenomenon at present, and no additional running control is needed to be adopted for the vehicle.
S203, detecting the magnitude relation between the acquired running value and a preset running threshold value.
In the embodiment of the application, the vehicle acquires the current running value of the vehicle, and then the magnitude relation between the acquired running value and the preset running threshold value can be detected, namely, the acquired running value is compared with the preset running threshold value, so that the magnitude relation between the running value and the preset running threshold value is obtained.
And S204, controlling the output torque of the motor based on the detected magnitude relation.
In the embodiment of the application, the vehicle obtains the magnitude relation between the acquired running value and the preset running threshold value, and then the output torque of the motor can be controlled based on the obtained magnitude relation.
For example, the acquired travel value is characterized by v, and the preset travel threshold value is characterized by v'; if the obtained relation size is v < v ', controlling the torque of the motor with the output size of n1 according to the relation size v < v', and if the obtained relation size is v not less than v ', controlling the torque of the motor with the output size of n2 according to the relation size v not less than v'; wherein n2 < n1.
According to the embodiment of the application, when the vehicle is in a sliding state, the output torque of the motor is controlled according to the running speed of the vehicle, so that the phenomenon that the motor always outputs the torque opposite to the rotating speed direction to cause overcharge of the battery due to the fact that the motor is not controlled in the sliding state in the related art is avoided, the running control rationality of the vehicle is improved to a great extent, and the service life of the battery is prolonged.
In one embodiment of the present application, another running control method of a vehicle is provided, which can be executed by the vehicle 101. As shown in fig. 3, the running control method of the vehicle may include S301 to S302, S201 to S203.
S301 to S302 are described in detail as follows:
and S301, if the obtained running value is smaller than a preset running threshold value according to the magnitude relation, detecting the receiving condition of the accelerator torque output command to obtain a detection result, and controlling the output torque of the motor based on the detection result.
In the embodiment of the application, if the obtained magnitude relation characterizes that the obtained running value is smaller than the preset running threshold, the vehicle can detect the receiving condition of the accelerator torque output instruction to obtain a detection result, and the output torque of the motor is controlled based on the detection result.
For example, in the foregoing example, if the obtained relationship is v < v', the vehicle may detect whether the accelerator torque output command is received, and then control the output torque of the motor based on the detection result.
In one embodiment of the present application, controlling the output torque of the motor based on the detection result in S301 may include:
if the detection result indicates that the accelerator torque output instruction is received, controlling the motor to output torque matched with the accelerator torque output instruction;
and if the detection result indicates that the accelerator torque output instruction is not received, controlling the motor to output zero torque.
That is, the vehicle in the alternative embodiment controls the output torque of the motor based on the detection result, including two cases:
in case 1, if an accelerator torque output command is received, the control motor outputs a torque that matches the accelerator torque output command, where the accelerator torque output command is used to instruct the vehicle control motor to output a corresponding torque, and accordingly, the vehicle control motor outputs a torque that matches the accelerator torque output command.
For example, the throttle torque output command includes a torque magnitude n ', where n ' > 0, for the vehicle control motor output torque n '.
In case 2, if the throttle torque output command is not received, the motor is controlled to output zero torque.
It will be appreciated that the throttle torque output command includes a torque magnitude that corresponds to a torque interval, wherein the torque interval includes a torque minimum and a maximum, and that the vehicle may also control the motor to output less torque than the torque minimum if the throttle torque output command is not received, for example.
The accelerator torque output command may be issued by stepping on the accelerator pedal, and the stepping on the accelerator pedal may be regarded as receiving the accelerator torque output command only when the stepping on the accelerator pedal reaches the minimum opening of the accelerator pedal, and accordingly, the minimum opening of the accelerator pedal corresponds to the torque minimum value, and the stepping on the accelerator pedal corresponds to the torque maximum value when the stepping on the accelerator pedal is the maximum opening of the accelerator pedal.
By implementing the alternative embodiment, the output torque of the motor is controlled in real time based on the receiving condition of the accelerator torque output instruction, so that the vehicle is more in line with the application scene and meets the driving requirement corresponding to the control party of the vehicle.
In one embodiment of the present application, after controlling the motor to output the torque matching the throttle torque output command, it may further include:
Acquiring a current running value of a vehicle;
detecting the magnitude relation between the acquired running value and a preset running threshold value;
the output torque of the motor is controlled based on the detected magnitude relation.
That is, in the alternative embodiment, the vehicle may further detect the running speed of the vehicle after controlling the motor to output the torque matching with the accelerator torque output command, so as to realize continuous control of the motor output torque. Wherein, the running value of the vehicle obtained after the control motor outputs the torque matched with the accelerator torque output command is generally larger than the running value of the vehicle obtained before the control motor outputs the torque matched with the accelerator torque output command.
It will be appreciated that, in the alternative embodiment, the process of detecting the magnitude relation between the acquired running value and the preset running threshold value and controlling the output torque of the motor based on the detected magnitude relation is similar to the process of detecting the magnitude relation between the acquired running value and the preset running threshold value and controlling the output torque of the motor based on the detected magnitude relation in the foregoing embodiment, and will not be repeated herein.
By implementing the alternative embodiment, after the throttle torque output instruction is received and the motor is controlled to output the torque matched with the throttle torque output instruction, the real-time control of the motor output torque is realized based on the running speed condition of the vehicle, so that the phenomenon that the motor always outputs the torque opposite to the rotating speed direction to cause overcharge of the battery due to the fact that the motor is not controlled in a sliding state in the related art is further avoided, the rationality of the running control of the vehicle is further improved, and the service life of the battery is prolonged.
S302, if the magnitude relation characterizes that the acquired running value is greater than or equal to a preset running threshold, controlling the motor to output zero torque.
In the embodiment of the application, if the obtained magnitude relation characterizes that the obtained running value is greater than or equal to the preset running threshold, the vehicle can control the motor to output zero torque. It will be appreciated that controlling the motor of the vehicle to output zero torque is indicative of the vehicle not operating the motor in any way.
For example, in the previous example, the magnitude of the relationship is v.gtoreq.v', and the vehicle can control the motor to output zero torque.
As described in the foregoing embodiment, the torque magnitude included in the accelerator torque output command corresponds to a torque interval including a torque minimum value and a torque maximum value, and the vehicle may control the motor to output a torque smaller than the torque minimum value, for example, if the obtained magnitude relation indicates that the obtained running value is greater than or equal to the preset running threshold value.
In one embodiment of the present application, after controlling the motor to output zero torque, it may further include:
displaying braking prompt information; the braking prompt information is used for indicating a control party of the vehicle to execute vehicle braking operation to issue a vehicle braking instruction;
The vehicle is controlled to brake based on the received vehicle braking command.
That is, in an alternative embodiment, the vehicle outputs zero torque at the control motor, and then a brake prompt message may be generated and displayed, where the brake prompt message is used to instruct a controller of the vehicle to perform a vehicle braking operation to issue a vehicle braking command; accordingly, the control party of the vehicle receives the braking prompt information and can send a vehicle braking instruction to the vehicle, and accordingly, the vehicle receives the vehicle braking instruction sent by the control party of the vehicle and further controls the vehicle to brake based on the vehicle braking instruction so as to ensure the running safety of the vehicle.
In the alternative embodiment, the braking prompt information may be displayed on a central control display screen of the vehicle, or may be displayed on a mobile device corresponding to a control party of the vehicle, such as a smart phone, etc., where in actual application, the display of the braking prompt information may be flexibly adjusted according to a specific application scenario.
By implementing the alternative embodiment, the braking prompt information is displayed, so that a controller of the vehicle can clearly or knowing that the vehicle braking operation can be performed at present, the running safety of the vehicle is ensured, and the vehicle is suitable for wide scenes.
In one embodiment of the present application, if the obtained magnitude relation characterizes that the obtained running value is less than or equal to the preset running threshold, the vehicle may detect the receiving condition of the accelerator torque output command to obtain a detection result, and control the output torque of the motor based on the detection result. Accordingly, if the obtained magnitude relation characterizes that the obtained running value is greater than a preset running threshold, the vehicle can control the motor to output zero torque.
It can be appreciated that in practical application, the preset running threshold value can be flexibly adjusted according to a specific application scenario.
It should be noted that, for the detailed description of S201 to S203 shown in fig. 3, please refer to S201 to S203 shown in fig. 2, and the detailed description is omitted here.
In the embodiment of the application, when the acquired running value is smaller than the preset running threshold, the battery is less damaged by the overcharge of the battery, and the output torque of the motor can be controlled based on the receiving condition of the accelerator torque output instruction; when the acquired running value is greater than or equal to the preset running threshold, the battery is damaged greatly by the overcharge of the battery, so that the motor is controlled to output zero torque, the control mode is more reasonable, normal running of the vehicle and protection of the battery are balanced, and the vehicle has high flexibility and is more humanized.
In one embodiment of the present application, another running control method of a vehicle is provided, which can be executed by the vehicle 101. As shown in fig. 4, the running control method of the vehicle may include S401 to S402, S201 to S202, S204.
S401 to S402 are described in detail as follows:
s401, if the running value comprises a speed value and the preset running threshold comprises a preset speed threshold, detecting the magnitude relation between the acquired speed value and the preset speed threshold.
In one embodiment of the present application, if the travel value includes a speed value and the preset travel threshold includes a preset speed threshold, the acquired speed value is compared with the preset speed threshold, thereby obtaining a magnitude relation between the speed value and the preset speed threshold.
S402, if the running value comprises an acceleration value and the preset running threshold comprises a preset acceleration threshold, detecting a magnitude relation between the acquired acceleration value and the preset acceleration threshold.
In one embodiment of the present application, if the running value includes an acceleration value and the preset running threshold includes a preset acceleration threshold, the acquired acceleration value is compared with the preset acceleration threshold, thereby obtaining a magnitude relation between the acceleration value and the preset acceleration threshold.
In other embodiments, if the travel value comprises a wind noise value and the preset travel threshold comprises a preset wind noise threshold, the obtained wind noise value is compared with the preset wind noise threshold to obtain a magnitude relationship between the wind noise value and the preset wind noise threshold.
In other embodiments, if the travel value comprises a tire noise value and the preset travel threshold comprises a preset tire noise threshold, the obtained tire noise value is compared with the preset tire noise threshold to obtain a magnitude relationship between the tire noise value and the preset tire noise threshold.
It can be understood that only four types of driving parameters are illustrated in the embodiment of the present application, and in practical application, the types of the driving parameters may be flexibly adjusted according to specific application scenarios.
As described in the foregoing embodiment, the acceleration, wind noise, and tire noise are parameters that represent the speed of the vehicle from the side, so:
in other embodiments, acceleration may be combined with speed, i.e., the speed of travel of the vehicle may be determined based on both acceleration and speed, to control the output torque of the electric machine. For example, when the obtained acceleration value is detected to be smaller than the preset acceleration threshold value at the same time and the obtained speed value is detected to be smaller than the preset speed threshold value, the receiving condition of the accelerator torque output command is triggered to be detected to obtain a detection result, and the output torque of the motor is controlled based on the detection result.
In other embodiments, wind noise may be combined with speed, i.e., the speed of travel of the vehicle may be determined based on both wind noise and speed, to control the output torque of the electric machine. For example, when the obtained wind noise value is detected to be smaller than the preset wind noise threshold value and the obtained speed value is detected to be smaller than the preset speed threshold value, the receiving condition of the accelerator torque output command is triggered to be detected to obtain a detection result, and the output torque of the motor is controlled based on the detection result.
In other embodiments, the tire noise may be combined with the speed, i.e., the speed of travel of the vehicle may be determined based on the tire noise and the speed together to control the output torque of the motor. For example, when the obtained tire noise value is detected to be smaller than the preset tire noise threshold value and the obtained speed value is detected to be smaller than the preset speed threshold value, the receiving condition of the accelerator torque output command is triggered to be detected to obtain a detection result, and the output torque of the motor is controlled based on the detection result.
By implementing the alternative embodiment, the running parameters are combined to control the output torque of the motor, so that the output torque control of the motor is more accurate, and the battery is further protected.
It can be understood that the four types of driving parameters illustrated in the embodiment of the present application may be combined at will to control the output torque of the motor, and in practical application, the combination manner may be flexibly adjusted according to a specific application scenario.
It should be noted that, in the detailed description of S201 to S202 and S204 shown in fig. 4, please refer to S201 to S202 and S204 shown in fig. 2, and the detailed description is omitted here.
According to the embodiment of the application, the current running speed of the vehicle can be simply, conveniently and quickly determined through the comparison of the speed value and the preset speed threshold value; similarly, the current running speed of the vehicle can be simply, conveniently and quickly determined through comparison of the acceleration value and a preset acceleration threshold value.
In one embodiment of the present application, another running control method of a vehicle is provided, which can be executed by the vehicle 101. As shown in fig. 5, the running control method of the vehicle may include S501 to S502, S202 to S204.
S501 to S502 are described in detail as follows:
s501, if the gear is the forward gear and the direction of the motor rotation speed is negative, a detection result for representing that the vehicle is in a sliding state is obtained.
In the embodiment of the application, if the current gear of the vehicle is detected to be the forward gear (namely the D gear) and the current rotating speed direction of the motor of the vehicle is negative, the current state of the vehicle in a sliding slope can be determined, and the detection result for representing the state of the vehicle in the sliding slope is obtained.
S502, if the gear is the reverse gear and the direction of the motor rotation speed is positive, a detection result used for representing that the vehicle is in a sliding state is obtained.
In the embodiment of the application, if the current gear of the vehicle is detected to be the reverse gear (namely R gear) and the current rotating speed direction of the vehicle motor is positive, the current state of the vehicle in a sliding slope can be determined, and the detection result for representing the state of the vehicle in the sliding slope is obtained.
It should be noted that, the detailed description of S202 to S204 shown in fig. 5 is please refer to S202 to S204 shown in fig. 2, and the detailed description is omitted herein.
According to the embodiment of the application, whether the vehicle is in a landslide state can be simply, conveniently and quickly determined through the current gear of the vehicle and the current rotating speed direction of the motor of the vehicle, and powerful support is provided for the output torque control of the subsequent motor.
One specific scenario of the embodiment of the present application is described in detail below:
referring to fig. 6, fig. 6 is a flowchart illustrating a running control method of a vehicle according to an embodiment of the present application. As shown in fig. 6, the driving control method of the vehicle at least includes S601 to S606, and is described in detail as follows:
s601, detecting the landslide condition of the vehicle based on the current gear of the vehicle and the current rotating speed of a motor of the vehicle during the running process of the vehicle.
Alternatively, if it is detected that the current gear of the vehicle is the forward gear (i.e., D-gear) and the current rotational speed direction of the vehicle motor is negative, it may be determined that the vehicle is currently in a slip state.
Alternatively, if it is detected that the current gear of the vehicle is the reverse gear (i.e., R gear) and the current rotational speed direction of the vehicle motor is positive, it may be determined that the vehicle is currently in a slip state.
In the alternative embodiment, whether the vehicle is in a landslide state can be simply, conveniently and quickly determined through the current gear of the vehicle and the current rotating speed direction of the motor of the vehicle, and powerful support is provided for the output torque control of the subsequent motor.
S602, if the vehicle is detected to be in a slope sliding state, acquiring a current speed value of the vehicle.
Alternatively, the speed value may be calculated by v=0.377×r×n/i, where v is the speed (km/h), 0.377 is a constant, r is the wheel rolling radius (m), n is the motor rotation speed (rpm), and i is the speed ratio.
In one embodiment of the application, a current acceleration value of the vehicle may be obtained.
In one embodiment of the application, a current wind noise value of the vehicle may be obtained.
In one embodiment of the application, a current tire noise value of the vehicle may be obtained.
S603, detecting whether the acquired speed value is smaller than a preset speed threshold value; if the acquired speed value is less than the preset speed threshold, S604 is performed, and if the acquired speed value is greater than or equal to the preset speed threshold, S606 is performed.
In one embodiment of the application, if the current acceleration value of the vehicle is obtained, detecting whether the obtained acceleration value is smaller than a preset acceleration threshold value; if the acquired acceleration value is less than the preset acceleration threshold value, S604 is performed, and if the acquired acceleration value is greater than or equal to the preset acceleration threshold value, S606 is performed.
In one embodiment of the application, if the current wind noise value of the vehicle is obtained, detecting whether the obtained wind noise value is smaller than a preset wind noise threshold value; if the acquired wind noise value is less than the preset wind noise threshold, S604 is performed, and if the acquired wind noise value is greater than or equal to the preset wind noise threshold, S606 is performed.
In one embodiment of the application, if the current tire noise value of the vehicle is obtained, detecting whether the obtained tire noise value is smaller than a preset tire noise threshold value; if the acquired tire noise value is smaller than the preset tire noise threshold value, S604 is performed, and if the acquired tire noise value is greater than or equal to the preset tire noise threshold value, S606 is performed.
S604, detecting whether an accelerator torque output instruction is received; if the throttle torque output command is received, S605 is executed, and if the throttle torque output command is not received, S606 is executed.
S605, the motor is controlled to output the torque matched with the accelerator torque output command, and the process returns to S602 to perform continuous judgment.
S606, controlling the motor to output zero torque.
Alternatively, after the control motor outputs zero torque, a brake prompt message may be displayed, where the brake prompt message is used to instruct a controller of the vehicle to perform a vehicle braking operation to issue a vehicle braking command, and then control the vehicle to brake based on the received vehicle braking command.
In the alternative embodiment, the braking prompt information is displayed, so that a controller of the vehicle can clearly or knows that the vehicle braking operation can be performed currently, the running safety of the vehicle is ensured, and the vehicle braking prompt information is suitable for wide scenes.
In one embodiment of the present application, the running control method of the vehicle may be integrated into a hill-sliding battery protection function, and the running control method of the vehicle is executed when the controller of the vehicle turns on the hill-sliding battery protection function, whereas the running control method of the vehicle is not executed when the controller of the vehicle does not turn on the hill-sliding battery protection function. Optionally, the default vehicle turns on the hill-slide battery protection function.
It should be noted that, please refer to the foregoing embodiments for the detailed description of S601 to S606 in fig. 6, and the detailed description is omitted here.
In the embodiment of the application, when the acquired speed value is smaller than the preset speed threshold, the battery is less damaged by the overcharge of the battery, and the output torque of the motor can be controlled based on the receiving condition of the accelerator torque output instruction; when the obtained speed value is greater than or equal to a preset speed threshold value, the battery is damaged greatly by the overcharge of the battery, so that the motor is controlled to output zero torque, the control mode is more reasonable, normal running of the vehicle and protection of the battery are balanced, and the motor control system is high in flexibility and more humanized.
Namely, in the embodiment of the application, the speed of the sliding slope is divided, and when the speed of the sliding slope is smaller than a preset speed threshold, the accelerator pedal is stepped to respond to the required torque of the accelerator; when the speed of the sliding slope is greater than or equal to the preset speed threshold value, the accelerator pedal is not required to be torqued by the accelerator even though the accelerator pedal is stepped on, so that the phenomenon that the battery is damaged due to high-power generation of the motor in the related art is avoided.
Fig. 7 is a block diagram of a travel control device for a vehicle according to an embodiment of the present application. As shown in fig. 7, the travel control device of the vehicle is disposed in a vehicle, and the travel control device of the vehicle includes:
a first detection module 701 configured to detect a slip condition of the vehicle based on a current gear of the vehicle and a current rotational speed of the vehicle motor during running of the vehicle;
The obtaining module 702 is configured to obtain a current running value of the vehicle if the vehicle is detected to be in a sliding state; wherein, the running value is used for representing the running speed of the vehicle;
a second detection module 703 configured to detect a magnitude relation between the acquired running value and a preset running threshold;
a control module 704 configured to control an output torque of the motor based on the detected magnitude relationship.
When the running control device of the vehicle detects that the vehicle is in a sliding state, the output torque of the motor is controlled according to the running speed of the vehicle, so that the phenomenon that the motor always outputs the torque opposite to the rotating speed to cause overcharge of the battery due to the fact that the motor is not controlled in the sliding state in the related art is avoided, the running control rationality of the vehicle is improved to a great extent, and the service life of the battery is prolonged.
In one embodiment of the present application, based on the foregoing scheme, the control module 704 is specifically configured to:
if the magnitude relation characterizes that the acquired running value is smaller than a preset running threshold, detecting the receiving condition of an accelerator torque output instruction to obtain a detection result, and controlling the output torque of the motor based on the detection result;
And if the magnitude relation characterizes that the acquired running value is greater than or equal to the preset running threshold value, controlling the motor to output zero torque.
In one embodiment of the present application, based on the foregoing scheme, the control module 704 is further specifically configured to:
if the detection result represents that the accelerator torque output instruction is received, controlling the motor to output torque matched with the accelerator torque output instruction;
and if the detection result indicates that the accelerator torque output instruction is not received, controlling the motor to output zero torque.
In one embodiment of the present application, based on the foregoing, after said controlling said motor to output a torque matching said throttle torque output command, the control module 704 is further specifically configured to:
acquiring a current running value of the vehicle;
detecting the magnitude relation between the acquired running value and the preset running threshold value;
controlling an output torque of the motor based on the detected magnitude relation.
In one embodiment of the present application, based on the foregoing, after said controlling said motor to output zero torque, the control module 704 is further specifically configured to:
displaying braking prompt information; the braking prompt information is used for indicating a control party of the vehicle to execute vehicle braking operation so as to issue a vehicle braking instruction;
The vehicle is controlled to brake based on the received vehicle braking command.
In one embodiment of the present application, based on the foregoing solution, the second detection module 703 is specifically configured to:
if the running value comprises a speed value and the preset running threshold comprises a preset speed threshold, detecting a magnitude relation between the acquired speed value and the preset speed threshold;
and if the running value comprises an acceleration value and the preset running threshold comprises a preset acceleration threshold, detecting the magnitude relation between the acquired acceleration value and the preset acceleration threshold.
In one embodiment of the present application, based on the foregoing solution, the first detection module 701 is specifically configured to:
if the gear is a forward gear and the direction of the motor rotating speed is negative, a detection result used for representing that the vehicle is in a sliding state is obtained;
and if the gear is a reverse gear and the direction of the motor rotating speed is positive, obtaining a detection result used for representing that the vehicle is in a sliding state.
It should be noted that the apparatus provided in the foregoing embodiment and the method provided in the foregoing embodiment belong to the same concept, and the specific manner in which the respective modules and units perform the operations have been described in detail in the method embodiment.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a memory for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement a travel control method of the vehicle as before.
Fig. 8 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.
It should be noted that, the computer system 800 of the electronic device shown in fig. 8 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 8, the computer system 800 includes a central processing unit (Central Processing Unit, CPU) 801 that can perform various appropriate actions and processes, such as performing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 802 or a program loaded from a storage section 808 into a random access Memory (Random Access Memory, RAM) 803. In the RAM 803, various programs and data required for system operation are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An Input/Output (I/O) interface 805 is also connected to bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a LAN (Local Area Network ) card, modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage section 808 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. When executed by a Central Processing Unit (CPU) 801, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
Another aspect of the present application also provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements a running control method of a vehicle as before. The computer-readable medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.
Yet another aspect of the application provides a computer program product or computer program comprising computer instructions stored in a computer readable medium. The processor of the computer device reads the computer instructions from the computer-readable medium, and the processor executes the computer instructions so that the computer device executes the running control method of the vehicle provided in the respective embodiments described above.
The foregoing is merely illustrative of the preferred embodiments of the present application and is not intended to limit the embodiments of the present application, and those skilled in the art can easily make corresponding variations or modifications according to the main concept and spirit of the present application, so that the protection scope of the present application shall be defined by the claims.
Claims (10)
1. A running control method of a vehicle, characterized by comprising:
during running of a vehicle, detecting a landslide condition of the vehicle based on a current gear of the vehicle and a current rotating speed of a motor of the vehicle;
if the vehicle is detected to be in a slope sliding state, acquiring a current running value of the vehicle; wherein, the running value is used for representing the running speed of the vehicle;
detecting the magnitude relation between the acquired running value and a preset running threshold value;
controlling an output torque of the motor based on the detected magnitude relation.
2. The method of claim 1, wherein said controlling the output torque of the motor based on the detected magnitude relationship comprises:
if the magnitude relation characterizes that the acquired running value is smaller than a preset running threshold, detecting the receiving condition of an accelerator torque output instruction to obtain a detection result, and controlling the output torque of the motor based on the detection result;
and if the magnitude relation characterizes that the acquired running value is greater than or equal to the preset running threshold value, controlling the motor to output zero torque.
3. The method of claim 2, wherein the controlling the output torque of the motor based on the detection result comprises:
If the detection result represents that the accelerator torque output instruction is received, controlling the motor to output torque matched with the accelerator torque output instruction;
and if the detection result indicates that the accelerator torque output instruction is not received, controlling the motor to output zero torque.
4. The method of claim 3, wherein after said controlling said motor to output torque that matches said throttle torque output command, said method further comprises:
acquiring a current running value of the vehicle;
detecting the magnitude relation between the acquired running value and the preset running threshold value;
controlling an output torque of the motor based on the detected magnitude relation.
5. The method of claim 2, wherein after said controlling said motor to output zero torque, said method further comprises:
displaying braking prompt information; the braking prompt information is used for indicating a control party of the vehicle to execute vehicle braking operation so as to issue a vehicle braking instruction;
the vehicle is controlled to brake based on the received vehicle braking command.
6. The method according to any one of claims 1 to 5, wherein said detecting a magnitude relation between the acquired travel value and a preset travel threshold value comprises:
If the running value comprises a speed value and the preset running threshold comprises a preset speed threshold, detecting a magnitude relation between the acquired speed value and the preset speed threshold;
and if the running value comprises an acceleration value and the preset running threshold comprises a preset acceleration threshold, detecting the magnitude relation between the acquired acceleration value and the preset acceleration threshold.
7. The method according to any one of claims 1 to 5, wherein the detecting a hill slip condition of the vehicle based on the current gear of the vehicle and the current rotational speed of the vehicle motor comprises:
if the gear is a forward gear and the direction of the motor rotating speed is negative, a detection result used for representing that the vehicle is in a sliding state is obtained;
and if the gear is a reverse gear and the direction of the motor rotating speed is positive, obtaining a detection result used for representing that the vehicle is in a sliding state.
8. A travel control device for a vehicle, comprising:
the first detection module is configured to detect a landslide condition of the vehicle based on a current gear of the vehicle and a current rotating speed of a motor of the vehicle during running of the vehicle;
The acquisition module is configured to acquire a current running value of the vehicle if the vehicle is detected to be in a slope sliding state; wherein, the running value is used for representing the running speed of the vehicle;
the second detection module is configured to detect the magnitude relation between the acquired running value and a preset running threshold value;
a control module configured to control an output torque of the motor based on the detected magnitude relationship.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs that, when executed by the electronic device, cause the electronic device to implement the running control method of the vehicle according to any one of claims 1 to 7.
10. A computer-readable medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the running control method of the vehicle according to any one of claims 1 to 7.
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| CN202311001569.5A CN117021970A (en) | 2023-08-09 | 2023-08-09 | Vehicle running control method and device, equipment and medium |
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| CN202311001569.5A CN117021970A (en) | 2023-08-09 | 2023-08-09 | Vehicle running control method and device, equipment and medium |
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