WO2018196828A1 - 车辆的动力输出控制方法、装置及系统 - Google Patents

车辆的动力输出控制方法、装置及系统 Download PDF

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Publication number
WO2018196828A1
WO2018196828A1 PCT/CN2018/084692 CN2018084692W WO2018196828A1 WO 2018196828 A1 WO2018196828 A1 WO 2018196828A1 CN 2018084692 W CN2018084692 W CN 2018084692W WO 2018196828 A1 WO2018196828 A1 WO 2018196828A1
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Prior art keywords
mode
power output
terrain
output
road surface
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Ceased
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PCT/CN2018/084692
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English (en)
French (fr)
Inventor
韩领涛
任强
黄少堂
徐伟
郑淳允
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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Priority to US16/332,799 priority Critical patent/US11022052B2/en
Publication of WO2018196828A1 publication Critical patent/WO2018196828A1/zh
Anticipated expiration legal-status Critical
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D35/00—Controlling engines, dependent on conditions exterior or interior to engines, not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/021—Introducing corrections for particular conditions exterior to the engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2409—Addressing techniques specially adapted therefor
    • F02D41/2422—Selective use of one or more tables
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0026—Lookup tables or parameter maps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0604—Throttle position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/70—Input parameters for engine control said parameters being related to the vehicle exterior
    • F02D2200/702—Road conditions

Definitions

  • the present invention relates to the field of vehicle control technologies, and in particular, to a power output control method, apparatus and system for a vehicle.
  • the all-terrain adaptation mode is a vehicle control mode proposed in recent years, generally applied to off-road vehicles, which is mainly implemented by a dedicated all-terrain controller.
  • a variety of gear settings are generally set, such as ordinary, grass-gravel-snow, muddy and rutting, sand, and rock modes.
  • the All Terrain Controller is designed to work with the engine control system and the ESP (Electronic Stability Program) system to control specific adjustments to the engine, brake system and vehicle suspension in different modes. performance.
  • the all-terrain adaptation mode is an emerging technology, and its adaptation to terrain is still not satisfactory. Especially when the four-wheel drive model is driving on different terrains, such as urban roads, snow, mud, sand, etc., due to the complicated road conditions, the traditional four-wheel drive model is difficult to All terrains can be driven at their best.
  • embodiments of the present invention provide a power output control method, apparatus, and system for a vehicle, which are advantageous for the engine to output an adapted power when the vehicle is traveling on different road surfaces.
  • An aspect of the present invention provides a power output control method for a vehicle, including:
  • the corresponding terrain mode in the all terrain adaptation mode is started; according to the correspondence between the terrain mode and the preset power output strategy, the power output strategy corresponding to the current terrain mode is determined; the terrain in the all terrain adaptation mode
  • the mode includes at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode;
  • the output torque of the engine is adjusted according to a power output curve corresponding to the current power output strategy; wherein the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output.
  • the invention also provides a power output control device for a vehicle, comprising:
  • a road surface recognition module configured to collect a road surface image currently traveling by the vehicle, and identify a road surface type currently driven by the vehicle according to the road surface image;
  • a power output strategy determining module configured to start a corresponding terrain mode in the all terrain adaptation mode according to the current road type; and determine a power output strategy corresponding to the current terrain mode according to a correspondence between the terrain mode and a preset power output strategy;
  • the terrain mode in the all terrain adaptation mode includes at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode;
  • the power output control module is configured to adjust an output torque of the engine according to a power output curve corresponding to a current power output strategy; the power output curve is a function curve of an accelerator pedal depression depth as a variable and an engine output torque as an output.
  • the present invention also provides a power output control system for a vehicle, comprising: a road surface recognition device, an all terrain controller, and an engine control device;
  • the road surface recognition device is configured to collect a road surface image currently traveling by the vehicle, identify a road surface type currently traveling according to the road surface image, and send the road surface type to the all terrain controller;
  • the all terrain controller is configured to start a corresponding terrain mode in the all terrain adaptation mode according to the current road type, and determine a power output strategy corresponding to the current terrain mode according to the correspondence between the terrain mode and the power output strategy;
  • the power output strategy is sent to the engine control device;
  • the terrain mode in the all terrain adaptation mode includes two of a common terrain mode, a snow mode, a mud mode, and a sand mode;
  • the engine control device is configured to adjust an output torque of the engine according to a power output curve corresponding to a current power output strategy; the power output curve is a function curve of an accelerator pedal depression depth as a variable and an engine output torque as an output.
  • the road surface image currently driven by the vehicle is collected in real time or periodically, and the road surface type currently driven by the vehicle is identified according to the road surface image; and then the corresponding terrain mode in the all terrain adaptation mode is automatically activated; and in the terrain mode
  • determining a power output strategy corresponding to the current terrain mode determining a power output strategy corresponding to the current terrain mode; adjusting the output torque of the engine according to the power output curve corresponding to the current power output strategy;
  • the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output. This is beneficial to the vehicle to obtain the power to adapt to the current terrain on different roads, and to ensure that the vehicle can travel in the best state on different roads.
  • FIG. 1 is a schematic flow chart of a power output control method of a vehicle according to an embodiment
  • FIG. 2 is a diagram showing an example of different power output curves of a power output control method of a vehicle according to an embodiment
  • FIG. 3 is a schematic structural view of a power output control device for a vehicle according to an embodiment
  • FIG. 4 is a schematic structural view of a power output control system of a vehicle according to an embodiment.
  • FIG. 1 is a schematic flowchart of a power output control method of a vehicle according to an embodiment; as shown in FIG. 1, the power output control method of the vehicle in this embodiment includes the following steps:
  • S11 Acquire a road surface image currently traveled by the vehicle, and identify a road surface type currently traveled by the vehicle according to the road surface image.
  • the road surface image currently being traveled by the vehicle may be acquired in real time or periodically by a preset road surface recognition device. Due to different information such as color, pixel and/or contrast of different road images, the image analysis algorithm can effectively identify the current state of the road surface, that is, according to the road image, the current road surface can be identified as an ordinary road surface (including ordinary urban road surface and ordinary high-speed road surface). Snowy roads, wading roads or sand (or gravel, etc.).
  • the type of road surface identified according to the road surface image includes at least two of a common type, a snow type, a mud type, and a sand type.
  • the terrain mode in the all terrain adaptation mode includes at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode.
  • the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output.
  • N f(Throttle Position); N represents the engine output torque magnitude; Throttle Position represents the accelerator pedal depression depth.
  • the power output control method of the vehicle further includes: setting at least two power distribution strategies in advance, and establishing a corresponding relationship between the local shape mode and the power output strategy in the all terrain adaptation mode; and The steps of establishing the correspondence between the local shape patterns and the road surface types in the all terrain adaptation mode are established.
  • the local shape mode and the power output strategy may have a one-to-one correspondence relationship, or two or more terrain modes may correspond to one power output strategy.
  • the correspondence between the road type and the all-terrain mode can be a one-to-one correspondence, or a plurality of road types corresponding to one terrain mode. The above two correspondences can be flexibly adjusted according to actual conditions.
  • various power output strategies may be provided by setting a corresponding control program in the existing engine control device of the vehicle, by which the corresponding system/device is coordinated to realize adjustment of the engine output torque under different conditions, without additionally adding corresponding Control System.
  • the power output control method of the vehicle of the above embodiment by collecting the road surface image currently traveling by the vehicle, identifying the road surface type currently driven by the vehicle according to the road surface image; and starting the corresponding terrain mode in the all terrain adaptation mode according to the current road surface type; In the terrain mode, according to the corresponding relationship between the local shape mode and the preset power output strategy in the all terrain adaptation mode, the power output strategy corresponding to the current terrain mode is determined; and the engine is adjusted according to the power output curve corresponding to the current power output strategy.
  • Output torque; the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output. It is beneficial to the vehicle to be able to adapt to the current terrain on different types of roads, and to ensure that the vehicle can travel in the best state on different roads.
  • the specific manner of identifying the road surface type currently traveled by the vehicle may be: collecting a road surface image currently traveled by the vehicle, analyzing the road surface image to obtain road surface state information, and acquiring current geographic location information of the vehicle. Determining, according to the geographic location information, a terrain of a current location of the vehicle; combining the terrain and the road surface state information to identify a road surface type currently being traveled by the vehicle.
  • the current road surface image is taken by the road surface recognition device, and the current location is located according to the GPS or the Big Dipper positioning system.
  • the road surface image information captured by the road surface recognition device can more accurately determine the current sand surface. road surface.
  • the driver can also manually select the terrain mode. For example, when the image capturing device fails or the current road surface type cannot be effectively recognized, the corresponding terrain mode in the all terrain adaptive mode can be entered according to the terrain mode selected by the driver.
  • the power output control method of the vehicle further includes the step of: if receiving an operation instruction for selecting a terrain mode, mapping a terrain mode pointed by the operation instruction to a terrain mode corresponding to the currently identified road surface type Performing an alignment, if the two are consistent, the terrain mode pointed by the operation instruction is started, otherwise, the terrain mode corresponding to the currently identified road surface type is enabled. That is, after the driver manually selects the terrain mode, it is determined whether the terrain mode manually selected by the user is appropriate according to the automatically recognized road surface type and its corresponding terrain mode. If not, the terrain mode selected by the user is corrected, thereby avoiding the driver or Misuse of other people in the car.
  • the engine output torque is adjusted according to different power output curves, and the specific manner may be: obtaining the accelerator pedal depression depth of the vehicle under different power distribution strategies And using the stepping depth as an input parameter, calculating an output value of the corresponding power output curve, that is, an output torque of the engine.
  • the corresponding relationship between the engine output torque and the accelerator depression depth is different. In other words, under different power output strategies, even if the accelerator pedaling depth is the same, the engine output torque is different, so the actual power obtained by the vehicle is different.
  • the step of turning on the all terrain adaptation mode of the vehicle is further included.
  • the all terrain adaptation mode is turned on or off by a preset preset in the car.
  • the output torque of the engine is controlled in real time in accordance with the power output control method described above.
  • the all terrain adaptation mode includes four terrain modes: a normal terrain mode, a snow mode, a mud mode, and a sand mode.
  • the common terrain mode, the snow mode, the muddy mode, and the sand mode respectively correspond to the common output strategy, the first output strategy, the second output strategy, and the third output strategy; the corresponding power output strategy can be seen in Table 1.
  • the terrain mode in the all terrain adaptation mode includes, but is not limited to, the above four types, and more different terrain modes, such as rock mode, grass mode, etc., may be set according to actual conditions.
  • the corresponding relationship between the terrain mode and the power output strategy in the all terrain adaptation mode can also be set according to actual conditions, including but not limited to the above corresponding relationship.
  • step S13 the specific manner of implementing the above step S13 can be as shown in Table 1.
  • the default power output curve (power output curve 0), power output curve 1, power output curve 2, power output curve 3 are all based on the accelerator pedal depression depth as a variable
  • the engine output torque is a function of output. curve.
  • the function curve is a linear function curve, and the overall trend is that the torque output by the engine increases as the accelerator pedal depression depth increases.
  • the magnitudes of the engine output torques corresponding to the respective power output curves in FIG. 2 are all expressed in terms of percentages relative to the current maximum output torque of the engine.
  • the general output strategy is enabled in the general terrain mode of the all terrain adaptation mode (ordinary urban road or highway), specifically: obtaining the accelerator pedal depression depth, determining the engine according to the default power output curve
  • the output torque is controlled by the engine control device to control the torque corresponding to the engine output.
  • the corresponding power output strategy is the first output strategy, specifically: detecting the accelerator pedal depression depth, according to the current pedal depression depth and the first power output curve (ie, power)
  • the output curve 1) gives the magnitude of the engine output torque, which in turn controls the engine output to correspond to the magnitude of the torque through the engine control.
  • the output torque corresponding to the first power output curve is smaller than the output torque corresponding to the default power output curve. That is, in the snow mode, the low-sensitivity pedal curve is used to relatively reduce the engine output torque to prevent the vehicle from starting to slip.
  • the corresponding power output strategy is the second output strategy, specifically: detecting the accelerator pedal depression depth, according to the current pedal depression depth and the second power output curve (ie, power)
  • the output curve 2) gives the magnitude of the output torque of the engine, and the engine control device controls the torque corresponding to the engine output.
  • the output torque corresponding to the second power output curve is greater than the output torque corresponding to the default power output curve. That is, in the mud mode, the pedal curve with relatively high sensitivity is used, so that the engine output torque is stronger than the torque of the low-sensitivity pedal curve at the same throttle depth to improve the vehicle power.
  • the corresponding power output strategy is the third output strategy, specifically: detecting the accelerator pedal depression depth, according to the current pedal depression depth and the third power output curve to obtain the engine
  • the output torque is controlled by the engine control device to control the torque corresponding to the engine output.
  • the output torque corresponding to the third power output curve ie, the power output curve 3
  • the high-sensitivity pedal curve is adopted, so that the engine output torque is stronger than the torque in the mud mode under the same throttle depth, so as to provide greater power to the whole vehicle.
  • various power output strategies may be provided by setting a corresponding control program in the existing engine control device of the vehicle, by which the corresponding system/device is coordinated to realize adjustment of the engine output torque under different conditions, without additionally adding corresponding Control System.
  • the present invention also provides a power output control device for a vehicle that can be used to execute the power output control method of the above vehicle.
  • a power output control device for a vehicle that can be used to execute the power output control method of the above vehicle.
  • the illustrated structure does not constitute a limitation on the device, and may include More or fewer parts than the illustration, or a combination of some parts, or a different part arrangement.
  • FIG. 3 is a schematic structural diagram of a power output control device for a vehicle according to an embodiment of the present invention.
  • the power output control device of the vehicle includes: a road surface recognition module 310, and a power output strategy determination module 320.
  • the power output control module 330, each module is as follows:
  • the road surface recognition module 310 is configured to collect a road surface image that the vehicle currently travels, and identify a road surface type that the vehicle is currently traveling according to the road surface image.
  • the power output strategy determining module 320 is configured to start a corresponding terrain mode in the all terrain adaptation mode according to the current road surface type; and in the terrain mode, determine, according to the corresponding relationship between the terrain mode and the preset power output strategy
  • the power output strategy corresponding to the current terrain mode; the terrain mode in the all terrain adaptation mode includes at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode.
  • the power output control module 330 is configured to adjust an output torque of the engine according to a power output curve corresponding to a current power output strategy; the power output curve is a function curve of an accelerator pedal depression depth as a variable and an engine output torque as an output.
  • the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output.
  • N f(Throttle Position); N represents the output torque of the engine; Throttle Position represents the depth of the accelerator pedal.
  • the function curve is a linear function curve, and the overall trend is that the torque output by the engine increases as the accelerator pedal depression depth increases.
  • the power output control device of the vehicle further includes: a setting module, configured to preset at least two power output strategies, and establish a local shape mode and the power output strategy in the all terrain adaptive mode Correspondence relationship; and the corresponding relationship between the local shape mode and the road surface type in the pre-establishment of the all-terrain adaptation mode.
  • a setting module configured to preset at least two power output strategies, and establish a local shape mode and the power output strategy in the all terrain adaptive mode Correspondence relationship; and the corresponding relationship between the local shape mode and the road surface type in the pre-establishment of the all-terrain adaptation mode.
  • the road surface recognition module 310 is configured to collect a road surface image currently traveled by the vehicle, analyze the road surface image to obtain road surface state information, and obtain current geographic location information of the vehicle, according to the geographic location. The information determines the terrain of the current location of the vehicle; the terrain and the road state information are combined to identify the type of road surface the vehicle is currently traveling on. This improves the accuracy of road type identification.
  • the power output strategy determining module 320 is further configured to: when receiving an operation instruction for selecting a terrain mode, start a terrain mode pointed by the operation instruction in the all terrain mode; or, if a selection is received
  • the operation command of the terrain mode compares the terrain mode pointed by the operation instruction with the terrain mode corresponding to the currently recognized road surface type. If the two are consistent, the terrain mode pointed by the operation instruction is started, otherwise, the current mode is started.
  • the corresponding relationship between the terrain mode in the all terrain adaptive mode and the preset power output strategy is: common terrain mode, snow mode, muddy mode, sand mode and common output strategy, first The output policy, the second output policy, and the third output policy are in one-to-one correspondence.
  • the power output control module 330 includes:
  • the first output control unit is configured to detect the depth of the accelerator pedal when the vehicle is in the normal output strategy, and obtain the output torque of the engine according to the current depression depth of the accelerator pedal and the default power output curve, and control the engine output through the engine control device. Torque of size;
  • a second output control unit configured to detect a depression depth of the accelerator pedal if the first output strategy is used, and obtain an output torque of the engine according to the current depression depth of the accelerator pedal and the first power output curve, and control the engine by the engine control device Output a torque of a corresponding size;
  • a third output control unit configured to detect a depression depth of the accelerator pedal if the second output strategy is used, and obtain an output torque of the engine according to the current depression depth of the accelerator pedal and the second power output curve, and control the engine by the engine control device Output a torque of a corresponding size;
  • a fourth output control unit configured to detect a depression depth of the accelerator pedal if the third output strategy is used, and obtain an output torque of the engine according to the current depression depth of the accelerator pedal and the third power output curve, and control the engine by the engine control device Output a torque of a corresponding size;
  • the output torque corresponding to the first power output curve is smaller than the output torque corresponding to the default power output curve, and the output torque corresponding to the second power output curve is greater than the default power output curve.
  • the output torque is greater than the output torque corresponding to the second power output curve.
  • the power output control device of the vehicle of the above embodiment identifies the road surface type currently driven by the vehicle according to the road surface image by collecting the road surface image currently traveling by the vehicle; and starts the corresponding terrain mode in the all terrain adaptation mode according to the current road surface type;
  • the power output strategy corresponding to the current terrain mode is determined; and the engine is adjusted according to the power output curve corresponding to the current power output strategy.
  • Output torque; the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output. It is beneficial to the vehicle to be able to adapt to the current terrain on different roads to ensure that the vehicle can travel in the best state on different roads.
  • each functional module is merely an example, and the actual application may be considered according to requirements, for example, for the configuration requirements of the corresponding hardware or the convenience of implementation of the software.
  • the above-mentioned function assignment is performed by different functional modules, that is, the internal structure of the power output control device of the vehicle is divided into different functional modules to complete all or part of the functions described above.
  • Each function module/unit can be implemented in the form of hardware or in the form of a software function module.
  • FIG. 4 is a schematic structural view of a power output control system of a vehicle according to an embodiment.
  • the power output control system of the vehicle includes: a road surface recognition device, an all terrain controller, and an engine control device.
  • the road surface recognition device is connected to the all terrain controller, and the all terrain controller is also connected to the engine control device; the engine control device is also connected to the engine.
  • the all terrain controller includes a separate controller and an integrated controller. The functions implemented by each part are as follows:
  • the road surface recognition device is configured to collect a road surface image currently traveling by the vehicle, identify a road surface type currently traveling according to the road surface image, and send the road surface type to the all terrain controller.
  • the all terrain controller is configured to start a corresponding terrain mode in the all terrain adaptation mode according to the current road type, and determine the power corresponding to the current terrain mode according to the corresponding relationship between the terrain mode and the power output strategy in the terrain mode An output strategy; transmitting the power output strategy to the engine control device; the terrain mode of the all terrain adaptation mode includes at least two of a common terrain mode, a snow mode, a mud mode, and a sand mode.
  • the engine control device is configured to adjust an output torque of the engine according to a power output curve corresponding to a current power output strategy; the power output curve is a function curve of an accelerator pedal depression depth as a variable and an engine output torque as an output.
  • the road surface recognition device comprises: an image acquisition device, a positioning device, and a processor.
  • the image capturing device is configured to collect a road surface image currently traveled by the vehicle, and send the road surface image to the processor;
  • the positioning device is configured to acquire current geographic location information of the vehicle, and Sending information to the processor;
  • the processor is configured to analyze the road surface image to obtain road surface state information, determine a terrain of a current location of the vehicle according to the geographic location information, and identify the current driving of the vehicle by combining the terrain and the road surface state information Type of pavement. To improve the accuracy of road surface identification.
  • the power output control system of the vehicle further includes: a terrain mode selecting device, communicably connected to the all terrain controller, configured to receive an operation instruction for selecting a terrain mode, and send the operation instruction To the all terrain controller; for example, using a manual mechanical selection device, the selection information of the terrain mode is transmitted to the all terrain controller through a hard line/bus mode.
  • a terrain mode selecting device communicably connected to the all terrain controller, configured to receive an operation instruction for selecting a terrain mode, and send the operation instruction To the all terrain controller; for example, using a manual mechanical selection device, the selection information of the terrain mode is transmitted to the all terrain controller through a hard line/bus mode.
  • the all terrain controller is further configured to: if an operation instruction for selecting a terrain mode is received, start a terrain mode pointed by the operation instruction in the all terrain mode; or, if the operation of selecting the terrain mode is received And instructing, by comparing the terrain mode pointed by the operation instruction with the terrain mode corresponding to the currently identified road surface type, if the two are consistent, starting the terrain mode pointed by the operation instruction, otherwise, starting the currently recognized road surface The terrain mode corresponding to the type; to avoid misoperation of the driver or other people in the car.
  • the power take-off control system of the vehicle further includes display means in communication with the all terrain controller.
  • the display device is configured to display prompt information corresponding to the current terrain mode, and display information related to the currently adopted power output strategy to remind the driver of the current terrain mode and the adopted power output strategy.
  • the corresponding relationship between the local shape mode and the power output strategy in the all terrain adaptation mode includes: an ordinary terrain mode, a snow mode, a muddy mode, a sand mode, and a common output strategy, a first output strategy, and a second
  • the output strategy and the third output strategy correspond one-to-one.
  • the engine control device is specifically configured to:
  • the output torque corresponding to the first power output curve is smaller than the output torque corresponding to the default power output curve, and the output torque corresponding to the second power output curve is greater than the default power output curve.
  • the output torque is greater than the output torque corresponding to the second power output curve.
  • the power take off control system of the vehicle described above may further include a power distribution device that is also coupled to the power split device; the power split device is also coupled to a center differential of the vehicle.
  • the all-terrain controller is further configured to determine the power corresponding to the current terrain mode according to the corresponding relationship between the current terrain mode and the preset power allocation strategy after the corresponding terrain mode is activated according to the current road type.
  • a policy is assigned and a corresponding power allocation policy is sent to the power distribution device.
  • the power distribution device is configured to control a central differential of the vehicle to switch to a lock mode corresponding to a current power distribution strategy under different power distribution strategies, and to determine a torque distribution curve corresponding to the current power distribution strategy
  • the shaft distributes torque.
  • the torque distribution curve is a function curve in which the torque ratio of the driven wheel shaft is a variable, and the torque ratio of the driven wheel shaft is a variable.
  • T f(Throttle Position)
  • T represents the obtained torque ratio of the driven axle (ie, the ratio of the driven axle to the total output);
  • Throttle Position indicates the accelerator pedal depression depth.
  • the locking mode of the central differential includes at least an intelligent control mode, a smart lock mode, and a full lock mode.
  • the intelligent control mode the locking degree of the center differential to the front and rear axles is adjusted according to the current driving situation, that is, in this mode, the locking degree of the front and rear axles is not fixed, but may change in real time.
  • the smart lock mode Refers to maintaining the central differential at a set degree of lock that is less than the maximum lock of the center differential to the front and rear axles.
  • the full lock mode the center differential maintains the maximum lock to the front and rear axles.
  • the central differential has a maximum locking degree of 100% for the front and rear axles, and when the accelerator pedal is at the maximum depression depth (ie, the throttle is fully open), the torque of the front and rear axles.
  • the allocation is 50%, 50%; correspondingly, in the smart locking mode, the locking degree of the front and rear axles can be 50%, 70%, etc., if the locking degree of the front and rear axles is 50%, the torque of the front and rear axles
  • the distribution ratio can be up to 75%: 25%; if the front and rear axles are locked at 70%, the torque distribution ratio of the front and rear axles can be up to 65%: 35%. It can be seen that for the front-drive four-wheel drive model, the higher the locking degree of the center differential on the front and rear axles, the greater the maximum torque obtained by the rear axle, and vice versa, the smaller the maximum torque obtained by the rear axle.
  • the display device is further configured to display prompt information corresponding to the current power allocation policy to remind the driver of the currently adopted power allocation strategy.
  • the power take-off control system of the vehicle further includes a transmission controller, the all terrain controller further coupled to the transmission controller; and the transmission controller coupled to the transmission of the vehicle.
  • the all-terrain controller is further configured to determine the power corresponding to the current terrain mode according to the corresponding relationship between the terrain mode and the preset power transmission mode after the corresponding terrain mode is activated according to the current road type.
  • the strategy is communicated and a corresponding power delivery strategy is sent to the transmission controller.
  • the transmission controller is configured to control a transmission switching position of the vehicle according to a shift strategy corresponding to the power transmission strategy to adjust a power transmission mechanism of the transmission.
  • the display device is further configured to display prompt information corresponding to the current power transmission strategy to remind the driver of the currently adopted power transmission strategy.
  • the road surface recognition device collects the road surface image currently traveled by the vehicle, identifies the road surface type that the vehicle is currently traveling according to the road surface image, and activates the corresponding terrain in the all terrain adaptation mode according to the current road surface type.
  • Terrain mode; and in the terrain mode, according to the corresponding relationship between the local shape mode and the power output strategy in the all terrain adaptation mode, the power output strategy corresponding to the current terrain mode is determined; according to the power output curve corresponding to the current power output strategy
  • the output torque of the engine; the power output curve is a function curve of the accelerator pedal depression depth as a variable and the engine output torque as an output. It is beneficial to the vehicle to be able to adapt to the current terrain on different roads to ensure that the vehicle can travel in the best state on different roads.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

一种车辆的动力输出控制方法、装置及系统。所述方法包括：采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；根据当前的路面类型启动全地形适应模式下对应的地形模式；并在所述地形模式下，确定与当前地形模式对应的动力输出策略；根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线；有利于车辆在不同路面行驶时发动机能输出适应的动力。

Description

车辆的动力输出控制方法、装置及系统 技术领域
本发明涉及车辆控制技术领域，特别是涉及车辆的动力输出控制方法、装置及系统。
背景技术
全地形适应模式为近年来提出的一种车辆控制模式，一般应用于越野车型，其主要通过专用的全地形控制器实现。全地形适应模式下一般设置了多种挡位设定，例如普通、草地-沙砾-雪地、泥泞和车辙、沙土、岩石模式。全地形控制器均是通过与发动机控制系统以及ESP(Electronic Stability Program，电子稳定控制系统)系统协同作用，在不同的模式下控制对发动机、制动系统以及汽车悬挂进行特定的调整，以提高的性能。
全地形适应模式属于新兴的技术，其对地形的适应效果目前还不尽人意。特别是当四驱车型的汽车行驶在不同地形的路面上时，例如城市道路、雪地、泥地、沙地等，由于路面情况复杂，传统四驱车型在现有全地形适应模式下难以在各地形下均能以最佳状态行驶。
发明内容
基于此，本发明实施例提供了车辆的动力输出控制方法、装置及系统，有利于车辆在不同路面行驶时发动机能输出适应的动力。
本发明一方面提供车辆的动力输出控制方法，包括：
采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；
根据当前的路面类型启动全地形适应模式下对应的地形模式；根据地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；所述全地形适应模式下的地形模式至少包括普通地形模式、雪地模式、泥地模式、沙地模式中的至少两种；
根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；其中，所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
本发明还提供一种车辆的动力输出控制装置，包括：
路面识别模块，用于采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；
动力输出策略确定模块，用于根据当前的路面类型启动全地形适应模式下对应的地形模式；根据地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中至少两种；
动力输出控制模块，用于根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
本发明还提供一种车辆的动力输出控制系统，包括：路面识别装置、全地形控制器以及发动机控制装置；
所述路面识别装置，用于采集车辆当前行驶的路面图像，根据所述路面图像识别当前行驶的路面类型，并将所述路面类型发送至所述全地形控制器；
所述全地形控制器，用于根据当前的路面类型启动全地形适应模式下对应的地形模式，以及根据地形模式与动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；将所述动力输出策略发送至所述发动机控制装置；所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中的两种；
所述发动机控制装置，用于根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
上述技术方案，通过实时或者周期性地采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；进而自动启动全地形适应模式下对应的地形模式；并在所述地形模式下，根据全地形适应模式下各地形模式 与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。由此有利于车辆在不同路面时均能得到适应当前地形的动力，保证车辆在不同路面均能最佳状态行驶。
附图说明
图1为一实施例的车辆的动力输出控制方法的示意性流程图；
图2为一实施例的车辆的动力输出控制方法的不同动力输出曲线的示例图；
图3为一实施例的车辆的动力输出控制装置的示意性结构图；
图4为一实施例的车辆的动力输出控制系统的示意性结构图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
图1为一实施例的车辆的动力输出控制方法的示意性流程图；如图1所示，本实施例中的车辆的动力输出控制方法包括步骤：
S11，采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型。
在一实施例中，可通过预设的路面识别装置实时或者周期性地采集车辆当前行驶的路面图像。由于不同路面图像的颜色、像素和/或对比度等信息不同，基于图像分析算法可有效识别当前路面的状态，即根据路面图像可识别当前路面是普通路面(包括普通城市路面和普通高速路面)、积雪路面、涉水路面还是沙地(或者碎石等)。
可选地，根据所述路面图像识别的路面类型至少包括普通类型、雪地类型、泥地类型、沙地类型中的两种。
S12，根据当前的路面类型启动全地形适应模式下对应的地形模式；在所述 地形模式下，根据全地形适应模式下各地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略。
其中，所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中至少两种。
S13，根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩。
其中，所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。例如：N＝f(Throttle Position)；N表示发动机输出扭矩大小；Throttle Position表示油门踏板踩下深度。
在一实施例中，所述车辆的动力输出控制方法还包括：预先设置至少两种动力分配策略，并建立全地形适应模式下各地形模式与所述动力输出策略的对应关系的步骤；以及预先建立全地形适应模式下各地形模式与路面类型的对应关系的步骤。可以理解的是，各地形模式与所述动力输出策略可以是一一对应的关系，也可以是两种以上地形模式对应一种动力输出策略。同理，路面类型与全地形适应模式下各地形模式的对应关系可以是一一对应的关系，也可以是多种路面类型对应一种地形模式。上述两种对应关系均可根据实际情况进行灵活调整。
优选地，各种动力输出策略可通过在车辆现有的发动机控制装置中设置对应的控制程序，通过该控制程序协调相应的系统/装置实现不同情况下发动机输出扭矩的调节，无需额外增加相应的控制系统。
上述实施例的车辆的动力输出控制方法，通过采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；根据当前的路面类型启动全地形适应模式下对应的地形模式；并在所述地形模式下，根据全地形适应模式下各地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。有利于车辆在不同类型的路面均能以适应当前地形的动力行驶，保证车辆在不同路面均能最佳状态行驶。
在一实施例中，上述步骤S11中，识别车辆当前行驶的路面类型的具体方 式可为：采集车辆当前行驶的路面图像，分析所述路面图像得出路面状态信息；获取车辆当前的地理位置信息，根据所述地理位置信息确定车辆当前位置的地形；结合所述地形以及路面状态信息识别车辆当前行驶的路面类型。例如：通过路面识别装置摄取当前的路面图像，同时根据GPS或者北斗星定位系统定位当前所处的位置，如库不齐沙漠，结合路面识别装置拍摄的路面图像信息可以更准确的确定当前为沙地路面。
上述在车辆的动力输出控制方法下，驾驶员还可手动选择地形模式。例如图像采集装置失效，或者无法有效识别当前的路面类型时，可根据驾驶员所选的地形模式进入全地形适应模式下对应的地形模式。
在一可选实施例中，所述车辆的动力输出控制方法还包括步骤：若接收到选择地形模式的操作指令，将所述操作指令指向的地形模式与当前识别出的路面类型对应的地形模式进行比对，若两者一致，则启动所述操作指令指向的地形模式，否则，启用当前识别出的路面类型对应的的地形模式。即驾驶员手动选择地形模式之后，根据自动识别的路面类型及其对应的地形模式判断用户手动选择的地形模式是否恰当，若不恰当，则纠正用户选择的地形模式，由此可避免驾驶员或者车上其他人员的误操作。
在一可选实施例中，在不同的动力输出策略下，根据不同的动力输出曲线调节发动机输出扭矩的大小，具体方式可为：在不同的动力分配策略下，获取车辆的油门踏板踩下深度，并以所述踩下深度为输入参数，计算对应动力输出曲线的输出值，即为发动机输出扭矩大小。其中，不同的动力输出曲线中，发动机输出扭矩大小与油门踩下深度的对应关系不同。换句话说，不同的动力输出策略下，即使油门踩下深度相同，发动机输出扭矩大小也不同，故车辆实际获得的动力也不同。
由于上述车辆的动力输出控制方法适用于设置有全地形适应模式的车辆，因此在一可选实施例中，在上述步骤S11之前，还包括开启车辆的全地形适应模式的步骤。例如通过车内预设的控件开启或关闭全地形适应模式。当全地形适应模式为开启状态时，按照上述动力输出控制方法实时控制发动机的输出扭矩。
在一可选实施例中，假设全地形适应模式下包括四种地形模式：普通地形模式、雪地模式、泥地模式以及沙地模式。并且普通地形模式、雪地模式、泥水模式、沙地模式分别与普通输出策略、第一输出策略、第二输出策略、第三输出策略一一对应；对应的动力输出策略可参见表1所示。可以理解的是，全地形适应模式下的地形模式包括但不限于上述4种，根据实际情况还可设置更多不同的地形模式，例如岩石模式、草地模式等。并且全地形适应模式下地形模式与动力输出策略的对应关系也可根据实际情况设定，包括但不限于上述对应关系。
优选地，实现上述步骤S13的具体方式可如表1所示。
表1：
Figure PCTCN2018084692-appb-000001
结合图2所示，默认动力输出曲线(动力输出曲线0)、动力输出曲线1、动力输出曲线2、动力输出曲线3均是以油门踏板踩下深度为变量，发动机输出扭矩大小为输出的函数曲线。可选地，所述函数曲线为线性函数曲线，且整体趋势均为发动机输出的扭矩随着油门踏板踩下深度的增加而增加。优选地，图2中各动力输出曲线对应的发动机输出扭矩大小均是相对于发动机当前的最大输出扭矩而言，具体可用百分比形式进行表示。
结合表1以及图2所示，在全地形适应模式的普通地形模式下(普通城市道路或者高速路)启用普通输出策略，具体可为：获取油门踏板踩下深度，根据默认动力输出曲线确定发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩。普通地形模式下对发动机的扭矩输出没有特别的要 求，可参考现行车辆的发动机扭矩输出控制策略。
在全地形适应模式的雪地模式下，对应的动力输出策略为第一输出策略，具体可为：检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第一动力输出曲线(即动力输出曲线1)得出发动机输出扭矩大小，进而通过发动机控制装置控制发动机输出对应大小的扭矩。参见图2所示，在油门踏板踩下深度相同时，所述第一动力输出曲线对应的输出扭矩小于默认动力输出曲线对应的输出扭矩。即在雪地模式下，采用低灵敏度踏板曲线，相对减小发动机输出扭矩，以防止车辆起步打滑。
在全地形适应模式的泥地模式下，对应的动力输出策略为第二输出策略，具体可为：检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第二动力输出曲线(即动力输出曲线2)得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩。参见图2所示，在油门踏板踩下深度相同时，所述第二动力输出曲线对应的输出扭矩大于默认动力输出曲线对应的输出扭矩。即在泥地模式下，采用相对较高灵敏度的踏板曲线，使得在同等油门深度下，发动机输出扭矩强于低灵敏度踏板曲线时的扭矩，以改善整车动力。
在全地形适应模式的沙地模式下，对应的动力输出策略为第三输出策略，具体可为：检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第三动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩。参见图2所示，在油门踏板踩下深度相同时，所述第三动力输出曲线(即动力输出曲线3)对应的输出扭矩大于第二动力输出曲线对应的输出扭矩。即在沙地模式下，采用高灵敏度踏板曲线，使得在同等油门深度下，发动机输出扭矩强于泥地模式下的扭矩，以给整车提供较大的动力。
优选地，各种动力输出策略可通过在车辆现有的发动机控制装置中设置对应的控制程序，通过该控制程序协调相应的系统/装置实现不同情况下发动机输出扭矩的调节，无需额外增加相应的控制系统。
需要说明的是，对于前述的各方法实施例，为了简便描述，将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某些步骤可以采用其它顺序或者同时进行。
基于与上述实施例中的车辆的动力输出控制方法相同的思想，本发明还提供车辆的动力输出控制装置，该装置可用于执行上述车辆的动力输出控制方法。为了便于说明，车辆的动力输出控制装置实施例的结构示意图中，仅仅示出了与本发明实施例相关的部分，本领域技术人员可以理解，图示结构并不构成对装置的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
图3为本发明一实施例的车辆的动力输出控制装置的示意性结构图；如图3所示，本实施例的车辆的动力输出控制装置包括：路面识别模块310、动力输出策略确定模块320以及动力输出控制模块330，各模块详述如下：
所述路面识别模块310，用于采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型。
所述动力输出策略确定模块320，用于根据当前的路面类型启动全地形适应模式下对应的地形模式；在所述地形模式下，根据地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中至少两种。
所述动力输出控制模块330，用于根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
其中，所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。例如：N＝f(Throttle Position)；N表示发动机的输出扭矩大小；Throttle Position表示油门踏板踩下深度。可选地，所述函数曲线为线性函数曲线，且整体趋势均为发动机输出的扭矩随着油门踏板踩下深度的增加而增加。
在一可选实施例中，所述的车辆的动力输出控制装置还包括：设置模块，用于预先设置至少两种动力输出策略，建立全地形适应模式下各地形模式与所述动力输出策略的对应关系；以及用于预先建立全地形适应模式下各地形模式与路面类型的对应关系。
在一可选实施例中，所述路面识别模块310，具体用于采集车辆当前行驶的路面图像，分析所述路面图像得出路面状态信息；获取车辆当前的地理位置信息，根据所述地理位置信息确定车辆当前位置的地形；结合所述地形以及路面状态信息识别车辆当前行驶的路面类型。以此提高路面类型识别的准确性。
在一可选实施例中，所述动力输出策略确定模块320，还用于若接收到选择地形模式的操作指令，启动全地形模式下所述操作指令指向的地形模式；或者，若接收到选择地形模式的操作指令，将所述操作指令指向的地形模式与当前识别出的路面类型对应的地形模式进行比对，若两者一致，则启动所述操作指令指向的地形模式，否则，启动当前识别出的路面类型对应的地形模式；由此可避免驾驶员或者车上其他人员的误操作。
在一可选实施例中，全地形适应模式下的地形模式与预设的动力输出策略的对应关系为：普通地形模式、雪地模式、泥水模式、沙地模式分别与普通输出策略、第一输出策略、第二输出策略、第三输出策略一一对应。可选地，所述动力输出控制模块330中包括：
第一输出控制单元，用于若为普通输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和默认动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
第二输出控制单元，用于若为第一输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第一动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
第三输出控制单元，用于若为第二输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第二动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
第四输出控制单元，用于若为第三输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第三动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
其中，在油门踏板踩下深度相同时，所述第一动力输出曲线对应的输出扭矩小于默认动力输出曲线对应的输出扭矩，所述第二动力输出曲线对应的输出 扭矩大于默认动力输出曲线对应的输出扭矩，所述第三动力输出曲线对应的输出扭矩大于第二动力输出曲线对应的输出扭矩。
上述实施例的车辆的动力输出控制装置，通过采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；根据当前的路面类型启动全地形适应模式下对应的地形模式；并在所述地形模式下，根据全地形适应模式下各地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。有利于车辆在不同路面均能以适应当前地形的动力行驶，保证车辆在不同路面均能最佳状态行驶。
需要说明的是，上述示例的车辆的动力输出控制装置的实施方式中，各模块/单元之间的信息交互、执行过程等内容，由于与本发明前述方法实施例基于同一构思，其带来的技术效果与本发明前述方法实施例相同，具体内容可参见本发明方法实施例中的叙述，此处不再赘述。
此外，上述示例的车辆的动力输出控制装置的实施方式中，各功能模块的逻辑划分仅是举例说明，实际应用中可以根据需要，例如出于相应硬件的配置要求或者软件的实现的便利考虑，将上述功能分配由不同的功能模块完成，即将所述车辆的动力输出控制装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。其中各功能模块/单元既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
如图4所示，为一实施例的车辆的动力输出控制系统的结构示意图。该车辆的动力输出控制系统包括：路面识别装置、全地形控制器以及发动机控制装置。参考图4所示，在车辆的动力输出控制系统中，路面识别装置连接全地形控制器，全地形控制器还连接发动机控制装置；发动机控制装置还连接发动机。其中所述全地形控制器包含独立控制器以及集成控制器。各部分所实现的功能如下：
所述路面识别装置，用于采集车辆当前行驶的路面图像，根据所述路面图像识别当前行驶的路面类型，并将所述路面类型发送至所述全地形控制器。
所述全地形控制器，用于根据当前的路面类型启动全地形适应模式下对应的地形模式，在所述地形模式，根据地形模式与动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；将所述动力输出策略发送至所述发动机控制装置；所述全地形适应模式的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中的至少两种。
所述发动机控制装置，用于根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
在一可选实施例中，所述路面识别装置包括：图像采集设备、定位设备和处理器。其中，所述图像采集设备用于采集车辆当前行驶的路面图像，并将所述路面图像发送至所述处理器；所述定位设备用于获取车辆当前的地理位置信息，并将所述地理位置信息发送至所述处理器；所述处理器用于分析所述路面图像得出路面状态信息，根据所述地理位置信息确定车辆当前位置的地形，以及结合所述地形以及路面状态信息识别车辆当前行驶的路面类型。以提高路面类型识别的准确度。
在一可选实施例中，上述车辆的动力输出控制系统还包括：地形模式选择装置，与所述全地形控制器通信连接，用于接收选择地形模式的操作指令，并将所述操作指令发送至所述全地形控制器；例如采用人工机械选择装置，通过硬线/总线方式发送地形模式的选择信息至所述全地形控制器。
对应地，所述全地形控制器，还用于若接收到选择地形模式的操作指令，则启动全地形模式下所述操作指令指向的地形模式；或者，用于若接收到选择地形模式的操作指令，将所述操作指令指向的地形模式与当前识别出的路面类型对应的地形模式进行比对，若两者一致，则启动所述操作指令指向的地形模式，否则，启动当前识别出的路面类型对应的地形模式；以避免驾驶员或者车内其他人员的误操作。
在一可选实施例中，上述车辆的动力输出控制系统还包括显示装置，与所述全地形控制器通信连接。所述显示装置用于显示与当前地形模式对应的提示信息，以及显示当前采用的动力输出策略相关的信息，以提醒驾驶员当前的地 形模式和采用的动力输出策略。
在一实施例中，全地形适应模式下各地形模式与动力输出策略的对应关系包括：普通地形模式、雪地模式、泥水模式、沙地模式分别与普通输出策略、第一输出策略、第二输出策略、第三输出策略一一对应。可选地，所述发动机控制装置具体用于：
若为普通输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和默认动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；若为第一输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第一动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；若为第二输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第二动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；若为第三输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第三动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩。其中，在油门踏板踩下深度相同时，所述第一动力输出曲线对应的输出扭矩小于默认动力输出曲线对应的输出扭矩，所述第二动力输出曲线对应的输出扭矩大于默认动力输出曲线对应的输出扭矩，所述第三动力输出曲线对应的输出扭矩大于第二动力输出曲线对应的输出扭矩。
在一可选实施例中，上述车辆的动力输出控制系统还可包括动力分配装置，所述全地形控制器还连接所述动力分配装置；所述动力分配装置还连接车辆的中央差速器。
所述全地形控制器，还用于在根据当前的路面类型启动全地形适应模式下对应的地形模式之后，根据当前地形模式与预设的动力分配策略的对应关系，确定当前地形模式对应的动力分配策略，并将对应的动力分配策略发送至所述动力分配装置。
所述动力分配装置，用于在不同动力分配策略下，控制车辆的中央差速器切换至与当前动力分配策略对应的锁止模式，并根据当前动力分配策略对应的扭矩分配曲线为车辆的前后轴分配扭矩。其中，所述扭矩分配曲线是以油门踏板踩下深度为变量，从动轮轴的扭矩比例为输出的函数曲线。例如：T＝f(Throttle  Position)；T表示从动轮轴的获得的扭矩比例(即从动轮轴占总输出的比例)；Throttle Position表示油门踏板踩下深度。
可选地，中央差速器的锁止模式至少包括智能控制模式、智能锁止模式和全锁止模式。所述智能控制模式下，根据当前行驶情况适时的调节中央差速器对前后轴的锁止程度，即在该模式下，前后轴的锁止程度并非固定不变，而是可能实时变化的。与之不同的，所述智能锁止模式。指的是将中央差速器保持在设定的锁止程度，该锁止程度需小于中央差速器对前后轴的最大锁止程度。所述全锁止模式下，中央差速器对前后轴保持在最大锁止程度。假设为前驱为主的四驱车型，中央差速器对前后轴的最大锁止程度为100％，当油门踏板为最大踩下深度时(即油门为全开状态)，此时前后轴的扭矩分配为50％，50％；对应地，所述智能锁止模式下，前后轴的锁止程度可为50％、70％等，若前后轴的锁止程度为50％，则前后轴的扭矩分配比例最大可为75％：25％；若前后轴的锁止程度为70％，则前后轴的扭矩分配比例最大可为65％：35％。可见，对于前驱为主的四驱车型，中央差速器对前后轴的锁止程度越高，后轴得到的最大扭矩越大，反之，后轴得到的最大扭矩越小。
所述显示装置，还用于显示与当前的动力分配策略对应的提示信息，以提醒驾驶员当前采用的动力分配策略。
在一可选实施例中，上述车辆的动力输出控制系统还包括变速箱控制器，全地形控制器还连接变速箱控制器；变速箱控制器连接车辆的变速箱。
所述全地形控制器，还用于在根据当前的路面类型启动全地形适应模式下对应的地形模式之后，根据地形模式与预设的动力传递模式的对应关系，确定与当前地形模式对应的动力传递策略，并将对应的动力传递策略发送至所述变速箱控制器。所述变速箱控制器用于根据所述动力传递策略对应的换挡策略控制车辆的变速箱切换档位，以调整变速箱的动力传递机制。
所述显示装置，还用于显示与当前的动力传递策略对应的提示信息，以提醒驾驶员当前采用的动力传递策略。
基于上述实施例的车辆的动力输出控制系统，通过路面识别装置采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；根据 当前的路面类型启动全地形适应模式下对应的地形模式；并在所述地形模式下，根据全地形适应模式下各地形模式与动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。有利于车辆在不同路面均能以适应当前地形的动力行驶，保证车辆在不同路面均能最佳状态行驶。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其它实施例的相关描述。可以理解，其中所使用的术语“第一”、“第二”等在本文中用于区分对象，但这些对象不受这些术语限制。
本领域普通技术人员可以理解，实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，作为独立的产品销售或使用。所述程序在执行时，可执行如上述各方法的实施例的全部或部分步骤。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所述实施例仅表达了本发明的几种实施方式，不能理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (11)

  1. 一种车辆的动力输出控制方法，其特征在于，包括：
    采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；
    根据当前的路面类型启动全地形适应模式下对应的地形模式；根据地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中至少两种；
    根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；其中，所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
  2. 根据权利要求1所述的车辆的动力输出控制方法，其特征在于，还包括：
    预先设置至少两种动力输出策略，建立全地形适应模式下各地形模式与所述动力输出策略的对应关系；以及，建立全地形适应模式下各地形模式与路面类型的对应关系。
  3. 根据权利要求1所述的车辆的动力输出控制方法，其特征在于，所述采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型，包括：
    采集车辆当前行驶的路面图像，分析所述路面图像得出路面状态信息；
    获取车辆当前的地理位置信息，根据所述地理位置信息确定车辆当前位置的地形；
    结合所述地形以及路面状态信息识别车辆当前行驶的路面类型；
    和/或，
    所述车辆的动力输出控制方法还包括步骤：
    若接收到选择地形模式的操作指令，将所述操作指令指向的地形模式与当前识别出的路面类型对应的地形模式进行比对，若两者一致，启动所述操作指令指向的地形模式，否则，启动与当前识别出的路面类型对应的地形模式。
  4. 根据权利要求1至3任一所述的车辆的动力输出控制方法，其特征在于， 全地形适应模式下各地形模式与预设的动力输出策略的对应关系包括：
    普通地形模式、雪地模式、泥水模式、沙地模式分别与普通输出策略、第一输出策略、第二输出策略、第三输出策略一一对应；
    所述根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩，包括：
    若为普通输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和默认动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    若为第一输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第一动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    若为第二输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第二动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    若为第三输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第三动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    其中，在油门踏板踩下深度相同时，所述第一动力输出曲线对应的输出扭矩小于默认动力输出曲线对应的输出扭矩，所述第二动力输出曲线对应的输出扭矩大于默认动力输出曲线对应的输出扭矩，所述第三动力输出曲线对应的输出扭矩大于第二动力输出曲线对应的输出扭矩。
  5. 一种车辆的动力输出控制装置，其特征在于，包括：
    路面识别模块，用于采集车辆当前行驶的路面图像，根据所述路面图像识别车辆当前行驶的路面类型；
    动力输出策略确定模块，用于根据当前的路面类型启动全地形适应模式下对应的地形模式；以及根据地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中至少两种；
    动力输出控制模块，用于根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
  6. 根据权利要求5所述的车辆的动力输出控制装置，其特征在于，还包括：
    设置模块，用于预先设置至少两种动力输出策略，建立全地形适应模式下各地形模式与所述动力输出策略的对应关系；以及，建立全地形适应模式下各地形模式与识别出的路面类型的对应关系。
  7. 根据权利要求5所述的车辆的动力输出控制装置，其特征在于，所述路面识别模块，具体用于采集车辆当前行驶的路面图像，分析所述路面图像得出路面状态信息；获取车辆当前的地理位置信息，根据所述地理位置信息确定车辆当前位置的地形；结合所述地形以及路面状态信息识别车辆当前行驶的路面类型；
    和/或，
    所述动力输出策略确定模块，还用于若接收到选择地形模式的操作指令，将所述操作指令指向的地形模式与当前识别出的路面类型对应的地形模式进行比对，若两者一致，则启动所述操作指令指向的地形模式，否则，启动与当前识别出的路面类型对应的地形模式。
  8. 根据权利要求5至7任一所述的车辆的动力输出控制装置，其特征在于，全地形适应模式下各地形模式与预设的动力输出策略的对应关系包括：
    普通地形模式、雪地模式、泥水模式、沙地模式分别与普通输出策略、第一输出策略、第二输出策略、第三输出策略一一对应；
    所述动力输出控制模块包括：
    第一输出控制单元，用于若为普通输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和默认动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    第二输出控制单元，用于若为第一输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第一动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    第三输出控制单元，用于若为第二输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第二动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    第四输出控制单元，用于若为第三输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第三动力输出曲线得出发动机的输出扭矩大小，通过发动机控制装置控制发动机输出对应大小的扭矩；
    其中，在油门踏板踩下深度相同时，所述第一动力输出曲线对应的输出扭矩小于默认动力输出曲线对应的输出扭矩，所述第二动力输出曲线对应的输出扭矩大于默认动力输出曲线对应的输出扭矩，所述第三动力输出曲线对应的输出扭矩大于第二动力输出曲线对应的输出扭矩。
  9. 一种车辆的动力输出控制系统，其特征在于，包括：路面识别装置、全地形控制器以及发动机控制装置；
    所述路面识别装置，用于采集车辆当前行驶的路面图像，根据所述路面图像识别当前行驶的路面类型，并将所述路面类型发送至所述全地形控制器；
    所述全地形控制器，用于根据当前的路面类型启动全地形适应模式下对应的地形模式，根据地形模式与预设的动力输出策略的对应关系，确定与当前地形模式对应的动力输出策略；并将所述动力输出策略发送至所述发动机控制装置；所述全地形适应模式下的地形模式包括普通地形模式、雪地模式、泥地模式、沙地模式中至少两种；
    所述发动机控制装置，用于根据当前动力输出策略对应的动力输出曲线调节发动机的输出扭矩；所述动力输出曲线是以油门踏板踩下深度为变量，发动机输出扭矩为输出的函数曲线。
  10. 根据权利要求9所述的车辆的动力输出控制系统，其特征在于，所述路面识别装置包括：图像采集设备、定位设备和处理器；
    所述图像采集设备，用于采集车辆当前行驶的路面图像，并将所述路面图像发送至所述处理器；
    所述定位设备，用于获取车辆当前的地理位置信息，并将所述地理位置信息发送至所述处理器；
    所述处理器，用于分析所述路面图像得出路面状态信息，根据所述地理位置信息确定车辆当前位置的地形，以及结合所述地形以及路面状态信息识别车辆当前行驶的路面类型；
    和/或，
    所述的车辆的动力输出控制系统还包括：地形模式选择装置，
    所述地形模式选择装置，用于接收到选择地形模式的操作指令，将所述操作指令发送至所述全地形控制器；
    所述全地形控制器还用于若接收到选择地形模式的操作指令，将所述操作指令指向的地形模式与当前识别出的路面类型对应的地形模式进行比对，若两者一致，则启动所述操作指令指向的地形模式，否则，启动与当前识别出的路面类型对应的地形模式。
  11. 根据权利要求9或10所述的车辆的动力输出控制系统，其特征在于，全地形适应模式下各地形模式与动力输出策略的对应关系包括：
    普通地形模式、雪地模式、泥水模式、沙地模式分别与普通输出策略、第一输出策略、第二输出策略、第三输出策略一一对应；
    所述发动机控制装置用于，
    若为普通输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和默认动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；
    若为第一输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第一动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；
    若为第二输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第二动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；
    若为第三输出策略，检测油门踏板踩下深度，根据油门踏板当前的踩下深度和第三动力输出曲线得出发动机的输出扭矩大小，控制发动机输出对应大小的扭矩；
    其中，在油门踏板踩下深度相同时，所述第一动力输出曲线对应的输出扭矩小于默认动力输出曲线对应的输出扭矩，所述第二动力输出曲线对应的输出扭矩大于默认动力输出曲线对应的输出扭矩，所述第三动力输出曲线对应的输出扭矩大于第二动力输出曲线对应的输出扭矩。
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