CN118182166A - Vehicle control method, device and equipment in single pedal mode and readable storage medium - Google Patents
Vehicle control method, device and equipment in single pedal mode and readable storage medium Download PDFInfo
- Publication number
- CN118182166A CN118182166A CN202410293944.6A CN202410293944A CN118182166A CN 118182166 A CN118182166 A CN 118182166A CN 202410293944 A CN202410293944 A CN 202410293944A CN 118182166 A CN118182166 A CN 118182166A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- braking
- stability factor
- driving
- braking torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000009467 reduction Effects 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000007423 decrease Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 239000000758 substrate Substances 0.000 claims 4
- 238000004891 communication Methods 0.000 description 10
- 238000004590 computer program Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000003993 interaction Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/12—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release the fluid being liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- 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
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Embodiments of the present disclosure provide a vehicle control method, apparatus, device, and readable storage medium in a single pedal mode. The method comprises the following steps: determining a vehicle intent in the single pedal mode; if the intention of the vehicle is a driving intention, respectively distributing driving torques to the front and rear driving motors according to the maximum driving torques of the front and rear driving motors of the vehicle; if the vehicle is intended to be braked, acquiring a stability factor of the vehicle; and controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle. In this way, it is possible to control the vehicle in a steady-state region in the single pedal mode, and to optimize the electric brake utilization while controlling the vehicle steady-state, while ensuring that the vehicle has sufficient brake torque.
Description
Technical Field
The disclosure relates to the field of new energy electric vehicles, in particular to the technical field of vehicle control in a single pedal mode.
Background
At present, with the rapid development of new energy electric vehicles, a single pedal function of the electric vehicle has become a common function of a pure electric vehicle, namely, acceleration and deceleration functions of the vehicle are realized through different opening degree control of an accelerator pedal. The single pedal braking function is realized by a driving motor instead of the traditional braking system control, but under the single pedal mode, the situation that the electric braking torque is insufficient or the vehicle is unstable can occur, so that under the single pedal mode, how to avoid the insufficient braking torque and the instability of the vehicle or optimize the electric braking utilization rate while controlling the steady state of the vehicle becomes the problem to be solved urgently.
Disclosure of Invention
The present disclosure provides a vehicle control method, apparatus, device, and storage medium in a single pedal mode.
According to a first aspect of the present disclosure, a vehicle control method in a single pedal mode is provided. The method comprises the following steps:
determining a vehicle intent in the single pedal mode;
if the intention of the vehicle is a driving intention, respectively distributing driving torques to the front and rear driving motors according to the maximum driving torques of the front and rear driving motors of the vehicle;
If the vehicle is intended to be braked, acquiring a stability factor of the vehicle, wherein the stability factor is used for representing whether the vehicle is in a steady state or an unsteady state;
and controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where if the vehicle is intended to be a driving intention, driving torque is respectively allocated to front and rear driving motors of the vehicle according to respective maximum driving torques of the front and rear driving motors, including:
if the vehicle intention is a driving intention, acquiring a target driving torque required currently;
and respectively distributing driving torques for the front and rear driving motors according to the target driving torque, the respective maximum driving torques of the front and rear driving motors and a preset driving torque distribution proportion.
Aspects and any possible implementation manner as described above, further provide an implementation manner, where if the vehicle is intended to be a braking intention, acquiring a stability factor of the vehicle includes:
acquiring a slip rate, a longitudinal deceleration, a lateral acceleration, a yaw rate and a vehicle stability control status flag of the vehicle if the vehicle is intended to be braked;
And carrying out weighted summation on the slip rate, the longitudinal deceleration, the transverse acceleration, the yaw rate and the vehicle stability control state marks of the vehicle to obtain the stability factor of the vehicle.
Aspects and any possible implementation manner as described above, further provide an implementation manner, wherein the controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle includes:
if the stability factor is smaller than a first preset value, acquiring a currently required target braking torque;
calculating the sum of maximum braking torques of front and rear driving motors of the vehicle;
If the sum of the maximum braking torques is greater than or equal to the target braking torque, distributing the target braking torque to the front and rear driving motors according to a preset braking torque distribution ratio so as to perform electric braking;
If the sum of the maximum braking torques is smaller than the target braking torque, calculating a braking torque difference between the target braking torque and the maximum braking torque;
And distributing the sum of the maximum braking torques to the front and rear driving motors according to the preset braking torque distribution proportion so as to perform electric braking, and distributing the braking torque difference to a vehicle braking system so as to perform hydraulic braking.
Aspects and any possible implementation manner as described above, further provide an implementation manner, wherein the electric braking and/or hydraulic braking according to the stability factor of the vehicle includes:
acquiring a first preset relation between a braking torque reduction value and the stability factor in the process that the stability factor is gradually increased from less than a first preset value to more than a second preset value;
determining a brake torque reduction value corresponding to the current stability factor according to the first preset relation;
In distributing the currently required target braking torque to the front and rear drive motors and the vehicle braking system, the braking torque distributed to the front and rear drive motors is reduced by the braking torque reduction value, and the braking torque distributed to the vehicle braking system is increased by the braking torque reduction value.
Aspects and any possible implementation manner as described above, further provide an implementation manner, wherein the electric braking and/or hydraulic braking according to the stability factor of the vehicle includes:
Acquiring a second preset relation between a brake torque increasing value and the stability factor in the process that the stability factor gradually decreases from a second preset value to a first preset value;
determining a braking torque increasing value corresponding to the current stability factor according to the second preset relation;
In the process of distributing the target braking torque to the front and rear drive motors and the vehicle braking system, the braking torque distributed to the front and rear drive motors is increased by the braking torque increasing value, and the braking torque distributed to the vehicle braking system is decreased by the braking torque increasing value.
The aspects and any possible implementation as described above further provide an implementation in which the build-up speed of the hydraulic brake matches the exit speed of the electric brake;
if the hydraulic brake fails, the target deceleration corresponding to the single pedal mode increases.
According to a second aspect of the present disclosure, there is provided a vehicle control apparatus in a single pedal mode. The device comprises:
A determination module for determining a vehicle intention in the single pedal mode;
The distribution module is used for distributing driving torques to the front and rear driving motors according to the respective maximum driving torques of the front and rear driving motors of the vehicle if the vehicle is intended to be the driving intention;
an acquisition module for acquiring a stability factor of the vehicle if the vehicle is intended to be a braking intention, wherein the stability factor is used for representing whether the vehicle is in a steady state or an unsteady state;
and the control module is used for controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle.
According to a third aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory and a processor, the memory having stored thereon a computer program, the processor implementing the method as described above when executing the program.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method according to the first aspect of the present disclosure.
In the present disclosure, after determining a vehicle intention in a single pedal mode, if the vehicle intention is a driving intention, driving torques are respectively allocated to front and rear driving motors of a vehicle according to respective maximum driving torques of the front and rear driving motors of the vehicle so as to drive the vehicle to advance; and if the vehicle is intended to be braked, acquiring a stability factor of the vehicle, and controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle, so that the vehicle is controlled to be in a steady-state area by taking into consideration the braking stability in a single pedal mode, the electric braking utilization rate can be optimized while the vehicle is controlled to be in a steady-state, and in the single pedal mode, braking torque compensation can be performed through hydraulic braking under the condition of insufficient electric braking torque, so that the vehicle is ensured to have enough braking torque.
It should be understood that what is described in this summary is not intended to limit the critical or essential features of the embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. For a better understanding of the present disclosure, and without limiting the disclosure thereto, the same or similar reference numerals denote the same or similar elements, wherein:
FIG. 1 illustrates a flow chart of a vehicle control method in a single pedal mode according to an embodiment of the present disclosure;
FIG. 2 illustrates a schematic diagram of a vehicle control principle in a single pedal mode according to an embodiment of the present disclosure;
FIG. 3 illustrates a block diagram of a vehicle control apparatus in a single pedal mode according to an embodiment of the present disclosure;
fig. 4 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure.
The correspondence between the reference numerals and the devices in fig. 2 will be described below:
1, an accelerator pedal; 2-vehicle control unit; 3-front motor controller; 4-a rear motor controller; 5-an electronically controlled brake controller; 6-brake pedal; 7-vehicle drive train; 8-brake; 9-tire; 10-road surface; 11—wheel speed sensor; 12—an inertia sensor; 13—a driving assistance controller; 14-human-computer interaction system.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to be within the scope of this disclosure.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
FIG. 1 illustrates a flow chart of a vehicle control method 100 in a single pedal mode according to an embodiment of the present disclosure. The method 100 may include:
Step 110, determining a vehicle intention in the single pedal mode;
When the single pedal mode is on, if the user presses the accelerator pedal, the intention of the vehicle is confirmed as the driving intention, and if the user releases the accelerator pedal, the intention of the vehicle is confirmed as the braking intention; of course, in order to more accurately determine the vehicle intention, in the case where the single pedal mode is on, if the user depresses the accelerator pedal and the displacement of the accelerator pedal increases to the first displacement amount, the vehicle intention is confirmed as the driving intention, and if the user releases the accelerator pedal and the displacement of the accelerator pedal decreases to the second displacement amount, the vehicle intention is confirmed as the braking intention.
Step 120, if the vehicle is intended to be a driving intention, respectively distributing driving torques to front and rear driving motors of the vehicle according to respective maximum driving torques of the front and rear driving motors;
The front driving motor of the front and rear driving motors is the driving motor of the front axle of the vehicle, and the rear driving motor is the driving motor of the rear axle of the vehicle.
Step 130, if the vehicle is intended to be braked, acquiring a stability factor of the vehicle, wherein the stability factor is used for representing whether the vehicle is in a steady state or an unsteady state;
And 140, controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle.
Electric braking is a braking mode of the vehicle in a single pedal mode, and is executed by a front driving motor and a rear driving motor of the vehicle;
hydraulic braking is performed by a braking system of a vehicle (e.g., a hydraulic braking system), and since hydraulic braking can directly control the braking hydraulic pressure of wheels, and electric braking cannot directly act on the wheels, hydraulic braking can improve the stability of running of the vehicle compared to electric braking, so that the vehicle is in a steady state.
The electric braking can increase the endurance mileage compared with the hydraulic braking, so that the vehicle is controlled to perform electric braking and/or hydraulic braking according to the stability factor, and the two braking modes combined can ensure that the vehicle has enough braking torque, the vehicle is in a steady state, and the electric braking utilization rate can be optimized while the vehicle is controlled to be in a steady state.
After determining the intention of the vehicle in the single pedal mode, if the intention of the vehicle is the intention of driving, respectively distributing driving torques for the front and rear driving motors of the vehicle according to the respective maximum driving torques of the front and rear driving motors of the vehicle so as to drive the vehicle to advance; and if the vehicle is intended to be braked, acquiring a stability factor of the vehicle, and controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle, so that the vehicle is controlled to be in a steady-state area by taking into consideration the braking stability in a single pedal mode, the electric braking utilization rate can be optimized while the vehicle is controlled to be in a steady-state, and in the single pedal mode, braking torque compensation can be performed through hydraulic braking under the condition of insufficient electric braking torque, so that the vehicle is ensured to have enough braking torque.
In some embodiments, if the vehicle is intended to be a driving intention, the driving torque is respectively allocated to the front and rear driving motors according to the respective maximum driving torques of the front and rear driving motors of the vehicle, including:
if the vehicle intention is a driving intention, acquiring a target driving torque required currently;
And respectively distributing driving torques for the front and rear driving motors according to the target driving torque, the respective maximum driving torques of the front and rear driving motors and a preset driving torque distribution proportion. The preset driving torque distribution ratio may be equal to a quotient of a maximum driving torque that can be provided by the front driving motor and a maximum driving torque that can be provided by the rear driving motor.
If the intention of the vehicle is the driving intention, the current required target driving torque can be converted according to the displacement of the accelerator pedal which is pressed by the driver and the corresponding relation between the displacement and the driving torque, and then the driving torques of the front driving motor and the rear driving motor are respectively and accurately distributed according to the target driving torque, the maximum driving torque of the front driving motor and the rear driving motor and the preset driving torque distribution proportion.
For example: the ratio of the maximum driving torques of the front driving motor and the rear driving motor is 3:7, and the preset driving torque distribution ratio may be equal to 3:7, the driving torque allocated by the front driving motor=the target driving torque is 3/10, and the driving torque allocated by the rear driving motor=the target driving torque is 7/10.
In some embodiments, the obtaining the stability factor of the vehicle if the vehicle is intended to be a braking intention comprises:
acquiring a slip rate, a longitudinal deceleration, a lateral acceleration, a yaw rate and a vehicle stability control status flag of the vehicle if the vehicle is intended to be braked;
The vehicle stability control status flag may be 0 or 1 to indicate that the vehicle is in a steady state or an unsteady state.
And carrying out weighted summation on the slip rate, the longitudinal deceleration, the transverse acceleration, the yaw rate and the vehicle stability control state marks of the vehicle to obtain the stability factor of the vehicle. The slip rate, longitudinal deceleration, lateral acceleration, yaw rate, and the weight coefficient of the vehicle stability control status flag may be different, and the sum of the weight coefficients may be equal to 1.
The slip ratio of the vehicle is essentially the slip ratio of each wheel of the vehicle, which is calculated from the wheel speed signal of each wheel and a reference vehicle speed calculated based on the wheel speed of the wheel and the acceleration/deceleration of the vehicle; of course, when only single-axle braking (i.e., only front drive motor or rear drive motor) is performed, the whole vehicle controller can simplify calculation of the slip ratio with reference to the axle speed of the non-braking axle, i.e., in the slip ratio calculation process, the above-mentioned reference vehicle speed is made to be directly equal to the axle speed of the non-driving axle or the wheel speed of the non-driving axle, thereby improving the calculation accuracy of the slip ratio of the vehicle.
And if the vehicle is intended to be braked, acquiring the slip rate, the longitudinal deceleration, the transverse acceleration, the yaw rate and the vehicle stability control state marks of the vehicle, and then carrying out weighted summation on the slip rate, the longitudinal deceleration, the transverse acceleration, the yaw rate and the vehicle stability control state marks of the vehicle to accurately acquire the stability factor of the vehicle.
In some embodiments, the controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle includes:
if the stability factor is smaller than a first preset value, acquiring a currently required target braking torque;
calculating the sum of maximum braking torques of front and rear driving motors of the vehicle;
The sum of the maximum braking torque is equal to the sum of the maximum braking torque of the front driving motor and the maximum braking torque of the rear driving motor.
If the sum of the maximum braking torques is greater than or equal to the target braking torque, distributing the target braking torque to the front and rear driving motors according to a preset braking torque distribution ratio so as to perform electric braking;
If the sum of the maximum braking torques is smaller than the target braking torque, calculating a braking torque difference between the target braking torque and the maximum braking torque; and then respectively distributing the sum of the maximum braking torques to the front and rear driving motors according to a preset braking torque distribution ratio so as to perform electric braking, and distributing the braking torque difference to a vehicle braking system so as to perform hydraulic braking.
And the sum of the maximum braking torques is partially distributed to the front driving motor according to the preset braking torque distribution proportion, the other part is distributed to the rear driving motor, and the braking torque difference is distributed to a vehicle braking system, so that electric braking and hydraulic braking are simultaneously used, the target deceleration required by a single pedal mode can be ensured, and the stability of wheels under hydraulic braking is better, so that the stability of the vehicle is also considered.
If the stability factor is smaller than a first preset value, the vehicle is in a steady state at present, and unsteady states such as slipping, yaw, understeer, wheel locking, rollover and the like do not occur, so that the currently required target braking torque can be converted according to the displacement of the released accelerator pedal in a single pedal mode, and then if the sum of the maximum braking torques is larger than or equal to the target braking torque, the target braking torque is distributed to front and rear driving motors according to a preset braking torque distribution ratio, and only electric braking is performed; if the sum of the maximum braking torques is smaller than the target braking torque, a braking torque difference between the target braking torque and the maximum braking torque is calculated, and then the sum of the maximum braking torques is still distributed to the front and rear driving motors according to the preset braking torque distribution proportion so as to perform electric braking, and the braking torque difference is distributed to a vehicle braking system so as to perform hydraulic braking, so that when the electric braking capacity of the front and rear braking motors is insufficient, the vehicle braking system is used for performing hydraulic braking compensation.
In some embodiments, the electrically and/or hydraulically braking according to the stability factor of the vehicle comprises:
acquiring a first preset relation between a braking torque reduction value and the stability factor in the process that the stability factor is gradually increased from less than a first preset value to more than a second preset value;
a stability factor less than the first preset value indicates that the vehicle is in steady state and a stability factor greater than the second preset value indicates that the vehicle is in unsteady state, although the first preset value may be equal to or less than the second preset value.
The process of gradually increasing the stability factor from less than the first preset value to greater than the second preset value is the process of changing the vehicle from steady state to unsteady state.
Determining a brake torque reduction value corresponding to the current stability factor according to the first preset relation;
In distributing the currently required target braking torque to the front and rear drive motors and the vehicle braking system, the braking torque distributed to the front and rear drive motors is reduced by the braking torque reduction value, and the braking torque distributed to the vehicle braking system is increased by the braking torque reduction value.
The reduction of the braking torque allocated to the front and rear driving motors means that the braking torque of the front and rear driving motors is reduced by the braking torque reduction value in total, and of course, the braking torque of the front and rear driving motors is reduced by the braking torque reduction value, and the braking torque of the front and rear driving motors can be reduced according to the preset braking torque allocation based on the braking torque reduction value.
After a first preset relation between the braking torque reduction value and the stability factor is obtained, the braking torque reduction value corresponding to the current stability factor can be determined according to the first preset relation, namely, the braking torque reduction value corresponding to the stability factor at each moment is determined, then in the process of distributing the currently required target braking torque to the front and rear driving motors and the vehicle braking system, the braking torque originally distributed to the front and rear driving motors at each moment can be reduced by the braking torque reduction value, and meanwhile, the braking torque originally distributed to the vehicle braking system at each moment is increased by the braking torque reduction value, so that when the vehicle changes from a steady state to an unsteady state, the vehicle can be controlled to transit from electric braking to hydraulic braking at a proper time according to the calculated change of the stability factor, and the accurate judgment of four-wheel dynamic state and the four-wheel independent hydraulic modulation are provided by the electric control braking controller, so that the vehicle is gradually restored to the steady state.
In some embodiments, the electrically and/or hydraulically braking according to the stability factor of the vehicle comprises:
Acquiring a second preset relation between a brake torque increasing value and the stability factor in the process that the stability factor gradually decreases from a second preset value to a first preset value;
a stability factor less than the first preset value indicates that the vehicle is in steady state and a stability factor greater than the second preset value indicates that the vehicle is in unsteady state, although the first preset value may be equal to or less than the second preset value.
The process of gradually decreasing the stability factor from greater than the second preset value to less than the first preset value is that the vehicle changes from unsteady state to steady state.
Determining a braking torque increasing value corresponding to the current stability factor according to the second preset relation;
In the process of distributing the target braking torque to the front and rear drive motors and the vehicle braking system, the braking torque distributed to the front and rear drive motors is increased by the braking torque increasing value, and the braking torque distributed to the vehicle braking system is decreased by the braking torque increasing value.
The step of increasing the braking torque distributed to the front and rear driving motors by the braking torque increasing value means that the braking torque of the front and rear driving motors is increased by the braking torque increasing value in total, and of course, the braking torque of the front and rear driving motors is increased by the braking torque increasing value according to the preset braking torque distribution.
After a second preset relation between the braking torque increasing value and the stability factor is obtained, the braking torque increasing value corresponding to the current stability factor can be determined according to the second preset relation, namely, the braking torque increasing value corresponding to the stability factor at each moment is determined, then in the process of distributing the currently required target braking torque to the front and rear driving motors and the vehicle braking system, the braking torque originally distributed to the front and rear driving motors at each moment can be increased by the braking torque increasing value, and meanwhile, the braking torque originally distributed to the vehicle braking system at each moment is reduced by the braking torque increasing value.
In some embodiments, the build-up speed of the hydraulic brake matches the exit speed of the electric brake;
Because the hydraulic braking needs to be supplemented, and the electric braking is not needed, the hydraulic braking is generally slower than the electric braking, so the exiting speed of the electric braking cannot be higher than the pressure building speed of the hydraulic braking, the hydraulic braking can be supplemented in time in the exiting process of the electric braking, and the situation that the vehicle cannot reach the expected target deceleration due to the fact that the hydraulic braking is not supplemented due to the fact that the exiting speed of the electric braking is too fast is avoided, and therefore the running safety of the vehicle is affected.
If the hydraulic brake fails, the target deceleration corresponding to the single pedal mode increases.
If the hydraulic brake fails, the target deceleration corresponding to the single pedal mode is increased, namely the absolute value of the target deceleration in the single pedal mode is reduced, so that the absolute value of the required target deceleration is small, and the vehicle can run more safely. Of course, the target deceleration is negative and can be increased up to zero at maximum.
The technical scheme of the present disclosure will be described in further detail below with reference to fig. 2:
The vehicle control system in the single pedal mode of the present disclosure mainly includes: the vehicle control system comprises an accelerator pedal 1, a whole vehicle controller 2, a front motor controller 3, a rear motor controller 4, an electric control brake controller 5, a brake pedal 6, a vehicle transmission system 7, a brake 8, tires 9, a road surface 10, a wheel speed sensor 11, an inertia sensor 12, a driving auxiliary controller 13 and a human-computer interaction system 14.
The accelerator pedal 1 is used for supporting a driver to input driving intention through the accelerator pedal, and a pedal stroke sensor carried by the accelerator pedal can detect the input of the driver;
The vehicle controller 2 contains an electronic control unit, is directly connected with an accelerator pedal travel sensor through a hard wire, and analyzes the input of a driver into target torque by analyzing the input of the driver to the accelerator pedal and a set target torque Mickey diagram. According to the front and rear motor capability provided by the front and rear motor controllers and the capability of the electric control brake controller, driving or braking target torque distribution of a driver is carried out, and the driving or braking target torque distribution is sent to the front and rear motor controllers and the electric control brake controller through a whole vehicle bus to be respectively executed;
The front motor controller 3 is internally provided with an electric control unit and is used for controlling the front driving motor, sending the execution capacity of the front driving motor to the whole vehicle controller 2 through a whole vehicle bus, receiving a control target sent by the whole vehicle controller 2 through the bus and driving the front driving motor to execute;
the rear motor controller 4 is internally provided with an electric control unit and is used for controlling the rear driving motor, sending the execution capacity of the rear driving motor to the whole vehicle controller through a whole vehicle bus, receiving a control target sent by the whole vehicle controller through the bus and driving the rear driving motor to execute;
The electric control brake controller 5 is used for controlling the brake system, sending the state of the electric control brake system to the whole vehicle controller 2 through the whole vehicle bus, providing other information such as wheel speed and the like required by the whole vehicle controller 2, receiving a control target sent by the whole vehicle controller 2, and executing to realize brake hydraulic establishment; the hydraulic model of the whole vehicle is contained in the hydraulic model, so that the pressure of four-wheel cylinders can be accurately estimated, and the estimated pressure value is sent to the whole vehicle controller for use;
the brake pedal 6 is used for supporting a driver to input driving intention through the brake pedal, and a sensor carried by the brake pedal can support detecting the input of the driver;
The vehicle transmission system 7 is used for supporting power transmission of a vehicle;
The brake 8 is used for realizing the establishment of brake hydraulic pressure;
The tyre 9 and the road surface 10 are used for realizing the driving and braking effects of the vehicle;
The wheel speed sensor 11 is connected with a controller of the whole vehicle through a hard wire, and the wheel speed information of each wheel is obtained through wheel speed pulse calculation;
The inertia sensor 12 supports the emission of transverse and longitudinal acceleration and yaw rate on a bus of the whole vehicle for the controller of the whole vehicle;
the driving auxiliary controller 13 contains an electric control unit and is used for calculating and controlling the driving auxiliary function of the vehicle, and sending the driving and braking intention of the vehicle to the whole vehicle controller for execution through a whole vehicle bus;
The man-machine interaction system 14 is used for supporting the man-machine interaction between a user and a vehicle;
And the whole vehicle controller respectively distributes the analyzed driving or braking targets of the driver to the front and rear driving motors and the electric control braking controller for execution according to the execution capacities of the front and rear driving motors and the electric control braking controller. For the driving torque, the whole vehicle controller dynamically distributes the driving torque of the front and rear driving motors according to the execution capacity of the front and rear driving motors and combining the situations of front and rear axle slipping, understeer and the like of the vehicle; for the distribution of braking torque, the consideration of vehicle stability is added, and the front and rear electric braking distribution mainly comprises two parts, namely, the consideration of front and rear braking hydraulic moment is needed to be synthesized, and the problem that the rear wheels are locked before the front wheels due to the overlarge braking force of the rear axle is avoided; secondly, when the vehicle changes from a steady state to an unsteady state, dynamic distribution adjustment of electrohydraulic braking is carried out according to the change of the stability factor;
And when the vehicle is in a steady state, the whole vehicle controller distributes the braking targets of the driver to the front and rear driving motors for execution respectively if the braking capability of the front and rear driving motors is higher than the braking targets of the driver, and sends the deviation between the electric braking capability and the braking targets of the driver to the electric control braking controller for execution if the braking capability of the front and rear driving motors is lower than the braking targets of the driver.
When the vehicle changes from steady state to unsteady state, the whole vehicle controller timely transits electric braking to hydraulic braking according to the calculated change of the stability factor, and the electric control braking controller restores the vehicle to steady state through accurate judgment of four-wheel dynamic and independent hydraulic modulation of four wheels;
When the vehicle changes from an unsteady state to a steady state, the whole vehicle controller timely transits the hydraulic braking to the electric braking according to the change of the stability factor, improves the utilization rate of the electric braking and contributes to the endurance mileage;
In the process of carrying out electrohydraulic braking distribution by the whole vehicle controller, the exiting speed of the electric braking needs to consider the establishing speed of the hydraulic braking, so that deceleration loss or irregularity caused by inconsistent coordination of the exiting speed and the establishing speed of the hydraulic braking is avoided;
The stability factor in the whole vehicle controller is calculated by weighting and calculating the wheel slip rate, the longitudinal deceleration of the vehicle, the transverse acceleration of the vehicle, the yaw rate of the vehicle, the braking intention of a driver, the stability control state mark of the vehicle and the like. For calculating the slip rate, the slip rate can be calculated by a controller directly connected with the wheel speed sensor according to the detected wheel speed signal and then sent to the whole vehicle controller through a bus, or the whole vehicle controller can be automatically calculated after receiving the wheel speed signal through the bus, and when the wheel speed signal is only braked by a single shaft, the whole vehicle controller can simplify and calculate the slip rate by referring to the shaft speed of a non-braked shaft. The transverse and longitudinal acceleration and yaw rate of the vehicle are measured by the sensor and then sent out through the bus of the whole vehicle. The driver's braking intention needs to comprehensively consider the braking intention input by the driver through the brake pedal and the accelerator pedal. The state mark of the vehicle stability control is provided by a vehicle stability control system and is usually realized by an electric control brake controller;
preferably, in the vehicle control system in the single pedal mode, when the electric control brake controller fails, the single pedal function is designed to be processed in a degradation way (namely, the target deceleration corresponding to the single pedal mode is increased), and the aim is to avoid the loss or instability of the vehicle deceleration caused by the absence of the electric control brake controller;
Preferably, the communication of the controller in the vehicle control system in the single pedal mode can adopt a redundant communication design, so that the robustness of the system is improved;
Preferably, the host for calculating the stability factor and the vehicle control method in the single pedal mode may be a vehicle controller, or may be another suitable controller of the vehicle.
And when the single pedal brakes, the whole vehicle controller decomposes the analyzed braking targets of the driver to the front motor controller, the rear motor controller and the electric control braking controller for execution respectively. When the front and rear electric braking torques are distributed, the braking hydraulic moments of the front and rear axles need to be comprehensively considered, so that the rear wheels are prevented from locking before the front wheels due to overlarge braking force of the rear axles; and secondly, adding stability factors when electrohydraulic braking is distributed, when the vehicle is in a steady state, if the braking capacity of the front motor and the rear motor is higher than the braking target of a driver, distributing the braking target of the driver to the front motor and the rear motor for execution by the whole vehicle controller, and if the braking capacity of the front motor and the rear motor is lower than the braking target of the driver, distributing the deviation between the electric braking capacity and the braking target of the driver to the electric control braking controller for execution by the whole vehicle controller, and maintaining constant target deceleration. When the vehicle changes from steady state to unsteady state, the whole vehicle controller transits the brake torque distribution from hydraulic braking to electric braking according to the calculation of the stability factor, accurately judges four-wheel dynamic state and independently controls four-wheel hydraulic pressure through the electric control brake controller, controls the vehicle to restore to steady state, and when the vehicle restores from unsteady state to steady state, the whole vehicle controller transits the brake torque distribution from hydraulic braking to electric braking, improves the utilization rate of electric braking and contributes to the endurance mileage.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present disclosure is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present disclosure. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required by the present disclosure.
The foregoing is a description of embodiments of the method, and the following further describes embodiments of the present disclosure through examples of apparatus.
Fig. 3 shows a block diagram of a vehicle control apparatus 300 in a single pedal mode according to an embodiment of the present disclosure. As shown in fig. 3, the apparatus 300 includes:
a determination module 310 for determining a vehicle intention in the single pedal mode;
a distribution module 320, configured to, if the vehicle is intended to be a driving intention, distribute driving torques to front and rear driving motors of the vehicle according to respective maximum driving torques of the front and rear driving motors;
An obtaining module 330, configured to obtain a stability factor of the vehicle if the vehicle intends to be a braking intention, where the stability factor is used to characterize whether the vehicle is in a steady state or an unsteady state;
A control module 340 for controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the described modules may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
The present disclosure also provides, in accordance with embodiments of the present disclosure, an electronic device and a non-transitory computer-readable storage medium storing computer instructions.
Fig. 4 shows a schematic block diagram of an electronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
The device 800 comprises a computing unit 801 that may perform various suitable actions and processes according to computer programs stored in a Read Only Memory (ROM) 802 or loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
Various components in device 800 are connected to I/O interface 805, including: an input unit 806 such as a keyboard, mouse, etc.; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 801 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 800 via ROM 802 and/or communication unit 809. When a computer program is loaded into RAM 803 and executed by computing unit 801, one or more steps of method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the method 100 by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (10)
1. A method of controlling a vehicle in a single pedal mode, comprising:
determining a vehicle intent in the single pedal mode;
if the intention of the vehicle is a driving intention, respectively distributing driving torques to the front and rear driving motors according to the maximum driving torques of the front and rear driving motors of the vehicle;
If the vehicle is intended to be braked, acquiring a stability factor of the vehicle, wherein the stability factor is used for representing whether the vehicle is in a steady state or an unsteady state;
and controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle.
2. The method according to claim 1, wherein if the vehicle is intended to be a driving intention, the driving torque is allocated to the front and rear driving motors, respectively, according to the respective maximum driving torques of the front and rear driving motors of the vehicle, comprising:
if the vehicle intention is a driving intention, acquiring a target driving torque required currently;
and respectively distributing driving torques for the front and rear driving motors according to the target driving torque, the respective maximum driving torques of the front and rear driving motors and a preset driving torque distribution proportion.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The method for obtaining the stability factor of the vehicle if the vehicle is intended to be braked comprises the following steps:
acquiring a slip rate, a longitudinal deceleration, a lateral acceleration, a yaw rate and a vehicle stability control status flag of the vehicle if the vehicle is intended to be braked;
And carrying out weighted summation on the slip rate, the longitudinal deceleration, the transverse acceleration, the yaw rate and the vehicle stability control state marks of the vehicle to obtain the stability factor of the vehicle.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
The controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle comprises:
if the stability factor is smaller than a first preset value, acquiring a currently required target braking torque;
calculating the sum of maximum braking torques of front and rear driving motors of the vehicle;
If the sum of the maximum braking torques is greater than or equal to the target braking torque, distributing the target braking torque to the front and rear driving motors according to a preset braking torque distribution ratio so as to perform electric braking;
If the sum of the maximum braking torques is smaller than the target braking torque, calculating a braking torque difference between the target braking torque and the maximum braking torque;
And distributing the sum of the maximum braking torques to the front and rear driving motors according to the preset braking torque distribution proportion so as to perform electric braking, and distributing the braking torque difference to a vehicle braking system so as to perform hydraulic braking.
5. The method of claim 1, wherein the step of determining the position of the substrate comprises,
Said electrically and/or hydraulically braking according to the stability factor of the vehicle, comprising:
acquiring a first preset relation between a braking torque reduction value and the stability factor in the process that the stability factor is gradually increased from less than a first preset value to more than a second preset value;
determining a brake torque reduction value corresponding to the current stability factor according to the first preset relation;
In distributing the currently required target braking torque to the front and rear drive motors and the vehicle braking system, the braking torque distributed to the front and rear drive motors is reduced by the braking torque reduction value, and the braking torque distributed to the vehicle braking system is increased by the braking torque reduction value.
6. The method of claim 1, wherein the step of determining the position of the substrate comprises,
Said electrically and/or hydraulically braking according to the stability factor of the vehicle, comprising:
Acquiring a second preset relation between a brake torque increasing value and the stability factor in the process that the stability factor gradually decreases from a second preset value to a first preset value;
determining a braking torque increasing value corresponding to the current stability factor according to the second preset relation;
In the process of distributing the target braking torque to the front and rear drive motors and the vehicle braking system, the braking torque distributed to the front and rear drive motors is increased by the braking torque increasing value, and the braking torque distributed to the vehicle braking system is decreased by the braking torque increasing value.
7. The method according to any one of claim 1 to 6, wherein,
The build-up speed of the hydraulic brake is matched with the exit speed of the electric brake;
if the hydraulic brake fails, the target deceleration corresponding to the single pedal mode increases.
8. A vehicle control apparatus in a single pedal mode, characterized by comprising:
A determination module for determining a vehicle intention in the single pedal mode;
The distribution module is used for distributing driving torques to the front and rear driving motors according to the respective maximum driving torques of the front and rear driving motors of the vehicle if the vehicle is intended to be the driving intention;
an acquisition module for acquiring a stability factor of the vehicle if the vehicle is intended to be a braking intention, wherein the stability factor is used for representing whether the vehicle is in a steady state or an unsteady state;
and the control module is used for controlling the vehicle to perform electric braking and/or hydraulic braking according to the stability factor of the vehicle.
9. An electronic device, comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410293944.6A CN118182166A (en) | 2024-03-14 | 2024-03-14 | Vehicle control method, device and equipment in single pedal mode and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410293944.6A CN118182166A (en) | 2024-03-14 | 2024-03-14 | Vehicle control method, device and equipment in single pedal mode and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118182166A true CN118182166A (en) | 2024-06-14 |
Family
ID=91397657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410293944.6A Pending CN118182166A (en) | 2024-03-14 | 2024-03-14 | Vehicle control method, device and equipment in single pedal mode and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118182166A (en) |
-
2024
- 2024-03-14 CN CN202410293944.6A patent/CN118182166A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12017642B2 (en) | Method and apparatus for front and rear driving torque distribution of vehicle, and vehicle | |
| WO2021027286A1 (en) | Method for controlling stability of vehicle, and device | |
| CN108025651A (en) | Electric vehicle with the braking system and method for braking system, controller and computer program | |
| US8485612B2 (en) | Method and system for controlling vehicle braking | |
| US20130297164A1 (en) | System and method for controlling a brake system in a vehicle | |
| CN109733400B (en) | Method, device and apparatus for distributing driving torque in a vehicle | |
| CN106828504A (en) | A kind of four-wheel drive system and its control method for automobile | |
| CN116461349A (en) | Vehicle torque control method and device, storage medium and electronic device | |
| CN115742756A (en) | Vehicle control method, device, equipment and medium based on traction control system | |
| KR20200047961A (en) | Integrated control system for vehicle | |
| CN113830075B (en) | Vehicle stability control method, device, electronic device, and medium | |
| CN118182166A (en) | Vehicle control method, device and equipment in single pedal mode and readable storage medium | |
| CN115489323B (en) | Braking energy recovery method and device and vehicle | |
| CN108657174B (en) | Multi-axis distributed driving unmanned vehicle control method and system | |
| WO2023029711A1 (en) | Chassis domain control method under high-speed working condition, and related apparatus | |
| CN115923738B (en) | Downhill control method, device, equipment and storage medium | |
| CN118343098A (en) | Vehicle control method and device | |
| CN117261848A (en) | Method for controlling curve braking side-tipping stability in whole vehicle ramp and related equipment | |
| WO2023123176A1 (en) | Vehicle control method, vehicle control device and control system | |
| CN118323069B (en) | Vehicle control method, device, equipment and product | |
| CN115071440B (en) | Additional yaw torque distribution method and device based on output capacity of hub motor | |
| JP7574319B2 (en) | Vehicle control device and vehicle control method | |
| US20240025267A1 (en) | Vehicle motion management system and motion support device control system | |
| CN118494200A (en) | Vehicle torque limit value determining method and device, electronic equipment and vehicle | |
| CN115959113A (en) | Vehicle hill start control method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |