CN109094536B - Vehicle control method and device and vehicle - Google Patents

Vehicle control method and device and vehicle Download PDF

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Publication number
CN109094536B
CN109094536B CN201810985461.7A CN201810985461A CN109094536B CN 109094536 B CN109094536 B CN 109094536B CN 201810985461 A CN201810985461 A CN 201810985461A CN 109094536 B CN109094536 B CN 109094536B
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value
vehicle
preset
change rate
vehicle speed
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CN109094536A (en
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冯春涛
张成国
赵凤祥
杜志军
郎明华
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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    • 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
    • B60T7/00—Brake-action initiating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention discloses a vehicle control method and device and a vehicle. The vehicle control method includes: acquiring the speed change rate of the vehicle; comparing the vehicle speed change rate with a preset vehicle speed change rate value; if the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value, controlling the vehicle to enter a brake priority mode; the brake priority mode is that when a brake signal is received under the condition that the accelerator has an opening degree, the brake signal is preferentially responded. According to the vehicle control method provided by the embodiment, the brake signal is executed only when the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value by judging the relation between the vehicle speed change rate and the vehicle speed change rate preset value, so that the influence of the vehicle on normal running caused by the accidental brake signal can be avoided, and the safety of a driver and the vehicle can be ensured.

Description

Vehicle control method and device and vehicle
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to a vehicle control method and device and a vehicle.
Background
At present, commercial vehicles are provided with a brake switch, and an ECU responds to a brake signal provided by the brake switch to control an engine of the vehicle to stop fuel injection, stop cruising and the like.
However, in the prior art, due to the quality and the installation position of the brake switch, during the running of the vehicle, the brake signal setting often occurs under the condition that a driver does not step on the brake, so that the occasional brake signal occurs, even if the accelerator opening degree exists, the ECU usually responds to the brake signal preferentially, so that the accelerator is temporarily disabled, and the vehicle loses power.
In the case that the driver does not intend to brake, the occasional brake signal may also have a certain influence on driving. If the vehicle is running at a high speed at the moment, particularly under working conditions of overtaking or climbing, occasional braking signals cause the vehicle to be incapable of running according to the preset of a driver, so that overtaking or climbing failure is caused, and the safety of the driver and the vehicle can be seriously affected.
Disclosure of Invention
The invention provides a vehicle control method and device and a vehicle, which are used for avoiding influence of accidental brake signals on driving of the vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
acquiring the speed change rate of the vehicle;
comparing the vehicle speed change rate with a preset vehicle speed change rate value;
if the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value, controlling the vehicle to enter a brake priority mode; the brake priority mode is that when a brake signal is received under the condition that the accelerator has an opening degree, the brake signal is preferentially responded.
Further, after comparing the vehicle speed change rate with the preset vehicle speed change rate value, the method further includes:
if the vehicle speed change rate is smaller than the preset vehicle speed change rate value, controlling the vehicle to enter an accelerator priority mode; the accelerator priority mode is that when the accelerator has an opening degree and receives a brake signal, the brake signal is ignored.
Further, the controlling the vehicle to enter a brake override mode includes:
controlling an engine of the vehicle to inject fuel at a reference fuel injection rate; wherein the reference injection rate is a minimum injection rate of the engine.
Further, if the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value, controlling the vehicle to enter a brake priority mode, comprising:
acquiring a rotating speed value, a vehicle speed value and an accelerator opening value of the vehicle;
judging the magnitude relation between the rotating speed value and a rotating speed preset value, the magnitude relation between the vehicle speed value and a vehicle speed preset value and the magnitude relation between the accelerator opening value and an accelerator opening preset value;
and if the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value, the rotating speed value is greater than the rotating speed preset value, the vehicle speed value is greater than the vehicle speed preset value, and the accelerator opening value is greater than the accelerator opening preset value, controlling the vehicle to enter a brake priority mode.
Further, if the vehicle speed change rate is smaller than the preset vehicle speed change rate value, controlling the vehicle to enter an accelerator priority mode, comprising:
acquiring a rotating speed value, a speed value and an accelerator opening value of the vehicle;
judging the magnitude relation between the rotating speed value and a rotating speed preset value, the magnitude relation between the vehicle speed value and a vehicle speed preset value and the magnitude relation between the accelerator opening value and an accelerator opening preset value;
and if the vehicle speed change rate is smaller than the preset vehicle speed change rate value, and the rotating speed value is smaller than or equal to the preset rotating speed value, the vehicle speed value is smaller than or equal to the preset vehicle speed value, or the accelerator opening value is smaller than or equal to the preset accelerator opening value, controlling the vehicle to enter an accelerator priority mode.
Further, the acquiring a vehicle speed change rate of the vehicle includes:
acquiring a first speed value of the vehicle at a first moment and a second speed value of the vehicle at a second moment; wherein the second time is later than the first time;
calculating a speed difference between the second speed value and the first speed value and a time interval between the first time and the second time;
and determining the speed change rate according to the ratio of the speed difference to the time interval.
Further, the value of the preset vehicle speed change rate value is S, wherein S is more than or equal to 4km/S2 and less than or equal to 5 km/S2.
Further, the value of the preset rotating speed value is R, wherein R is less than or equal to 500R/min; the preset vehicle speed value is V, wherein V is more than or equal to 0 km/s; the preset value of the accelerator opening is W, wherein W is more than or equal to 0.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the acquisition module is used for acquiring the speed change rate of the vehicle;
the comparison module is used for comparing the vehicle speed change rate with a preset vehicle speed change rate value;
the control module is used for controlling the vehicle to enter a brake priority mode when the vehicle speed change rate is greater than or equal to the preset vehicle speed change rate value; the brake priority mode is that when a brake signal is received under the condition that the accelerator has an opening degree, the brake signal is preferentially responded.
In a third aspect, an embodiment of the present invention further provides a vehicle, which includes a memory, a processor, and a computer program stored in the memory and executed by the processor, and when the processor executes the computer program, the vehicle control method according to any one of the first aspect is implemented.
According to the vehicle control method provided by the embodiment of the invention, the brake signal is executed only when the vehicle speed change rate is greater than or equal to the preset vehicle speed change rate value by judging the relation between the vehicle speed change rate and the preset vehicle speed change rate value, so that the influence of the accidental brake signal on the normal running of the vehicle can be avoided, and the safety of a driver and the vehicle can be ensured.
Drawings
FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of another vehicle control method provided by an embodiment of the present invention;
FIG. 3 is a flow chart of yet another vehicle control method provided by an embodiment of the present invention;
FIG. 4 is a flowchart of a further vehicle control method provided by an embodiment of the present invention;
FIG. 5 is a flow chart of obtaining a rate of change of vehicle speed provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention. Specifically, referring to fig. 1, the method includes:
and step 10, acquiring the speed change rate of the vehicle.
Specifically, when the braking operation is performed, the vehicle is generally changed from a state in which the travel speed is large to a state in which the travel speed is small, and the rate of change in the vehicle speed is generally large. The speed of the vehicle may also change when no braking operation is performed, and a rate of change of the vehicle speed is generated; however, the rate of change of the vehicle speed in this case is usually smaller than that in braking, and the electronic control unit can determine whether the vehicle is in a braking state or not based on the magnitude of the rate of change of the vehicle speed.
And step 20, comparing the vehicle speed change rate with a preset vehicle speed change rate value.
Specifically, the preset value of the vehicle speed change rate is a standard for evaluating whether the vehicle is actually in a braking state, and can be determined according to specific vehicle models, loading conditions, road conditions and the like. By comparing the vehicle speed change rate preset value with the vehicle speed change rate preset value, whether the current vehicle speed change rate reaches the vehicle speed change rate preset value or not can be judged, and whether the vehicle is really in a braking state or not is further determined.
Step 30, if the vehicle speed change rate is larger than or equal to the preset vehicle speed change rate value, controlling the vehicle to enter a brake priority mode; the brake priority mode is that when a brake signal is received under the condition that the accelerator has an opening degree, the brake signal is responded preferentially.
It can be understood that, in general, the driver does not step on the brake and the accelerator at the same time, therefore, in the case of the accelerator being opened, if a brake signal appears, the brake signal is often an accidental brake signal rather than the actual brake intended by the driver. Although the occasional brake signal may affect the vehicle speed, the occasional brake signal does not cause a rapid change in the vehicle speed. Thus, by setting the appropriate rate of change of vehicle speed preset value, the rate of change of vehicle speed may be greater than or equal to the rate of change of vehicle speed preset value only when the driver is actually braking. By using whether the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value or not, the influence of accidental brake signals on the normal running of a vehicle engine in the normal running process of the vehicle can be avoided.
According to the vehicle control method provided by the embodiment, the brake signal is executed only when the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value by judging the relation between the vehicle speed change rate and the vehicle speed change rate preset value, so that the influence of the vehicle on normal running caused by the accidental brake signal can be avoided, and the safety of a driver and the vehicle can be ensured.
Fig. 2 is a flowchart of another vehicle control method according to an embodiment of the present invention. Optionally, referring to fig. 2, after comparing the vehicle speed change rate with the vehicle speed change rate preset value in step 20, the method further includes: step 40, if the vehicle speed change rate is smaller than the preset vehicle speed change rate value, controlling the vehicle to enter an accelerator priority mode; the accelerator priority mode is that when the brake signal is received under the condition that the accelerator has the opening degree, the brake signal is ignored.
Specifically, in the accelerator priority mode, the electronic control unit may ignore the brake signal and continue to control the accelerator opening of the engine of the vehicle, so as to ensure that the engine can operate according to the accelerator opening applied by the driver, and the vehicle can run according to the expectation of the driver. Generally, the braking priority of the vehicle is higher than the accelerator priority, but by setting the accelerator priority mode, the accelerator priority of the vehicle can be higher than the braking priority in some cases to prevent accidental brake signals from interfering with the fuel injection rate of the accelerator, which is important for the safety of drivers and vehicles, especially when the vehicle is in special working conditions such as overtaking or climbing.
Optionally, controlling the vehicle to enter a brake override mode comprises: controlling an engine of the vehicle to inject fuel at a reference fuel injection rate; wherein the reference injection rate is a minimum injection rate of the engine.
Specifically, in the brake priority mode, the electronic control unit receives the brake signal and then preferentially controls the engine to inject fuel at the reference fuel injection rate. At this time, even if the accelerator is kept at a larger opening, the engine does not spray oil according to the opening of the accelerator, and the design aims to take a vehicle with common accelerator and brake on foot pedals at present as an example, if the accelerator pedal of the vehicle breaks down, the engine still keeps a certain opening even if a driver does not step on the accelerator, and the engine still keeps a larger oil spraying rate. It should be noted that the reference fuel injection rate can only maintain the engine not to stall under no load, for example, when the engine is started but the vehicle is not running, the fuel injection rate of the engine at this time can be considered as the reference fuel injection rate.
Fig. 3 is a flowchart of another vehicle control method according to an embodiment of the present invention. Alternatively, referring to fig. 1 and 3, step 30, if the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value, controlling the vehicle to enter the brake priority mode includes:
and 31, acquiring a rotating speed value, a vehicle speed value and an accelerator opening value of the vehicle.
Specifically, since the invention avoids the situation that the electronic control unit executes accidental brake signals during the running process of the vehicle, the running state of the vehicle can be determined by utilizing various conditions through acquiring the rotating speed value, the vehicle speed value and the accelerator opening value of the vehicle, so as to improve the identification capability of the accidental brake signals. Alternatively, step 31 may be performed simultaneously with step 10, before, after, or after step 10.
And step 32, judging the relationship between the rotating speed value and the rotating speed preset value, the relationship between the vehicle speed value and the vehicle speed preset value and the relationship between the accelerator opening value and the accelerator opening preset value.
Specifically, the electronic control unit may simultaneously determine a magnitude relationship between the rotation speed value and the rotation speed preset value, a magnitude relationship between the vehicle speed value and the vehicle speed preset value, and a magnitude relationship between the accelerator opening value and the accelerator opening preset value, or may perform these operations in a certain order. Alternatively, step 32 may also be performed simultaneously with step 20, or before or after step 20, which is not particularly limited in this embodiment.
And step 33, if the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value, the rotating speed value is greater than the rotating speed preset value, the vehicle speed value is greater than the vehicle speed preset value, and the accelerator opening value is greater than the accelerator opening preset value, controlling the vehicle to enter a brake priority mode.
Specifically, if the rotation speed value is lower than the rotation speed preset value, or the vehicle speed value is lower than the vehicle speed preset value, or the accelerator opening value is lower than the accelerator opening preset value, in this case, even if it is detected that the rate of change of the vehicle speed is greater than or equal to the vehicle speed change rate preset value, the vehicle does not enter the brake priority mode. Compared with the step 30, 4 conditions of the rotating speed value, the vehicle speed value, the accelerator opening degree value and the vehicle speed change rate of the vehicle are used as judgment bases, whether the vehicle is in a brake priority mode or not can be determined more accurately, the misjudgment probability of accidental brake signals is reduced, and the working efficiency of the electronic control unit is improved.
Fig. 4 is a flowchart of a further vehicle control method according to an embodiment of the present invention. Alternatively, referring to fig. 2 and 4, if the vehicle speed change rate is smaller than the vehicle speed change rate preset value, step 40, controlling the vehicle to enter the accelerator priority mode includes:
and 31, acquiring a rotating speed value, a vehicle speed value and an accelerator opening value of the vehicle.
And step 32, judging the relationship between the rotating speed value and the rotating speed preset value, the relationship between the vehicle speed value and the vehicle speed preset value and the relationship between the accelerator opening value and the accelerator opening preset value.
And 43, if the vehicle speed change rate is smaller than the preset vehicle speed change rate value, the rotating speed value is smaller than or equal to the preset rotating speed value, the vehicle speed value is smaller than or equal to the preset vehicle speed value, or the accelerator opening value is smaller than or equal to the preset accelerator opening value, controlling the vehicle to enter an accelerator priority mode.
Specifically, compared with the step 40, 4 conditions of the rotation speed value, the vehicle speed value, the accelerator opening value and the vehicle speed change rate of the vehicle are simultaneously used as judgment bases, when any of the 4 conditions is smaller than or equal to the corresponding preset value, the vehicle can be determined to be in an accelerator priority mode, at the moment, even if accidental brake signals exist, the electronic control unit cannot reduce the fuel injection rate of the accelerator to the reference fuel injection rate, the misjudgment probability of the accidental brake signals can be reduced, and the working efficiency of the electronic control unit is improved.
FIG. 5 is a flow chart for obtaining a rate of change of vehicle speed provided by an embodiment of the present invention. Alternatively, referring to fig. 5, acquiring the rate of change of the vehicle speed of the vehicle includes:
step 11, acquiring a first speed value of the vehicle at a first moment and a second speed value of the vehicle at a second moment; wherein the second time is later than the first time.
And 12, calculating a speed difference value between the second speed value and the first speed value and a time interval between the first time and the second time.
And step 13, determining the speed change rate according to the ratio of the speed difference value to the time interval.
Specifically, the present implementation obtains the vehicle speed change rate by using the ratio of the speed difference at any two moments to the time interval corresponding to the two moments, so that it is necessary to successively obtain a first speed value at a first moment, a second speed value at a second moment, and a time interval between the first moment and the second moment. The shorter the time interval between the first time and the second time, the closer the corresponding vehicle speed change rate is to the instantaneous vehicle speed change rate at the first time or the second time. In practice, the time interval between the first and second times is typically in the order of milliseconds, and thus the rate of change of vehicle speed is very close to the instantaneous rate of change of vehicle speed at a certain time.
Optionally, the preset value of the vehicle speed change rate is S, wherein 4km/S2≤S≤5km/s2. Need to explainThe preset values of the speed change rate are different under different vehicle models, different loading conditions and different road conditions. For example, taking a truck as an example, when the truck is fully loaded, the braking capacity is weaker than the braking capacity when the truck is unloaded, and the braking efficiency is lower, so even if a driver brakes by pedaling a braking plate, under the condition that the pedaling force is the same, the vehicle speed change rate when the truck is fully loaded is smaller than the vehicle speed change rate when the truck is unloaded, and the preset value of the vehicle speed change rate when the truck is fully loaded should be smaller than the preset value of the vehicle speed change rate when the truck is unloaded.
Optionally, the value of the preset rotating speed value is R, wherein R is less than or equal to 500R/min; the preset vehicle speed value is V, wherein V is more than or equal to 0 km/s; the preset value of the opening degree of the accelerator is W, wherein W is more than or equal to 0. Specifically, in general, when the engine is started but the vehicle has not yet started running, the rotation speed of the engine flywheel is 600r/min, and if the preset rotation speed value is set to 500r/min, the rotation speed value can meet the condition that the rotation speed value is greater than the preset rotation speed value as long as the engine is started, and the lower the restriction degree of the rotation speed value on the accidental brake signal, the lower the identification capability on the accidental brake signal. Similarly, the lower the vehicle speed value is set, the easier the condition that the vehicle speed value is greater than the preset vehicle speed value is met, and the lower the identification capability of the accidental brake signal is; the smaller the preset value of the accelerator opening degree is, the easier the condition that the accelerator opening degree value is larger than the preset value of the accelerator opening degree is to be met, and the lower the identification capability of the accidental brake signal is. Therefore, in practical application, a preset rotating speed value, a preset speed value and a preset accelerator opening value can be set according to specific vehicles, working conditions and the like.
Based on the same inventive concept, the embodiment also provides a vehicle control device. Fig. 6 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention. Specifically, referring to fig. 6, the vehicle control apparatus may include: the acquiring module 101 is used for acquiring the speed change rate of the vehicle; the comparison module 102 is used for comparing the vehicle speed change rate with a preset value of the vehicle speed change rate; the control module 103 is used for controlling the vehicle to enter a brake priority mode when the vehicle speed change rate is greater than or equal to a preset value of the vehicle speed change rate; the brake priority mode is that when a brake signal is received under the condition that the accelerator has an opening degree, the brake signal is responded preferentially.
Specifically, the comparing module 102 is connected to the obtaining module 101 and the control module 103, and configured to compare the vehicle speed change rate provided by the obtaining module 101 with a preset vehicle speed change rate value, and output a comparison result to the control module 103, where the control module 103 controls the vehicle to enter the brake priority mode when the vehicle speed change rate is greater than or equal to the preset vehicle speed change rate value.
The vehicle control device provided by the embodiment can avoid the influence on the normal running of the vehicle due to the accidental braking signal of the vehicle by judging the relation between the vehicle speed change rate and the preset vehicle speed change rate and executing the braking signal only when the vehicle speed change rate is greater than or equal to the preset vehicle speed change rate, so that the safety of a driver and the vehicle is ensured.
Based on the same inventive concept, the embodiment also provides a vehicle. The vehicle comprises a memory, a processor and a computer program stored on the memory and run on the processor, and the processor implements the vehicle control method as described in any of the above embodiments when executing the computer program.
According to the vehicle provided by the embodiment, the brake signal is executed only when the vehicle speed change rate is greater than or equal to the vehicle speed change rate preset value by judging the relation between the vehicle speed change rate and the vehicle speed change rate preset value, so that the influence of the accidental brake signal on the normal running of the vehicle can be avoided, and the safety of a driver and the vehicle can be ensured.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (7)

1. A vehicle control method characterized by comprising:
acquiring the speed change rate, the rotating speed value, the speed value and the throttle opening value of the vehicle;
comparing the vehicle speed change rate with a preset vehicle speed change rate value, judging the relationship between the rotating speed value and a preset rotating speed value, the relationship between the vehicle speed value and the preset vehicle speed value and the relationship between the accelerator opening value and the preset accelerator opening value,
if the vehicle speed change rate is less than the preset vehicle speed change rate value, the rotating speed value is less than or equal to the preset rotating speed value, the vehicle speed value is less than or equal to the preset vehicle speed value, or the accelerator opening value is less than or equal to the preset accelerator opening value, the vehicle is controlled to enter an accelerator priority mode, the accelerator priority mode is that when a brake signal is received under the condition that the accelerator has an opening, the brake signal is ignored,
and if the speed change rate is greater than or equal to the speed change rate preset value, the rotating speed value is greater than the rotating speed preset value, the speed value is greater than the speed preset value, and the accelerator opening value is greater than the accelerator opening preset value, controlling the vehicle to enter a brake priority mode, wherein the brake priority mode is to preferentially respond to a brake signal when the brake signal is received under the condition that the accelerator is opened.
2. The vehicle control method according to claim 1, wherein controlling the vehicle to enter a brake priority mode includes:
controlling an engine of the vehicle to inject fuel at a reference fuel injection rate; wherein the reference injection rate is a minimum injection rate of the engine.
3. The vehicle control method according to claim 1, wherein the obtaining of the rate of change of the vehicle speed of the vehicle includes:
acquiring a first speed value of the vehicle at a first moment and a second speed value of the vehicle at a second moment; wherein the second time is later than the first time;
calculating a speed difference between the second speed value and the first speed value and a time interval between the first time and the second time;
and determining the speed change rate according to the ratio of the speed difference to the time interval.
4. The vehicle control method according to claim 1, wherein the preset value of the vehicle speed change rate is S, wherein 4km/S2≤S≤5km/s2。
5. The vehicle control method according to claim 1, characterized in that the value of the preset rotation speed value is R, wherein R is less than or equal to 500R/min; the preset vehicle speed value is V, wherein V is more than or equal to 0 km/s; the preset value of the accelerator opening is W, wherein W is more than or equal to 0.
6. A vehicle control apparatus characterized by comprising:
the acquisition module is used for acquiring the speed change rate, the rotating speed value, the speed value and the throttle opening value of the vehicle;
the comparison module is used for comparing the vehicle speed change rate with a preset vehicle speed change rate value, the relationship between the rotating speed value and a preset rotating speed value, the relationship between the vehicle speed value and a preset vehicle speed value and the relationship between the accelerator opening value and a preset accelerator opening value;
the control module is used for controlling the vehicle to enter an accelerator priority mode if the vehicle speed change rate is smaller than the vehicle speed change rate preset value, the rotating speed value is smaller than or equal to the rotating speed preset value, the vehicle speed value is smaller than or equal to the vehicle speed preset value, or the accelerator opening value is smaller than or equal to the accelerator opening preset value, wherein the accelerator priority mode is that when a brake signal is received under the condition that an accelerator is opened, the brake signal is ignored;
the control module is further used for controlling the vehicle to enter a brake priority mode if the vehicle speed change rate is larger than or equal to the vehicle speed change rate preset value and the rotating speed value is larger than the rotating speed preset value, the vehicle speed value is larger than the vehicle speed preset value and the accelerator opening value is larger than the accelerator opening preset value, and the brake priority mode is to preferentially respond to the brake signal when the brake signal is received under the condition that the accelerator is opened.
7. A vehicle comprising a memory, a processor and a computer program stored on the memory and run on the processor, the processor implementing the vehicle control method of any one of claims 1 to 5 when executing the computer program.
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JP4131268B2 (en) * 2005-02-02 2008-08-13 トヨタ自動車株式会社 Vehicle braking / driving force control device

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