CN113247011A - Vehicle control method and device, electronic equipment and storage medium - Google Patents
Vehicle control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a vehicle control method, a vehicle control device, electronic equipment and a storage medium. The method comprises the following steps: in response to a driving mode adjusting instruction, determining a parameter to be adjusted, an auxiliary coefficient associated with the parameter to be adjusted and an expected value of the auxiliary coefficient; selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; wherein a first auxiliary value of the auxiliary coefficient is associated with a first value of the parameter to be adjusted, and a second auxiliary value of the auxiliary coefficient is associated with a second value of the parameter to be adjusted; determining an expected value of a parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted; and controlling the vehicle by adopting the expected value of the parameter to be regulated. According to the technical scheme of the embodiment of the invention, the driving mode of the vehicle can be customized, the hobbies and habits of different drivers are met, and the driving pleasure is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automation, in particular to a vehicle control method and device, electronic equipment and a storage medium.
Background
With the development of intelligent technology and electronic control technology, people have higher and higher self-adaptive requirements on vehicle driving, and vehicles with a single driving mode cannot meet the requirements of people, so that the multi-driving mode switching control technology is widely researched.
The existing driving mode control technology is mostly based on several defined fixed driving modes, the driving styles of different modes have obvious differences, and a driver can select different driving styles to drive according to preference or requirements. However, the driving habits of each driver are different, and it is obvious that the driving habits of all users are satisfied by using several fixed driving modes.
Therefore, how to freely adjust the driving mode according to the preference or habit of the driver is an urgent problem to be solved.
Disclosure of Invention
The invention provides a vehicle control method, a vehicle control device, electronic equipment and a storage medium, which are used for realizing the self-defined vehicle driving mode, meeting the hobbies and habits of different drivers and improving the driving pleasure.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
in response to a driving mode adjusting instruction, determining a parameter to be adjusted, an auxiliary coefficient associated with the parameter to be adjusted and an expected value of the auxiliary coefficient;
selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; wherein a first auxiliary value of the auxiliary coefficient is associated with a first value of the parameter to be adjusted, and a second auxiliary value of the auxiliary coefficient is associated with a second value of the parameter to be adjusted;
determining an expected value of a parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted;
and controlling the vehicle by adopting the expected value of the parameter to be regulated.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the parameter determining module is used for responding to a driving mode adjusting instruction, and determining a parameter to be adjusted, an auxiliary coefficient related to the parameter to be adjusted and an expected value of the auxiliary coefficient;
an auxiliary value determining module, configured to select a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to an expected value of the auxiliary coefficient; wherein a first auxiliary value of the auxiliary coefficient is associated with a first value of the parameter to be adjusted, and a second auxiliary value of the auxiliary coefficient is associated with a second value of the parameter to be adjusted;
an expected value determining module, configured to determine an expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first auxiliary value, the second auxiliary value, the first value to be adjusted, and the second value to be adjusted;
and the vehicle control module is used for controlling the vehicle by adopting the expected value of the parameter to be regulated.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle control method according to any embodiment of the present invention.
In a fourth aspect, the embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vehicle control method according to any of the embodiments of the present invention.
According to the vehicle control method, the vehicle control device, the electronic equipment and the storage medium, parameters to be regulated, auxiliary coefficients related to the parameters to be regulated and expected values of the auxiliary coefficients are determined by responding to a driving mode regulation instruction; selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; wherein a first auxiliary value of the auxiliary coefficient is associated with a first value of the parameter to be adjusted, and a second auxiliary value of the auxiliary coefficient is associated with a second value of the parameter to be adjusted; determining an expected value of a parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted; the expected value of the parameter to be adjusted is adopted to control the vehicle, the problem that the driving mode can only be adjusted based on several defined fixed driving modes in the prior art and can not meet the preference and habit of the driver is solved, stepless adjustment of the driving mode of the vehicle is realized, the driving mode of the vehicle can be defined by users, the preference and habit of different drivers are met, the driving pleasure is improved, and a new idea is provided for vehicle control.
Drawings
Fig. 1A is a flowchart of a vehicle control method according to an embodiment of the present invention;
fig. 1B is a schematic diagram illustrating a correspondence relationship between a vehicle driving mode and an auxiliary coefficient candidate value according to a first embodiment of the present invention;
FIG. 1C is a schematic diagram of determining an auxiliary value according to an embodiment of the present invention;
fig. 2A is a flowchart of a vehicle control method according to a second embodiment of the present invention;
FIG. 2B is a diagram illustrating a determination of an auxiliary value according to a second embodiment of the present invention;
fig. 3 is a block diagram of a vehicle control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth 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.
Example one
Fig. 1A is a flowchart of a vehicle control method according to an embodiment of the present invention, where the embodiment is applicable to a situation of adjusting and controlling a vehicle driving mode, for example, adjusting a driving torque or adjusting a coasting recovery torque, for a pure electric vehicle with only a single-stage reduction gear. The method can be executed by the vehicle control device provided by the embodiment of the invention, and the device can be realized in a software and/or hardware manner and can be integrated on an electronic device.
Specifically, as shown in fig. 1A, the vehicle control method according to the embodiment of the present invention may include the following steps:
and S110, responding to the driving mode adjusting instruction, and determining the parameter to be adjusted, the auxiliary coefficient associated with the parameter to be adjusted and the expected value of the auxiliary coefficient.
The driving mode adjusting instruction can be initiated by a driver through a control end such as a central control instrument screen according to self requirements, and comprises a parameter to be adjusted, an auxiliary coefficient related to the parameter to be adjusted and an expected value of the auxiliary coefficient. The parameter to be adjusted may be the drive torque PM or the coasting recovery torque RM. The assist factor associated with the parameter to be adjusted may be the drive torque adjustment factor fd or the coast recovery torque adjustment factor fr. Specifically, in an optional implementation manner, the parameter to be adjusted may be set through a key or touch, and the expected value of the auxiliary coefficient is set by dragging the progress bar of the auxiliary coefficient associated with the parameter to be adjusted, where the adjustment range is 0% to 300%. In another alternative embodiment, the progress bar of the driving torque adjustment coefficient fd associated with the driving torque PM may be directly dragged, or the progress bar of the coasting recovery torque adjustment coefficient fr associated with the coasting recovery torque RM may be directly dragged. It should be noted that the manner of initiating the driving mode adjustment instruction is not specifically limited in this embodiment.
After receiving a driving mode adjusting instruction initiated by a driver, the vehicle control unit may determine a parameter to be adjusted, an auxiliary coefficient associated with the parameter to be adjusted, and an expected value of the auxiliary coefficient in response to the driving mode adjusting instruction. Because the parameter to be adjusted and the value of the auxiliary coefficient have an incidence relation, the purpose of adjusting the parameter to be adjusted can be further achieved by adjusting the expected value of the auxiliary coefficient.
In an optional implementation manner of the embodiment, in order to improve the adjustment efficiency, candidate vehicle driving modes can be preset for different parameters to be adjusted. Accordingly, the driver may directly select one candidate vehicle driving mode among the preset candidate vehicle driving modes as the target vehicle driving mode. And generating a driving mode adjusting instruction according to the selected target vehicle driving mode. After the vehicle control unit receives the driving mode adjusting instruction, the vehicle control unit responds to the driving mode adjusting instruction, obtains the parameters to be adjusted and the expected target vehicle driving mode from the driving mode adjusting instruction, and obtains the auxiliary coefficient associated with the parameters to be adjusted. And taking the candidate value of the auxiliary coefficient associated with the target vehicle driving mode as the expected value of the auxiliary coefficient according to the association relation between the candidate vehicle driving mode and the candidate value of the auxiliary coefficient.
Taking a parameter to be regulated as a driving torque as an example, fixedly sequencing driving modes of driving candidate vehicles from small to large according to the vehicle speeds and the power of each accelerator, wherein the driving modes are a zero-power mode (o), an economic mode (e), a comfortable mode (c) and a sport mode(s). When the zero power mode is adjusted, the driving force of each vehicle speed and each accelerator is zero. An auxiliary coefficient fd related to the driving torque is introduced into the vehicle control unit, and a driver can directly select a candidate vehicle driving mode as a target vehicle driving mode through an instrument screen. As shown in fig. 1B, the present embodiment defines that the candidate value of the auxiliary coefficient fd corresponding to the zero power mode is 0, the candidate value of the auxiliary coefficient fd corresponding to the economy mode is 100%, the candidate value of the auxiliary coefficient fd corresponding to the comfort mode is 200%, and the candidate value of the auxiliary coefficient fd corresponding to the sport mode is 300%.
For example, the driver may click 300% on the progress bar of the driving torque adjustment coefficient fd through the meter screen, select the movement mode as the target vehicle driving mode, the vehicle control unit determines the parameter to be adjusted as the driving torque, the desired target vehicle driving mode as the movement mode, and obtains the assist coefficient associated with the torque to be driven, in response to the driving mode adjustment instruction. And according to the association relation between the candidate vehicle driving mode and the candidate value of the auxiliary coefficient, taking the candidate value (300%) of the auxiliary coefficient associated with the motion mode as the expected value of the auxiliary coefficient, and quickly entering the motion mode.
In another alternative embodiment of this embodiment, in order to increase the flexibility of the adjustment, the driver may set the desired value of the assistance factor by dragging a progress bar of the assistance factor associated with the parameter to be adjusted. Correspondingly, after the vehicle control unit receives the driving mode adjusting instruction, the vehicle control unit can directly determine the parameter to be adjusted, the auxiliary coefficient associated with the parameter to be adjusted and the expected value of the auxiliary coefficient in response to the driving mode adjusting instruction.
Still taking the parameter to be regulated as the driving torque as an example, an auxiliary coefficient fd related to the driving torque is introduced into the vehicle control unit, and the driver sets the expected value of the auxiliary coefficient fd related to the driving torque through the meter screen progress bar. Since the embodiment defines the candidate value of the auxiliary coefficient fd corresponding to the zero power mode as 0, the candidate value of the auxiliary coefficient fd corresponding to the economy mode as 100%, the candidate value of the auxiliary coefficient fd corresponding to the comfort mode as 200%, and the candidate value of the auxiliary coefficient fd corresponding to the sport mode as 300%. Correspondingly, between the zero power mode and the economic mode, the value range of the corresponding auxiliary coefficient fd is 0-100%; between the economy mode and the comfort mode, the value range of the corresponding auxiliary coefficient fd is 100% -200%; between the comfort mode and the sport mode, the value range of the corresponding auxiliary coefficient fd is 200% -300%.
For example, after the driver sets the expected value of the assist coefficient fd through the meter screen, the vehicle control unit may directly determine the parameter to be adjusted, the assist coefficient associated with the parameter to be adjusted, and the expected value of the assist coefficient in response to the driving mode adjustment command.
S120, selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from the candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; the first auxiliary value of the auxiliary coefficient is associated with a first value to be adjusted of the parameter to be adjusted, and the second auxiliary value of the auxiliary coefficient is associated with a second value to be adjusted of the parameter to be adjusted.
Wherein the candidate values of the assist coefficients are associated with candidate vehicle driving patterns, and each of the candidate values of the assist coefficients is associated with a recovered candidate vehicle driving pattern. Taking the parameter to be adjusted as the coasting recovery torque as an example, the present embodiment sets four recovery candidate vehicle driving modes of zero recovery, light recovery, medium recovery, and heavy recovery. An auxiliary coefficient fr related to the sliding recovery torque is introduced into the vehicle control unit, and the driver sets the auxiliary coefficient fr related to the sliding recovery torque through a progress bar of an instrument screen. In this embodiment, the candidate value of the auxiliary coefficient fr corresponding to the zero recovery mode is defined as 0, the candidate value of the auxiliary coefficient fr corresponding to the light recovery mode is defined as 100%, the candidate value of the auxiliary coefficient fr corresponding to the medium recovery mode is defined as 200%, and the candidate value of the auxiliary coefficient fr corresponding to the heavy recovery mode is defined as 300%. Correspondingly, between the zero recovery mode and the light recovery mode, the value range of the corresponding auxiliary coefficient fr is 0-100%; between the light recovery mode and the medium recovery mode, the value range of the corresponding auxiliary coefficient fr is 100-200%; between the middle recovery mode and the recovery mode, the value range of the corresponding auxiliary coefficient fr is 200-300%.
The first auxiliary value of the auxiliary coefficient is the largest candidate value of the auxiliary coefficient that is smaller than the expected value of the auxiliary coefficient, and the second auxiliary value of the auxiliary coefficient is the smallest candidate value of the auxiliary coefficient that is larger than the expected value of the auxiliary coefficient. For example, as shown in fig. 1C, if the desired value of the assist coefficient fr associated with the coasting recovery torque is 160%, the first assist value of the assist coefficient is 100%, and the second assist value is 200%; if the desired value of the assist coefficient fr associated with the coasting recovery torque is 260%, the first assist value of the assist coefficient is 200% and the second assist value is 300%.
After determining the parameter to be adjusted, the auxiliary coefficient associated with the parameter to be adjusted and the desired value of the auxiliary coefficient, a first auxiliary value and a second auxiliary value of the auxiliary coefficient may be selected from the candidate values of the auxiliary coefficient according to the desired value of the auxiliary coefficient. According to the association relationship between the auxiliary coefficient and the parameter to be adjusted, a first value to be adjusted associated with a first auxiliary value of the auxiliary coefficient and a second value to be adjusted associated with a second auxiliary value of the auxiliary coefficient can be determined. The first value to be adjusted is a value of a parameter to be adjusted associated with the first auxiliary value, and the second value to be adjusted is a value of a parameter to be adjusted associated with the second auxiliary value.
Taking the parameter to be adjusted as the driving torque as an example, the embodiment defines that the candidate value of the auxiliary coefficient fd corresponding to the zero power mode is 0, the candidate value of the auxiliary coefficient fd corresponding to the economy mode is 100%, the candidate value of the auxiliary coefficient fd corresponding to the comfort mode is 200%, and the candidate value of the auxiliary coefficient fd corresponding to the sport mode is 300%. The driver required driving torque corresponding to each driving candidate vehicle driving mode, namely the candidate value of the parameter to be regulated, is determined by a look-up table of the PedalMap of the vehicle speed _ accelerator _ torque of the corresponding mode in the vehicle controller. For convenience, the embodiment defines the candidate value of the parameter to be adjusted corresponding to the zero power mode as PMo, the candidate value of the parameter to be adjusted corresponding to the economy mode as PMe, the candidate value of the parameter to be adjusted corresponding to the comfort mode as PMc, and the candidate value of the parameter to be adjusted corresponding to the sport mode as PMs. It can be seen that an association relationship exists between the auxiliary coefficient candidate value and the candidate value of the parameter to be adjusted, specifically, the auxiliary coefficient candidate value 0 of the driving torque is associated with the candidate value PMo of the parameter to be adjusted, the auxiliary coefficient candidate value 100% of the driving torque is associated with the candidate value PMe of the parameter to be adjusted, the auxiliary coefficient candidate value 200% of the driving torque is associated with the candidate value PMc of the parameter to be adjusted, and the auxiliary coefficient candidate value 300% of the driving torque is associated with the candidate value PMs of the parameter to be adjusted.
After the first auxiliary value and the second auxiliary value of the auxiliary coefficient are selected from the candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted of the parameter to be adjusted may be selected from the candidate values of the parameter to be adjusted according to the first auxiliary value and the second auxiliary value, respectively.
And S130, determining the expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted.
After the expected value, the first value to be adjusted, and the second value to be adjusted of the auxiliary coefficient are determined, the expected value of the parameter to be adjusted may be determined according to the expected value, the first value to be adjusted, and the second value to be adjusted of the auxiliary coefficient.
In an alternative embodiment of the present embodiment, a value can be selected at will between the first value to be set and the second value to be set as the desired value of the parameter to be set. For example, taking the parameter to be adjusted as the driving torque as an example, if the desired value of the assist coefficient fd associated with the driving torque is 160%, any value between the first value to be adjusted PMe corresponding to the economy mode and the second value to be adjusted PMc corresponding to the comfort mode may be selected as the desired value of the driving torque of the parameter to be adjusted. In another optional implementation manner of this embodiment, in order to better correlate the expected value of the auxiliary coefficient, an interpolation operation may be performed between the first value to be adjusted and the second value to be adjusted according to the expected value of the auxiliary coefficient, so as to determine the expected value of the parameter to be adjusted. For example, taking the parameter to be adjusted as the driving torque as an example, if the desired value of the assist coefficient fd associated with the driving torque is 160%, and the required driving torque is the result of interpolation calculation by fd between the first value to be adjusted PMe corresponding to the economy mode and the second value to be adjusted PMc corresponding to the comfort mode, the driver required driving torque PM is PMe + (fd-100%) × (PMc-PMe) + 60% × (PMc-PMe).
And S140, adopting the expected value of the parameter to be regulated to control the vehicle.
After determining the desired value of the parameter to be regulated, the vehicle may be controlled using the desired value of the parameter to be regulated, such that the vehicle outputs the desired value of the parameter to be regulated.
According to the technical scheme of the embodiment, the parameters to be regulated, the auxiliary coefficients related to the parameters to be regulated and the expected values of the auxiliary coefficients are determined by responding to the driving mode regulating instruction; selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from the candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; the first auxiliary value of the auxiliary coefficient is associated with a first value to be adjusted of the parameter to be adjusted, and the second auxiliary value of the auxiliary coefficient is associated with a second value to be adjusted of the parameter to be adjusted; determining an expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted; the method has the advantages that the expected value of the parameter to be regulated is adopted to control the vehicle, the problem that the driving mode can only be regulated based on several defined fixed driving modes in the prior art and can not meet the preference and habit of the driver is solved, stepless regulation of the driving mode of the vehicle is realized, the driving mode of the vehicle can be customized, the preference and habit of different drivers are met, the driving pleasure is improved, and a new idea is provided for vehicle control.
On the basis of the technical solutions of the above embodiments, in order to ensure driving safety, a default vehicle driving mode after the vehicle is started may be set as a comfort mode. After start-up, the torque may then be adjusted according to the driver demand.
Example two
Fig. 2A is a flowchart of a vehicle control method according to a second embodiment of the present invention, which is further optimized based on the second embodiment, and a detailed description of the vehicle control method is given.
Specifically, as shown in fig. 2A, the method includes:
s210, in response to the driving mode adjusting instruction, determining a parameter to be adjusted, an auxiliary coefficient associated with the parameter to be adjusted and an expected value of the auxiliary coefficient.
Taking a parameter to be regulated as a driving torque as an example, fixedly sequencing driving modes of driving candidate vehicles from small to large according to the vehicle speeds and the power of each accelerator, wherein the driving modes are a zero-power mode (o), an economic mode (e), a comfortable mode (c) and a sport mode(s). And introducing an auxiliary coefficient fd related to the driving torque in the vehicle control unit, and setting the auxiliary coefficient fd related to the driving torque by a driver through an instrument screen progress bar. Specifically, the driver can perform stepless adjustment of 0% -100% between two adjacent driving candidate vehicle driving modes through the instrument screen, and the resolution interval is 1%. Since the embodiment defines the candidate value of the auxiliary coefficient fd corresponding to the zero power mode as 0, the candidate value of the auxiliary coefficient fd corresponding to the economy mode as 100%, the candidate value of the auxiliary coefficient fd corresponding to the comfort mode as 200%, and the candidate value of the auxiliary coefficient fd corresponding to the sport mode as 300%. Correspondingly, between the zero power mode and the economic mode, the value range of the corresponding auxiliary coefficient fd is 0-100%; between the economy mode and the comfort mode, the value range of the corresponding auxiliary coefficient fd is 100% -200%; between the comfort mode and the sport mode, the value range of the corresponding auxiliary coefficient fd is 200% -300%.
After the driver sets the expected value of the auxiliary coefficient fd related to the driving torque through the instrument screen, the vehicle control unit responds to the driving mode adjusting instruction, and can directly determine the parameter to be adjusted as the driving torque and the expected value of the auxiliary coefficient fd related to the driving torque.
Taking the parameter to be adjusted as the coasting recovery torque as an example, the present embodiment sets four recovery candidate vehicle driving modes of zero recovery, light recovery, medium recovery, and heavy recovery. An auxiliary coefficient fr related to the sliding recovery torque is introduced into the vehicle control unit, and the driver sets the auxiliary coefficient fr related to the sliding recovery torque through a progress bar of an instrument screen. Specifically, the driver can perform stepless adjustment of 0% -100% between two adjacent recovery candidate vehicle driving modes through the instrument screen, and the resolution interval is 1%. In this embodiment, the candidate value of the auxiliary coefficient fr corresponding to the zero recovery mode is defined as 0, the candidate value of the auxiliary coefficient fr corresponding to the light recovery mode is defined as 100%, the candidate value of the auxiliary coefficient fr corresponding to the medium recovery mode is defined as 200%, and the candidate value of the auxiliary coefficient fr corresponding to the heavy mode is defined as 300%. Correspondingly, between the zero recovery mode and the light recovery mode, the value range of the corresponding auxiliary coefficient fr is 0-100%; between the light recovery mode and the medium recovery mode, the value range of the corresponding auxiliary coefficient fr is 100-200%; between the middle recovery mode and the recovery mode, the value range of the corresponding auxiliary coefficient fr is 200-300%.
After the driver sets the expected value of the auxiliary coefficient fr related to the coasting recovery torque through the instrument screen, the vehicle control unit responds to the driving mode adjusting instruction, and can directly determine the parameter to be adjusted as the coasting recovery torque and the expected value of the auxiliary coefficient fr related to the coasting recovery torque.
S220, selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; the first auxiliary value of the auxiliary coefficient is associated with a first value to be adjusted of the parameter to be adjusted, and the second auxiliary value of the auxiliary coefficient is associated with a second value to be adjusted of the parameter to be adjusted.
Wherein the candidate values of the assist coefficients are associated with candidate vehicle driving patterns, and each candidate value of the assist coefficients is associated with one of the candidate vehicle driving patterns. The first auxiliary value of the auxiliary coefficient is the largest candidate value of the auxiliary coefficient that is smaller than the expected value of the auxiliary coefficient, and the second candidate value of the auxiliary coefficient is the smallest candidate value of the auxiliary coefficient that is larger than the expected value of the auxiliary coefficient.
For example, as shown in fig. 2B, if the desired value of the assist coefficient fd associated with the driving torque is 260%, the first assist value of the assist coefficient is 200% and the second assist value is 300%; if the desired value of the assist coefficient fr associated with the coasting recovery torque is 160%, the first assist value of the assist coefficient is 100% and the second assist value is 200%.
After determining the parameter to be adjusted, the auxiliary coefficient associated with the parameter to be adjusted and the desired value of the auxiliary coefficient, a first auxiliary value and a second auxiliary value of the auxiliary coefficient may be selected from the candidate values of the auxiliary coefficient according to the desired value of the auxiliary coefficient. According to the association relationship between the auxiliary coefficient and the parameter to be adjusted, a first value to be adjusted associated with a first auxiliary value of the auxiliary coefficient and a second value to be adjusted associated with a second auxiliary value of the auxiliary coefficient can be determined.
Taking the parameter to be adjusted as the driving torque as an example, the driver required driving torque corresponding to each driving candidate vehicle driving mode, namely the candidate value of the parameter to be adjusted, is determined by looking up a table of the padalmap of the vehicle speed _ accelerator _ torque of the corresponding mode in the vehicle controller. For convenience, the embodiment defines the candidate value of the parameter to be adjusted corresponding to the zero power mode as PMo, the candidate value of the parameter to be adjusted corresponding to the economy mode as PMe, the candidate value of the parameter to be adjusted corresponding to the comfort mode as PMc, and the candidate value of the parameter to be adjusted corresponding to the sport mode as PMs. It can be seen that an association relationship exists between the auxiliary coefficient candidate value and the candidate value of the parameter to be adjusted, specifically, the auxiliary coefficient candidate value 0 of the driving torque is associated with the candidate value PMo of the parameter to be adjusted, the auxiliary coefficient candidate value 100% of the driving torque is associated with the candidate value PMe of the parameter to be adjusted, the auxiliary coefficient candidate value 200% of the driving torque is associated with the candidate value PMc of the parameter to be adjusted, and the auxiliary coefficient candidate value 300% of the driving torque is associated with the candidate value PMs of the parameter to be adjusted.
Taking the parameter to be regulated as the coasting recovery torque as an example, the coasting recovery torque required by the driver corresponding to each recovered candidate vehicle driving mode, namely the candidate value of the parameter to be regulated, is determined by looking up a table of regmaps of the vehicle speed _ accelerator _ torque of the corresponding mode in the vehicle control unit. For convenience of description, the embodiment defines the candidate value of the parameter to be adjusted corresponding to the zero recovery mode as RMo, the candidate value of the parameter to be adjusted corresponding to the light recovery mode as RMi, the candidate value of the parameter to be adjusted corresponding to the medium recovery mode as RMm, and the candidate value of the parameter to be adjusted corresponding to the heavy recovery mode as RMh. It can be seen that an association relationship exists between the candidate value of the assist coefficient and the candidate value of the parameter to be adjusted, specifically, 0 of the candidate value of the assist coefficient of the coasting recovery torque is associated with the candidate value RMo of the parameter to be adjusted, 100% of the candidate value of the assist coefficient of the coasting recovery torque is associated with the candidate value RMi of the parameter to be adjusted, 200% of the candidate value of the assist coefficient of the coasting recovery torque is associated with RMm of the candidate value of the parameter to be adjusted, and 300% of the candidate value of the assist coefficient of the coasting recovery torque is associated with RMh of the candidate value of the parameter to be adjusted.
After the first auxiliary value and the second auxiliary value of the auxiliary coefficient are selected from the candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted of the parameter to be adjusted may be selected from the candidate values of the parameter to be adjusted according to the first auxiliary value and the second auxiliary value, respectively.
And S230, performing interpolation operation between the first value to be adjusted and the second value to be adjusted according to the expected value of the auxiliary coefficient, and determining the expected value of the parameter to be adjusted.
Taking the parameter to be regulated as the driving torque as an example, if the driving mode of the target vehicle is the zero power mode, the expected value of the auxiliary coefficient fd associated with the driving torque is 0, and the value of the parameter to be regulated is PMo, that is, when the driving mode to be regulated to the zero power mode represents that the driving torque of each vehicle speed and each accelerator is zero; if the desired value of the assist coefficient fd associated with the drive torque is between 0 and 100%, the driver required drive torque PM is the result of interpolation between PMo and PMe by fd, PM ═ PMo + fd × (PMe-PMo) ═ fd × PMe. Specifically, when the driver adjusts fd to 60%, PM ═ fd × PMe ═ 60% PMe, that is, the driving torque at this time is 60% of the output torque of the economy mode under the same operating condition (vehicle speed, accelerator); if the target vehicle driving mode is the economy mode, the expected value of the auxiliary coefficient fd related to the driving torque is 100%, and the value of the parameter to be regulated is PMe.
If the desired value of the assist factor associated with the drive torque is between 100% and 200%, the driver demanded drive torque PM is the result of an interpolation between PMe and PMc by fd, PM ═ PMe + (fd-100%) × (PMc-PMe). Specifically, when the driver adjusts fd to the 160% position, PM ═ PMe + (160% -100%) x (PMc-PMe) ═ PMe + 60% × (PMc-PMe); if the target vehicle driving mode is the comfort mode, the expected value of the auxiliary coefficient fd related to the driving torque is 200%, and the value of the parameter to be adjusted is PMc.
If the desired value of the assist factor associated with the drive torque is between 200% and 300%, the driver demanded drive torque PM is the result of an interpolation between PMc and PMs by fd, PM ═ PMc + (fd-200%) × (PMs-PMc). Specifically, when the driver adjusts fd to the 160% position, PM ═ PMc + (260% -200%) × (PMs-PMc) ═ PMc + 60% × (PMs-PMc); if the target vehicle driving mode is a motion mode, the expected value of the auxiliary coefficient fd related to the driving torque is 300%, and the value of the parameter to be regulated is PMs.
Taking the parameter to be regulated as the coasting recovery torque as an example, if the target vehicle driving mode is the zero recovery mode, the expected value of the auxiliary coefficient fr associated with the coasting recovery torque is 0, and the value of the parameter to be regulated is RMo, that is, when the zero recovery mode is regulated, the vehicle speed and the recovery torque of each accelerator are zero; if the desired value of the assist factor associated with the coasting recovery torque is between 0 and 100%, the driver demanded coasting recovery torque RM is the result of interpolation between RMo and RMi by fr, where RM is RMo + fr × (RMi-RMo) fr × RMi. Specifically, when the driver adjusts fr to the 60% position, RM ═ fr × RMi ═ 60% × RMi, that is, the coasting recovery torque at this time is 60% of the coasting recovery torque in the light recovery mode under the same operating conditions (vehicle speed, accelerator); if the target vehicle driving mode is the light recovery mode, the expected value of the assist coefficient fr associated with the coasting recovery torque is 100%, and the value of the parameter to be adjusted is RMi.
If the desired value of the assist coefficient fr associated with the coasting recovery torque is between 100% and 200%, the driver demanded coasting recovery torque RM is the result of interpolation between RMi and RMm by fr, RM ═ RMi + (fr-100%) × (RMm-RMi). Specifically, when the driver sets fr to the 160% position, RM ═ RMi + (160% -100%) x (RMm-RMi) ═ RMi + 60% × (RMm-RMi); if the target vehicle driving mode is the middle recovery mode, the expected value of the assist coefficient fr associated with the coasting recovery torque is 200%, and the value of the parameter to be adjusted is RMm.
If the desired value of the assist factor fr associated with the coasting recovery torque is between 200% and 300%, the driver demanded coasting recovery torque RM is calculated as an interpolation between RMm and RMh by fr, RM being RMm + (fr-200%) × (RMh-RMm). Specifically, when the driver adjusts fr to the 260% position, RM is RMm + (260% -200%) × (RMh-RMm) RMm + 60% × (RMh-RMm); if the target vehicle driving mode is the re-recovery mode, the expected value of the assist coefficient fr associated with the coasting recovery torque is 300%, and the value of the parameter to be adjusted is RMh.
In the present embodiment, the comfort mode among the driving candidate vehicle driving modes is set as the default driving vehicle driving mode, and the middle recovery mode among the recovery candidate vehicle driving modes is set as the default recovery vehicle driving mode. When the vehicle driving mode is adjusted, only the driving torque can be adjusted on the basis of the current vehicle driving mode, only the coasting recovery torque can be adjusted on the basis of the current vehicle driving mode, and both the driving torque and the coasting recovery torque can be adjusted. When only the driving torque is adjusted on the basis of the current vehicle driving mode, the value of the sliding recovery torque is kept unchanged; when only the coasting recovery torque is adjusted on the basis of the current vehicle driving mode, the value of the driving torque is kept unchanged.
And S240, if the parameter to be regulated is the driving torque and the expected value of the parameter to be regulated is less than zero, setting the expected value of the parameter to be regulated to zero.
Because the driving torque corresponding to the zero throttle can be a negative value, in order to avoid the output torque from being wrong due to the superposition of the negative torque and the coasting recovery torque, in an optional implementation manner of this embodiment, if the parameter to be adjusted is the driving torque and the expected value of the parameter to be adjusted is less than zero, the expected value of the parameter to be adjusted is set to zero, and the formula is expressed as: PM ═ Max (PM, 0).
And S250, adopting the expected value of the parameter to be regulated to control the vehicle.
After the driver completes the self-defined adjustment of the driving Torque and the sliding recovery Torque, a new self-defined output Torque is combined by the new driving Torque and the new sliding recovery Torque, the driver can drive under the self-defined output Torque, and the formula is expressed as follows: torque equals RM + PM.
According to the technical scheme of the embodiment, the parameters to be regulated, the auxiliary coefficients related to the parameters to be regulated and the expected values of the auxiliary coefficients are determined by responding to the driving mode regulating instruction; selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from the candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; the first auxiliary value of the auxiliary coefficient is associated with a first value to be adjusted of the parameter to be adjusted, and the second auxiliary value of the auxiliary coefficient is associated with a second value to be adjusted of the parameter to be adjusted; performing interpolation operation between the first value to be adjusted and the second value to be adjusted according to the expected value of the auxiliary coefficient to determine the expected value of the parameter to be adjusted; the method has the advantages that the expected value of the parameter to be regulated is adopted to control the vehicle, the problem that the driving mode can only be regulated based on several defined fixed driving modes in the prior art and can not meet the preference and habit of the driver is solved, stepless regulation of the driving mode of the vehicle is realized, the driving mode of the vehicle can be customized, the preference and habit of different drivers are met, the driving pleasure is improved, and a new idea is provided for vehicle control.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle control device according to a third embodiment of the present invention, where the device is adapted to execute the vehicle control method according to the third embodiment of the present invention, and can customize a vehicle driving mode to meet preferences and habits of different drivers. As shown in fig. 3, the apparatus includes a parameter determination module 310, an auxiliary value determination module 320, an expected value determination module 330, and a vehicle control module 340.
The parameter determining module 310 is configured to determine, in response to the driving mode adjusting instruction, a parameter to be adjusted, an auxiliary coefficient associated with the parameter to be adjusted, and an expected value of the auxiliary coefficient;
an auxiliary value determining module 320, configured to select a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to an expected value of the auxiliary coefficient; the first auxiliary value of the auxiliary coefficient is associated with a first value to be adjusted of the parameter to be adjusted, and the second auxiliary value of the auxiliary coefficient is associated with a second value to be adjusted of the parameter to be adjusted;
an expected value determining module 330, configured to determine an expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first auxiliary value, the second auxiliary value, the first value to be adjusted, and the second value to be adjusted;
and the vehicle control module 340 is used for carrying out vehicle control by adopting the expected value of the parameter to be regulated.
According to the technical scheme of the embodiment, the parameters to be regulated, the auxiliary coefficients related to the parameters to be regulated and the expected values of the auxiliary coefficients are determined by responding to the driving mode regulating instruction; selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from the candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; the first auxiliary value of the auxiliary coefficient is associated with a first value to be adjusted of the parameter to be adjusted, and the second auxiliary value of the auxiliary coefficient is associated with a second value to be adjusted of the parameter to be adjusted; determining an expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted; the method has the advantages that the expected value of the parameter to be regulated is adopted to control the vehicle, the problem that the driving mode can only be regulated based on several defined fixed driving modes in the prior art and can not meet the preference and habit of the driver is solved, stepless regulation of the driving mode of the vehicle is realized, the driving mode of the vehicle can be customized, the preference and habit of different drivers are met, the driving pleasure is improved, and a new idea is provided for vehicle control.
Preferably, the parameter to be adjusted is a driving torque or a coasting recovery torque.
Preferably, the apparatus further comprises: and the expected value adjusting module is used for setting the expected value of the parameter to be adjusted to be zero if the parameter to be adjusted is the driving torque and the expected value of the parameter to be adjusted is smaller than zero.
Preferably, the parameter determining module 310 specifically includes: a parameter acquisition unit and a candidate value determination unit. The system comprises a parameter acquisition unit, a target vehicle driving mode adjustment unit and a parameter adjustment unit, wherein the parameter acquisition unit is used for acquiring a parameter to be adjusted and an expected target vehicle driving mode from a driving mode adjustment instruction and acquiring an auxiliary coefficient associated with the parameter to be adjusted;
and a candidate value determination unit configured to take the candidate value of the assist coefficient associated with the target vehicle driving pattern as an expected value of the assist coefficient, in accordance with a correlation between the candidate vehicle driving pattern and the candidate value of the assist coefficient.
Preferably, the expected value determining module 330 is specifically configured to perform interpolation operation between the first value to be adjusted and the second value to be adjusted according to the expected value of the auxiliary coefficient, so as to determine the expected value of the parameter to be adjusted.
The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 4 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in FIG. 4, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing, such as implementing a vehicle control method provided by an embodiment of the present invention, by executing programs stored in the system memory 28.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the vehicle control method provided in any of the embodiments of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (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. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
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 (10)
1. A vehicle control method, characterized by comprising:
in response to a driving mode adjusting instruction, determining a parameter to be adjusted, an auxiliary coefficient associated with the parameter to be adjusted and an expected value of the auxiliary coefficient;
selecting a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to the expected value of the auxiliary coefficient; wherein a first auxiliary value of the auxiliary coefficient is associated with a first value of the parameter to be adjusted, and a second auxiliary value of the auxiliary coefficient is associated with a second value of the parameter to be adjusted;
determining an expected value of a parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted;
and controlling the vehicle by adopting the expected value of the parameter to be regulated.
2. The method of claim 1, wherein the parameter to be adjusted is a drive torque or a coast recovery torque;
after determining the expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first value to be adjusted and the second value to be adjusted, the method further includes:
and if the parameter to be regulated is the driving torque and the expected value of the parameter to be regulated is smaller than zero, setting the expected value of the parameter to be regulated to be zero.
3. The method of claim 1, wherein determining a parameter to be adjusted, an assist coefficient associated with the parameter to be adjusted, and a desired value for the assist coefficient in response to a driving mode adjustment command comprises:
acquiring a parameter to be adjusted and an expected target vehicle driving mode from a driving mode adjusting instruction, and acquiring an auxiliary coefficient associated with the parameter to be adjusted;
and according to the association relationship between the candidate vehicle driving mode and the candidate value of the auxiliary coefficient, taking the candidate value of the auxiliary coefficient associated with the target vehicle driving mode as the expected value of the auxiliary coefficient.
4. The method of claim 1, wherein determining the desired value of the parameter to be adjusted based on the desired value of the auxiliary coefficient, the first value to be adjusted, and the second value to be adjusted comprises:
and performing interpolation operation between the first value to be adjusted and the second value to be adjusted according to the expected value of the auxiliary coefficient to determine the expected value of the parameter to be adjusted.
5. A vehicle control apparatus, characterized in that the apparatus comprises:
the parameter determining module is used for responding to a driving mode adjusting instruction, and determining a parameter to be adjusted, an auxiliary coefficient related to the parameter to be adjusted and an expected value of the auxiliary coefficient;
an auxiliary value determining module, configured to select a first auxiliary value and a second auxiliary value of the auxiliary coefficient from candidate values of the auxiliary coefficient according to an expected value of the auxiliary coefficient; wherein a first auxiliary value of the auxiliary coefficient is associated with a first value of the parameter to be adjusted, and a second auxiliary value of the auxiliary coefficient is associated with a second value of the parameter to be adjusted;
an expected value determining module, configured to determine an expected value of the parameter to be adjusted according to the expected value of the auxiliary coefficient, the first auxiliary value, the second auxiliary value, the first value to be adjusted, and the second value to be adjusted;
and the vehicle control module is used for controlling the vehicle by adopting the expected value of the parameter to be regulated.
6. The apparatus of claim 5, further comprising:
and the expected value adjusting module is used for setting the expected value of the parameter to be regulated to be zero if the parameter to be regulated is the driving torque and the expected value of the parameter to be regulated is smaller than zero.
7. The apparatus of claim 5, wherein the parameter determination module comprises:
the parameter acquisition unit is used for acquiring a parameter to be adjusted and an expected target vehicle driving mode from a driving mode adjustment instruction and acquiring an auxiliary coefficient associated with the parameter to be adjusted;
and a candidate value determination unit configured to take a candidate value of the assist coefficient associated with the target vehicle driving pattern as an expected value of the assist coefficient, according to a correlation between a candidate vehicle driving pattern and a candidate value of the assist coefficient.
8. The apparatus of claim 5, wherein the expected value determining module is further configured to perform an interpolation operation between the first value to be adjusted and the second value to be adjusted according to the expected value of the auxiliary coefficient to determine the expected value of the parameter to be adjusted.
9. An electronic device, characterized in that the device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any one of claims 1-4.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle control method according to any one of claims 1 to 4.
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| CN202110671896.6A CN113247011A (en) | 2021-06-17 | 2021-06-17 | Vehicle control method and device, electronic equipment and storage medium |
| PCT/CN2022/094845 WO2022262538A1 (en) | 2021-06-17 | 2022-05-25 | Vehicle control method and apparatus, electronic device, and storage medium |
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| CN114962046A (en) * | 2021-08-26 | 2022-08-30 | 长城汽车股份有限公司 | Vehicle torque control method, device, controller, vehicle and storage medium |
| WO2022262538A1 (en) * | 2021-06-17 | 2022-12-22 | 中国第一汽车股份有限公司 | Vehicle control method and apparatus, electronic device, and storage medium |
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Application publication date: 20210813 |