CN-121973643-A - Deceleration control method and device and vehicle

CN121973643ACN 121973643 ACN121973643 ACN 121973643ACN-121973643-A

Abstract

The embodiment of the invention relates to the technical field of vehicles and discloses a deceleration control method, a deceleration control device and a vehicle, wherein the method comprises the steps of acquiring current vehicle speed and running road condition information after a driver releases an accelerator pedal in the running process of the vehicle; the method comprises the steps of determining a safe vehicle speed difference value and a safe distance difference value based on the current vehicle speed, the driving road condition information, the safe vehicle speed and the safe distance of the vehicle, determining a driving intention based on the safe vehicle speed difference value and the safe distance difference value, wherein the driving intention is any one of a deceleration intention and a coasting intention, and controlling the vehicle to decelerate with torque corresponding to the driving intention. By applying the technical scheme of the invention, the problems that the deceleration torque is fixed singly and the flexibility is poor and the actual driving intention cannot be attached when the automatic deceleration operation is carried out after the accelerator pedal of the vehicle is released can be solved.

Inventors

DENG ZHIJIA
TENG GUOGANG
LIU JIE
SHU CHAOLEI

Assignees

阿维塔科技(重庆)股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260318

Claims (10)

1. A deceleration control method, characterized by comprising: When the driver releases the accelerator pedal during the running process of the vehicle, the current speed and the running road condition information are obtained; determining a safe vehicle speed difference value and a safe distance difference value based on the current vehicle speed, the driving road condition information, the safe vehicle speed and the safe distance of the vehicle; determining a driving intention, which is any one of a deceleration intention and a coasting intention, based on the safe vehicle speed difference value and the safe distance difference value; and controlling the vehicle to decelerate with the torque corresponding to the driving intention.
2. The method of claim 1, wherein the controlling the vehicle to decelerate at the torque corresponding to the driving intent comprises: If the driving intention is a deceleration intention, controlling the vehicle to decelerate with a first torque; and if the driving intention is a sliding intention, controlling the vehicle to decelerate with a second torque, wherein the first torque is larger than the second torque.
3. The method of claim 1, wherein the driving traffic information includes a highest speed limit of the road, a curvature of the road, a gradient of the road, and a first distance between the vehicle and a forward obstacle; the determining a safe vehicle speed difference value and a safe distance difference value based on the current vehicle speed, the driving road condition information, the safe vehicle speed and the safe distance of the vehicle comprises: Selecting a target correction coefficient from a first correction coefficient and a second correction coefficient, wherein the first correction coefficient is determined according to the road gradient and a preset first corresponding relation, and the second correction coefficient is determined according to the road curvature and a preset second corresponding relation; Determining the safe vehicle speed according to the highest road speed limit and the target correction coefficient; determining the safety distance according to the current vehicle speed, the road gradient and a preset calibration relation; determining the difference value between the current vehicle speed and the safe vehicle speed as the safe vehicle speed difference value; and determining the difference value between the first distance and the safety distance as the safety distance difference value.
4. A method according to any one of claims 1-3, wherein said determining a driving intent based on said safe vehicle speed difference and said safe distance difference comprises: if the safety distance difference value and the safety vehicle speed difference value are both larger than or equal to a preset value, determining that the sliding intention is achieved; and if the safety distance difference value and/or the safety vehicle speed difference value are/is smaller than the preset value, determining the speed reduction intention.
5. The method according to claim 2, wherein the method further comprises: determining initial torque based on the current vehicle speed and a preset third corresponding relation; Determining a vehicle speed correction torque and a distance correction torque based on the safe vehicle speed difference and the safe distance difference; the first torque is determined based on the initial torque, the vehicle speed correction torque, and the distance correction torque.
6. The method of claim 5, wherein the determining a vehicle speed correction torque and a distance correction torque based on the safe vehicle speed difference and the safe distance difference comprises: If the safety distance difference is smaller than or equal to a preset value and the safety vehicle speed difference is larger than the preset value, determining that the vehicle speed correction torque is zero; Determining a first proportional coefficient, a first integral coefficient and a first differential coefficient based on a vehicle speed interval corresponding to the current vehicle speed, a gradient interval corresponding to a road gradient, a distance deviation corresponding to the safety distance difference value and a preset fourth corresponding relation; And taking the safety distance difference value, the first proportional coefficient, the first integral coefficient and the first differential coefficient as inputs of a first proportional integral differential controller, obtaining an output result of the first proportional integral differential controller, and determining the output result as the distance correction torque.
7. The method of claim 5, wherein the determining a vehicle speed correction torque and a distance correction torque based on the safe vehicle speed difference and the safe distance difference comprises: If the safety distance difference is larger than a preset value and the safety vehicle speed difference is smaller than or equal to the preset value, determining that the distance correction torque is zero; Determining a second proportional coefficient, a second integral coefficient and a second differential coefficient based on a vehicle speed interval corresponding to the current vehicle speed, a gradient interval corresponding to a road gradient, a speed deviation corresponding to the safety vehicle speed difference value and a preset fifth corresponding relation; and taking the safe vehicle speed difference value, the second proportional coefficient, the second integral coefficient and the second differential coefficient as inputs of a second proportional-integral-differential controller, obtaining an output result of the second proportional-integral-differential controller, and determining the output result as the vehicle speed correction torque.
8. The method according to claim 6 or 7, wherein the determining a vehicle speed correction torque and a distance correction torque based on the safe vehicle speed difference and the safe distance difference comprises: If the safe vehicle speed difference value and the safe distance difference value are smaller than or equal to the preset value, determining a first weight coefficient and a second weight coefficient based on the current vehicle speed of the vehicle and a preset sixth corresponding relation; determining the distance correction torque based on the output result of the first proportional integral derivative controller and the first weight coefficient; and determining the distance correction torque based on the output result of the second proportional-integral-derivative controller and the second weight coefficient.
9. A deceleration control apparatus, characterized by comprising: The information acquisition module is used for acquiring the current speed and the driving road condition information after the driver is monitored to release the accelerator pedal in the driving process of the vehicle; the difference value determining module is used for determining a safe speed difference value and a safe interval difference value based on the current speed, the driving road condition information, the safe speed and the safe interval of the vehicle; an intention determination module for determining a driving intention, which is any one of a deceleration intention and a coasting intention, based on the safe vehicle speed difference value and the safe distance difference value; and the control module is used for controlling the vehicle to decelerate with the torque corresponding to the driving intention.
10. A vehicle, characterized in that it comprises a vehicle body and an electronic device for performing the method according to any one of claims 1-8.

Description

Deceleration control method and device and vehicle Technical Field The embodiment of the invention relates to the technical field of vehicles, in particular to a deceleration control method and device and a vehicle. Background With the popularization of new energy electric vehicles, the demands of the market for vehicle intellectualization, safety and energy efficiency optimization are increasing. In order to improve the energy utilization rate, the new energy electric automobile can be decelerated through kinetic energy recovery. Currently, in a new energy vehicle in the prior art, after a driver releases an accelerator pedal, a corresponding torque is determined only based on a current speed of the vehicle to control the vehicle to decelerate. However, the deceleration control mode in the prior art is fixed singly and has poor flexibility. Disclosure of Invention In view of the above problems, the embodiments of the present invention provide a deceleration control method and apparatus, and a vehicle, which are used to solve the problem that in the prior art, the vehicle deceleration control flexibility is poor, and the actual driving requirement cannot be met. According to an aspect of an embodiment of the present invention, there is provided a deceleration control method including: When the driver releases the accelerator pedal during the running process of the vehicle, the current speed and the running road condition information are obtained; determining a safe vehicle speed difference value and a safe distance difference value based on the current vehicle speed, the driving road condition information, the safe vehicle speed and the safe distance of the vehicle; determining a driving intention, which is any one of a deceleration intention and a coasting intention, based on the safe vehicle speed difference value and the safe distance difference value; and controlling the vehicle to decelerate with the torque corresponding to the driving intention. In an alternative manner, the controlling the vehicle to decelerate at the torque corresponding to the driving intention includes: If the driving intention is a deceleration intention, controlling the vehicle to decelerate with a first torque; and if the driving intention is a sliding intention, controlling the vehicle to decelerate with a second torque, wherein the first torque is larger than the second torque. In an alternative manner, the driving condition information includes a highest speed limit of the road, a curvature of the road, a gradient of the road, and a first distance between the vehicle and a front obstacle; the determining a safe vehicle speed difference value and a safe distance difference value based on the current vehicle speed, the driving road condition information, the safe vehicle speed and the safe distance of the vehicle comprises: Selecting a target correction coefficient from a first correction coefficient and a second correction coefficient, wherein the first correction coefficient is determined according to the road gradient and a preset first corresponding relation, and the second correction coefficient is determined according to the road curvature and a preset second corresponding relation; Determining the safe vehicle speed according to the highest road speed limit and the target correction coefficient; determining the safety distance according to the current vehicle speed, the road gradient and a preset calibration relation; determining the difference value between the current vehicle speed and the safe vehicle speed as the safe vehicle speed difference value; and determining the difference value between the first distance and the safety distance as the safety distance difference value. In an alternative manner, the determining the driving intention based on the safe vehicle speed difference value and the safe distance difference value includes: if the safety distance difference value and the safety vehicle speed difference value are both larger than or equal to a preset value, determining that the sliding intention is achieved; and if the safety distance difference value and/or the safety vehicle speed difference value are/is smaller than the preset value, determining the speed reduction intention. In an alternative, the method further comprises: determining initial torque based on the current vehicle speed and a preset third corresponding relation; Determining a vehicle speed correction torque and a distance correction torque based on the safe vehicle speed difference and the safe distance difference; the first torque is determined based on the initial torque, the vehicle speed correction torque, and the distance correction torque. In an alternative manner, the determining the vehicle speed correction torque and the distance correction torque based on the safe vehicle speed difference and the safe distance difference includes: If the safety distance difference is smaller than or equal to a preset value and the safety vehicle