CN-121973780-A - Vehicle control method, device, vehicle and medium supporting full speed ACC

CN121973780ACN 121973780 ACN121973780 ACN 121973780ACN-121973780-A

Abstract

The application discloses a vehicle control method, a device, a vehicle and a medium supporting full-speed ACC, wherein the method comprises the steps of acquiring running data and maximum available negative torque of the vehicle in an adaptive cruise mode; determining a target negative torque to be called according to running data, determining whether the target negative torque is larger than the maximum available negative torque, if not, controlling a motor to call target negative torque braking and returning to the step of obtaining the running data and the maximum available negative torque, and if so, controlling the motor and the wheel end to jointly brake and returning to the step of obtaining the running data and the maximum available negative torque until the maximum available negative torque gradually decreases to 0 along with the deceleration of the vehicle and is completely braked by the wheel end. Therefore, the maximum available negative torque is obtained in real time through introduction, and the priority of calling the negative torque braking is set, if the negative torque is insufficient, the negative torque is ensured to be slowly reduced to 0 through a motor and wheel end combined braking strategy, the torque is prevented from suddenly changing to zero, and the smoothness of the vehicle is improved.

Inventors

BAI DAWEI
ZHANG CHAO
LIU JIANZHONG
QU BO
XIANG FAN

Assignees

浙江吉利控股集团有限公司
浙江远程新能源商用车集团有限公司
浙江远程商用车研发有限公司

Dates

Publication Date: 20260505
Application Date: 20260302

Claims (10)

1. A vehicle control method supporting full speed ACC, the method comprising: in the self-adaptive cruising mode, if a deceleration request is received, acquiring current running data and maximum available negative torque of the vehicle; Determining a target negative torque required to be invoked by current deceleration according to the driving data; determining whether the target negative torque is greater than the maximum available negative torque; if the current running data and the maximum available negative torque of the vehicle are not greater than the current running data and the maximum available negative torque, the motor is controlled to call the target negative torque to brake, the current running data and the maximum available negative torque of the vehicle are obtained, and the subsequent steps are executed; If the maximum available negative torque is larger than the preset threshold value, controlling the motor and the wheel end to perform combined braking, and returning to the step of acquiring the current running data and the maximum available negative torque of the vehicle until the maximum available negative torque gradually decreases to 0 along with the deceleration of the vehicle, and completely braking by the wheel end.
2. The method of controlling a vehicle supporting full-speed ACC according to claim 1, further comprising, before said control motor calls said target negative torque for braking: determining whether the target negative torque is larger than a first threshold value, wherein the first threshold value is smaller than the negative torque corresponding to activated ABS; if not, entering a step of calling the target negative torque by the control motor to brake, and executing the subsequent steps; if the number is greater than, the following steps are executed: The target negative torque is reduced, and the reduced negative torque is used as the current negative torque; executing the step of controlling the motor and the wheel end to perform joint braking based on the current negative torque called by the motor, and judging whether the current negative torque is smaller than a second threshold value, wherein the second threshold value is smaller than the first threshold value; if the current negative torque is smaller than the current negative torque, the current negative torque is increased, and the increased negative torque is used as the new current negative torque; and if the current running data of the vehicle and the maximum available negative torque are not smaller than the current running data of the vehicle, directly returning to the step of acquiring the current running data of the vehicle and the maximum available negative torque, and executing the subsequent steps.
3. The method for controlling a vehicle supporting full-speed ACC according to claim 1, wherein said traveling data includes a deceleration value of said deceleration request, and further comprising, before said control motor calls said target negative torque for braking: Determining whether the deceleration value is less than a deceleration threshold; and executing the step of controlling the motor and the wheel end to perform joint braking based on the motor calling the negative torque calling upper limit value, and executing the subsequent steps.
4. The method for controlling a vehicle supporting full-speed ACC according to claim 1, wherein said traveling data includes a current vehicle speed and a deceleration value of said deceleration request, and further comprising, prior to said determining whether said target negative torque is greater than said maximum available negative torque: Determining whether the current vehicle speed is greater than a vehicle speed threshold; if the braking speed is not greater than the target distance, after a braking-to-stopping signal of a first logic value is acquired, controlling the vehicle to brake within the target distance according to the deceleration value; If the signal is larger than the first logic value, after the second logic value of the stopping signal is acquired, executing the following steps: If the deceleration value is zero, controlling the motor to stop torque output, and controlling air pressure to release braking; If the deceleration value is not zero, the step of determining if the target negative torque is greater than the maximum available negative torque is entered and subsequent steps are performed.
5. The method for controlling a vehicle supporting full-speed ACC according to claim 4, wherein said controlling said vehicle to stop within a target distance according to said deceleration value includes: taking the current moment as a starting point, acquiring a historical vehicle speed in a specified historical time length; determining a stopping position of the vehicle under the current working condition, and determining the target distance according to the stopping position; generating a target braking curve according to the target distance, the historical vehicle speed and the current vehicle speed; And controlling the vehicle to brake to stop within the target distance based on the target braking curve.
6. The method for controlling a vehicle supporting full-speed ACC according to claim 4, further comprising, after said controlling said vehicle to stop within a target distance according to said deceleration value: The method comprises the steps of sending a first signal to an electronic parking brake system to control the vehicle to enter a temporary parking mode, controlling the vehicle to perform pressure maintaining brake, and starting timing; if the starting request signal is received within the preset time length for starting timing, a ramp signal is obtained; when the ramp signal is characterized as a hill start, executing the following steps; Acquiring a motor torque percentage, an accelerator opening, a gradient value and a vehicle mass; Determining a braking release time according to the motor torque percentage, the accelerator opening and the gradient value, and determining a target power value according to the gradient value and the vehicle mass; And when the brake release time is met, controlling the vehicle to perform hill start at the target power value.
7. The vehicle control method supporting full-speed ACC according to claim 6, further comprising: If the starting request signal is not received within the preset time length of the starting timing, or the vehicle exits from the adaptive cruise mode, the following steps are executed: Controlling the vehicle to release the brake, and continuously sending a second signal to the electronic parking brake system within a specified duration; and after the appointed time period, sending a third signal to the electronic parking brake system so that the electronic parking brake system performs parking brake.
8. A vehicle control apparatus supporting full-speed ACC, the apparatus comprising: the target acquisition module is used for acquiring current running data and maximum available negative torque of the vehicle when the vehicle receives a deceleration request in a self-adaptive cruising mode; The target negative torque determining module is used for determining the target negative torque required to be invoked by the current deceleration according to the driving data; the negative torque comparison module is used for determining whether the target negative torque is larger than the maximum available negative torque or not; The first braking module is used for controlling the motor to call the target negative torque to brake, and returning to call the target acquisition module and call the subsequent module; And the second braking module is used for controlling the motor and the wheel end to perform combined braking and calling the target acquisition module back until the maximum available negative torque gradually decreases to 0 along with the vehicle deceleration, and the wheel end is used for completely performing braking.
9. A vehicle comprising a memory and a processor, said memory having stored thereon a computer program executable on said processor, characterized in that said processor, when executing said computer program, implements the steps of the vehicle control method supporting full speed ACC according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the steps of the vehicle control method supporting full-speed ACC according to any one of claims 1 to 7.

Description

Vehicle control method, device, vehicle and medium supporting full speed ACC Technical Field The application relates to the technical field of vehicle braking, in particular to a vehicle control method, a vehicle control device, a vehicle and a medium supporting full-speed ACC. Background The self-adaptive cruise control (Adaptive Cruise Control, ACC) system is taken as an important component of a modern Advanced Driving Assistance System (ADAS) of a vehicle, can automatically adjust the running speed of the vehicle based on the relative distance and speed of a front vehicle or an obstacle, and realizes operations such as following, accelerating and decelerating, thereby relieving the operation burden of a driver under long distance or congested road conditions and improving the driving safety. Currently, in a purely electric or hybrid vehicle having a drive motor as a core power source, an ACC system may issue a negative torque request to the drive motor for energy recovery or auxiliary braking during deceleration until a stop is performed. However, under the current control strategy, when the motor negative torque gradually decreases to a certain smaller threshold value along with the deceleration process, the system directly changes the motor negative torque command to zero, and the step-type abrupt change of the torque causes the vehicle transmission system to generate instant impact, so that the vehicle is obviously dithered or jerked, and the smoothness of the vehicle is influenced. Therefore, how to eliminate the vehicle shake at the last deceleration stage and improve the overall smoothness and comfort of the work of the ACC system is a problem to be solved by those skilled in the art. Disclosure of Invention In view of this, one aspect of the present application provides a vehicle control method supporting full speed ACC, the method comprising: in the self-adaptive cruising mode, if a deceleration request is received, acquiring current running data and maximum available negative torque of the vehicle; Determining a target negative torque required to be invoked by current deceleration according to the driving data; determining whether the target negative torque is greater than the maximum available negative torque; if the current running data and the maximum available negative torque of the vehicle are not greater than the current running data and the maximum available negative torque, the motor is controlled to call the target negative torque to brake, the current running data and the maximum available negative torque of the vehicle are obtained, and the subsequent steps are executed; If the maximum available negative torque is larger than the preset threshold value, controlling the motor and the wheel end to perform combined braking, and returning to the step of acquiring the current running data and the maximum available negative torque of the vehicle until the maximum available negative torque gradually decreases to 0 along with the deceleration of the vehicle, and completely braking by the wheel end. Optionally, before the control motor invokes the target negative torque to brake, the method further includes: determining whether the target negative torque is larger than a first threshold value, wherein the first threshold value is smaller than the negative torque corresponding to activated ABS; if not, entering a step of calling the target negative torque by the control motor to brake, and executing the subsequent steps; if the number is greater than, the following steps are executed: The target negative torque is reduced, and the reduced negative torque is used as the current negative torque; executing the step of controlling the motor and the wheel end to perform joint braking based on the current negative torque called by the motor, and judging whether the current negative torque is smaller than a second threshold value, wherein the second threshold value is smaller than the first threshold value; if the current negative torque is smaller than the current negative torque, the current negative torque is increased, and the increased negative torque is used as the new current negative torque; and if the current running data of the vehicle and the maximum available negative torque are not smaller than the current running data of the vehicle, directly returning to the step of acquiring the current running data of the vehicle and the maximum available negative torque, and executing the subsequent steps. Optionally, the driving data comprises the deceleration value of the deceleration request, and before the control motor calls the target negative torque to brake, the method further comprises the following steps: Determining whether the deceleration value is less than a deceleration threshold; and executing the step of controlling the motor and the wheel end to perform joint braking based on the motor calling the negative torque calling upper limit value, and executing the subsequent steps. Optiona