Vehicle torque determination method and device and vehicle

Abstract

The invention relates to a vehicle torque determination method and device and a vehicle, and relates to the technical field of computers. The method is applied to a vehicle and comprises the steps of obtaining road surface information and vehicle driving data of a target road section where the vehicle is about to pass; based on the road surface information and the vehicle driving data, road surface impact force borne by the vehicle passing through the target road section is determined; determining a target torque based on the road impact force; the target torque is motor torque used when the vehicle passes through the target road section. Therefore, when the road surface impact force is determined, the operation data of the vehicle and the road surface information of the target road section are comprehensively considered, the accuracy of the road surface impact force is improved, and when the vehicle passes through the target road section based on the target torque, the influence of the road surface impact force on a transmission system of the vehicle can be avoided; therefore, the abnormal sound of the transmission system of the vehicle due to the inherent clearance of the system can be effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to the field of vehicle abnormal noise control technology, and specifically to a vehicle torque determination method, device and vehicle. Background Art

[0002] With the rapid development of new energy vehicles, the market share of new energy vehicles has increased year by year. Since the power source of new energy vehicles has changed from traditional fuel engines to drive motors, the low-frequency noise of the engine has been reduced in the car. Although high-frequency electric drive noise has been added to new energy vehicles, compared with traditional vehicles, new energy vehicles will be quieter in the car during operation, and abnormal noises in the vehicle are easier to detect than traditional fuel vehicles. New energy vehicles, especially new energy vehicles that are completely driven by electric drive, only rely on the output torque of the electric drive to drive the vehicle. Under some common working conditions, such as low-speed forward and reverse, the electric drive only needs to output very small torque to drive the vehicle, and the auxiliary drive may not even output torque. However, there is a gap between the gears in the transmission mechanism from the electric drive to the wheels, and there is also a gap between the key connection structures. When the electric drive output torque is very small or no torque is output, if the motor torque of the vehicle changes suddenly, the gears of the transmission mechanism and the key connection structure collide, and the vehicle will produce abnormal noise.

[0003] CN117227499A discloses that when the vehicle releases the accelerator pedal in the driving mode or the vehicle releases the brake pedal in the brake recovery mode, the required pre-torque of the vehicle is determined according to the brake pedal depth change rate, the accelerator pedal depth change rate, the current gear state of the vehicle, and the current vehicle speed, so as to give the vehicle a corresponding pre-torque to improve the phenomenon of abnormal noise caused by the vehicle during the torque mutation process. CN105691239B discloses that when the current operating state of the electric vehicle indicates that the electric vehicle is in a sliding state, according to the preset corresponding relationship between the operating state and the torque, the target torque required in the operating state is determined, and the torque output by the motor of the electric vehicle is controlled to be the target torque. Both of the above methods are to make corrections after the motor torque of the vehicle suddenly changes, and there is a delay, and the vehicle transmission system cannot avoid abnormal noise. Therefore, how to avoid abnormal noise in the vehicle transmission system is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a vehicle torque determination method, device and vehicle to at least solve the technical problem that the vehicle transmission system cannot avoid abnormal noise in the related art. The technical solution of the present application is as follows:

[0005] According to the first aspect of the present application, a vehicle torque determination method is provided, which is applied to a vehicle, and the method includes: obtaining road surface information and vehicle driving data of a target section that the vehicle is about to pass; based on the road surface information and vehicle driving data, determining the road surface impact force to which the vehicle is subjected when passing through the target section; based on the road surface impact force, determining a target torque; the target torque is the motor torque used by the vehicle to pass through the target section.

[0006] According to the above technical means, the impact force of the target road section on the vehicle is determined based on the road surface information and vehicle driving data, and the target torque is determined so that the vehicle passes through the target road section based on the target torque, and the influence of the external road environment and the vehicle's own driving data on the vehicle is comprehensively considered, so that the transmission system can effectively avoid abnormal noise due to inherent clearance when the vehicle passes through the impact road surface. In addition, by adjusting the motor torque of the vehicle in real time based on the target torque, the vehicle can adapt to different road conditions, which not only avoids the occurrence of abnormal noise in the vehicle transmission system, but also reduces the bumps caused by uneven road surface and improves the ride comfort of the vehicle. It also reduces the risk of the vehicle slipping or losing control due to road conditions.

[0007] In a possible implementation, determining the target torque based on the road impact force includes: calculating the impact torque applied to the powertrain of the vehicle when the vehicle passes through the target road section based on the road impact force; and determining the target torque based on the impact torque.

[0008] According to the above technical means, the impact torque is used to determine the degree of influence of the road conditions of the target section on the motor torque of the vehicle, so as to more accurately determine the target torque required for the vehicle to pass the target section to adapt to different road conditions. And by accurately determining the target torque, the loss of driving range caused by blindly adding torque to the vehicle can be effectively avoided.

[0009] In another possible implementation, the impact torque of the vehicle when passing through the target section is calculated based on the road impact force, including: determining the first traction force of the vehicle when passing through the target section based on the road impact force and the current power of the vehicle; and calculating the impact torque based on the first traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0010] According to the above technical means, the impact torque of the target section on the vehicle can be determined more accurately through the road impact force and the current power of the vehicle, so as to accurately determine the target torque that allows the vehicle to pass through the target section without abnormal noise based on the impact torque, thereby avoiding waste of vehicle resources.

[0011] In another possible implementation, the impact torque when the vehicle passes through the target section is calculated based on the road impact force, including: inputting the road impact force into a first torque determination model to obtain the impact torque when the vehicle passes through the target section.

[0012] According to the above technical means, the impact torque of the target section on the vehicle can be determined more accurately by determining the model through the road impact force and the first torque, so as to accurately determine the target torque that allows the vehicle to pass through the target section without abnormal noise based on the impact torque.

[0013] In yet another possible implementation, determining the target torque based on the impact torque includes: determining the target torque based on the impact torque when the impact torque indicates that the motor torque of the vehicle passes through zero.

[0014] According to the above-mentioned technical means, when the motor torque of the vehicle passes through zero, the transmission system of the vehicle will produce abnormal noise due to the inherent clearance, and the corresponding target torque needs to be added to the motor of the vehicle so that the motor torque of the vehicle does not pass through zero to avoid abnormal noise. Moreover, the target torque is determined only when the motor torque of the vehicle passes through zero. This can effectively avoid adding torque to the motor of the vehicle when the vehicle has not passed the impact section, that is, when the motor torque of the vehicle has not passed through zero, thereby increasing the energy consumption of the motor of the vehicle and causing the loss of the vehicle's cruising range, thereby reducing unnecessary energy consumption and improving energy utilization efficiency.

[0015] In another possible implementation, the road surface information includes the slope of the target road section; based on the road surface impact force, the target torque is determined, including: based on the road surface impact force, the weight of the vehicle and the slope of the target road section, determining the second traction force required for the vehicle to pass through the target road section; based on the second traction force, the wheel radius of the vehicle and the transmission system efficiency of the vehicle, determining the target torque.

[0016] According to the above-mentioned technical means, the impact of road impact force, road slope and the vehicle's own weight on the vehicle are taken into consideration, and the traction required for the vehicle to pass through the target section is calculated more accurately, thereby determining the target torque, so that the vehicle can pass through the target section without any abnormal noise based on the target torque, avoiding excessive energy consumption of the vehicle and improving the energy utilization efficiency of the vehicle.

[0017] In yet another possible implementation, determining the target torque based on the road impact force includes: inputting the road impact force into a second torque determination model to obtain the target torque.

[0018] According to the above technical means, by determining the model through the road impact force and the second torque, the target torque required for the vehicle to pass the target section can be determined more accurately, so that the vehicle can pass the target section without any abnormal noise based on the target torque.

[0019] In another possible implementation, the road impact force to which the vehicle is subjected when passing through a target road section is determined based on road surface information and vehicle driving data, including: querying the road impact force in a mapping relationship based on road surface information and vehicle driving data; the mapping relationship is used to characterize the correspondence between road surface information, vehicle driving data and road impact force.

[0020] According to the above technical means, complex road surface information and vehicle driving data are converted into standardized road impact force through mapping relationships, avoiding complex real-time calculations and simplifying the data processing process. By quickly querying the mapping relationship, the response time is reduced and the response speed to changes in road surface information and vehicle driving data is improved.

[0021] In another possible implementation, the road impact force to which the vehicle is subjected when passing through a target section is determined based on road surface information and vehicle driving data, including: inputting road surface information and vehicle driving data into an impact force determination model to obtain the road impact force to which the vehicle is subjected when passing through the target section.

[0022] According to the above technical means, the road surface impact force corresponding to the road surface information and vehicle driving data is determined through the impact force determination model, the data processing process is simplified, and the response speed to changes in road surface information and vehicle driving data is improved.

[0023] In another possible implementation, obtaining road surface information of a target road section that a vehicle is about to pass includes: obtaining an image of the target road section; determining road surface information by identifying the image of the target road section; the road surface information includes the road surface flatness and / or road surface material of the target road section.

[0024] According to the above technical means, the road surface information of the target road section can be identified through the image of the target road section, so as to analyze the target torque required for the vehicle to pass through the target road section based on the road surface information of the target road section.

[0025] In another possible implementation, obtaining road surface information of a target road section that a vehicle is about to pass includes: scanning the target road section by radar to obtain point cloud data of the target road section; determining road surface information based on the point cloud data of the target road section; the road surface information includes the road surface flatness and / or road surface material of the target road section.

[0026] According to the above technical means, the point cloud data of the target section can be scanned by radar to determine the road surface information of the target section, so as to analyze the target torque required for the vehicle to pass through the target section based on the road surface information of the target section.

[0027] In yet another possible implementation, determining the target torque based on the impact torque includes: inputting the impact torque into a third torque determination model to obtain the target torque.

[0028] According to the above technical means, the target torque can be accurately determined based on the impact torque through the third torque determination model to improve the energy utilization efficiency of the vehicle and reduce unnecessary energy waste. The third torque determination model can quickly respond to changes in the impact torque and adjust the target torque in time to adapt to the dynamic needs of the vehicle.

[0029] In another possible implementation, the method further includes: collecting feedback data of the vehicle while the vehicle passes through the target section; the feedback data includes motor torque and driving data of the vehicle when passing through the target section based on the target torque; and retraining the third torque determination model based on the feedback data.

[0030] According to the above technical means, the third torque determination model is retrained based on the feedback data of the vehicle passing through the target road section, so that the third torque determination model can be used for different driving conditions and road conditions, thereby improving the accuracy and prediction ability of the third torque determination model, so that the third torque determination model can determine the target torque more accurately, reduce unnecessary energy waste, and improve energy utilization efficiency.

[0031] According to the second aspect provided by the present application, a vehicle torque determination device is provided, which includes: an acquisition module, used to obtain road surface information and vehicle driving data of a target section that the vehicle is about to pass; a determination module, used to determine the road surface impact force that the vehicle is subjected to when passing through the target section based on the road surface information and vehicle driving data; the determination module is also used to determine the target torque based on the road surface impact force; the target torque is the motor torque used by the vehicle to pass through the target section.

[0032] In a possible implementation, the determination module is specifically configured to calculate the impact torque applied to the powertrain of the vehicle when the vehicle passes through a target road section based on the road impact force; and determine the target torque based on the impact torque.

[0033] In another possible implementation, the determination module is specifically used to determine the first traction force of the vehicle when passing through the target section based on the road impact force and the current power of the vehicle; and calculate the impact torque based on the first traction force, the wheel radius of the vehicle and the transmission system efficiency of the vehicle.

[0034] In yet another possible implementation, the determination module is specifically configured to input the road impact force into the first torque determination model to obtain the impact torque when the vehicle passes through the target road section.

[0035] In yet another possible implementation manner, the determination module is specifically configured to determine the target torque based on the impact torque when the impact torque indicates that the motor torque of the vehicle passes through zero.

[0036] In another possible implementation, the determination module is specifically used to determine the second traction force required for the vehicle to pass through the target section based on the road impact force, the weight of the vehicle and the slope of the target section; and determine the target torque based on the second traction force, the wheel radius of the vehicle and the transmission system efficiency of the vehicle.

[0037] In yet another possible implementation, the determination module is specifically configured to input the road impact force into the second torque determination model to obtain the target torque.

[0038] In another possible implementation, the determination module is specifically used to query the road surface impact force in a mapping relationship based on the road surface information and the vehicle driving data; the mapping relationship is used to characterize the correspondence between the road surface information, the vehicle driving data and the road surface impact force.

[0039] In another possible implementation, the determination module is specifically configured to input road surface information and vehicle driving data into an impact force determination model to obtain the road surface impact force experienced by the vehicle when passing through a target road section.

[0040] In another possible implementation, the acquisition module is specifically used to acquire an image of the target road section; and determine road surface information by identifying the image of the target road section; the road surface information includes road surface flatness and / or road surface material of the target road section.

[0041] In another possible implementation, the acquisition module is specifically used to acquire point cloud data of the target road section by scanning the target road section through radar; determine road surface information based on the point cloud data of the target road section; the road surface information includes the road surface flatness and / or road surface material of the target road section.

[0042] In yet another possible implementation, the determination module is specifically configured to input the impact torque into a third torque determination model to obtain the target torque.

[0043] In another possible implementation, the device further includes: a collection module and a training module. The collection module is used to collect feedback data of the vehicle when the vehicle passes through the target section; the feedback data includes the motor torque and driving data of the vehicle when passing through the target section based on the target torque; and the training module is used to retrain the third torque determination model based on the feedback data.

[0044] According to the third aspect provided by the present application, a vehicle is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0045] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the vehicle, the vehicle is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0046] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on a vehicle, the vehicle executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0047] Therefore, the above technical features of the present application have the following beneficial effects:

[0048] (1) Based on the road surface information and vehicle driving data, the impact force of the target road section on the vehicle is determined, and the target torque is determined so that the vehicle passes through the target road section based on the target torque. The impact of the external road environment and the vehicle's own driving data on the vehicle is comprehensively considered, so that the transmission system can effectively avoid abnormal noise due to inherent clearance when the vehicle passes through the impact road surface. In addition, by adjusting the motor torque of the vehicle in real time based on the target torque, the vehicle can adapt to different road conditions, which not only avoids the occurrence of abnormal noise in the vehicle transmission system, but also reduces the bumps caused by uneven road surfaces and improves the ride comfort of the vehicle. It also reduces the risk of the vehicle slipping or losing control due to road conditions.

[0049] (2) The impact torque is used to determine the degree of influence of the road conditions of the target section on the motor torque of the vehicle, so as to more accurately determine the target torque required for the vehicle to pass the target section to adapt to different road conditions. And by accurately determining the target torque, the loss of driving range caused by blindly adding torque to the vehicle can be effectively avoided.

[0050] (3) The impact torque of the target section on the vehicle can be determined more accurately by the impact force of the road surface and the current power of the vehicle, so that the target torque that enables the vehicle to pass through the target section without making abnormal noise can be accurately determined based on the impact torque, thereby avoiding the waste of vehicle resources.

[0051] (4) By using the road impact force and the first torque determination model, the impact torque of the target road section on the vehicle can be determined more accurately, so as to accurately determine the target torque that enables the vehicle to pass through the target road section without abnormal noise based on the impact torque.

[0052] (5) When the motor torque of the vehicle passes through zero, the transmission system of the vehicle will produce abnormal noise due to inherent clearance. It is necessary to add a corresponding target torque to the motor of the vehicle so that the motor torque of the vehicle does not pass through zero to avoid abnormal noise. In addition, the target torque is determined only when the motor torque of the vehicle passes through zero. This can effectively avoid adding torque to the motor of the vehicle when the vehicle has not passed the impact section, that is, when the motor torque of the vehicle has not passed through zero, so that the motor energy consumption of the vehicle increases and the vehicle's driving range is lost, thereby reducing unnecessary energy consumption and improving energy utilization efficiency.

[0053] (6) Taking into account the impact of road impact force, road slope and the vehicle's own weight on the vehicle, the traction required for the vehicle to pass through the target section is calculated more accurately, thereby determining the target torque. Based on the target torque, the vehicle can pass through the target section without any abnormal noise, avoiding excessive energy consumption and improving the vehicle's energy utilization efficiency.

[0054] (7) By determining the model of the road impact force and the second torque, the target torque required for the vehicle to pass through the target section can be determined more accurately, so that the vehicle can pass through the target section without any abnormal noise based on the target torque.

[0055] (8) Through mapping relationships, complex road surface information and vehicle driving data are converted into standardized road impact forces, avoiding complex real-time calculations and simplifying the data processing process. By quickly querying the mapping relationship, the response time is reduced and the response speed to changes in road surface information and vehicle driving data is improved.

[0056] (9) The impact force determination model is used to determine the road impact force corresponding to the road surface information and vehicle driving data, thereby simplifying the data processing process and improving the response speed to changes in road surface information and vehicle driving data.

[0057] (10) The road surface information of the target road section can be identified through the image of the target road section, so as to analyze the target torque required for the vehicle to pass through the target road section based on the road surface information of the target road section.

[0058] (11) The point cloud data of the target section can be scanned by radar, thereby determining the road surface information of the target section, so as to analyze the target torque required for the vehicle to pass through the target section based on the road surface information of the target section.

[0059] (12) Through the third torque determination model, the target torque can be accurately determined based on the impact torque to improve the energy utilization efficiency of the vehicle and reduce unnecessary energy waste. The third torque determination model can quickly respond to changes in the impact torque and adjust the target torque in time to adapt to the dynamic needs of the vehicle.

[0060] (13) Based on the feedback data of the vehicle passing through the target road section, the third torque determination model is retrained so that the third torque determination model can adapt to different driving conditions and road conditions, thereby improving the accuracy and prediction ability of the third torque determination model, and enabling the third torque determination model to more accurately determine the target torque, thereby reducing unnecessary energy waste and improving energy utilization efficiency.

[0061] It should be noted that the technical effects brought about by any implementation method in the second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0062] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0064] Figure 1 is a flow chart showing a method for determining vehicle torque according to an exemplary embodiment;

[0065] Figure 2 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0066] Figure 3 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0067] Figure 4 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0068] Figure 5 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0069] Figure 6 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0070] Figure 7 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0071] Figure 8 is a flow chart showing another method for determining vehicle torque according to an exemplary embodiment;

[0072] Fig. 9is a block diagram of a vehicle torque determination device according to an exemplary embodiment;

[0073] Fig.10 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0074] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0075] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0076] With the development of economy and the improvement of people's living standards, cars have become a common means of transportation for people. At present, new energy vehicles are developing rapidly, and the market share of new energy vehicles is increasing year by year. Since the power source of new energy vehicles has changed from traditional fuel engines to drive motors, the low-frequency noise of the engine has been reduced in the car. Although high-frequency electric drive noise has been added in new energy vehicles, compared with traditional vehicles, new energy vehicles will be quieter in the car during operation, and abnormal noises in the vehicle are easier to detect than traditional fuel vehicles. New energy vehicles, especially new energy vehicles that are completely driven by electric drive, only rely on the output torque of the electric drive to drive the vehicle. Under some common working conditions, such as low-speed forward and reverse, the electric drive only needs to output very small torque to drive the vehicle, and the auxiliary drive may not even output torque. However, there is a gap between the gear meshing of the transmission mechanism from the electric drive to the wheel, and there is also a gap between the key connection structures. When the electric drive output torque is very small or no torque is output, if the motor torque of the vehicle changes suddenly, the gears of the transmission mechanism and the key connection structure collide, and the vehicle will produce abnormal noise.

[0077] New energy vehicles are directly driven by electric drive. Compared with traditional fuel vehicles, they lack the noise masking of the engine, making the abnormal noise from the vehicle more prominent and noticeable to the driver and passengers. When the vehicle is running at a low speed, not only is there no engine noise, but the road noise and wind noise are also very small. Once there is an abnormal noise, it will be obviously prominent. On the other hand, when the electric drive drives the vehicle, the output torque of the electric drive changes in real time with the actual working conditions, and the range from negative to positive is very large. If the vehicle is running at a low speed, the electric drive only needs to output a very small torque to maintain the vehicle's operating state, and the torque in the entire transmission system is not large at this time. Due to the inevitable existence of tooth side clearance, key connection clearance, etc. in the vehicle's transmission system, if the vehicle is suddenly subjected to a large impact from the outside world, the torque changes in the transmission system. When the torque change is greater than the normal output torque of the system during the current driving, it causes the meshing reversal in the transmission system, resulting in abnormal knocking noise.

[0078] When the vehicle is moving forward at a low speed, the rear drive is responsible for driving the vehicle, and the front drive is in a follow-up state and only outputs a very small torque to keep the entire front transmission system in a fit state, so that there will not be loose knocking sounds at any time. If the impact of the road surface is large, the torque in the vehicle's transmission system will change significantly. If the degree of change is greater than the pre-torque, it may cause torque reversal in the transmission system, causing abnormal knocking sounds in the transmission system. In addition, the continued existence of pre-torque will cause a loss of driving range and increase costs. In the related art, the scheme for the abnormal noise generated by the transmission system of the above-mentioned vehicle is: when the vehicle releases the accelerator pedal in the driving mode or the vehicle releases the brake pedal in the brake recovery mode, the vehicle is given a corresponding pre-torque, thereby avoiding abnormal noise in the transmission system when the torque is switched. This scheme cannot avoid abnormal noise in the transmission system caused by external impact on the vehicle. In another related technology, when it is monitored that the change value of the motor speed within a preset time is greater than or equal to the preset change value, the motor torque is actively adjusted to avoid abnormal noise caused by the motor hitting the gear. The motor torque of the vehicle in this method is passively corrected, there is a delay, and it cannot match the large rapid impact from the outside. Therefore, the control method of abnormal noise of automobile transmission system in the related art has the following problems: it cannot solve the abnormal noise of transmission system caused by external impact, the motor torque of the vehicle is passively corrected, there is a delay, and it cannot match the large rapid impact from the outside. Therefore, how to avoid abnormal noise of vehicle transmission system is a technical problem that needs to be solved urgently.

[0079] In response to the above problems, the present application proposes a method for determining vehicle torque, in which the impact force of the target road section on the vehicle is determined based on road information and vehicle driving data, and the target torque is determined so that the vehicle passes through the target road section based on the target torque, and the influence of the external road environment and the vehicle's own driving data on the vehicle is comprehensively considered, so that the transmission system of the vehicle can effectively avoid abnormal noise due to inherent clearance when the vehicle passes through the impact road surface. In addition, by adjusting the motor torque of the vehicle in real time based on the target torque, the vehicle can adapt to different road conditions, which not only avoids the occurrence of abnormal noise in the vehicle transmission system, but also reduces the bumps caused by uneven road surface and improves the ride comfort of the vehicle. It also reduces the risk of the vehicle slipping or losing control due to road conditions.

[0080] For ease of understanding, the vehicle torque determination method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0081] Figure 1 is a flow chart of a method for determining vehicle torque according to an exemplary embodiment. Figure 1 As shown, the vehicle torque determination method includes the following steps:

[0082] S101. Obtain road surface information and vehicle driving data of a target road section that a vehicle is about to pass.

[0083] As a possible implementation method, the determination device can obtain road surface information and vehicle driving data of the target section that the vehicle is about to pass, so as to judge the impact force of the target section on the vehicle based on the road surface information and vehicle driving data of the target section, thereby determining the target torque required for the vehicle to pass through the target section.

[0084] Exemplarily, the determination device can collect the road surface information of the target road section and the driving data of the vehicle through a collection device. The collection device includes: a road surface information collection device that scans the target road section in front of the vehicle in real time and a vehicle data collection device that collects the vehicle driving data in real time based on the vehicle controller area network (CAN) bus. The collection device can work continuously when the vehicle is driving. When the vehicle is driving, the road surface information collection device located in the direction of vehicle movement (i.e., the front of the vehicle when the vehicle is moving forward and the rear of the vehicle when the vehicle is moving backward) scans and collects the road surface information in real time. At the same time, the vehicle data collection system collects the vehicle speed, motor speed, motor torque, throttle opening and other information in real time through the CAN bus. Among them, the road surface information collection device can be a high-precision camera on the vehicle, which scans the road surface conditions of the target road section in the direction of vehicle movement in real time through the high-precision camera, and visually identifies the road surface conditions to obtain the road surface information of the target road section.

[0085] S102: Determine the road impact force to which the vehicle is subjected when passing through the target road section based on road surface information and vehicle driving data.

[0086] As a possible implementation method, after the determination device obtains the road surface information and vehicle driving data of the target section, it can determine the road impact force exerted on the vehicle when passing through the target section based on the road surface information and vehicle driving data, and thereby determine the target torque required for the vehicle based on the road impact force.

[0087] Exemplarily, the determination device can identify the road surface smoothness of the target road section that the vehicle's wheels are about to roll over based on road surface information, determine whether the wheels of the vehicle will be impacted by the target road section if the vehicle continues to travel in the current direction, and combine the vehicle driving data to determine the extent of the impact of the target road section on the vehicle's transmission system when the wheels are impacted by the target road section under the vehicle's current operating conditions, that is, the road surface impact force to which the vehicle is subjected when passing through the target road section.

[0088] Specifically, the determination device can input the road surface information and vehicle driving data into the analysis device, and the analysis device can analyze the road surface information to obtain what kind of road surface the wheels will roll over when the vehicle continues to drive under the current driving trajectory, so as to find abnormal road surfaces that may bring external impact to the vehicle transmission system, such as potholes and bumps. The analysis device can analyze the size of the pits on the road surface to be rolled over, or how high the bumps are based on the road surface information. Combined with the vehicle driving data, vehicle speed, electric drive torque, throttle opening and other information, it is analyzed how long it will take for the vehicle to roll over the abnormal road surface, and the road impact force on the vehicle when it rolls over the abnormal road surface under the current driving state.

[0089] S103: Determine a target torque based on the road impact force.

[0090] The target torque is the motor torque used by the vehicle to pass the target road section.

[0091] As a possible implementation manner, after the determination device determines the road impact force to which the vehicle is subjected when passing through the target road section, the target torque required for the vehicle to pass through the target road section can be determined based on the road impact force.

[0092] Exemplarily, the determination device may determine the impact torque generated by the vehicle motor when the vehicle passes through the target section with the current driving data based on the road impact force, thereby determining the target torque required for the vehicle to pass through the target section based on the impact torque.

[0093] It should be noted that after the determination device determines the target torque required for the vehicle to pass the target section, the vehicle can add the target torque to the transmission system so that when the vehicle passes the target section, the contact surfaces in the transmission system always remain in a stable fit state, thereby avoiding abnormal noise due to inherent clearance in the transmission system when the vehicle passes the target section.

[0094] It should be understood that the determination device determines the magnitude of the road impact force of the target road section on the vehicle based on the road surface information of the target road section and the vehicle driving data, and determines the target torque so that the vehicle passes through the target road section based on the target torque, taking into account the influence of the external road environment and the vehicle's own driving data on the vehicle, thereby effectively avoiding abnormal noises in the transmission system due to inherent clearance when the vehicle passes through the impact road surface. In addition, by adjusting the motor torque of the vehicle in real time based on the target torque, the vehicle can adapt to different road conditions, which not only avoids the occurrence of abnormal noises in the vehicle transmission system, but also reduces the bumps caused by uneven roads and improves the ride comfort of the vehicle. It also reduces the risk of the vehicle slipping or losing control due to road conditions.

[0095] In some embodiments, the determination device may determine the impact torque when the vehicle passes through the target road section based on the road impact force exerted on the vehicle, thereby determining the target torque based on the impact torque. Figure 2 As shown, the above step S103 can be specifically implemented as the following steps S1031-S1032:

[0096] S1031. Calculate, based on the road impact force, the impact torque received by the powertrain of the vehicle when the vehicle passes through the target road section.

[0097] As a possible implementation method, the determination device can calculate the impact torque exerted on the vehicle's powertrain when the vehicle passes through the target section based on the road impact force exerted on the vehicle when passing through the target section, thereby determining the target torque required for the vehicle to pass through the target section based on the impact torque.

[0098] Exemplarily, the determining device may determine the first traction force of the vehicle passing through the target section based on the road impact force and the current power of the vehicle, that is, the traction force provided by the motor of the vehicle to the vehicle before the vehicle is about to pass through the target section, wherein the first traction force represents the traction force after the original traction force provided by the motor of the vehicle to the vehicle is affected by the road impact force under the influence of the road surface information of the target section. The determining device may calculate the impact torque of the powertrain of the vehicle when the vehicle passes through the target section based on the first traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle, so as to determine the degree of influence of the road impact force on the vehicle, thereby determining the target torque for the vehicle to pass through the target section.

[0099] S1032: Determine a target torque based on the impact torque.

[0100] As a possible implementation manner, after the determination device determines the impact torque, it can also determine the target torque based on the impact torque so that the vehicle passes through the target road section based on the target torque.

[0101] Exemplarily, the determination device can judge whether the vehicle can pass through the target section in the current driving state, and whether the vehicle's transmission system produces abnormal noise when the vehicle passes through the target section in the current driving state based on the impact torque. Thus, when the vehicle cannot pass through the target section in the current driving state, or the vehicle can pass through the target section in the current driving state but the vehicle's transmission system produces abnormal noise, the vehicle determines the target torque that allows the vehicle to pass through the target section without abnormal noise in the vehicle's transmission system based on the impact torque.

[0102] It should be understood that the determination device can determine the degree of influence of the road conditions of the target section on the motor torque of the vehicle through the impact torque, so as to more accurately determine the target torque required for the vehicle to pass through the target section to adapt to different road conditions. And by accurately determining the target torque, the loss of driving range caused by blindly adding torque to the vehicle can be effectively avoided.

[0103] In other embodiments, the determining device may also determine the first traction force when the vehicle passes through the target road section based on the road impact force and the current power of the vehicle, thereby determining the impact torque based on the first traction force. Figure 3 As shown, the above step S1031 can be specifically implemented as the following steps S1031a-S1031b:

[0104] S1031a. Determine a first traction force when the vehicle passes through a target road section based on the road impact force and the current power of the vehicle.

[0105] As a possible implementation manner, the determination device may determine the first traction force of the vehicle when passing through the target road section based on the road impact force and the current power of the vehicle, thereby determining the impact torque based on the first traction force.

[0106] Exemplarily, the determining device may obtain the power generated by the motor of the current vehicle from the vehicle driving data, and obtain the road slope of the target road section from the road surface information, thereby determining the friction force of the target road section on the vehicle based on the road slope of the target road section, the weight of the vehicle, and the friction coefficient between the wheels of the vehicle and the target road section. The determining device may determine the first traction force when the vehicle passes through the target road section in the current driving state based on the friction force of the target road section on the vehicle, the current power of the vehicle, and the road impact force of the road surface on the vehicle.

[0107] Specifically, the determining device may determine the first traction force when the vehicle passes through the target road section by the following expression:

[0108] f1 = μmg cosθ;

[0109] F1=F 动力 -F 冲击力 -f1;

[0110] Among them, f1 represents the friction force of the target road section on the vehicle, μ represents the friction coefficient between the vehicle's wheels and the target road section, m represents the weight of the vehicle, and g represents the acceleration of gravity, which is usually taken as 9.8m / s 2 , θ represents the road slope of the target section, F1 represents the first traction force when the vehicle passes the target section in the current driving state, F 动力 Indicates the current power of the vehicle, F 冲击力 Indicates the road impact force.

[0111] S1031b: Calculate the impact torque based on the first traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0112] As a possible implementation manner, after the determination device determines the first traction force when the vehicle passes through the target road section, the impact torque can be calculated based on the first traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0113] Exemplarily, the determining device may calculate the impact torque based on the following expression:

[0114] T1=F1*r / η;

[0115] Wherein, T1 represents the impact torque, F1 represents the first traction force, r represents the wheel radius of the vehicle, and η represents the transmission system efficiency of the vehicle.

[0116] It should be understood that the determination device can more accurately determine the impact torque of the target section on the vehicle through the road impact force and the power of the vehicle, so as to accurately determine the target torque based on the impact torque so that the vehicle passes through the target section without abnormal noise, thereby avoiding waste of vehicle resources.

[0117] In other embodiments, the determination device may also determine the impact torque when the vehicle passes through the target section by using the first torque determination model. Therefore, the above steps calculate the impact torque when the vehicle passes through the target section based on the road impact force, which may be specifically implemented as follows: inputting the road impact force into the first torque determination model to obtain the impact torque when the vehicle passes through the target section.

[0118] Exemplarily, the impact torque when the vehicle passes through the target section can also be determined by the first torque determination model. The first torque determination model is obtained by training the relationship between the impact force of the road surface and the impact torque when the vehicle passes through the target section based on a large amount of test data and road test data of the vehicle. In addition, the first torque determination model can be set on the vehicle side or in the cloud, which is not limited in the embodiments of the present application.

[0119] It should be understood that the road impact force and the first torque determination model can more accurately determine the impact torque of the target section on the vehicle, so as to accurately determine the target torque that allows the vehicle to pass through the target section without abnormal noise based on the impact torque.

[0120] In other embodiments, after determining the impact torque of the vehicle, the determination device can determine whether the motor torque of the vehicle has passed through zero based on the impact torque. When the impact torque indicates that the motor torque of the vehicle has passed through zero, it means that when the vehicle passes through the target section, the transmission system of the vehicle will cause abnormal noise due to the motor torque passing through zero. The determination device can determine the target torque based on the impact torque, so that the vehicle passes through the target section based on the target torque to avoid abnormal noise. Therefore, the above step S1032 can be specifically implemented as follows: when the impact torque indicates that the motor torque of the vehicle has passed through zero, the target torque is determined based on the impact torque.

[0121] As a possible implementation method, after the determination device determines the impact torque, it can judge whether the motor torque of the vehicle passes through zero based on the impact torque, so as to determine the target torque based on the impact torque when the impact torque indicates that the motor torque of the vehicle passes through zero.

[0122] For example, there is a certain gap between the gears in the vehicle's transmission system. When the motor torque of the vehicle changes rapidly, it causes impact on the internal parts of the transmission system, resulting in abnormal noise. Therefore, when the impact torque indicates that the motor torque of the vehicle has passed zero, the determination device can determine the target torque based on the impact torque to avoid abnormal noise when the vehicle passes the target section. When the impact torque indicates that the motor torque of the vehicle has not passed zero, the motor torque of the vehicle has not changed rapidly. When the vehicle passes the target section, the gap in the vehicle's transmission system will not produce abnormal noise, so the determination device does not need to determine the target torque.

[0123] Specifically, when the vehicle passes through the target section, the motor torque of the vehicle changes from a positive number to a negative number, or from a negative number to a positive number, indicating that the motor torque of the vehicle passes through zero, for example: the motor torque of the vehicle changes from 2Nm to -1Nm. When the vehicle passes through the target section, the sign of the motor torque of the vehicle does not change, indicating that the motor torque of the vehicle does not pass through zero, for example: the motor torque of the vehicle changes from 2Nm to 1Nm. The above-mentioned impact torque represents the torque generated by the motor of the vehicle being affected by the target section when the vehicle passes through the target section with the current driving data. Therefore, when the impact torque is opposite in sign to the motor torque of the vehicle before passing through the target section, it indicates that the motor torque of the vehicle passes through zero when passing through the target section.

[0124] It should be understood that when the vehicle's motor torque passes through zero, the vehicle's transmission system will produce abnormal noise due to inherent clearance. The determination device needs to add a corresponding target torque to the vehicle's motor so that the vehicle's motor torque does not pass through zero to avoid abnormal noise. Moreover, the target torque is determined only when the vehicle's motor torque passes through zero. This can effectively avoid adding torque to the vehicle's motor when the vehicle has not passed the impact section, that is, when the vehicle's motor torque has not passed through zero, thereby increasing the vehicle's motor energy consumption and causing a loss of the vehicle's cruising range, thereby reducing unnecessary energy consumption and improving energy utilization efficiency.

[0125] In other embodiments, the road surface information includes the slope of the target road section, and the determination device can determine the second traction force for the vehicle to pass through the target road section without making abnormal noise based on the road surface impact force, the weight of the vehicle, and the slope of the target road section, thereby determining the target torque based on the second traction force. Figure 4 As shown, the above step S103 can be specifically implemented as the following steps S103a-S103b:

[0126] S103a: Determine a second traction force required for the vehicle to pass through the target road section based on the road impact force, the weight of the vehicle, and the slope of the target road section.

[0127] As a possible implementation manner, the determination device may determine the second traction force required for the vehicle to pass through the target road section based on the road impact force, the weight of the vehicle, and the slope of the target road section.

[0128] Exemplarily, the determination device can obtain the road surface slope of the target section from the road surface information, and determine the friction force of the target section on the vehicle based on the road surface slope of the target section, the weight of the vehicle, and the friction coefficient between the vehicle's wheels and the target section, thereby determining the second traction force required for the vehicle to pass through the target section without abnormal noise based on the friction force of the target section on the vehicle and the road surface impact force.

[0129] Specifically, the determining device may determine the second traction force required for the vehicle to pass through the target road section by the following expression:

[0130] f2 = μmg cosθ;

[0131] F2=F 冲击力 +f2;

[0132] Among them, f2 represents the friction force of the target road section on the vehicle, μ represents the friction coefficient between the vehicle's wheels and the target road section, m represents the weight of the vehicle, and g represents the acceleration of gravity, which is usually taken as 9.8m / s 2 , θ represents the road slope of the target section, F2 represents the first traction force when the vehicle passes the target section in the current driving state, F 冲击力 Indicates the road impact force.

[0133] S103b: Determine a target torque based on the second traction force, a wheel radius of the vehicle, and a transmission system efficiency of the vehicle.

[0134] As a possible implementation manner, after the determination device determines the second traction force required for the vehicle to pass through the target road section, the target torque can be determined based on the second traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0135] Exemplarily, the determination device may determine the target torque based on the following expression:

[0136] T2=F2*r / η;

[0137] Wherein, T2 represents the target torque, F2 represents the second traction force, r represents the wheel radius of the vehicle, and η represents the transmission system efficiency of the vehicle.

[0138] It should be understood that the determination device takes into account the impact of road impact force, road slope and the vehicle's own weight on the vehicle, and more accurately calculates the traction required for the vehicle to pass through the target section, thereby determining the target torque, so that the vehicle can pass through the target section without any abnormal noise based on the target torque, avoiding excessive energy consumption of the vehicle and improving the energy utilization efficiency of the vehicle.

[0139] In other embodiments, the determination device may also determine the target torque through a second torque determination model. Therefore, the above step of determining the target torque based on the road impact force may be specifically implemented as follows: inputting the road impact force into the second torque determination model to obtain the target torque.

[0140] Exemplarily, the target torque required for the vehicle to pass through the target section can also be determined by a second torque determination model. The second torque determination model is based on a large amount of vehicle test data and road test data, and is trained to obtain the relationship between the road impact force and the target torque required for the vehicle to pass through the target section. In addition, the second torque determination model can be set on the vehicle side or in the cloud, which is not limited in the embodiments of the present application. In addition, the second torque determination model can be the same as or different from the first torque determination model, which is not limited in the embodiments of the present application.

[0141] It should be understood that by determining the model based on the road impact force and the second torque, the target torque required for the vehicle to pass the target section can be determined more accurately, so that the vehicle can pass the target section without any abnormal noise based on the target torque.

[0142] In other embodiments, the determining device can determine the road impact force received by the vehicle passing through the target road section by querying the road impact force corresponding to the road information and the vehicle driving data in the mapping relationship. Therefore, the above step S102 can be specifically implemented as: querying the road impact force in the mapping relationship based on the road information and the vehicle driving data. The mapping relationship is used to characterize the corresponding relationship between the road information, the vehicle driving data and the road impact force.

[0143] As a possible implementation manner, the determination device may query the road surface information and the road surface impact force corresponding to the vehicle driving data from a mapping relationship.

[0144] For example, during the vehicle development process, the pavement information of the road section that the vehicle passes through and the driving data of the vehicle when passing through the road section can be calibrated and matched with the pavement impact force received by the vehicle on the road section. Specific pavement and special working conditions are pre-selected, such as various abnormal noise evaluation roads in the test site, and the mapping relationship is calibrated by software on these test roads. The identified pavement information, vehicle driving data, and the impact force actually received by the vehicle from the road are correlated and coupled and stored in the mapping relationship. Thus, the determination device can query the pavement information and the pavement impact force corresponding to the vehicle driving data at the current moment from the mapping relationship.

[0145] It should be noted that when determining the mapping relationship corresponding to the vehicle in the test field, the road impact force on the vehicle under various road information and various vehicle driving data can be determined by the control variable method and the mathematical fitting method. For example, when the road information is determined, that is, the same impact section, the road impact force on the vehicle when the vehicle passes through the impact section with multiple different driving data is counted, and the multiple road impact forces are mathematically fitted to obtain the curve equation of the road impact force of the vehicle passing through the impact section under different driving data, thereby determining the road impact force of the vehicle passing through the impact section under various driving data.

[0146] It should be understood that the determination device can convert complex road surface information and vehicle driving data into standardized road impact force through a mapping relationship, avoid complex real-time calculations, simplify the data processing process, and reduce the response time by quickly querying the mapping relationship, thereby improving the response speed to changes in road surface information and vehicle driving data.

[0147] In other embodiments, the road impact force to which the vehicle is subjected when passing through a target section is determined based on road surface information and vehicle driving data, including: inputting road surface information and vehicle driving data into an impact force determination model to obtain the road impact force to which the vehicle is subjected when passing through the target section.

[0148] For example, the impact force determination model can also be used to determine the road impact force that the vehicle is subjected to when passing through the target road section. The impact force determination model is based on a large amount of vehicle test data and road test data, and is obtained by training the relationship between road surface information, vehicle driving data, and the road impact force that the vehicle is subjected to when passing through the target road section. In addition, the impact force determination model can be set on the vehicle side or in the cloud, and the embodiments of the present application are not limited to this.

[0149] It should be understood that by determining the impact force model, the road surface impact force corresponding to the road surface information and vehicle driving data is determined, the data processing process is simplified, and the response speed to changes in road surface information and vehicle driving data is improved.

[0150] In other embodiments, the determining device may also obtain an image of the target road section and identify the road surface information of the target road section from the image of the target road section. Figure 5 As shown, the above steps obtain the road surface information of the target road section that the vehicle is about to pass, which can be specifically implemented as the following steps S1011-S1012:

[0151] S1011. Acquire an image of a target road section.

[0152] As a possible implementation manner, the determination device may obtain an image of the target road section that the vehicle is about to pass through, so as to analyze the image and determine the road surface information of the target road section.

[0153] Exemplarily, the vehicle can capture images of the target road section that the vehicle is about to pass through in real time through the vehicle's on-board camera, or the determination device can also obtain images of the target road section through other image acquisition devices on the vehicle, or the determination device can also obtain images of the target road section through a high-precision map.

[0154] S1012: Determine road surface information by identifying the image of the target road section.

[0155] The road surface information includes the road surface flatness and / or road surface material of the target road section.

[0156] As a possible implementation manner, after the determination device acquires the image of the target road section, it can identify the image of the target road section to determine the road surface flatness and road surface material of the target road section, and obtain the road surface information of the target road section.

[0157] Exemplarily, the determination device may preprocess the image of the target road section, including denoising, graying, contrast enhancement, etc., and extract the surface features of the target road section from the preprocessed image, such as road edges, cracks, potholes, etc. The determination device may use a road surface detection algorithm to identify and analyze the road surface conditions of the target road section, such as edge detection, texture analysis or pattern recognition technology, and use stereo vision technology or image data of multiple target road sections to reconstruct a three-dimensional model of the target road section, thereby identifying the road surface flatness and road surface material of the target road section by analyzing the three-dimensional model of the road surface, and obtaining road surface information.

[0158] It should be noted that the determination device can use a machine learning algorithm to train data to learn the characteristics of road surface smoothness in order to automatically identify and classify different road conditions and improve the accuracy of road surface information recognition.

[0159] It should be understood that the determination device can identify the road surface information of the target road section through the image of the target road section, so as to analyze the target torque required for the vehicle to pass through the target road section based on the road surface information of the target road section.

[0160] In other embodiments, the determining device may also scan the target road section by radar to obtain point cloud data of the target road section, thereby determining the road surface information of the target road section based on the point cloud data of the target road section. Figure 6 As shown, the above steps obtain the road surface information of the target road section that the vehicle is about to pass, which can be specifically implemented as the following steps S101a-S101b:

[0161] S101a, scanning the target road section by radar to obtain point cloud data of the target road section.

[0162] As a possible implementation manner, the determination device may also scan the target road section by radar, thereby acquiring point cloud data of the target road section, so as to determine the road surface information of the target road section based on the point cloud data of the target road section.

[0163] Exemplarily, the vehicle may obtain point cloud data of the target road section by scanning the target road section with an on-board radar of the vehicle, or the determination device may also obtain point cloud data of the target road section through other radar equipment.

[0164] It should be understood that the determination device can also obtain point cloud data of the target road section scanned by a radar device on the roadside of the target road section. The embodiment of the present application does not limit the specific method of obtaining the point cloud data of the target road section.

[0165] S101b. Determine the road surface information based on the point cloud data of the target road section.

[0166] The road surface information includes the road surface flatness and / or road surface material of the target road section.

[0167] As a possible implementation method, after the determination device obtains the point cloud data of the target road section, it can analyze the flatness of the target road section and the road surface material of the target road section based on the point cloud data of the target road section, thereby determining the road surface information of the target road section.

[0168] Exemplarily, the determination device can filter and classify the point cloud data of the target road section through point cloud processing technology, such as: octree sampling algorithm and Gaussian filtering algorithm, so as to calculate the road surface flatness of the target road section based on the processed point cloud data, and determine the road surface material of the target road section to obtain road surface information.

[0169] It should be understood that the determination device can determine the road surface information of the target road section by scanning the point cloud data of the target road section by radar, so as to analyze the target torque required for the vehicle to pass through the target road section based on the road surface information of the target road section.

[0170] It should be noted that the determination device can also directly obtain the road surface information of the target section from a road surface information database or other equipment, or obtain the road surface information of the target section through other road surface scanning or road surface processing methods. The embodiments of the present application do not limit the specific method of obtaining the road surface information of the target section, and the above embodiments are shown as examples.

[0171] In other embodiments, when determining the target torque based on the impact torque, the impact torque can be input into the third torque determination model to obtain the target torque. Therefore, the above step of determining the target torque based on the impact torque can be specifically implemented as follows: inputting the impact torque into the third torque determination model to obtain the target torque.

[0172] As a possible implementation manner, the determination device may obtain the target torque by inputting the impact torque into the third torque determination model.

[0173] Exemplarily, the determination device can determine through the third torque determination model how much torque (i.e., target torque) needs to be pre-added to the vehicle's motor to stabilize the transmission system and not produce abnormal noise when the tire passes the target road section that is about to be encountered in the current vehicle driving state. The third torque determination model can be based on historical data to match the transmission system and how much torque it needs to output at what time so that the transmission system will not be disengaged from the system and cause abnormal knocking noise when it is impacted. Moreover, the third torque determination model can be set on the vehicle side or in the cloud, which is not limited in the embodiments of the present application. In addition, the third torque determination model may be the same as or different from the first torque determination model and the second torque determination model, which is not limited in the embodiments of the present application.

[0174] Specifically, during the vehicle development process, the corresponding relationship between the road surface information, vehicle driving data and road surface impact force in the mapping relationship can also be obtained. Since the test road surface is known, the impact magnitude of the vehicle when passing through the road surface at different vehicle speeds can be clearly known. Therefore, the third torque determination model can be calibrated to match the torque required by the transmission system to prevent the transmission system from disengaging when the transmission system is subjected to different impacts, that is, the target torque, thereby realizing the training of the third torque determination model.

[0175] It should be noted that during vehicle driving, the determination device can obtain the road surface information of the target section and the vehicle's driving data in real time to determine the target torque, so as to output the changing target torque demand in real time according to the changes in the road conditions of the target section during vehicle driving.

[0176] It should be understood that the determination device can accurately determine the target torque based on the impact torque through the third torque determination model to improve the energy utilization efficiency of the vehicle and reduce unnecessary energy waste, and the third torque determination model can quickly respond to changes in the impact torque and adjust the target torque in time to adapt to the dynamic needs of the vehicle.

[0177] In other embodiments, when the vehicle passes through the target section based on the target torque, the determination device may also collect feedback data of the vehicle, that is, the motor torque and driving data of the vehicle passing through the target section, so that the determination device may train the third torque determination model based on the collected feedback data to improve the accuracy of the target torque determination. Figure 7 As shown, the vehicle torque determination method provided in the embodiment of the present application further includes the following steps:

[0178] S104. Collect feedback data of the vehicle while the vehicle passes through the target road section.

[0179] The feedback data includes the motor torque and driving data when the vehicle passes through the target section based on the target torque.

[0180] As a possible implementation, when the vehicle passes through the target section, the determination device may collect feedback data of the vehicle passing through the target section based on the target torque, so as to train the third torque determination model based on the real-time feedback data of the vehicle.

[0181] For example, when the vehicle passes through the target section, the vehicle's data collection equipment can also monitor and feedback the vehicle's operating data in real time, and obtain the motor torque and driving data when the vehicle actually passes through the target section.

[0182] S105 . Retrain the third torque determination model based on the feedback data.

[0183] As a possible implementation manner, after the determination device obtains the feedback data of the vehicle, the third torque determination model can be retrained based on the feedback data.

[0184] Exemplarily, the determination device can judge whether abnormal noise occurs when the vehicle actually passes through the target section based on the target torque based on the motor torque of the vehicle in the feedback data, and thus judge whether the target torque is sufficient or excessive based on the driving data and abnormal noise when the vehicle actually passes through the target section, and retrain and learn the third torque determination model so that the third torque determination model can output the target torque more accurately, thereby preventing abnormal noise from occurring when the vehicle passes through the target road surface due to inherent clearance in the transmission system.

[0185] It should be understood that the determination device retrains the third torque determination model based on the feedback data of the vehicle passing through the target road section, so that the third torque determination model can adapt to different driving conditions and road conditions, thereby improving the accuracy and predictive ability of the third torque determination model, and enabling the third torque determination model to more accurately determine the target torque, reduce unnecessary energy waste, and improve energy utilization efficiency.

[0186] Figure 8 is a flow chart of another method for determining vehicle torque according to an exemplary embodiment. Figure 8 As shown, the process includes the following steps: the acquisition equipment of the determination device includes a road surface information acquisition device and a vehicle data acquisition device. The road surface information acquisition device is used to perform real-time scanning of road conditions to obtain road surface information of the target section that the vehicle is about to pass. The vehicle data acquisition device is used to collect vehicle driving data. The analysis device analyzes the impact conditions (i.e., the above-mentioned road surface impact force) that the vehicle will be subjected to based on the road surface information and vehicle driving data scanned in real time. The control device calculates the time-varying pre-torque (i.e., the above-mentioned target torque) based on the impact conditions. The execution device outputs the time-varying pre-torque, and when the vehicle passes the target section, the vehicle driving data is obtained for feedback analysis to improve the control accuracy.

[0187] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the vehicle torque determination device or the vehicle includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0188] The embodiments of the present application can divide the vehicle torque determination device or the vehicle into functional modules according to the above method. For example, the vehicle torque determination device or the vehicle can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0189] Fig. 9 is a block diagram of a vehicle torque determination device according to an exemplary embodiment. Fig. 9 The vehicle torque determination device 900 includes: an acquisition module 901 and a determination module 902. The acquisition module 901 is used to acquire the road surface information and vehicle driving data of the target road section that the vehicle is about to pass; the determination module 902 is used to determine the road surface impact force that the vehicle is subjected to when passing through the target road section based on the road surface information and vehicle driving data; the determination module 902 is also used to determine the target torque based on the road surface impact force; the target torque is the motor torque used by the vehicle to pass through the target road section.

[0190] In a possible implementation, the determination module 902 is specifically configured to calculate the impact torque applied to the powertrain of the vehicle when the vehicle passes through a target road section based on the road impact force; and determine the target torque based on the impact torque.

[0191] In another possible implementation, the determination module 902 is specifically used to determine the first traction force when the vehicle passes through the target section based on the road impact force and the current power of the vehicle; and calculate the impact torque based on the first traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle.

[0192] In yet another possible implementation, the determination module 902 is specifically configured to determine the target torque based on the impact torque when the impact torque indicates that the motor torque of the vehicle passes through zero.

[0193] In another possible implementation, the determination module 902 is specifically used to determine the second traction force required for the vehicle to pass through the target section based on the road impact force, the weight of the vehicle and the slope of the target section; and determine the target torque based on the second traction force, the wheel radius of the vehicle and the transmission system efficiency of the vehicle.

[0194] In another possible implementation, the determination module 902 is specifically used to query the road surface impact force in a mapping relationship based on the road surface information and the vehicle driving data; the mapping relationship is used to characterize the correspondence between the road surface information, the vehicle driving data and the road surface impact force.

[0195] In another possible implementation, the acquisition module 901 is specifically used to acquire an image of the target road section; and determine the road surface information by identifying the image of the target road section; the road surface information includes the road surface flatness and / or road surface material of the target road section.

[0196] In another possible implementation, the acquisition module 901 is specifically used to scan the target road section through radar to obtain point cloud data of the target road section; based on the point cloud data of the target road section, determine the road surface information; the road surface information includes the road surface flatness and / or road surface material of the target road section.

[0197] In yet another possible implementation, the determination module 902 is specifically configured to input the impact torque into a third torque determination model to obtain a target torque.

[0198] In another possible implementation, the device further includes: a collection module 903 and a training module 904. The collection module 903 is used to collect feedback data of the vehicle when the vehicle passes through the target section; the feedback data includes the motor torque and driving data of the vehicle when passing through the target section based on the target torque; the training module 904 is used to retrain the third torque determination model based on the feedback data.

[0199] According to the above technical means, the impact force of the target road section on the vehicle is determined based on the road surface information and vehicle driving data, and the target torque is determined so that the vehicle passes through the target road section based on the target torque, and the influence of the external road environment and the vehicle's own driving data on the vehicle is comprehensively considered, so that the transmission system can effectively avoid abnormal noise due to inherent clearance when the vehicle passes through the impact road surface. In addition, by adjusting the motor torque of the vehicle in real time based on the target torque, the vehicle can adapt to different road conditions, which not only avoids the occurrence of abnormal noise in the vehicle transmission system, but also reduces the bumps caused by uneven road surface and improves the ride comfort of the vehicle. It also reduces the risk of the vehicle slipping or losing control due to road conditions.

[0200] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0201] Fig.10 FIG. 1 is a block diagram of a vehicle according to an exemplary embodiment. Fig.10 As shown, vehicle 1000 includes, but is not limited to, a processor 1001 and a memory 1002 .

[0202] The memory 1002 is used to store executable instructions of the processor 1001. It can be understood that the processor 1001 is configured to execute instructions to implement the vehicle torque determination method in the above embodiment.

[0203] It should be noted that those skilled in the art can understand that Fig.10 The vehicle structure shown in the figure does not constitute a limitation on the vehicle, and the vehicle may include Fig.10 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0204] The processor 1001 is the control center of the vehicle, which uses various interfaces and lines to connect various parts of the entire vehicle, and executes various functions of the vehicle and processes data by running or executing software programs and / or modules stored in the memory 1002, and calling data stored in the memory 1002, so as to monitor the vehicle as a whole. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1001.

[0205] The memory 1002 may be used to store software programs and various data. The memory 1002 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0206] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions, and the above instructions can be executed by the processor 1001 of the vehicle 1000 to implement the vehicle torque determination method in the above embodiment.

[0207] In actual implementation, Fig. 9 The functions of the acquisition module 901, the determination module 902, the acquisition module 903 and the training module 904 in Fig.10 The processor 1001 in the embodiment calls the computer program stored in the memory 1002 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0208] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0209] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 1001 of the vehicle to complete the vehicle torque determination method in the above embodiment.

[0210] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the vehicle's processor, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0211] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0212] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0213] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0214] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0215] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0216] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for determining vehicle torque, characterized in that: Applied to a vehicle; the method comprises: Acquiring road surface information and vehicle driving data of a target road section that the vehicle is about to pass; Determining the road impact force to which the vehicle is subjected when passing through the target road section based on the road surface information and the vehicle driving data; Based on the road impact force, a target torque is determined; the target torque is the motor torque used by the vehicle to pass through the target road section.

2. The method according to claim 1, characterized in that The determining the target torque based on the road impact force includes: Calculating, based on the road impact force, the impact torque received by the powertrain of the vehicle when the vehicle passes through the target road section; Based on the impact torque, the target torque is determined.

3. The method according to claim 2, characterized in that The calculating, based on the road surface impact force, the impact torque when the vehicle passes through the target road section comprises: Determining a first traction force when the vehicle passes through the target road section based on the road impact force and the current power of the vehicle; The impact torque is calculated based on the first traction force, a wheel radius of the vehicle, and a driveline efficiency of the vehicle.

4. The method according to claim 2, characterized in that: The calculating, based on the road surface impact force, the impact torque when the vehicle passes through the target road section comprises: The road impact force is input into a first torque determination model to obtain an impact torque when the vehicle passes through the target road section.

5. The method according to claim 2, characterized in that: The determining the target torque based on the impact torque includes: The target torque is determined based on the surge torque when the surge torque indicates that the motor torque of the vehicle crosses zero.

6. The method according to claim 1, characterized in that The road surface information includes the slope of the target road section; The determining the target torque based on the road impact force includes: Determining a second traction force required for the vehicle to pass through the target road section based on the road impact force, the weight of the vehicle, and the slope of the target road section; The target torque is determined based on the second traction force, a wheel radius of the vehicle, and a driveline efficiency of the vehicle.

7. The method according to claim 1, characterized in that The determining the target torque based on the road impact force includes: The road impact force is input into a second torque determination model to obtain the target torque.

8. The method according to any one of claims 1 to 7, characterized in that: The determining, based on the road surface information and the vehicle driving data, the road surface impact force to which the vehicle is subjected when passing through the target road section comprises: Based on the road surface information and the vehicle driving data, the road surface impact force is queried in a mapping relationship; the mapping relationship is used to characterize the corresponding relationship between the road surface information, the vehicle driving data and the road surface impact force.

9. The method according to any one of claims 1 to 7, characterized in that: The determining, based on the road surface information and the vehicle driving data, the road surface impact force to which the vehicle is subjected when passing through the target road section comprises: The road surface information and the vehicle driving data are input into an impact force determination model to obtain the road surface impact force suffered by the vehicle when passing through the target road section.

10. The method according to any one of claims 1 to 7, characterized in that: The obtaining of road surface information of a target road section that the vehicle is about to pass includes: Acquire an image of the target road section; The road surface information is determined by identifying the image of the target road section; the road surface information includes the road surface flatness and / or road surface material of the target road section.

11. The method according to any one of claims 1 to 7, characterized in that: The obtaining of road surface information of a target road section that the vehicle is about to pass includes: Scanning the target road section by radar to obtain point cloud data of the target road section; The road surface information is determined based on the point cloud data of the target road section; the road surface information includes the road surface flatness and / or road surface material of the target road section.

12. The method according to any one of claims 2 to 4, characterized in that: The determining the target torque based on the impact torque includes: The impact torque is input into a third torque determination model to obtain the target torque.

13. The method according to claim 12, characterized in that The method further comprises: When the vehicle passes through the target road section, feedback data of the vehicle is collected; the feedback data includes motor torque and driving data of the vehicle when the vehicle passes through the target road section based on the target torque; The third torque determination model is retrained based on the feedback data.

14. A vehicle torque determination device, characterized in that: Applied to a vehicle; the device comprises: An acquisition module, used to acquire road surface information and vehicle driving data of a target road section that the vehicle is about to pass; A determination module, configured to determine, based on the road surface information and the vehicle driving data, a road surface impact force to which the vehicle is subjected when passing through the target road section; The determination module is also used to determine a target torque based on the road impact force; the target torque is the motor torque used by the vehicle to pass through the target road section.

15. A vehicle, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 13.

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