Vehicle output torque determination method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of auxiliary driving, and provides a vehicle output torque determination method and device, electronic equipment and a storage medium. According to the method, a collision risk coefficient of a target vehicle and a front vehicle is determined by using a vehicle parameter, a vehicle driving parameter and an environment parameter of the target vehicle at a first moment, and a torque limiting factor of the target vehicle is determined based on the collision risk coefficient; the initial output torque of the target vehicle at the first moment is corrected through the torque limiting factor to obtain the output torque of the target vehicle at the first moment, and the output torque of the target vehicle can be controlled when the collision risk exists between the target vehicle and the front vehicle; therefore, the safety risk caused by large torque output due to the fact that a user steps on the accelerator by mistake is reduced, and the safety of vehicle driving is improved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a method, device, electronic device and storage medium for determining vehicle output torque. Background Art

[0002] When driving a vehicle, a user may accidentally step on the accelerator pedal when emergency braking is required, resulting in a safety accident.

[0003] It is necessary to provide a method for limiting the output torque of the vehicle to avoid the above-mentioned safety accidents. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method, device, electronic device and storage medium for determining vehicle output torque to solve the problem in the prior art that a user may accidentally step on the accelerator when braking is required, causing a safety accident.

[0005] According to a first aspect of an embodiment of the present application, a method for determining a vehicle output torque is provided, comprising: Obtaining vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment; Determine the collision risk coefficient between the target vehicle and the preceding vehicle according to vehicle parameters, vehicle driving parameters and environmental parameters; determining a torque limiting factor of the target vehicle based on a collision risk factor; The initial output torque of the target vehicle at the first moment is obtained, and the initial output torque is corrected by using the torque limit factor to obtain the output torque of the target vehicle at the first moment.

[0006] According to a second aspect of an embodiment of the present application, a vehicle output torque determination device is provided, comprising: An acquisition module is configured to acquire vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at a first moment; A determination module is configured to determine a collision risk coefficient between the target vehicle and the preceding vehicle according to vehicle parameters, vehicle driving parameters and environmental parameters; The determination module is further configured to determine a torque limit factor of the target vehicle based on the collision risk factor; The correction module is configured to obtain an initial output torque of the target vehicle at a first moment, and correct the initial output torque using a torque limit factor to obtain the output torque of the target vehicle at the first moment.

[0007] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] The beneficial effect of the embodiments of the present application compared with the prior art is as follows: the embodiments of the present application determine the collision risk coefficient between the target vehicle and the preceding vehicle by utilizing the vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment, determine the torque limiting factor of the target vehicle based on the collision risk coefficient, and utilize the torque limiting factor to correct the initial output torque of the target vehicle at the first moment to obtain the output torque of the target vehicle at the first moment. When there is a risk of collision between the target vehicle and the preceding vehicle, the output torque of the target vehicle can be controlled, thereby reducing the safety risk caused by the large torque output caused by the user accidentally stepping on the accelerator, thereby improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 It is a flow chart of a method for determining vehicle output torque provided in an embodiment of the present application.

[0012] Figure 2 It is a flow chart of a method for determining a collision risk coefficient between a target vehicle and a preceding vehicle based on vehicle parameters, vehicle driving parameters and environmental parameters provided in an embodiment of the present application.

[0013] Figure 3 It is a flowchart of a method for determining a collision risk coefficient based at least on the slope and relative distance of a road on which a target vehicle is currently traveling, provided in an embodiment of the present application.

[0014] Figure 4 It is a flow chart of a method for determining a torque limit factor of a target vehicle based on a collision risk coefficient provided in an embodiment of the present application.

[0015] Figure 5 This is another method for determining vehicle output torque provided in an embodiment of the present application.

[0016] Figure 6 It is a schematic diagram of a vehicle output torque determination device provided in an embodiment of the present application.

[0017] Figure 7 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0019] A method and device for determining vehicle output torque according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0020] As mentioned above, when a user is driving a vehicle, he may accidentally step on the accelerator pedal when emergency braking is required, resulting in a safety accident. For example, in the design of new energy vehicles, energy saving is a very important design factor. Energy recovery function is provided for energy-saving new energy vehicles. However, if the energy recovery intensity is too large, it may change the user's driving habits, causing the user to rarely use the brake pedal in daily driving. In an emergency situation where the user needs to perform emergency braking, the accelerator pedal may be accidentally stepped on, resulting in a safety accident. On the other hand, in traditional vehicles, the accelerator may also be accidentally stepped on due to user misoperation.

[0021] There is no solution in the related art for controlling the vehicle output torque in this case to avoid a safety accident caused by the user accidentally stepping on the accelerator when the vehicle is at risk of colliding with the vehicle ahead. In view of this, an embodiment of the present application provides a method for determining a vehicle output torque, by using the vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment to determine the collision risk coefficient between the target vehicle and the preceding vehicle, determining the torque limiting factor of the target vehicle based on the collision risk coefficient, and using the torque limiting factor to correct the initial output torque of the target vehicle at the first moment to obtain the output torque of the target vehicle at the first moment. When there is a risk of collision between the target vehicle and the preceding vehicle, the output torque of the target vehicle can be controlled, thereby reducing the safety risk caused by the large torque output caused by the user accidentally stepping on the accelerator, thereby improving the safety of vehicle driving.

[0022] Figure 1 FIG. 1 is a flow chart of a method for determining vehicle output torque provided in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps: In step S101, vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at a first moment are obtained.

[0023] In step S102, a collision risk coefficient between the target vehicle and the preceding vehicle is determined based on vehicle parameters, vehicle driving parameters and environmental parameters.

[0024] In step S103 , a torque limit factor of the target vehicle is determined based on the collision risk coefficient.

[0025] In step S104, the initial output torque of the target vehicle at the first moment is obtained, and the initial output torque is corrected by using the torque limit factor to obtain the output torque of the target vehicle at the first moment.

[0026] In some embodiments of the present application, the method may be performed by an on-board torque controller. In some examples, the on-board torque controller may be a separate controller, such as a separate chip with certain computing and processing capabilities. In other examples, the on-board torque controller may also be a controller integrated with other on-board controllers.

[0027] In other embodiments of the present application, the method may also be executed by a torque controller configured on a local server or a cloud server. The local server and the cloud server may be connected to the vehicle, obtain vehicle-related parameters and environmental parameters collected by the vehicle, calculate the vehicle output torque based on the obtained parameters, and transmit the calculated output torque to the vehicle, so that the vehicle controls the vehicle action according to the output torque.

[0028] In some embodiments of the present application, the torque controller may obtain vehicle parameters, vehicle driving parameters, and environmental parameters of the target vehicle at a first moment, wherein the target vehicle may be a vehicle that needs to be torque controlled, and the first moment may be the current moment.

[0029] Furthermore, the vehicle parameters may include at least one of a vehicle weight of the target vehicle, a tire rolling radius of the target vehicle, a transmission ratio of the target vehicle, and a sliding damping coefficient of the target vehicle.

[0030] The vehicle driving parameter may include at least one of the accelerator pedal opening of the target vehicle, the speed of the target vehicle, and the current actual torque of the target vehicle. The accelerator pedal opening can be obtained from the throttle controller of the target vehicle, the current actual torque of the target vehicle can be obtained from the motor controller of the target vehicle, and the speed v2 of the target vehicle can be obtained from the speed sensing device of the target vehicle.

[0031] The environmental parameter may include at least one of the distance between the target vehicle and the preceding vehicle at a first moment, the speed of the preceding vehicle, and the slope of a road on which the target vehicle is currently traveling.

[0032] Among them, vehicle parameters can be obtained by querying the vehicle performance data provided by the vehicle supplier, and some vehicle parameters can also be obtained by actual measurement. Vehicle driving parameters can be provided by the vehicle-mounted perception module. For example, the distance between the target vehicle and the front vehicle at the first moment and the speed of the front vehicle can be determined by the target vehicle's on-board laser radar or on-board image acquisition device, and the slope of the road can be determined by the target vehicle's on-board slope sensor.

[0033] After obtaining the vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment, the torque controller can determine the collision risk coefficient between the target vehicle and the preceding vehicle according to the vehicle parameters, vehicle driving parameters and environmental parameters. The collision risk coefficient is used to characterize the probability of collision between the target vehicle and the preceding vehicle at the second moment, where the second moment is the moment after the first moment plus a preset time interval, and the preset time interval can be set according to actual needs, for example, set to be consistent with the calculation step length of the torque controller, or to be N times the calculation step length of the torque controller, where N is a positive integer greater than 1. Alternatively, the preset time interval can also be set to other values, which are not limited here.

[0034] In some embodiments, a torque limit factor of the target vehicle may also be determined based on the collision risk coefficient, and the torque limit factor is used to characterize the ratio of limiting the output torque of the target vehicle at the first moment. The value of the calculated torque limit factor needs to satisfy the requirement of being greater than or equal to 0, and less than or equal to 1. That is, if the value of the calculated torque limit factor is greater than 1, or less than or equal to 0, the initial output torque of the target vehicle at the first moment may be directly used as the output torque.

[0035] In other embodiments, the torque limit factor may be negatively correlated with the collision risk coefficient.

[0036] On the other hand, the torque controller can obtain the initial output torque of the target vehicle at the first moment. In one example, the torque controller can determine the initial output torque of the target vehicle at the first moment by looking up a table based on the current driving mode, accelerator pedal opening, and vehicle speed of the target vehicle. Alternatively, the torque controller can determine the initial output torque of the target vehicle at the first moment in other ways, such as by real-time calculation, which is not limited here.

[0037] Furthermore, the torque controller uses the torque limit factor to correct the initial output torque. For example, the initial output torque is multiplied by the torque limit factor to obtain the output torque of the target vehicle at the first moment.

[0038] By adopting the technical solution provided in the embodiment of the present application, it is possible to calculate the collision risk coefficient of the target vehicle and the vehicle in front based on the vehicle parameters, vehicle driving parameters and environmental parameters when the target vehicle is driving, and determine the torque limit factor of the target vehicle based on the risk collision coefficient. The output torque of the target vehicle is corrected using the torque limit factor. Therefore, when the user of the target vehicle mistakenly steps on the accelerator pedal and the risk of collision with the vehicle in front increases, the output torque of the target vehicle is corrected using the torque limit factor that is negatively correlated with the collision risk coefficient, thereby reducing the output torque of the target vehicle, avoiding a collision between the target vehicle and the vehicle in front, or reducing the degree of collision.

[0039] According to the technical solution provided in the embodiment of the present application, the collision risk coefficient between the target vehicle and the preceding vehicle is determined by utilizing the vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment, and the torque limiting factor of the target vehicle is determined based on the collision risk coefficient. The initial output torque of the target vehicle at the first moment is corrected by utilizing the torque limiting factor to obtain the output torque of the target vehicle at the first moment. When there is a risk of collision between the target vehicle and the preceding vehicle, the output torque of the target vehicle can be controlled, thereby reducing the safety risk caused by the large torque output caused by the user accidentally stepping on the accelerator, thereby improving the safety of vehicle driving.

[0040] As mentioned above, in the embodiment of the present application, the environmental parameters include at least the slope of the road on which the target vehicle is currently traveling, the speed of the preceding vehicle, and the distance between the target vehicle and the preceding vehicle at the first moment.

[0041] Figure 2 FIG. 1 is a flow chart of a method for determining a collision risk coefficient between a target vehicle and a preceding vehicle according to vehicle parameters, vehicle driving parameters and environmental parameters provided in an embodiment of the present application. Figure 2 As shown, the method comprises the following steps: In step S201 , the acceleration of the target vehicle is determined using a dynamic model based on vehicle parameters, vehicle driving parameters and environmental parameters.

[0042] In step S202, the relative distance change rate between the target vehicle and the preceding vehicle is determined according to the acceleration of the target vehicle and the driving speed of the preceding vehicle.

[0043] In step S203, the relative distance between the target vehicle and the preceding vehicle at the second moment is determined based on the relative distance change rate and the distance between the target vehicle and the preceding vehicle at the first moment.

[0044] In step S204, a collision risk coefficient is determined based on at least the slope of the road on which the target vehicle is currently traveling and the relative distance.

[0045] In some embodiments of the present application, the torque controller may first determine the acceleration of the target vehicle using a dynamic model based on vehicle parameters, vehicle driving parameters, and environmental parameters.

[0046] In one example, the acceleration a2 of the target vehicle can be calculated by the following formula:

[0047] Wherein, M is the weight of the target vehicle, T is the current actual torque of the target vehicle, i is the transmission ratio of the target vehicle, r is the tire rolling radius of the target vehicle, g is gravity, θ is the slope of the road on which the target vehicle is currently traveling, v2 is the speed of the target vehicle, A, B and C are the sliding damping coefficients of the target vehicle, and the unit of A is Newton, the unit of B is Newton divided by kilometers per hour, or the unit of B is Newton divided by meters per second, and the unit of C is Newton divided by kilometers per square hour, or the unit of C is Newton divided by meters per square second.

[0048] By using the dynamic model to determine the acceleration of the target vehicle, the acceleration of the target vehicle can be determined based on the speed of the target vehicle at the first moment, and then the collision risk coefficient between the target vehicle and the preceding vehicle and the torque limit factor of the target vehicle can be gradually determined. On the other hand, since the initial output torque of the target vehicle is also determined by the speed of the target vehicle at the first moment, the initial output torque is corrected by using the calculated torque limit factor, which can improve the accuracy of the torque correction.

[0049] Furthermore, the relative distance change rate between the target vehicle and the preceding vehicle may be determined based on the calculated acceleration a2 of the target vehicle and the traveling speed v1 of the preceding vehicle.

[0050] In one example, the relative speed between the target vehicle and the preceding vehicle can be calculated first. Then, by the formula The relative distance change rate between the target vehicle and the front vehicle is calculated. rel is the relative speed between the target vehicle and the preceding vehicle, is the relative distance change rate between the target vehicle and the preceding vehicle, The method for determining the preset time interval is described in detail above and will not be repeated here.

[0051] Furthermore, the torque controller can predict the relative distance between the target vehicle and the preceding vehicle at a second moment according to the relative distance change rate and the distance between the target vehicle and the preceding vehicle at a first moment, wherein the second moment is a moment after a preset time interval from the first moment.

[0052] In one example, the formula Calculate the relative distance between the target vehicle and the preceding vehicle at the second moment, where d(t) is the relative distance between the target vehicle and the preceding vehicle at the second moment, and d is the distance between the target vehicle and the preceding vehicle at the first moment. The integral operation starts at the first moment and ends at the second moment, so the time at the first moment is recorded as 0, and the time at the second moment is recorded as t.

[0053] Finally, the torque controller may determine a collision risk factor based at least on the slope of the road the target vehicle is currently traveling on and the relative distance.

[0054] Figure 3 1 is a flow chart of a method for determining a collision risk coefficient based at least on the slope and relative distance of the road on which the target vehicle is currently traveling, provided in an embodiment of the present application. Figure 3 As shown, the method comprises the following steps: In step S301, a target slope correction value is determined according to the slope of the road on which the target vehicle is currently traveling.

[0055] In step S302 , a difference between a preset safety distance and a relative distance is determined as a distance difference, and a quotient of the distance difference and the preset safety distance is determined as a distance risk factor.

[0056] In step S303, an exponential value of the product of the target slope correction value and the distance risk factor is determined as a collision risk coefficient of the vehicle at the second moment.

[0057] In some embodiments of the present application, when determining the collision risk coefficient, the target slope correction value can be first determined according to the slope of the road on which the target vehicle is currently traveling, and the difference between the preset safety distance and the relative distance can be determined as the distance difference. Further, the quotient of the distance difference and the preset safety distance is used as the distance risk factor, and the exponential value of the product of the target slope correction value and the distance risk factor is used as the collision risk coefficient of the vehicle at the second moment.

[0058] Among them, determining the target slope correction value according to the slope of the road on which the target vehicle is currently traveling can be, performing an interval limitation operation on the slope of the road on which the target vehicle is currently traveling, to obtain a first slope correction value, the first slope correction value being equal to one of the slope of the road on which the target vehicle is currently traveling, a preset interval minimum value, and a preset interval maximum value; determining the difference between 1 and the tangent value of the first slope correction value as the second slope correction value; and determining the maximum value between the second slope correction value and the preset slope correction threshold as the target slope correction value.

[0059] In one example, the minimum value of the preset interval can be In another example, the maximum value of the preset interval can be .

[0060] That is to say, since the closer the distance between the target vehicle and the preceding vehicle is, the greater the collision risk is, and the greater the slope is, the less damage is caused by the collision, an exponential function can be used to characterize the trend that the risk factor increases sharply with decreasing distance and is affected by the slope, that is, it can be expressed by the formula Calculate the collision risk coefficient between the target vehicle and the preceding vehicle at the second moment, where R is the collision risk coefficient, and J is the minimum value of the collision risk coefficient corrected by the limiting slope. The value of J can be determined according to actual needs, and its value range is greater than 0 and less than 1. safe It is the preset safety distance, and its value can be set according to actual needs. max() is the maximum value function, tan() is the tangent function, and exp() is the exponential function.

[0061] Furthermore, the value of θ can be restricted to between, when Less than hour, The value can be set to .when Greater than hour, The value can be set to .

[0062] The value of the collision risk coefficient R represents the probability of a collision between the target vehicle and the preceding vehicle at the second moment. When R is greater than 1, it indicates that there is a collision risk between the target vehicle and the preceding vehicle at the second moment. The larger the value of R, the higher the risk of collision.

[0063] Figure 4 is a flow chart of a method for determining a torque limit factor of a target vehicle based on a collision risk coefficient provided in an embodiment of the present application. Figure 4 As shown, the method comprises the following steps: In step S401, a difference between a collision risk coefficient and a preset collision risk threshold is determined as a collision risk difference.

[0064] In step S402 , an exponential value of a negative number of a product of a collision risk difference and a preset sensitivity factor is determined as a torque limiting factor.

[0065] The preset sensitivity factor is used to indicate the degree of limitation of the torque limit factor on the vehicle output torque.

[0066] In some embodiments of the present application, the torque controller may first determine the difference between the collision risk coefficient and the preset collision risk threshold as the collision risk difference, and then determine the exponential value of the negative product of the collision risk difference and the preset sensitivity factor as the torque limiting factor.

[0067] That is, the torque controller can be expressed by the formula The torque limit factor is calculated. Where k is the torque limit factor, is the preset sensitivity factor, The value can be set according to actual needs, and its value range is greater than 0 and less than or equal to 1. The smaller it is, the larger k is under the same risk coefficient, that is, the smaller the limiting effect on the output torque is. R0 is the preset collision risk threshold, which represents the threshold for triggering the output torque limiting function. The value of R0 can be set according to actual needs, but it needs to be greater than or equal to 1.

[0068] In some implementations, the value of k may be limited to a value range greater than 0 and less than or equal to 1. That is, if the calculated value of k is less than or equal to 0, the operation of correcting the initial output torque is not performed. At the same time, if the calculated value of k is greater than 1, the operation of correcting the initial output torque may also not be performed.

[0069] If the initial output torque of the target vehicle at the first moment is recorded as T base , then the output torque T of the target vehicle at the first moment is finally determined to be T=k*T base .

[0070] Since the torque limit factor k is affected by factors such as the speed of the target vehicle, the speed of the preceding vehicle, and the distance between the target vehicle and the preceding vehicle, and may change rapidly, the limited torque T needs to be smoothed to avoid a decrease in user driving experience due to rapid changes in torque.

[0071] Figure 5 is another method for determining vehicle output torque provided by an embodiment of the present application. Figure 5 Steps S501 to S503 in the embodiment shown are Figure 1 Steps S101 to S103 in the illustrated embodiment are substantially the same and will not be described in detail herein. Figure 5 As shown, the method also includes the following steps: In step S504, the initial output torque of the target vehicle at the first moment is obtained, and the initial output torque is corrected using the torque limit factor.

[0072] In step S505 , the corrected initial output torque is filtered to obtain the output torque of the vehicle at the first moment.

[0073] In some embodiments of the present application, after the initial output torque is corrected by using the torque limit factor, the corrected output torque may be filtered to obtain the output torque of the vehicle at the first moment.

[0074] In some implementations, the corrected initial output torque may be subjected to a first-order filter to obtain the output torque of the vehicle at the first moment.

[0075] In one example, the first-order filtering process can be , where x[t] is the unfiltered corrected initial output torque at the first moment, i.e., the current moment, y[t-1] is the filtered output torque at the moment before the first moment, and y[t] is the filtered output torque at the first moment. is the smoothing coefficient. The value of is determined according to actual needs, but needs to be greater than 0 and less than 1. The larger it is, the faster the filter response is.

[0076] on the other hand, The value of can also be calculated based on the collision risk coefficient. Since the larger the collision risk coefficient, that is, the higher the collision risk, the faster the response to limit the output torque is required, the inverse proportional function can be used to calculate value.

[0077] That is, determining the filtering smoothing coefficient of the first-order filtering can be to determine the maximum value between the collision risk coefficient and 1, and determine the quotient of the preset basic smoothing coefficient and the maximum value as the proportional value; determine the difference between 1 and the proportional value as the filtering smoothing coefficient.

[0078] That is, we can use the formula The filter smoothing coefficient is calculated, where is the basic smoothing coefficient, which represents the filtering smoothing coefficient when R=1. The value of can be set according to actual needs, but it must be greater than 0 and less than 1. In an example, The value of can be set to 0.5, for example.

[0079] By adopting the technical solution of the embodiment of the present application, the output torque of the target vehicle is limited when it is determined that there is a risk of collision between the target vehicle and the vehicle in front, thereby avoiding serious safety accidents caused by the user accidentally stepping on the accelerator and increasing the output torque. Such safety accidents can be reduced or even avoided, helping users improve driving safety.

[0080] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0081] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0082] Figure 6 Schematic diagram of a vehicle output torque determination device provided in an embodiment of the present application. Figure 6 As shown, the vehicle output torque determination device includes: The acquisition module 601 is configured to acquire vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at a first moment.

[0083] The determination module 602 is configured to determine the collision risk coefficient between the target vehicle and the preceding vehicle according to the vehicle parameters, the vehicle driving parameters and the environmental parameters.

[0084] The determination module 602 is further configured to determine a torque limit factor of the target vehicle based on the collision risk factor.

[0085] The correction module 603 is configured to obtain an initial output torque of the target vehicle at a first moment, and correct the initial output torque using a torque limit factor to obtain the output torque of the target vehicle at the first moment.

[0086] According to the technical solution provided in the embodiment of the present application, the collision risk coefficient between the target vehicle and the preceding vehicle is determined by utilizing the vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment, and the torque limiting factor of the target vehicle is determined based on the collision risk coefficient. The initial output torque of the target vehicle at the first moment is corrected by utilizing the torque limiting factor to obtain the output torque of the target vehicle at the first moment. When there is a risk of collision between the target vehicle and the preceding vehicle, the output torque of the target vehicle can be controlled, thereby reducing the safety risk caused by the large torque output caused by the user accidentally stepping on the accelerator, thereby improving the safety of vehicle driving.

[0087] In some embodiments, the environmental parameters include at least the slope of the target vehicle's current driving road, the speed of the leading vehicle, and the distance between the target vehicle and the leading vehicle at a first moment, and the collision risk coefficient between the target vehicle and the leading vehicle is determined based on the vehicle parameters, the vehicle driving parameters, and the environmental parameters, including: determining the acceleration of the target vehicle using a dynamic model based on the vehicle parameters, the vehicle driving parameters, and the environmental parameters; determining the rate of change of the relative distance between the target vehicle and the leading vehicle based on the acceleration of the target vehicle and the speed of the leading vehicle; determining the relative distance between the target vehicle and the leading vehicle at a second moment based on the relative distance change rate and the distance between the target vehicle and the leading vehicle at the first moment; determining the collision risk coefficient based at least on the slope of the target vehicle's current driving road and the relative distance.

[0088] In some embodiments, a collision risk coefficient is determined based at least on the slope of the road currently traveled by the target vehicle and the relative distance, including: determining a target slope correction value according to the slope of the road currently traveled by the target vehicle; determining the difference between a preset safety distance and the relative distance as the distance difference, and determining the quotient of the distance difference and the preset safety distance as the distance risk factor; determining the exponential value of the product of the target slope correction value and the distance risk factor as the collision risk coefficient of the vehicle at the second moment.

[0089] In some embodiments, a target slope correction value is determined based on the slope of the road on which the target vehicle is currently traveling, including: performing an interval limitation operation on the slope of the road on which the target vehicle is currently traveling to obtain a first slope correction value, the first slope correction value being equal to one of the slope of the road on which the target vehicle is currently traveling, a preset interval minimum value, and a preset interval maximum value; determining the difference between 1 and the tangent value of the first slope correction value as a second slope correction value; and determining the maximum value between the second slope correction value and the preset slope correction threshold as the target slope correction value.

[0090] In some embodiments, determining the torque limiting factor of the target vehicle based on the collision risk coefficient includes: determining the difference between the collision risk coefficient and a preset collision risk threshold as the collision risk difference; determining the exponential value of the negative of the product of the collision risk difference and a preset sensitivity factor as the torque limiting factor; wherein the preset sensitivity factor is used to indicate the degree of limitation of the torque limiting factor on the vehicle output torque.

[0091] In some implementations, after the initial output torque is corrected by using the torque limit factor, the method further includes: filtering the corrected initial output torque to obtain the output torque of the vehicle at the first moment.

[0092] In some embodiments, the filtering is first-order filtering, and the filtering smoothing coefficient of the first-order filtering is determined in the following manner: determine the maximum value between the collision risk coefficient and 1, and determine the quotient of the preset basic smoothing coefficient and the maximum value as the proportional value; determine the difference between 1 and the proportional value as the filtering smoothing coefficient.

[0093] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0094] Figure 7 Schematic diagram of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device 7 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. When the processor 701 executes the computer program 703, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 701 executes the computer program 703, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0095] The electronic device 7 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 7 may include, but is not limited to, a processor 701 and a memory 702. Those skilled in the art will appreciate that Figure 7The electronic device 7 is merely an example and does not limit the electronic device 7 , and may include more or less components than those shown in the figure, or different components.

[0096] The processor 701 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0097] The memory 702 may be an internal storage unit of the electronic device 7, for example, a hard disk or memory of the electronic device 7. The memory 702 may also be an external storage device of the electronic device 7, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 7. The memory 702 may also include both an internal storage unit and an external storage device of the electronic device 7. The memory 702 is used to store computer programs and other programs and data required by the electronic device.

[0098] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0099] If the integrated module / 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 computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0100] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining vehicle output torque, characterized in that: include: Obtaining vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at the first moment; Determining a collision risk coefficient between the target vehicle and a preceding vehicle according to the vehicle parameters, vehicle driving parameters and environmental parameters; determining a torque limit factor of the target vehicle based on the collision risk coefficient; The initial output torque of the target vehicle at the first moment is acquired, and the initial output torque is corrected by using the torque limit factor to obtain the output torque of the target vehicle at the first moment.

2. The method according to claim 1, characterized in that The environmental parameters at least include the slope of the current road on which the target vehicle is traveling, the speed of the preceding vehicle, and the distance between the target vehicle and the preceding vehicle at a first moment. The determining of the collision risk coefficient between the target vehicle and the preceding vehicle according to the vehicle parameters, the vehicle driving parameters, and the environmental parameters includes: Determining the acceleration of the target vehicle using a dynamic model based on the vehicle parameters, vehicle driving parameters and environmental parameters; Determining a relative distance change rate between the target vehicle and the preceding vehicle according to the acceleration of the target vehicle and the traveling speed of the preceding vehicle; Determine the relative distance between the target vehicle and the preceding vehicle at a second moment based on the relative distance change rate and the distance between the target vehicle and the preceding vehicle at a first moment; The collision risk coefficient is determined based on at least the slope of the road on which the target vehicle is currently traveling and the relative distance.

3. The method according to claim 2, characterized in that The determining the collision risk coefficient based at least on the slope of the road on which the target vehicle is currently traveling and the relative distance comprises: Determining a target slope correction value according to the slope of the road on which the target vehicle is currently traveling; Determine a difference between a preset safety distance and the relative distance as a distance difference, and determine a quotient of the distance difference and the preset safety distance as a distance risk factor; An exponential value of the product of the target slope correction value and the distance risk factor is determined as a collision risk coefficient of the vehicle at the second moment.

4. The method according to claim 3, characterized in that: The step of determining a target slope correction value according to the slope of the road on which the target vehicle is currently traveling comprises: Performing an interval limiting operation on the slope of the road on which the target vehicle is currently traveling to obtain a first slope correction value, wherein the first slope correction value is equal to one of the slope of the road on which the target vehicle is currently traveling, a preset interval minimum value, and a preset interval maximum value; Determining a difference between 1 and the tangent of the first slope correction value as a second slope correction value; The maximum value between the second slope correction value and a preset slope correction threshold is determined as the target slope correction value.

5. The method according to claim 1, characterized in that The step of determining the torque limit factor of the target vehicle based on the collision risk coefficient includes: Determining a difference between the collision risk coefficient and a preset collision risk threshold as a collision risk difference; Determine the exponential value of the negative number of the product of the collision risk difference and the preset sensitivity factor as the torque limiting factor; The preset sensitivity factor is used to indicate the degree of limitation of the torque limit factor on the vehicle output torque.

6. The method according to any one of claims 1 to 5, characterized in that After the initial output torque is corrected by using the torque limit factor, the method further includes: The corrected initial output torque is filtered to obtain the output torque of the vehicle at the first moment.

7. The method according to claim 6, characterized in that The filtering is a first-order filtering, and the filtering smoothing coefficient of the first-order filtering is determined in the following manner: Determine the maximum value between the collision risk coefficient and 1, and determine the quotient of the preset basic smoothing coefficient and the maximum value as a proportional value; The difference between 1 and the proportional value is determined as the filtering smoothing coefficient.

8. A vehicle output torque determination device, characterized in that: include: An acquisition module is configured to acquire vehicle parameters, vehicle driving parameters and environmental parameters of the target vehicle at a first moment; A determination module is configured to determine a collision risk coefficient between the target vehicle and a preceding vehicle according to the vehicle parameters, vehicle driving parameters and environmental parameters; The determination module is further configured to determine a torque limit factor of the target vehicle based on the collision risk coefficient; The correction module is configured to obtain the initial output torque of the target vehicle at the first moment, and correct the initial output torque using the torque limit factor to obtain the output torque of the target vehicle at the first moment.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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