Vehicle Torque Control Method, Device, Equipment and Storage Medium

Abstract

The present invention discloses a vehicle torque control method, device, equipment and storage medium, belonging to the technical field of vehicle control. The present invention detects the road condition when the vehicle is running; when the road condition is a special road condition, obtains the pitch angle of the vehicle; determines the target torque according to the pitch angle; limits the torque of the vehicle according to the target torque. By controlling the torque of the vehicle based on the pitch angle when the vehicle is running on a special road surface, it is ensured that the vehicle will not slip even during the climbing process, thereby improving the driving safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a vehicle torque control method, device, equipment and storage medium. Background Art

[0002] When a vehicle is driving on a special road surface, the unevenness of the road surface will cause resonance with the frequency of the vehicle's own suspension and chassis system, which will generate an unexpected load on the components related to the transmission of the vehicle's power system, and will bring a certain frequency of vibration to the vehicle. In order to protect the components related to the vehicle's power system from damage and improve the driving quality of the whole vehicle, it is necessary to detect that the vehicle is driving on a special road surface and limit the driving torque of the whole vehicle.

[0003] The current solution limits the driving torque of the whole vehicle when it detects passing through a special road surface, but does not explain the specific way of limiting the torque. Moreover, the current solution does not limit the component force brought by the gravity of the vehicle on the slope, which may lead to the situation of vehicle climbing failure and cannot ensure the safety of the vehicle during driving.

[0004] The above content is only used to assist in understanding the technical solution of the present invention, and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a vehicle torque control method, device, equipment and storage medium, aiming to solve the technical problem that the existing technology does not consider the vehicle climbing situation when judging that the vehicle passes through a special road surface, and cannot ensure the safety of the vehicle during driving.

[0006] To achieve the above purpose, the present invention provides a vehicle torque control method, which includes the following steps:

[0007] Detect the road condition when the vehicle is driving;

[0008] When the road condition is a special road condition, obtain the pitch angle of the vehicle;

[0009] Determine the target torque according to the pitch angle;

[0010] Limit the torque of the vehicle according to the target torque.

[0011] Optionally, the determining the target torque according to the pitch angle includes:

[0012] Calculate the pitch angle change rate corresponding to the pitch angle;

[0013] Obtain the current torque of the vehicle;

[0014] A target torque is determined according to the pitch angle change rate and the current torque.

[0015] Optionally, determining the target torque according to the pitch angle change rate and the current torque includes:

[0016] Finding a torque limit coefficient corresponding to the pitch angle change rate based on a preset mapping relationship;

[0017] A target torque is determined based on the torque limit coefficient and the current torque.

[0018] Optionally, the detecting of the road condition when the vehicle is traveling includes:

[0019] Obtaining a motor speed of the vehicle;

[0020] Calculating the motor speed change rate corresponding to the motor speed;

[0021] The road condition when the vehicle is traveling is detected according to the motor speed change rate.

[0022] Optionally, detecting the road condition of the vehicle when traveling according to the motor speed change rate includes:

[0023] Comparing the motor speed change rate with a change rate threshold;

[0024] When the motor speed change rate is greater than the change rate threshold, comparing the motor speed change rate with the suspension natural frequency of the vehicle;

[0025] The road condition when the vehicle is traveling is detected based on the comparison result.

[0026] Optionally, the detecting the road condition when the vehicle is traveling based on the comparison result includes:

[0027] Based on the comparison result, obtaining the number of times that the rate of change of the motor speed is the same as the natural frequency of the suspension of the vehicle within a preset time;

[0028] When the number reaches a preset number, the road condition is determined to be a special road condition.

[0029] Optionally, the detecting the road condition when the vehicle is traveling based on the comparison result includes:

[0030] Obtaining, based on the comparison result, a duration during which the rate of change of the motor speed is different from the natural frequency of the suspension of the vehicle;

[0031] When the duration exceeds a preset duration, the road condition is determined to be a non-special road condition, and when the torque of the vehicle is in a limited state, the torque limit of the vehicle is released.

[0032] In addition, to achieve the above object, the present invention further provides a vehicle torque control device, which includes:

[0033] A detection module for detecting the road condition when the vehicle is running;

[0034] An acquisition module for obtaining the pitch angle of the vehicle when the road condition is a special road condition;

[0035] A calculation module for determining the target torque according to the pitch angle;

[0036] A control module for limiting the torque of the vehicle according to the target torque.

[0037] In addition, to achieve the above object, the present invention further provides a vehicle torque control device, which includes a memory, a processor, and a vehicle torque control program stored on the memory and running on the processor. The vehicle torque control program is configured to implement the vehicle torque control method as described above.

[0038] In addition, to achieve the above object, the present invention further provides a storage medium, on which a vehicle torque control program is stored. When the vehicle torque control program is executed by a processor, it implements the vehicle torque control method as described above.

[0039] The present invention detects the road condition when the vehicle is running; when the road condition is a special road condition, it obtains the pitch angle of the vehicle; determines the target torque according to the pitch angle; and limits the torque of the vehicle according to the target torque. By controlling the torque of the vehicle based on the pitch angle when the vehicle is running on a special road surface, it ensures that the vehicle will not slip even during the climbing process, improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic structural diagram of a vehicle torque control device in a hardware operating environment related to the embodiment of the present invention;

[0041] Figure 2 is a schematic flowchart of the first embodiment of the vehicle torque control method of the present invention;

[0042] Figure 3 is a schematic structural diagram of a vehicle related to vehicle torque limitation in an embodiment of the vehicle torque control method of the present invention;

[0043] Figure 4 is a schematic flowchart of the second embodiment of the vehicle torque control method of the present invention;

[0044] Figure 5Schematic flowchart of the third embodiment of the vehicle torque control method of the present invention;

[0045] Figure 6 Block diagram of the structure of the first embodiment of the vehicle torque control device of the present invention.

[0046] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0048] Refer to Figure 1 , Figure 1 Schematic diagram of the structure of the vehicle torque control device, which is the hardware operating environment involved in the embodiment solution of the present invention.

[0049] As Figure 1 shown, the vehicle torque control device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0050] Those skilled in the art can understand that Figure 1 the structure shown in

[0051] does not constitute a limitation on the vehicle torque control device, and may include more or fewer components than shown in the figure, or combine some components, or different component arrangements. Figure 1 As

[0052] In Figure 1In the vehicle torque control device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle torque control device of the present invention can be arranged in the vehicle torque control device. The vehicle torque control device calls the vehicle torque control program stored in the memory 1005 through the processor 1001 and executes the vehicle torque control method provided by the embodiments of the present invention.

[0053] An embodiment of the present invention provides a vehicle torque control method. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of a vehicle torque control method of the present invention.

[0054] In this embodiment, the vehicle torque control method includes the following steps:

[0055] Step S10: Detect the road condition when the vehicle is running.

[0056] In this embodiment, the execution subject of this embodiment can be the vehicle torque control device. This vehicle torque control device has functions such as data processing, data communication, and program operation. The vehicle torque control device can be a computer device such as a tablet, a computer, or a server. Of course, it can also be other devices with similar functions. This embodiment does not limit this. For the convenience of description, this embodiment is described by taking the vehicle torque control device as an example.

[0057] It should be noted that when the vehicle is running on a special road surface, the unevenness of the road surface will cause resonance with the same frequency as the vehicle's own suspension and chassis systems, which will generate an unexpected load on the parts related to the transmission of the vehicle's power system and will bring a certain frequency of vibration to the vehicle. In order to protect the parts related to the vehicle's power system from damage and improve the driving quality of the whole vehicle, it is necessary to detect that the vehicle is running on a special road surface and limit the driving torque of the whole vehicle.

[0058] The current solution is to judge that the vehicle is in vibration by detecting the change frequency of the acceleration signal. The fluctuation of the acceleration signal is large, and it is easy to make a misjudgment. At the same time, when it is detected that the vehicle passes through a special road surface and the driving torque of the whole vehicle needs to be limited, the specific way of limiting the torque is not explained. Moreover, the current solution does not limit the component force brought by the gravity of the vehicle on the slope, which will lead to the situation of vehicle climbing failure and cannot ensure the safety of the vehicle during driving.

[0059] In this embodiment, to solve the above technical problem, before limiting the torque of the vehicle, the pitch angle of the vehicle during driving is first detected. Based on the detected pitch angle, it can be determined whether the vehicle is in the process of climbing a slope, so as to ensure that even after the torque of the vehicle is limited, the vehicle will not roll back.

[0060] It should be noted that in this embodiment, the vehicle frame involved in this embodiment is described in combination with Figure 3 the structure shown. The vehicle includes two parts: a vehicle controller and a motor control system. The vehicle controller is used to send instructions to the motor control system. After receiving the instructions, the motor control system controls the torque of the motor. The vehicle controller includes a vehicle resonance detection unit, a vehicle pitch angle acquisition unit, a resonance disappearance recovery unit, a driving torque calculation unit, and a torque limit processing unit. Among them, the vehicle resonance detection unit is used to detect whether the vehicle has resonance. If there is resonance, it means that the vehicle is driving on a special road condition. The vehicle pitch angle acquisition unit is used to acquire the pitch angle of the vehicle during driving. When the road surface resonance disappears, the resonance disappearance recovery unit cancels the torque limit. The driving torque calculation unit is used to calculate the torque that the vehicle should have at this time. The torque limit processing unit is used to send the calculated driving torque to the motor system to achieve torque limit.

[0061] In a specific implementation, this embodiment is aimed at the torque limit of the vehicle under special road conditions during driving. Therefore, in this embodiment, it is necessary to first detect the road conditions of the vehicle during driving. Specifically, in this embodiment, resonance detection can be used to determine whether the vehicle is driving on a special road condition.

[0062] Step S20: When the road condition is a special road condition, obtain the pitch angle of the vehicle.

[0063] In a specific implementation, if it is detected that the road condition is a special road condition, that is, the vehicle is currently driving on a special road condition, in this embodiment, the pitch angle of the vehicle will be obtained in real time. The acquisition of the pitch angle can effectively ensure that the vehicle will not roll back even after the torque is limited. In this embodiment, the pitch angle of the vehicle can be collected in real time by an inclination sensor installed on the vehicle.

[0064] Step S30: Determine the target torque according to the pitch angle.

[0065] It should be noted that after obtaining the pitch angle, in this embodiment, the target torque can be calculated according to the pitch angle. When the vehicle passes through special roads of different degrees, the forward tilt angle of the vehicle should be different. The relationship between the forward tilt angle f of the vehicle, the vehicle speed v, and the limiting torque F can be obtained through calibration on the DNTC special road surface. In this way, the driving torque F that needs to be limited when passing through special roads of different degrees at different vehicle speeds can be obtained. The limited driving torque F should be at least greater than the backward component force F' caused by the vehicle's total weight on a certain slope, F' = sin * m (full load weight) * g (acceleration due to gravity). The pitch angle acquisition unit detects the change in the pitch angle at the moment of resonance of the vehicle's pitch angle through the inclination sensor in the vehicle control module (VCM), so as to obtain the target torque corresponding to different pitch angles. And it should be emphasized that when the vehicle is climbing a slope, in order to ensure that the vehicle does not slip backward, it is necessary to ensure that the vehicle has a certain torque at this time, that is, the minimum torque to ensure that the vehicle does not slip backward. If the target torque is less than the minimum torque, the torque of the vehicle is limited according to the minimum torque.

[0066] Step S40: Limit the torque of the vehicle according to the target torque.

[0067] In a specific implementation, after obtaining the target torque, in this embodiment, the torque of the vehicle can be controlled according to the target torque to ensure the safety of the vehicle during driving. In this embodiment, when the vehicle is driving on a special road condition, the torque of the vehicle is limited, that is, the current torque of the vehicle is reduced to the target torque.

[0068] In this embodiment, by detecting the road condition when the vehicle is driving; when the road condition is a special road condition, obtaining the pitch angle of the vehicle; determining the target torque according to the pitch angle; and limiting the torque of the vehicle according to the target torque, by controlling the torque of the vehicle based on the pitch angle when the vehicle is driving on a special road surface, it is ensured that the vehicle will not slip backward even during the climbing process, improving the driving safety of the vehicle.

[0069] Reference Figure 4 , Figure 4 is a schematic flowchart of the second embodiment of a vehicle torque control method of the present invention.

[0070] Based on the above first embodiment, in the vehicle torque control method of this embodiment, the step S30 specifically includes:

[0071] Step S301: Calculate the pitch angle change rate corresponding to the pitch angle.

[0072] In a specific implementation, after obtaining the pitch angle, in this embodiment, the rate of change of the pitch angle within a unit time can be calculated in combination with the preset unit time and the pitch angle. Among them, the preset unit time can be set to 20 ms, or it can be set to other values, and specifically, it can be adjusted accordingly according to actual needs. This embodiment does not limit this.

[0073] Step S302: Obtain the current torque of the vehicle.

[0074] In a specific implementation, after determining the rate of change of the pitch angle, in this embodiment, it is also necessary to obtain the current torque of the vehicle during driving.

[0075] Step S303: Determine the target torque according to the rate of change of the pitch angle and the current torque.

[0076] In a specific implementation, after determining the rate of change of the pitch angle and the current torque, the target torque can be calculated.

[0077] Specifically, in this embodiment, in order to obtain a more accurate and reasonable target torque, after determining the rate of change of the pitch angle, the torque limit coefficient corresponding to the rate of change of the pitch angle can be found based on a preset mapping relationship, and then the final target torque can be calculated according to the torque limit coefficient and the rate of change of the pitch angle. For example, F_limit = F * Ast, where F_limi is the target torque, F is the current torque, and Ast is the torque limit coefficient. The preset mapping relationship can be obtained through a large amount of data analysis, and the torque limit coefficients corresponding to different rates of change of the pitch angle can be adjusted accordingly based on different situations. This embodiment does not limit this.

[0078] Furthermore, after restricting the torque of the vehicle, in this embodiment, it is still necessary to detect in real time whether the vehicle continues to drive on a special road condition. Specifically, after restricting the torque of the vehicle, timing starts. If it is assumed that the vehicle is still driving on a special road condition after 0.5 s, the torque of the vehicle continues to be controlled. If the vehicle is not driving on a special road condition after 0.5 s, the restriction on the torque of the vehicle is released, and the torque of the vehicle is restored to the torque before the restriction.

[0079] In this embodiment, by calculating the rate of change of the pitch angle corresponding to the pitch angle; obtaining the current torque of the vehicle; finding the torque limit coefficient corresponding to the rate of change of the pitch angle based on a preset mapping relationship; and determining the target torque according to the torque limit coefficient and the current torque, after obtaining the torque limit coefficient through the rate of change of the pitch angle, and then calculating the target torque according to the torque limit coefficient and the current torque of the vehicle, a more accurate and reasonable target torque can be obtained, further ensuring the safety of the vehicle during driving.

[0080] Reference Figure 5, Figure 5 It is a schematic flowchart of the third embodiment of a vehicle torque control method according to the present invention.

[0081] Based on the above first embodiment or second embodiment, a third embodiment of a vehicle torque control method according to the present invention is proposed.

[0082] Taking the above first embodiment as an example for illustration, in this embodiment, the step S10 specifically includes:

[0083] Step S101: Obtain the motor speed of the vehicle.

[0084] It should be noted that the current solution can neither ensure that the vehicle does not slip after torque limitation, nor can it accurately detect whether the vehicle is driving on special road conditions. Currently, the method is to detect the change frequency of the acceleration signal to determine whether the vehicle is vibrating. However, in actual situations, the acceleration signal fluctuates greatly, so misjudgment is likely to occur.

[0085] In this embodiment, to solve the above technical problems and improve the accuracy of road condition detection, when determining whether the vehicle is driving on special road conditions, the motor speed of the vehicle is used. Therefore, before making a judgment, it is necessary to first obtain the motor speed of the vehicle during driving.

[0086] Step S102: Calculate the motor speed change rate corresponding to the motor speed.

[0087] In specific implementation, after obtaining the motor speed, similarly, it is necessary to calculate the corresponding motor speed change rate based on this motor speed.

[0088] Specifically, in this embodiment, the motor speed change rate within a preset unit time can be calculated. Among them, the preset unit time can be set to 20 ms, or other values, and can be specifically adjusted according to actual needs. This embodiment does not limit this. It should be emphasized that the motor speed change rate reflects the fluctuation of the motor speed.

[0089] Step S103: Detect the road condition of the vehicle during driving according to the motor speed change rate.

[0090] In specific implementation, when the vehicle is driving on special road conditions, the vehicle will resonate. In this embodiment, vehicle resonance indicates that the frequency of motor speed fluctuation is consistent with the natural frequency of the vehicle's suspension. Therefore, the road condition of the vehicle during driving can be detected according to this motor speed change rate. The road conditions in this embodiment include special road conditions and non-special road conditions. The specific detection process can be implemented in the following manner.

[0091] In the specific implementation, the motor speed change rate is compared with the suspension natural frequency of the vehicle in this embodiment, and the comparison is used to determine whether the vehicle resonates, thereby detecting the road condition of the vehicle. However, it should be emphasized that when the motor speed change rate is small, it has no effect on the normal driving of the vehicle, and the resonance is not judged in this embodiment. Therefore, before the resonance judgment is made, the calculated motor speed change rate needs to be compared with the change rate threshold in this embodiment.

[0092] After comparison, if the motor speed change rate is less than or equal to the change rate threshold, it means that the motor speed fluctuation is small at this time. In this case, the present embodiment does not perform the judgment of resonance detection, and it is considered that the torque does not need to be limited at this time. Further, if the motor speed change rate is greater than the change rate threshold, it means that the motor speed fluctuation is large at this time. In this case, the present embodiment further compares the motor speed change rate with the vehicle's suspension natural frequency.

[0093] In a specific implementation, if the motor speed change rate is the same as the vehicle's suspension natural frequency, a count is performed. In this embodiment, the number of times the motor speed change rate is the same as the vehicle's suspension natural frequency within a preset time is counted. The preset time can be set to 0.5s, that is, the number of times the motor speed change rate is the same as the vehicle's suspension natural frequency within 0.5s is recorded. The preset time can also be set to other time values, which can be specifically set accordingly according to actual detection requirements, and is not limited in this embodiment.

[0094] Further, after obtaining the number of times that the motor speed change rate is the same as the suspension natural frequency of the vehicle within the preset time, in this embodiment, the number is compared with the preset number. If the number is less than the preset number, it means that the vehicle is not resonating at this time, that is, the vehicle is traveling on a non-special road condition. In this case, there is no need to limit the torque of the vehicle. The preset number can be set accordingly according to actual detection requirements, and this is not limited in this embodiment. In addition, in this embodiment, it is also determined whether the torque of the motor is in a restricted state. If the torque of the motor is in a restricted state, in this embodiment, the duration of the difference between the motor speed change rate and the suspension natural frequency of the vehicle is further detected. If the duration exceeds the preset duration, the torque restriction state can be released. The preset duration can be set to 0.5s, that is, the difference between the motor speed change rate and the suspension natural frequency of the vehicle lasts for 0.5s. In this case, the torque restriction can be released.

[0095] If the number of times reaches the preset number of times, it indicates that the vehicle has resonance at this time, that is, the vehicle is driving on a special road condition. In this case, in this embodiment, the road condition at this time is determined to be a special road condition, and at the same time, the torque during the vehicle driving is limited in the manner of the above embodiment to improve the driving safety of the vehicle.

[0096] In this embodiment, by obtaining the motor speed of the vehicle; calculating the motor speed change rate corresponding to the motor speed; comparing the motor speed change rate with a change rate threshold; when the motor speed change rate is greater than the change rate threshold, comparing the motor speed change rate with the natural frequency of the vehicle's suspension; obtaining the number of times that the motor speed change rate is the same as the natural frequency of the vehicle's suspension within a preset time based on the comparison result; when the number of times reaches the preset number of times, determining that the road condition is a special road condition. By comparing the motor speed change rate with the change rate threshold, and after the motor speed change rate is greater than the change rate threshold, then comparing the motor speed change rate with the natural frequency of the vehicle's suspension, and finally, based on the comparison result between the number of times that the motor speed change rate is the same as the natural frequency of the vehicle's suspension within a preset time and the preset number of times, it is determined whether the vehicle has resonance, so as to detect whether the vehicle is driving on a special road condition, avoid misjudgment caused by large fluctuations in acceleration signals, and improve the accuracy of detecting the vehicle driving road condition.

[0097] In addition, an embodiment of the present invention also proposes a storage medium, on which a vehicle torque control program is stored. When the vehicle torque control program is executed by a processor, the steps of the vehicle torque control method as described above are implemented.

[0098] Since this storage medium adopts all the technical solutions of the above all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated here one by one.

[0099] Refer to Figure 6 , Figure 6 which is the structural block diagram of the first embodiment of the vehicle torque control device of the present invention.

[0100] As Figure 6 shown, the vehicle torque control device proposed by the embodiment of the present invention includes:

[0101] A detection module 10, configured to detect the road condition when the vehicle is driving.

[0102] An acquisition module 20, configured to obtain the pitch angle of the vehicle when the road condition is a special road condition.

[0103] A calculation module 30, configured to determine a target torque according to the pitch angle.

[0104] The control module 40 is used to limit the torque of the vehicle according to the target torque.

[0105] This embodiment detects the road condition when the vehicle is traveling; when the road condition is a special road condition, obtains the pitch angle of the vehicle; determines the target torque according to the pitch angle; and limits the torque of the vehicle according to the target torque. When the vehicle is traveling on a special road surface, the torque of the vehicle is controlled based on the pitch angle of the vehicle when traveling, thereby ensuring that the vehicle will not slip even when climbing a slope, thereby improving the safety of vehicle driving.

[0106] In one embodiment, the calculation module 30 is further used to calculate the pitch angle change rate corresponding to the pitch angle; obtain the current torque of the vehicle; and determine the target torque according to the pitch angle change rate and the current torque.

[0107] In one embodiment, the calculation module 30 is further used to find a torque limit coefficient corresponding to the pitch angle change rate based on a preset mapping relationship; and determine the target torque according to the torque limit coefficient and the current torque.

[0108] In one embodiment, the detection module 10 is further used to obtain the motor speed of the vehicle; calculate the motor speed change rate corresponding to the motor speed; and detect the road condition when the vehicle is traveling based on the motor speed change rate.

[0109] In one embodiment, the detection module 10 is also used to compare the motor speed change rate with a change rate threshold; when the motor speed change rate is greater than the change rate threshold, the motor speed change rate is compared with the suspension natural frequency of the vehicle; and the road condition when the vehicle is driving is detected based on the comparison result.

[0110] In one embodiment, the detection module 10 is further used to obtain the number of times that the motor speed change rate is the same as the suspension natural frequency of the vehicle within a preset time based on the comparison result; when the number reaches the preset number, the road condition is determined to be a special road condition.

[0111] In one embodiment, the control module 40 is also used to obtain the duration of the motor speed change rate being different from the suspension natural frequency of the vehicle based on the comparison result; when the duration exceeds a preset duration, it is determined that the road condition is not a special road condition, and when the torque of the vehicle is in a limited state, the torque limit of the vehicle is released.

[0112] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0113] It should be noted that the workflow described above is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and no limitation is made here.

[0114] In addition, for the technical details not described in detail in this embodiment, reference can be made to the vehicle torque control method provided in any embodiment of the present invention, and details will not be repeated here.

[0115] In addition, it should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the phrase "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0116] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0117] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0118] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A vehicle torque control method, characterized in that, The vehicle torque control method includes: Detecting the road condition when the vehicle is running; When the road condition is a special road condition, obtaining the pitch angle of the vehicle, wherein the detection of whether the vehicle is running on a special road condition is resonance detection; Determining the target torque according to the pitch angle; Limiting the torque of the vehicle according to the target torque; The determining the target torque according to the pitch angle includes: Calculating the pitch angle change rate corresponding to the pitch angle; Obtaining the current torque of the vehicle; Determining the target torque according to the pitch angle change rate and the current torque.

2. The vehicle torque control method according to claim 1, characterized in that, The determining the target torque according to the pitch angle change rate and the current torque includes: Looking up the torque limit coefficient corresponding to the pitch angle change rate based on a preset mapping relationship; Determining the target torque according to the torque limit coefficient and the current torque.

3. The vehicle torque control method according to claim 1 or 2, characterized in that, The detecting the road condition when the vehicle is running includes: Obtaining the motor speed of the vehicle; Calculating the motor speed change rate corresponding to the motor speed; Detecting the road condition when the vehicle is running according to the motor speed change rate.

4. The vehicle torque control method according to claim 3, wherein The detecting the road condition when the vehicle is running according to the motor speed change rate includes: Comparing the motor speed change rate with a change rate threshold; When the motor speed change rate is greater than the change rate threshold, comparing the motor speed change rate with the natural frequency of the vehicle's suspension; Detecting the road condition when the vehicle is running based on the comparison result.

5. The vehicle torque control method according to claim 4, characterized in that The detecting the road condition when the vehicle is running based on the comparison result includes: Obtaining the number of times that the motor speed change rate is the same as the natural frequency of the vehicle's suspension within a preset time based on the comparison result; When the number of times reaches a preset number of times, determining that the road condition is a special road condition.

6. The vehicle torque control method according to claim 4, wherein, The detecting the road condition when the vehicle is running based on the comparison result includes: Obtaining the continuous duration during which the motor speed change rate is different from the natural frequency of the vehicle's suspension based on the comparison result; When the continuous duration exceeds a preset duration, determining that the road condition is a non-special road condition, and when the torque of the vehicle is in a limited state, releasing the torque limit of the vehicle.

7. A vehicle torque control device, characterized in that, The vehicle torque control device includes: A detection module for detecting the road condition when the vehicle is running; An acquisition module for obtaining the pitch angle of the vehicle when the road condition is a special road condition, wherein the detection of whether the vehicle is running on a special road condition is resonance detection; A calculation module for determining the target torque according to the pitch angle; A control module for limiting the torque of the vehicle according to the target torque; The calculation module is further configured to calculate the pitch angle change rate corresponding to the pitch angle; obtain the current torque of the vehicle; and determine the target torque according to the pitch angle change rate and the current torque.

8. A vehicle torque control device, characterized in that, The vehicle torque control device includes: a memory, a processor, and a vehicle torque control program stored on the memory and running on the processor, the vehicle torque control program being configured to implement the vehicle torque control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, A vehicle torque control program is stored on the storage medium, and when the vehicle torque control program is executed by a processor, it implements the vehicle torque control method according to any one of claims 1 to 6.

Images