Vehicle torque determination method, apparatus, vehicle controller, and vehicle

Abstract

The application relates to the technical field of vehicle control, in particular to a vehicle torque determination method and device, a vehicle-mounted controller and a vehicle. The method comprises the following steps: determining whether the initial torque of a target vehicle is abnormal based on the torque control type of the target vehicle; in the case that the initial torque is abnormal, updating the initial torque according to the abnormal type of the initial torque to obtain a candidate torque; and determining the target torque of the target vehicle according to the candidate torque and the demand torque of the target vehicle. The application prevents abnormal situations from occurring when the target vehicle responds to torque, guarantees the driving safety of the vehicle, and further guarantees the adaptability of the target torque to the target vehicle by determining the target torque of the target vehicle according to the candidate torque and the demand torque, further improves the matching degree of the target torque and the actual driving demand of the vehicle, and improves the driving experience of the user in the target vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus, on-board controller, and vehicle for determining vehicle torque. Background Technology

[0002] Currently, most new energy vehicles transmit torque signals via information communication. Specifically, the vehicle torque provider transmits the vehicle torque to the vehicle controller in the form of a CAN (Controller Area Network) signal. The vehicle controller then parses the received CAN signal according to the CAN communication protocol to determine the vehicle torque and respond accordingly.

[0003] However, when using the above torque transmission method to control vehicle torque, if the CAN signal is erroneous or modified during transmission, it will cause abnormalities in the target vehicle's response to torque. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle torque determination method, device, on-board controller, and vehicle that can prevent abnormal situations from occurring when the target vehicle responds to torque, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a method for determining vehicle torque. The method includes:

[0006] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0007] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain a candidate torque;

[0008] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0009] In one embodiment,

[0010] The step of determining the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle includes:

[0011] If the torque control type is the torque boosting type, then the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0012] If the torque control type is a torque reduction type, then the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0013] In one embodiment, updating the initial torque based on the anomaly type of the initial torque to obtain candidate torques includes:

[0014] Determine the reference torque corresponding to the anomaly type;

[0015] The initial torque is updated based on the reference torque to obtain the candidate torque.

[0016] In one embodiment, determining the reference torque corresponding to the anomaly type includes:

[0017] Determine the historical torque record corresponding to the anomaly type; wherein the historical torque record records the historical torque of at least one vehicle after the occurrence of the torque anomaly, the torque correction amount corresponding to the abnormal torque, and the anomaly recovery status corresponding to each torque correction amount;

[0018] Based on the historical torque records, the reference torque corresponding to the anomaly type is determined.

[0019] In one embodiment, determining the reference torque corresponding to the anomaly type based on the historical torque record includes:

[0020] Based on the abnormal recovery status corresponding to each torque correction amount in the historical torque record, each torque correction amount is divided into positive torque correction amount and negative torque correction amount; wherein, the abnormal recovery status includes abnormal torque recovery and abnormal torque aggravation;

[0021] The reference torque corresponding to the anomaly type is determined based on the positive torque correction amount and the reverse torque correction amount.

[0022] In one embodiment, determining whether the initial torque of the target vehicle is abnormal based on the target vehicle's torque control type includes:

[0023] Determine whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or determine whether the target vehicle simultaneously receives initial torque from multiple torque control types, and / or determine whether the torque control type contradicts the driving state of the target vehicle, and / or determine whether the physical value of the control torque signal corresponding to the initial torque belongs to the physical value range of the torque control type.

[0024] Secondly, this application also provides a vehicle torque determining device. The device includes:

[0025] The first determining module is used to determine whether the initial torque of the target vehicle is abnormal based on the torque control type of the target vehicle.

[0026] The update module updates the initial torque according to the type of the initial torque anomaly when the initial torque is abnormal, thereby obtaining a candidate torque.

[0027] The second determining module is used to determine the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle.

[0028] Thirdly, this application also provides an in-vehicle controller. The in-vehicle controller includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0029] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0030] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain a candidate torque;

[0031] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0032] Fourthly, this application also provides a vehicle. The memory of the vehicle controller stores a computer program, which, when executed by a processor, performs the following steps:

[0033] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0034] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain a candidate torque;

[0035] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0036] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0037] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0038] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain a candidate torque;

[0039] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0040] The aforementioned vehicle torque determination method, device, on-board controller, and vehicle, by determining whether the initial torque of the target vehicle is abnormal, update the initial torque in the event of an abnormality, and determine the target torque of the target vehicle based on the updated candidate torque and the target vehicle's required torque. As can be seen from the above, in determining the target torque of the target vehicle, this application first determines whether the initial torque of the target vehicle is abnormal, and then determines the target torque based on the type of abnormality in the initial torque. This makes the determination of the target torque more consistent with the actual situation of the target vehicle, preventing abnormal situations when the target vehicle responds to torque and ensuring vehicle driving safety. Furthermore, in the process of determining the target torque, this application also updates the initial torque to obtain candidate torques, and then determines the target torque of the target vehicle based on the candidate torques and the target vehicle's required torque. Therefore, this application determines the target torque of the target vehicle by using candidate torques and required torques, further ensuring the adaptability of the target torque to the target vehicle, further improving the matching degree between the target torque and the actual driving needs of the vehicle, and enhancing the user's driving experience in the target vehicle. Attached Figure Description

[0041] Figure 1 A flowchart illustrating the first vehicle torque determination method provided in this application embodiment;

[0042] Figure 2 A flowchart illustrating the second vehicle torque determination method provided in this application embodiment;

[0043] Figure 3 A flowchart illustrating the third vehicle torque determination method provided in this application embodiment;

[0044] Figure 4 A flowchart illustrating the fourth method for determining vehicle torque provided in this application embodiment;

[0045] Figure 5 A flowchart illustrating the fifth method for determining vehicle torque provided in this application embodiment;

[0046] Figure 6 This is a structural block diagram of the first vehicle torque determining device provided in the embodiments of this application;

[0047] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application. In the description of this application, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0050] In one embodiment, such as Figure 1 As shown, a method for determining vehicle torque is provided. This embodiment illustrates the application of this method to a terminal. It is understood that this method can also be applied to a server, and to a system including both a terminal and a server, and is implemented through interaction between the terminal and the server. The terminal can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. The server can be implemented using a standalone server or a server cluster composed of multiple servers. Specifically, in this embodiment, the method includes the following steps:

[0051] S101, based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal.

[0052] The initial torque is used to characterize the torque value obtained after parsing the torque control signal (i.e., the vehicle torque in the form of a CAN signal) received by the target vehicle according to the CAN communication protocol; the torque control type refers to the increase or decrease in torque caused by the target vehicle in response to the initial torque.

[0053] It should be noted that since there are many types of abnormal initial torque, in order to ensure accurate verification of whether there is an abnormality in the initial torque of the target vehicle, it is necessary to perform anomaly detection on the initial torque of the target vehicle according to the anomaly detection method corresponding to different anomaly types. Then, based on the anomaly detection results corresponding to each anomaly detection method, it can be determined whether the initial torque of the target vehicle is abnormal.

[0054] In one embodiment of this application, if it is necessary to detect anomalies of the initial torque of a target vehicle, the range of physical values ​​corresponding to the torque control type can be determined, and the physical value of the control torque signal corresponding to the initial torque can be obtained. Then, it can be verified whether the physical value belongs to the range of physical values. If it does, it is determined that the initial torque has not experienced an abnormal torque condition; if it does not, it is determined that the initial torque has experienced an abnormal torque condition.

[0055] In another embodiment of this application, if it is necessary to detect anomalies in the initial torque of the target vehicle, it can be verified whether the target vehicle receives initial torque of multiple torque control types simultaneously. If it receives both torque-increasing and torque-decreasing initial torques simultaneously, it is determined that an abnormal torque condition has occurred in the initial torque. If it does not receive both torque-increasing and torque-decreasing initial torques simultaneously, it is determined that no abnormal torque condition has occurred in the initial torque.

[0056] In another embodiment of this application, if it is necessary to detect anomalies in the initial torque of the target vehicle, it can be determined whether the torque control type is inconsistent with the driving state of the target vehicle. If it is inconsistent, it is determined that an abnormal torque condition has occurred in the initial torque; if it is not inconsistent, it is determined that no abnormal torque condition has occurred in the initial torque.

[0057] For example, if the target vehicle is currently decelerating, but the initial torque control type is a torque reduction type, then the torque control type is determined to be inconsistent with the target vehicle's driving state; if the target vehicle is currently accelerating, but the initial torque control type is a torque increase type, then the torque control type is determined to be inconsistent with the target vehicle's driving state.

[0058] In another embodiment of this application, when an anomaly detection is performed on the initial torque of the target vehicle, a torque threshold corresponding to the torque control type is determined, and then it is determined whether the initial torque exceeds the torque threshold. If it exceeds the threshold, it is determined that the initial torque has an abnormal torque condition; if it does not exceed the threshold, it is determined that the initial torque has not an abnormal torque condition.

[0059] S102, In the case of abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain candidate torque.

[0060] It should be noted that when it is necessary to update the initial torque according to the anomaly type of the initial torque, the initial torque update rules corresponding to each anomaly type can be predefined. Then, the initial torque can be updated according to the initial torque update rules to obtain the updated candidate torque.

[0061] The initial torque update rule can be set or adjusted according to the actual needs of the target vehicle and the historical experience of vehicle maintenance personnel. The specific content of the initial torque update rule is not limited here.

[0062] In one embodiment of this application, if the initial torque update rule is to replace the initial torque with a predefined reference torque to update the initial torque and obtain a candidate torque, then when it is necessary to update the initial torque, the reference torque corresponding to the abnormal type of the initial torque is determined, and then the initial torque is modified to the reference torque to obtain a candidate torque.

[0063] In another embodiment of this application, if the initial torque update rule is: multiply the initial torque with a preset update parameter, and use the result as a candidate torque to update the initial torque and obtain the candidate torque; then when it is necessary to update the initial torque, determine the update parameter corresponding to the abnormal type of the initial torque, and then multiply the update parameter with the initial torque to obtain the result, and use the result as the candidate torque.

[0064] In another embodiment of this application, if the initial torque update rule is: determining the magnitude relationship between a predefined reference torque and the initial torque, and selecting the larger of the two torques as a candidate torque, or selecting the smaller of the two torques as a candidate torque, then when an update to the initial torque is required, a predefined reference torque replacement is determined, and the reference torque and the initial torque are compared to obtain a comparison result. If it is predefined that the larger of the two torques is selected as a candidate torque, then based on the comparison result, either the reference torque or the initial torque is selected as a candidate torque.

[0065] S103, determine the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle.

[0066] The required torque of the target vehicle refers to the torque corresponding to the accelerator pedal control signal given by the driver to the target vehicle at the current moment.

[0067] It should be noted that, in order to ensure the smooth operation and driving safety of the target vehicle when responding to the target torque, the target torque of the target vehicle can be determined based on preset selection rules, according to the candidate torques and the required torque of the target vehicle.

[0068] Furthermore, the selection rule can be to choose the target torque of the target vehicle from the candidate torque and the required torque, or to perform relevant calculations on the candidate torque and the required torque and use the result of the calculations as the target torque of the target vehicle. In summary, there are many methods for determining the target torque based on the candidate torque and the required torque; these methods will not be elaborated upon here.

[0069] In one embodiment of this application, when it is necessary to determine the target torque of a target vehicle, a candidate constant corresponding to the candidate torque and a demand constant corresponding to the demand torque can be predetermined; wherein, the sum of the candidate constant and the demand constant is one; then, the candidate torque and the demand torque are weighted according to the candidate constant and the demand constant, and the weighted result is the target torque of the target vehicle.

[0070] As one implementation method, such as Figure 2 As shown, the Electronic Stability Program (ESP) transmits the initial torque in the form of a CAN signal, the terminal that executes the vehicle torque determination method determines the target torque of the target vehicle, and the vehicle controller transmits the target torque in the form of a CAN signal.

[0071] The aforementioned vehicle torque determination method determines whether the initial torque of the target vehicle is abnormal. If the initial torque is abnormal, it updates the initial torque and determines the target torque based on the updated candidate torque and the target vehicle's required torque. As can be seen from the above, this application first determines whether the initial torque of the target vehicle is abnormal, and then determines the target torque based on the type of abnormality in the initial torque. This makes the determination of the target torque more consistent with the actual situation of the target vehicle, preventing abnormal situations when the target vehicle responds to torque and ensuring vehicle driving safety. Furthermore, this application updates the initial torque to obtain candidate torques, and then determines the target torque based on the candidate torques and the target vehicle's required torque. Therefore, this application determines the target torque of the target vehicle by using candidate torques and required torques, further ensuring the adaptability of the target torque to the target vehicle, further improving the matching degree between the target torque and the actual driving needs of the vehicle, and enhancing the user's driving experience in the target vehicle.

[0072] It should be noted that when determining whether the initial torque of the target vehicle is abnormal based on the torque control type of the target vehicle, the following can be included: determining whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or determining whether the target vehicle receives initial torque from multiple torque control types simultaneously, and / or determining whether the torque control type contradicts the driving state of the target vehicle, and / or determining whether the physical value of the control torque signal corresponding to the initial torque falls within the physical value range of the torque control type.

[0073] As one implementation method, when it is necessary to determine whether the physical value of the control torque signal corresponding to the initial torque belongs to the physical value range of the torque control type, the physical value of the control torque signal corresponding to the initial torque, as well as the physical maximum and physical minimum values ​​corresponding to the torque control type, can be determined. Thus, it is possible to determine whether the physical value of the control torque signal corresponding to the initial torque belongs to the physical value range of the torque control type.

[0074] Specifically, the signal value, precision, and offset of the control torque signal can be obtained. Then, based on the signal value, precision, and offset, the physical value of the control torque signal corresponding to the initial torque can be determined.

[0075] Therefore, when it is necessary to determine the physical value of the control torque signal corresponding to the initial torque, the signal value, the precision of the signal value, and the offset of the signal value of the control torque signal can be substituted into the calculation formula (1) to obtain the physical value of the control torque signal corresponding to the initial torque. The calculation formula (1) is as follows:

[0076] X act =X*β+Y (1)

[0077] Among them, X act X refers to the physical value of the control torque signal; β refers to the signal value of the control torque signal; and Y refers to the offset of the control torque signal.

[0078] After obtaining the physical maximum and minimum values ​​corresponding to the torque control type, the range of physical values ​​for the torque control type can be determined as X. act = (Min X Max X ), where Min X This refers to the physical minimum value; Max X This refers to the maximum physical value.

[0079] If it is determined that the physical value of the control torque signal corresponding to the initial torque does not belong to the physical value range of the torque control type, then the initial torque is determined to be abnormal, and the abnormality type of the initial torque is the first type of abnormality.

[0080] As one implementation method, when the target vehicle responds to torque, it can only respond to torque with torque control type of increasing torque or decreasing torque. Therefore, if it receives initial torque of multiple torque control types at the same time, it will cause the target vehicle to experience torque abnormality.

[0081] If it is determined that the target vehicle receives initial torque from multiple torque control types simultaneously, then the initial torque is determined to be abnormal, and the abnormality type of the initial torque is the second type of abnormality.

[0082] As one implementation method, since the torque control type of torque increase can only be activated when the target vehicle is in a deceleration state, if the target vehicle is in a deceleration state and the initial torque control type is torque decrease, it is determined that the torque control type is inconsistent with the target vehicle's driving state, and the initial torque is determined to be abnormal. Furthermore, the abnormality type of the initial torque is the third type of abnormality.

[0083] As one implementation method, since the torque control type of torque reduction can only be activated when the target vehicle is in an acceleration state, when the target vehicle is in an acceleration state and the initial torque is torque increase type, it is determined that the torque control type is inconsistent with the target vehicle's driving state, and the initial torque is determined to be abnormal. Furthermore, the abnormality type of the initial torque is the fourth type of abnormality.

[0084] As one implementation method, if the torque control type is to increase torque, then the first torque threshold corresponding to the torque control type is determined. If the initial torque exceeds the first torque threshold corresponding to the torque control type, the initial torque is determined to be abnormal. In this case, the abnormality type of the initial torque is the fifth type of abnormality.

[0085] As one implementation method, if the torque control type is torque reduction, then the second torque threshold corresponding to the torque control type is determined. If the initial torque exceeds the second torque threshold corresponding to the torque control type, the initial torque is determined to be abnormal. In this case, the abnormality type of the initial torque is the sixth type of abnormality.

[0086] The above-described method for determining vehicle torque determines whether the initial torque of the target vehicle is abnormal, thereby enabling sufficient anomaly detection of the initial torque. This prevents abnormal situations from occurring when the target vehicle responds to torque, ensuring vehicle driving safety and providing a foundation for subsequently determining the target torque of the target vehicle.

[0087] In one embodiment, to ensure the compatibility of the target torque with the target vehicle, the torque control type can be combined in the process of determining the target torque, so that different methods can be used to select the target torque of the target vehicle from the candidate torque and the required torque for different torque control types.

[0088] It should be noted that when it is necessary to determine the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle, the following may be included: selecting the target torque of the target vehicle from the candidate torque and the required torque according to the torque control type.

[0089] In one embodiment of this application, if the torque control type is torque-increasing, in order to ensure the matching degree between the target torque and the actual driving needs of the vehicle and improve the user's driving experience in the target vehicle, a larger torque needs to be selected as the target torque. Therefore, if the torque control type is torque-increasing, the torque with the higher torque value among the candidate torque and the required torque is selected as the target torque of the target vehicle.

[0090] In the case where the torque control type is torque boosting, the target torque of the target vehicle can be selected from the candidate torque and the required torque according to the calculation formula (2); the calculation formula (2) is as follows:

[0091] (2)

[0092] Among them, T act This refers to the target torque of the target vehicle; T refers to the vehicle stability control torque request; T incr This refers to the candidate torque when the torque control type is increased torque type; T Req This refers to the torque required by the target vehicle.

[0093] In one embodiment of this application, if the torque control type is torque reduction type, in order to ensure the matching degree between the target torque and the actual driving needs of the vehicle and improve the user's driving experience in the target vehicle, it is necessary to select a smaller torque as the target torque. Therefore, if the torque control type is torque reduction type, the torque with the lower torque value among the candidate torque and the required torque is taken as the target torque of the target vehicle.

[0094] In the case where the torque control type is torque boosting, the target torque of the target vehicle can be selected from the candidate torque and the required torque according to the calculation formula (3); the calculation formula (3) is as follows:

[0095] (3)

[0096] Among them, T act This refers to the target torque of the target vehicle; T refers to the vehicle stability control torque request; T redThis refers to the candidate torque when the torque control type is reduced; T Req This refers to the torque required by the target vehicle.

[0097] The above-mentioned method for determining vehicle torque determines the target torque of the target vehicle from candidate torques and the required torque of the target vehicle. This makes the determination of the target torque more consistent with the actual situation of the target vehicle, prevents abnormal situations from occurring when the target vehicle responds to torque, and ensures the driving safety of the vehicle.

[0098] In one embodiment, such as Figure 3 As shown, when it is necessary to update the initial torque based on the anomaly type of the initial torque to obtain candidate torques, the following can be included:

[0099] S301, determine the reference torque corresponding to the abnormality type.

[0100] It should be noted that when it is necessary to determine the reference torque corresponding to the anomaly type, the following may be included: determining the historical torque record corresponding to the anomaly type; wherein, the historical torque record records the torque correction amount corresponding to the abnormal torque of at least one vehicle after the torque anomaly occurred, as well as the anomaly recovery status corresponding to each torque correction amount; and determining the reference torque corresponding to the anomaly type based on the historical torque record.

[0101] Abnormal torque refers to the historical torque during which abnormal torque conditions occurred.

[0102] Since torque correction can be divided into positive torque correction and negative torque correction, the abnormal recovery of historical torque after adjustment with positive torque correction is called abnormal torque recovery; the abnormal recovery of historical torque after adjustment with negative torque correction is called abnormal torque aggravation.

[0103] In one embodiment of this application, when determining the reference torque corresponding to the anomaly type based on historical torque records, the process may include: dividing each torque correction amount into a positive torque correction amount and a negative torque correction amount based on the anomaly recovery status corresponding to each torque correction amount in the historical torque records; wherein, the anomaly recovery status includes torque anomaly recovery and torque anomaly aggravation; and determining the reference torque corresponding to the anomaly type based on the positive torque correction amount and the negative torque correction amount.

[0104] Specifically, the positive torque correction amount and the negative torque correction amount can be intersected to obtain the positive torque correction amount range and the negative torque correction amount range. Based on the intersection of the positive torque correction amount range and the negative torque correction amount range, the effective torque range corresponding to different anomaly types can be determined. Any torque can be randomly selected from the effective torque range as the reference torque.

[0105] Among them, the interval in the positive torque correction set that does not intersect with the negative torque correction set can be regarded as the effective torque interval.

[0106] To further explain, reference torques corresponding to different anomaly types can be predefined. Then, the reference torque can be directly determined based on the anomaly type. If the anomaly type of the initial torque is the first, second, third, or fourth type, the reference torque corresponding to the anomaly type is set to an extreme value according to the torque control type. This ensures that if the torque control type is a torque-increasing type, the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle, and the candidate torque will not be selected. Similarly, if the torque control type is a torque-reducing type, the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle, and the candidate torque will not be selected.

[0107] Specifically, if the initial torque anomaly type is one of the first, second, third, or fourth anomaly types, and the torque control type is torque-increasing, the reference torque corresponding to the anomaly type is set to a minimum value. If the initial torque anomaly type is one of the first, second, third, or fourth anomaly types, and the torque control type is torque-reducing, the reference torque corresponding to the anomaly type is set to a maximum value.

[0108] In another embodiment of this application, if the abnormality type of the initial torque is the fifth type or the sixth type, a reference torque corresponding to the abnormality type is set according to the work experience of the vehicle maintenance personnel, so as to be able to smoothly determine the reference torque corresponding to the abnormality type when it is determined that the abnormality type of the initial torque is the fifth type or the sixth type.

[0109] For example, if the initial torque anomaly type is the fifth or sixth type, the reference torque corresponding to the anomaly type can be set to 0 Nm.

[0110] S302, the initial torque is updated based on the reference torque to obtain the candidate torque.

[0111] It should be noted that when the initial torque needs to be updated based on the reference torque, the initial torque can be directly replaced with the reference torque to update the initial torque and obtain the candidate torque.

[0112] The aforementioned method for determining vehicle torque updates the initial torque to obtain candidate torques, and then determines the target torque of the target vehicle based on the candidate torques and the required torque of the target vehicle. Therefore, this application determines the target torque of the target vehicle by using candidate torques and required torques, which further ensures the adaptability of the target torque to the target vehicle, further improves the matching degree between the target torque and the actual driving needs of the vehicle, and enhances the user's driving experience in the target vehicle.

[0113] In one embodiment, such as Figure 4 As shown, when it is necessary to determine the target torque of a target vehicle, the following may be included:

[0114] S401, based on the torque control type of the target vehicle, determines whether the initial torque of the target vehicle is abnormal.

[0115] S402, in the event of an abnormal initial torque, determine the reference torque corresponding to the abnormality type.

[0116] S403 updates the initial torque based on the reference torque to obtain the candidate torque.

[0117] S404, if the torque control type is torque-increasing, the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle; if the torque control type is torque-reducing, the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0118] In one embodiment, such as Figure 5 As shown, when it is necessary to determine the target torque of the target vehicle, the following may also be included: monitoring the control torque signal to determine whether the physical value of the control torque signal corresponding to the initial torque falls within the physical value range of the torque control type; monitoring the initial torque request scenario to determine whether the target vehicle simultaneously receives initial torques of multiple torque control types, and / or, whether the torque control type contradicts the driving state of the target vehicle, and / or, whether the initial torque exceeds the torque threshold corresponding to the torque control type; and further, in the case of abnormal initial torque, determining the reference torque corresponding to the abnormal type. Based on the candidate torques and the required torque of the target vehicle, the target torque of the target vehicle is determined.

[0119] The aforementioned vehicle torque determination method determines whether the initial torque of the target vehicle is abnormal. If the initial torque is abnormal, it updates the initial torque and determines the target torque based on the updated candidate torque and the target vehicle's required torque. As can be seen from the above, this application first determines whether the initial torque of the target vehicle is abnormal, and then determines the target torque based on the type of abnormality in the initial torque. This makes the determination of the target torque more consistent with the actual situation of the target vehicle, preventing abnormal situations when the target vehicle responds to torque and ensuring vehicle driving safety. Furthermore, this application updates the initial torque to obtain candidate torques, and then determines the target torque based on the candidate torques and the target vehicle's required torque. Therefore, this application determines the target torque of the target vehicle by using candidate torques and required torques, further ensuring the adaptability of the target torque to the target vehicle, further improving the matching degree between the target torque and the actual driving needs of the vehicle, and enhancing the user's driving experience in the target vehicle.

[0120] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0121] Based on the same inventive concept, this application also provides a vehicle torque determining device for implementing the vehicle torque determining method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle torque determining device embodiments provided below can be found in the limitations of the vehicle torque determining method described above, and will not be repeated here.

[0122] In one embodiment, such as Figure 6 As shown, a vehicle torque determining device is provided, comprising: a first determining module 10, an updating module 20, and a second determining module 30, wherein:

[0123] The first determining module 10 is used to determine whether the initial torque of the target vehicle is abnormal based on the torque control type of the target vehicle.

[0124] The update module 20 updates the initial torque according to the type of anomaly in the case of an abnormal initial torque, and obtains candidate torques.

[0125] The second determining module 30 is used to determine the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle.

[0126] In one embodiment, if the torque control type is torque-increasing, the torque with the higher value between the candidate torque and the required torque is taken as the target torque of the target vehicle; if the torque control type is torque-reducing, the torque with the lower value between the candidate torque and the required torque is taken as the target torque of the target vehicle.

[0127] In one embodiment, a reference torque corresponding to the anomaly type is determined; the initial torque is updated based on the reference torque to obtain a candidate torque.

[0128] In one embodiment, a historical torque record corresponding to the anomaly type is determined; wherein, the historical torque record records the historical torque of at least one vehicle after an anomaly occurs, the torque correction amount corresponding to the abnormal torque, and the anomaly recovery status corresponding to each torque correction amount; based on the historical torque record, a reference torque corresponding to the anomaly type is determined.

[0129] In one embodiment, based on the abnormal recovery status corresponding to each torque correction amount in the historical torque record, each torque correction amount is divided into a positive torque correction amount and a negative torque correction amount; wherein, the abnormal recovery status includes abnormal torque recovery and abnormal torque aggravation; based on the positive torque correction amount and the negative torque correction amount, the reference torque corresponding to the abnormal type is determined.

[0130] In one embodiment, it is determined whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or whether the target vehicle receives initial torque from multiple torque control types simultaneously, and / or whether the torque control type contradicts the driving state of the target vehicle, and / or whether the physical value of the control torque signal corresponding to the initial torque belongs to the physical value range of the torque control type.

[0131] The aforementioned vehicle torque determination device determines whether the initial torque of the target vehicle is abnormal. If the initial torque is abnormal, it updates the initial torque and determines the target torque based on the updated candidate torque and the target vehicle's required torque. As can be seen from the above, in determining the target torque, this application first determines whether the initial torque of the target vehicle is abnormal, and then determines the target torque based on the type of abnormality in the initial torque. This makes the determination of the target torque more consistent with the actual situation of the target vehicle, preventing abnormal situations when the target vehicle responds to torque and ensuring vehicle driving safety. Furthermore, in the process of determining the target torque, this application also updates the initial torque to obtain candidate torques, and then determines the target torque based on the candidate torques and the target vehicle's required torque. Therefore, this application determines the target torque of the target vehicle by using candidate torques and required torques, further ensuring the adaptability of the target torque to the target vehicle, further improving the matching degree between the target torque and the actual driving needs of the vehicle, and enhancing the user's driving experience in the target vehicle.

[0132] Each module in the aforementioned vehicle torque determination device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0133] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a method for determining vehicle torque. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0134] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0135] In one embodiment, an on-board controller is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the following steps:

[0136] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0137] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain candidate torques;

[0138] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0139] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0140] If the torque control type is torque boosting, then the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0141] If the torque control type is torque reduction, then the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0142] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0143] Determine the reference torque corresponding to the anomaly type;

[0144] The initial torque is updated based on the reference torque to obtain the candidate torque.

[0145] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0146] Identify the historical torque records corresponding to the anomaly type; among them, the historical torque records contain the historical torque of at least one vehicle after the torque anomaly occurred, the torque correction amount corresponding to the abnormal torque, and the anomaly recovery status corresponding to each torque correction amount;

[0147] Based on historical torque records, determine the reference torque corresponding to the anomaly type.

[0148] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0149] Based on the abnormal recovery status of each torque correction amount in the historical torque records, each torque correction amount is divided into positive torque correction amount and negative torque correction amount; among them, abnormal recovery status includes abnormal torque recovery and abnormal torque aggravation;

[0150] Based on the positive torque correction and the negative torque correction, determine the reference torque corresponding to the anomaly type.

[0151] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0152] Determine whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or, determine whether the target vehicle receives initial torque from multiple torque control types simultaneously, and / or, determine whether the torque control type contradicts the driving state of the target vehicle, and / or, determine whether the physical value of the control torque signal corresponding to the initial torque falls within the physical value range of the torque control type.

[0153] In one embodiment, a vehicle is provided, including an on-board controller, the memory of which stores a computer program that, when executed by a processor, performs the following steps:

[0154] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0155] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain candidate torques;

[0156] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0157] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0158] If the torque control type is torque boosting, then the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0159] If the torque control type is torque reduction type, then the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0160] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0161] Determine the reference torque corresponding to the anomaly type;

[0162] The initial torque is updated based on the reference torque to obtain the candidate torque.

[0163] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0164] Identify the historical torque records corresponding to the anomaly type; among them, the historical torque records contain the historical torque of at least one vehicle after the torque anomaly occurred, the torque correction amount corresponding to the abnormal torque, and the anomaly recovery status corresponding to each torque correction amount;

[0165] Based on historical torque records, determine the reference torque corresponding to the anomaly type.

[0166] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0167] Based on the abnormal recovery status of each torque correction amount in the historical torque records, each torque correction amount is divided into positive torque correction amount and negative torque correction amount; among them, abnormal recovery status includes abnormal torque recovery and abnormal torque aggravation;

[0168] Based on the positive torque correction and the negative torque correction, determine the reference torque corresponding to the anomaly type.

[0169] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0170] Determine whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or, determine whether the target vehicle receives initial torque from multiple torque control types simultaneously, and / or, determine whether the torque control type contradicts the driving state of the target vehicle, and / or, determine whether the physical value of the control torque signal corresponding to the initial torque falls within the physical value range of the torque control type.

[0171] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0172] Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal;

[0173] In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain candidate torques;

[0174] The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] If the torque control type is torque boosting, then the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0177] If the torque control type is torque reduction type, then the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

[0178] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0179] Determine the reference torque corresponding to the anomaly type;

[0180] The initial torque is updated based on the reference torque to obtain the candidate torque.

[0181] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0182] Identify the historical torque records corresponding to the anomaly type; among them, the historical torque records contain the historical torque of at least one vehicle after the torque anomaly occurred, the torque correction amount corresponding to the abnormal torque, and the anomaly recovery status corresponding to each torque correction amount;

[0183] Based on historical torque records, determine the reference torque corresponding to the anomaly type.

[0184] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0185] Based on the abnormal recovery status of each torque correction amount in the historical torque records, each torque correction amount is divided into positive torque correction amount and negative torque correction amount; among them, abnormal recovery status includes abnormal torque recovery and abnormal torque aggravation;

[0186] Based on the positive torque correction and the negative torque correction, determine the reference torque corresponding to the anomaly type.

[0187] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0188] Determine whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or, determine whether the target vehicle receives initial torque from multiple torque control types simultaneously, and / or, determine whether the torque control type contradicts the driving state of the target vehicle, and / or, determine whether the physical value of the control torque signal corresponding to the initial torque falls within the physical value range of the torque control type.

[0189] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for determining vehicle torque, characterized in that, The method includes: Based on the torque control type of the target vehicle, determine whether the initial torque of the target vehicle is abnormal; In the event of an abnormal initial torque, the initial torque is updated according to the type of abnormality to obtain a candidate torque; The target torque of the target vehicle is determined based on the candidate torque and the required torque of the target vehicle.

2. The method according to claim 1, characterized in that, The step of determining the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle includes: If the torque control type is the torque boosting type, then the torque with the higher value between the candidate torque and the required torque will be used as the target torque for the target vehicle. If the torque control type is a torque reduction type, then the torque with the lower value between the candidate torque and the required torque will be used as the target torque for the target vehicle.

3. The method according to claim 1, characterized in that, The step of updating the initial torque based on the anomaly type of the initial torque to obtain candidate torques includes: Determine the reference torque corresponding to the anomaly type; The initial torque is updated based on the reference torque to obtain the candidate torque.

4. The method according to claim 3, characterized in that, Determining the reference torque corresponding to the anomaly type includes: Determine the historical torque record corresponding to the anomaly type; wherein, the historical torque record records the torque correction amount corresponding to the abnormal torque for at least one vehicle after the torque anomaly occurred, as well as the anomaly recovery status corresponding to each torque correction amount; Based on the historical torque records, the reference torque corresponding to the anomaly type is determined.

5. The method according to claim 4, characterized in that, The step of determining the reference torque corresponding to the anomaly type based on the historical torque records includes: Based on the abnormal recovery status corresponding to each torque correction amount in the historical torque record, each torque correction amount is divided into positive torque correction amount and negative torque correction amount; wherein, the abnormal recovery status includes abnormal torque recovery and abnormal torque aggravation; The reference torque corresponding to the anomaly type is determined based on the positive torque correction amount and the reverse torque correction amount.

6. The method according to any one of claims 1-5, characterized in that, The determination of whether the initial torque of the target vehicle is abnormal based on the torque control type of the target vehicle includes: Determine whether the initial torque exceeds the torque threshold corresponding to the torque control type, and / or determine whether the target vehicle simultaneously receives initial torque from multiple torque control types, and / or determine whether the torque control type contradicts the driving state of the target vehicle, and / or determine whether the physical value of the control torque signal corresponding to the initial torque belongs to the physical value range of the torque control type.

7. A vehicle torque determining device, characterized in that, The device includes: The first determining module is used to determine whether the initial torque of the target vehicle is abnormal based on the torque control type of the target vehicle. The update module updates the initial torque according to the type of the initial torque anomaly when the initial torque is abnormal, thereby obtaining a candidate torque. The second determining module is used to determine the target torque of the target vehicle based on the candidate torque and the required torque of the target vehicle.

8. An on-board controller, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A vehicle, comprising an on-board controller, characterized in that, The memory of the vehicle controller stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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