Vehicle torque adjustment method, device, electronic equipment and vehicle

Abstract

The present disclosure relates to the field of vehicle control, and provides a vehicle torque adjustment method, device, electronic device and vehicle. Under the condition that the vehicle traction control function is not activated, it is determined that the front axle slip rate or rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and a target front and rear axle torque transfer slope is determined according to the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value corresponding to the presence of slip phenomenon and less than the slip rate value corresponding to the activation of the vehicle traction control function; the total torque of the vehicle is obtained, and the target front axle torque and the target rear axle torque are determined according to the target front and rear axle torque transfer slope and the total torque; the front axle torque of the vehicle is controlled to be adjusted to the target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the target rear axle torque. The vehicle slip phenomenon is alleviated when the vehicle has slip phenomenon but the traction control function has not been activated, thereby improving driving safety.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control, and in particular to a vehicle torque regulation method, device, electronic equipment and vehicle. Background Art

[0002] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. During the use of vehicles, there may be a situation where the vehicle slips, especially in rainy and snowy weather, when the probability of the vehicle slipping due to wet road conditions is greatly increased.

[0003] When a vehicle slips, it poses a great threat to the safety of the users in the vehicle, causing a significant reduction in driving safety. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a vehicle torque adjustment method, device, electronic device and vehicle to solve the problem that when the vehicle slips, it poses a great threat to the safety of users on the vehicle, resulting in a significant reduction in driving safety.

[0005] Based on the above purpose, a first aspect of the present disclosure provides a vehicle torque adjustment method, the method comprising:

[0006] Under the condition that the vehicle traction control function is not activated, determining that the front axle slip rate or the rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and determining a target front and rear axle torque transfer slope according to the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value when slip occurs and is less than a slip rate value corresponding to activating the vehicle traction control function;

[0007] Acquire the total torque of the vehicle, and determine the target front axle torque and the target rear axle torque according to the target front and rear axle torque transfer slope and the total torque;

[0008] The front axle torque of the vehicle is controlled to be adjusted to the target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the target rear axle torque.

[0009] Based on the same inventive concept, the second aspect of the present disclosure provides a vehicle torque adjustment device, the device comprising:

[0010] a slope determination module configured to determine, under the condition that the vehicle traction control function is not activated, that a front axle slip rate or a rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and determine a target front and rear axle torque transfer slope according to the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value when slip occurs and is less than a slip rate value corresponding to activating the vehicle traction control function;

[0011] a torque determination module configured to obtain a total torque of the vehicle, and determine a target front axle torque and a target rear axle torque according to the target front and rear axle torque transfer slope and the total torque;

[0012] The torque adjustment module is configured to control the front axle torque of the vehicle to be adjusted to a target front axle torque, and to control the rear axle torque of the vehicle to be adjusted to a target rear axle torque.

[0013] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the vehicle torque regulation method as described above when executing the computer program.

[0014] Based on the same inventive concept, the fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle torque adjustment method as described above.

[0015] Based on the same inventive concept, the fifth aspect of the present disclosure provides a vehicle, comprising the vehicle torque adjustment device described in the second aspect or the electronic device described in the third aspect or the storage medium described in the fourth aspect.

[0016] As can be seen from the above, the present disclosure proposes a vehicle torque adjustment method, device, electronic device and vehicle. When the vehicle traction control function is not activated, the front axle slip rate or rear axle slip rate of the vehicle is greater than the preset slip rate threshold, indicating that the vehicle has slip phenomenon but has not yet reached the condition for activating the traction control function. By setting the preset slip rate threshold to a slip rate value corresponding to the existence of slip phenomenon and less than the slip rate value corresponding to activating the vehicle traction control function, the problem of conflict or duplication with the vehicle traction control function is avoided. The target front and rear axle torque transfer slope is determined according to the front axle slip rate and the rear axle slip rate, and the target front and rear axle torque transfer slope is the torque ratio of the front and rear axles of the vehicle corresponding to eliminating the slip phenomenon. The total torque of the vehicle is obtained, and the target front axle torque and the target rear axle torque are determined according to the target front and rear axle torque transfer slope and the total torque. The front axle torque of the vehicle is controlled to be adjusted to the target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the target rear axle torque, that is, the front axle torque and the rear axle torque of the vehicle are adjusted according to the target front axle torque and the target rear axle torque, so as to alleviate the vehicle slip phenomenon when the vehicle slips but the traction control function has not been activated, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flow chart of a vehicle torque adjustment method according to an embodiment of the present disclosure;

[0019] Figure 2 is a structural block diagram of a vehicle torque regulating device according to an embodiment of the present disclosure;

[0020] Figure 3 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0022] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] The terms used in this disclosure are explained as follows:

[0024] TCS: Traction Control System (TCS) is used to prevent the drive wheels from slipping and provide the vehicle with the best traction. It ensures the vehicle's stability and enables the vehicle to obtain the best traction under various driving conditions.

[0025] With the rapid development of vehicle technology, vehicles have become an important means of transportation in people's daily lives. During the use of vehicles, there may be a situation where the vehicle slips, especially in rainy and snowy weather, when the probability of the vehicle slipping due to wet road conditions is greatly increased. When the vehicle slips, it poses a great threat to the safety of the users on the vehicle, resulting in a significant reduction in driving safety.

[0026] Currently, when slip occurs and the slip rate is greater than a certain value, the TCS function can be triggered to suppress the vehicle's slip. However, since the slip rate control target corresponding to the TCS function is relatively high, when the vehicle has slipped but has not met the TCS function activation conditions, effective slip control cannot be achieved.

[0027] Based on the above description, this embodiment proposes a vehicle torque adjustment method, such as Figure 1 As shown, the method includes:

[0028] Step 101, under the condition that the vehicle traction control function is not activated, determine whether the front axle slip rate or the rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and determine a target front and rear axle torque transfer slope based on the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value when slip occurs and is less than the slip rate value corresponding to activating the vehicle traction control function.

[0029] During specific implementation, a preset slip rate threshold is set in advance. The preset slip rate threshold is a slip rate value when slip occurs and is less than the slip rate value corresponding to activating the vehicle traction control function. The preset slip rate threshold should be greater than a normal slip rate value when slip does not occur and less than the slip rate value corresponding to activating the vehicle traction control function to avoid conflicts or duplications with the TCS function.

[0030] The front axle slip rate and the rear axle slip rate of the vehicle are obtained, and it is determined whether the vehicle traction control function is activated based on the obtained data.

[0031] Specifically, if the front axle slip rate and the rear axle slip rate are both greater than the preset slip rate threshold, that is, there is a dual-axle slip phenomenon, and at least one of the TCS front axle or rear axle is in the slip control activation state, then the activation conditions of the TCS function are met, and the TCS function is used to achieve vehicle slip control.

[0032] If the front axle slip ratio and / or the rear axle slip ratio is less than the preset slip ratio threshold, but the TCS is still in the slip control activation state, the activation condition of the TCS function is met and the vehicle slip control is implemented using the TCS function.

[0033] When it is determined that the vehicle traction control function is not activated, it is determined that the front axle slip rate or the rear axle slip rate of the vehicle is greater than a preset slip rate threshold, that is, there is a single-axle slip phenomenon under the condition that TCS is not activated. At this time, the target front and rear axle torque transfer slope is determined according to the front axle slip rate and the rear axle slip rate. The target front and rear axle torque transfer slope represents the target ratio value of the vehicle's front and rear axle torque corresponding to the current front axle slip rate and rear axle slip rate.

[0034] Step 102 , obtaining the total torque of the vehicle, and determining the target front axle torque and the target rear axle torque according to the target front and rear axle torque transfer slope and the total torque.

[0035] In a specific implementation, the total torque of the vehicle is obtained, and the total torque is the torque value input by the driver. The total torque is multiplied by the target front and rear axle torque transfer slope to obtain the target front axle torque and the target rear axle torque of the vehicle.

[0036] Exemplarily, the target front and rear axle torque transfer slope is a ratio of 4:6 between the front axle and the rear axle. If the total torque is 200 N·m, the target front axle torque is 80 N·m and the target rear axle torque is 120 N·m.

[0037] Step 103, controlling the front axle torque of the vehicle to be adjusted to the target front axle torque, and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque.

[0038] In specific implementation, after the target front axle torque and the target rear axle torque are determined, the front axle torque of the vehicle is controlled to be adjusted to the target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the target rear axle torque.

[0039] Based on the example of step 102, if the current front axle torque is 100 N·m, the current rear axle torque is 100 N·m, the target front axle torque is 80 N·m, and the target rear axle torque is 120 N·m, then the front axle torque of the vehicle is controlled to be adjusted to 80 N·m, and the rear axle torque of the vehicle is controlled to be adjusted to 120 N·m.

[0040] Through the above scheme, when the vehicle traction control function is not activated, the front axle slip rate or rear axle slip rate of the vehicle is greater than the preset slip rate threshold, indicating that the vehicle has slip phenomenon but has not yet reached the condition for activating the traction control function. By setting the preset slip rate threshold to the slip rate value corresponding to the existence of slip phenomenon and less than the slip rate value corresponding to activating the vehicle traction control function, the problem of conflict or duplication with the vehicle traction control function is avoided. The target front and rear axle torque transfer slope is determined according to the front axle slip rate and the rear axle slip rate, and the target front and rear axle torque transfer slope is the torque ratio of the front and rear axles of the vehicle corresponding to eliminating the slip phenomenon. The total torque of the vehicle is obtained, and the target front axle torque and the target rear axle torque are determined according to the target front and rear axle torque transfer slope and the total torque. The front axle torque of the vehicle is controlled to be adjusted to the target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the target rear axle torque, that is, the front axle torque and the rear axle torque of the vehicle are adjusted according to the target front axle torque and the target rear axle torque, so as to alleviate the vehicle slip phenomenon when the vehicle slips but the traction control function has not been activated, thereby improving driving safety.

[0041] In some embodiments, step 101 specifically includes:

[0042] Step 1011, performing a difference process on the front axle slip rate and the rear axle slip rate to obtain a difference value of the front and rear axle slip rates.

[0043] Step 1012, obtaining all historical front and rear axle slip rate differences corresponding to a preset period, and determining the front and rear axle slip rate difference change rate according to the historical front and rear axle slip rate differences.

[0044] Step 1013: determining a target front and rear axle torque transfer slope according to the front and rear axle slip rate difference and the front and rear axle slip rate difference change rate.

[0045] In specific implementation, the front axle slip rate and the rear axle slip rate are subjected to difference processing, that is, the difference between the front axle slip rate and the rear axle slip rate is calculated to obtain the front and rear axle slip rate difference. All historical front and rear axle slip rate differences corresponding to a preset number of preset cycles before the current cycle are obtained, and the front and rear axle slip rate difference change rate is determined according to the historical front and rear axle slip rate differences.

[0046] Exemplarily, historical front and rear axle slip rate differences of two consecutive cycles before the current cycle are obtained, and the front and rear axle slip rate difference change rate is determined according to the two historical front and rear axle slip rate differences and the front and rear axle slip rate difference of the current cycle.

[0047] The correspondence between the front and rear axle slip rate difference and the front and rear axle slip rate difference change rate and the front and rear axle torque transfer slope is pre-stored, and the form of the correspondence may include at least one of the following: a relationship table, a function relationship, a curve relationship, a key-value pair relationship, and a bar graph relationship.

[0048] The target front and rear axle torque transfer slope is determined by searching according to the front and rear axle slip rate difference and the front and rear axle slip rate difference change rate. The corresponding relationship is specifically that the torque is transferred to the side with lower slip rate. The greater the front and rear axle slip rate difference and the greater the front and rear axle slip rate difference change rate, the greater the torque transfer slope, that is, the faster the torque is transferred.

[0049] Through the above scheme, the corresponding target front and rear axle torque transfer slope is determined by the slip rate difference between the front and rear axles and the rate of change of the slip rate difference. The actual slip rate of the current front and rear axles and the recent change in slip rate are comprehensively considered. The target front and rear axle torque transfer slope is determined more accurately.

[0050] In some embodiments, a front axle torque threshold and a rear axle torque threshold are pre-stored, wherein the front axle torque threshold represents the maximum value and the minimum value of the front axle torque, and the rear axle torque threshold represents the maximum value and the minimum value of the rear axle torque. In this embodiment, the front axle torque threshold and the rear axle torque threshold can be calibrated according to the actual vehicle design target.

[0051] In some embodiments, the process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque specifically includes:

[0052] Step a, in response to the vehicle front axle torque reaching a preset front axle torque threshold, and / or the vehicle rear axle torque reaching a preset rear axle torque threshold, stopping adjusting the vehicle front axle torque and the vehicle rear axle torque.

[0053] In specific implementation, when the front axle torque of the vehicle is controlled to be adjusted to the target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the target rear axle torque, if either the front axle torque or the rear axle torque reaches the preset torque threshold, the adjustment of the front axle torque and the rear axle torque of the vehicle will be stopped immediately, and the current torque ratio value will be maintained.

[0054] Specifically, it includes the following situations: the front axle torque reaches the maximum front axle torque, the front axle torque reaches the minimum front axle torque, the rear axle torque reaches the maximum rear axle torque, and the rear axle torque reaches the minimum rear axle torque.

[0055] Through the above scheme, the torque thresholds corresponding to the front axle and the rear axle are pre-set. During the adjustment process, if the torque threshold is reached, the adjustment is stopped immediately to avoid the problem of excessive or insufficient front axle torque or rear axle torque, which leads to reduced safety, thereby further improving driving safety.

[0056] In some embodiments, the process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque also includes:

[0057] Step 10A: in response to the front axle slip rate and the rear axle slip rate of the vehicle being greater than a preset slip rate threshold during the adjustment process, determining the torque transfer direction.

[0058] Step 10B: determining a target stability factor according to the torque transfer direction.

[0059] Step 10C: multiplying the target stability factor by the target front and rear axle torque transfer slope to obtain a new target front and rear axle torque transfer slope.

[0060] Step 10D, determining a new target front axle torque and a new target rear axle torque according to the new target front and rear axle torque transfer slope and the total torque, controlling the vehicle's front axle torque to adjust to the new target front axle torque, and controlling the vehicle's rear axle torque to adjust to the new target rear axle torque.

[0061] In specific implementation, during the adjustment process, the front axle slip rate and the rear axle slip rate of the vehicle are monitored in real time. If the front axle slip rate and the rear axle slip rate are both greater than the preset slip rate threshold during the adjustment process, it indicates that the vehicle has a dual-axle slip phenomenon, and the torque transfer direction is determined, wherein the torque transfer direction refers to which axle the torque is transferred to, including the axle with less adhesion between the front axle and the rear axle or the axle with greater adhesion between the front axle and the rear axle.

[0062] Different torque transfer directions correspond to different stability factors, and the target stability factor is determined according to the torque transfer direction. The target stability factor is multiplied by the target front and rear axle torque transfer slope to obtain a new target front and rear axle torque transfer slope.

[0063] The total torque is multiplied by the new target front and rear axle torque transfer slope to obtain the new target front axle torque and the new target rear axle torque of the vehicle. The front axle torque of the vehicle is controlled to be adjusted to the new target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the new target rear axle torque.

[0064] Through the above scheme, during the process of torque transfer between the front and rear axles in single-axis slip, double-axis slip occurs. At this time, a stability factor is designed to prevent the slip rate of the axle with low adhesion from suddenly increasing, causing TCS to intervene prematurely.

[0065] In some embodiments, determining the torque transfer direction in step 10A includes:

[0066] Step 10A1: determining a torque transfer state according to the front axle slip ratio and the rear axle slip ratio.

[0067] Step 10A2, obtaining the front axle load, the rear axle load and the road adhesion coefficient of the road on which the vehicle is located, and determining the front axle adhesion and the rear axle adhesion according to the front axle load, the rear axle load and the road adhesion coefficient.

[0068] Step 10A3, in response to the torque transfer state being the front axle transferring to the rear axle and the front axle adhesion being greater than the rear axle adhesion, or the torque transfer state being the rear axle transferring to the front axle and the front axle adhesion being less than the rear axle adhesion, determining the torque transfer direction to be the axle with less adhesion.

[0069] or,

[0070] Step 10A4, in response to the torque transfer state being the front axle transferring to the rear axle and the front axle adhesion being less than the rear axle adhesion, or the torque transfer state being the rear axle transferring to the front axle and the front axle adhesion being greater than the rear axle adhesion, determining the torque transfer direction to be the axle with greater adhesion.

[0071] In a specific implementation, the torque transfer state is determined according to the front axle slip ratio and the rear axle slip ratio, specifically, the torque is transferred to the side with smaller slip ratio.

[0072] For example, if the front axle slip rate is 15% and the rear axle slip rate is 20%, the torque transfer state is from the rear axle to the front axle.

[0073] The corresponding relationship between the front and rear axle loads and the road adhesion coefficient and the front and rear axle adhesion is pre-stored, the front axle load, the rear axle load and the road adhesion coefficient of the road where the vehicle is located are obtained, and the front axle adhesion and the rear axle adhesion are determined by searching according to the front axle load, the rear axle load and the road adhesion coefficient.

[0074] Compare the magnitude relationship between the front axle adhesion and the rear axle adhesion. If the torque transfer state is from the front axle to the rear axle and the front axle adhesion is greater than the rear axle adhesion, it means that the torque transfer direction is to the axle with less adhesion.

[0075] If the torque transfer state is that the rear axle is transferred to the front axle and the front axle adhesion is less than the rear axle adhesion, it means that the torque transfer direction is to transfer to the axle with less adhesion.

[0076] If the torque transfer state is from the front axle to the rear axle and the front axle adhesion is less than the rear axle adhesion, it means that the torque transfer direction is to the axle with greater adhesion.

[0077] If the torque transfer state is from the rear axle to the front axle and the front axle adhesion is greater than the rear axle adhesion, it means that the torque transfer direction is to the axle with greater adhesion.

[0078] In some embodiments, step 10B specifically includes:

[0079] Step 10B1, in response to the torque transfer direction being towards the axle with less adhesion, the front axle adhesion and the rear axle adhesion are subtracted to obtain an adhesion difference, and a target stability factor is determined according to the adhesion difference, wherein the target stability factor is less than a first threshold.

[0080] or,

[0081] Step 10B2, in response to the torque transfer direction being transferred toward the shaft with greater adhesion, determining the target stability factor to be a first threshold.

[0082] In specific implementation, if the torque transfer direction is to transfer to the axle with less adhesion, the corresponding target stability factor needs to be determined according to the adhesion difference between the front and rear axles. Specifically, the difference between the front axle adhesion and the rear axle adhesion is calculated to obtain the adhesion difference.

[0083] A correspondence between the adhesion difference and the stability factor is pre-stored, wherein the larger the adhesion difference, the smaller the stability factor. A target stability factor is obtained according to the determined adhesion difference, wherein the target stability factor is less than a first threshold.

[0084] If the torque transfer direction is to the axis with greater adhesion, the target stability factor is determined to be a constant value, which is taken as the first threshold value.

[0085] In this embodiment, the first threshold is 1, that is, when the torque transfer direction is to the axis with less adhesion, the value of the target stability factor is greater than 0 and less than 1. When the torque transfer direction is to the axis with greater adhesion, the value of the target stability factor is 1.

[0086] Through the above scheme, corresponding target stability factors are designed for different torque transfer directions, so that the new target front and rear axle torque transfer slope obtained subsequently is more accurate, and the new target front axle torque and the new target rear axle torque determined are more consistent with the current vehicle condition.

[0087] In some embodiments, the process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque also includes:

[0088] Step 10a, in response to the front axle slip rate and the rear axle slip rate of the vehicle being greater than a preset slip rate threshold and lasting for a duration greater than a preset duration during the adjustment process, outputting a target flag, wherein the target flag is used to prompt that the vehicle traction control function is activated.

[0089] In specific implementation, during the adjustment process, the front axle slip rate and the rear axle slip rate of the vehicle are monitored in real time. If the front axle slip rate and the rear axle slip rate are both greater than the preset slip rate threshold during the adjustment process, and the duration of the dual-axle slip phenomenon is greater than the preset duration, it means that the vehicle has stably dual-axle slip, indicating that torque transfer is not enough to ensure that the vehicle slip rate is fully controlled.

[0090] At this time, the target flag is output to inform the TCS function to activate and take over the current scene. The target flag is the slipboth flag, indicating that both the front and rear axles have reached the slip control limit state corresponding to the vehicle torque regulation method described in this embodiment.

[0091] Through the above scheme, when it is determined that the torque cannot be controlled any further, a flag is output to realize the interaction between the vehicle torque adjustment method described in this embodiment and the TCS function, so that the two can switch smoothly to provide good driving comfort and slip control effect.

[0092] Based on the same inventive concept, another embodiment of the present disclosure provides a vehicle torque adjustment method, which specifically includes:

[0093] Determine the slip rate control targets of the front and rear axles of this embodiment, which are determined based on the actual vehicle. However, both targets are lower than the slip rate target that the TCS function needs to control, to avoid duplication or conflict between the slip rate control target of this embodiment and the TCS slip rate target;

[0094] Determine that TCS is in an activated state and suppress the slip rate control activation state in the method of this embodiment: If both the front and rear axles are in a slip state (the slip rates are both greater than the slip rate target determined in the method of this embodiment) and at least one of the TCS front axle or rear axle is in a slip control activation state, then the TCS is in an activated control state while the slip rate control is suppressed in the method of this embodiment, and the method of this embodiment is not activated.

[0095] If the front and rear axle slip ratios are not greater than the slip ratio targets determined in the method of this embodiment, but TCS is still in the slip control activation state, then TCS activation control continues, and the method of this embodiment does not intervene. It ensures that the working conditions with large slip ratios that cannot be eliminated by front and rear axle torque transfer are only controlled by TCS, and the robustness of TCS exit is guaranteed; it can ensure that the responsibilities of TCS and the slip ratio control in the method of this embodiment are clear and handed over to each other in a timely manner.

[0096] If the activation conditions corresponding to TCS are not met, it is determined whether there is a single-axis slip phenomenon. If not, the front and rear axle torque and distribution ratio input by the driver will not be changed.

[0097] If there is single-axle slip, the front and rear axle torque transfer slope is determined according to the front and rear axle slip rate difference and the rate of change of the front and rear axle slip rate difference. Specifically, the torque is transferred to the side with lower slip rate. The greater the front and rear axle slip rate difference and the greater the rate of change of the front and rear axle slip rate difference, the greater the torque transfer slope, that is, the faster the torque is transferred.

[0098] The maximum and minimum values ​​of the torque transfer are determined, and the maximum and minimum values ​​are determined according to the actual vehicle design objectives. When the maximum or minimum value of the torque of any of the front and rear axles reaches the limit value during the torque transfer process, the torque transfer is stopped immediately and the current torque ratio value is maintained.

[0099] During the torque transfer process of the front and rear axles with single-axis slip, if both axles slip during the torque transfer process, the axle adhesion of the front and rear wheels is determined based on the front and rear axle loads and the road adhesion coefficient. If the driving torque is transferred to the axle with less adhesion at this time, the stability factor is determined based on the difference in adhesion between the front and rear axles. Specifically, the greater the difference in ability, the smaller the stability factor. The stability factor is a value between 0 and 1. The torque transfer slope of each cycle should be multiplied by this stability factor to prevent the TCS from intervening too early due to a sudden increase in the slip rate of the axle with less adhesion.

[0100] If the driving torque is transferred to the shaft with greater adhesion at this time, the stability factor should be fixed to 1, that is, the original torque transfer slope will not be changed.

[0101] If the current rear axle slip rate exceeds the slip rate control target determined in the method of this embodiment and is maintained for a preset number of cycles, it is considered that torque transfer is insufficient to ensure that the vehicle slip rate is fully controlled, and the slipboth flag is issued, that is, the front and rear axles have reached the slip control limit state in the method of this embodiment. This flag is used to determine whether TCS is activated and whether it is suppressed in the method of this embodiment.

[0102] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0103] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0104] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides a vehicle torque adjustment device.

[0105] refer to Figure 2 , Figure 2 The vehicle torque regulating device of the embodiment comprises:

[0106] The slope determination module 201 is configured to determine, under the condition that the vehicle traction control function is not activated, that the front axle slip rate or the rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and determine a target front and rear axle torque transfer slope according to the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value when there is a slip phenomenon and is less than a slip rate value corresponding to activating the vehicle traction control function;

[0107] The torque determination module 202 is configured to obtain the total torque of the vehicle, and determine the target front axle torque and the target rear axle torque according to the target front and rear axle torque transfer slope and the total torque;

[0108] The torque adjustment module 203 is configured to control the front axle torque of the vehicle to be adjusted to a target front axle torque, and control the rear axle torque of the vehicle to be adjusted to a target rear axle torque.

[0109] In some embodiments, the slope determination module 201 is specifically configured as follows:

[0110] Subtracting the front axle slip rate from the rear axle slip rate to obtain a front and rear axle slip rate difference;

[0111] Acquire all historical front and rear axle slip rate differences corresponding to a preset period, and determine a front and rear axle slip rate difference change rate according to the historical front and rear axle slip rate differences;

[0112] A target front and rear axle torque transfer slope is determined according to the front and rear axle slip ratio difference and the front and rear axle slip ratio difference change rate.

[0113] In some embodiments, the torque adjustment module 203 is specifically configured to stop adjusting the vehicle front axle torque and the vehicle rear axle torque in response to the vehicle front axle torque reaching a preset front axle torque threshold and / or the vehicle rear axle torque reaching a preset rear axle torque threshold.

[0114] In some embodiments, the torque adjustment module 203 specifically includes:

[0115] a direction determination unit configured to determine a torque transfer direction in response to a front axle slip ratio and a rear axle slip ratio of the vehicle being greater than a preset slip ratio threshold value during the adjustment process;

[0116] a stability factor determination unit configured to determine a target stability factor according to the torque transfer direction;

[0117] a slope determination unit configured to multiply the target stability factor by the target front and rear axle torque transfer slope to obtain a new target front and rear axle torque transfer slope;

[0118] The torque determination unit is configured to determine a new target front axle torque and a new target rear axle torque according to the new target front and rear axle torque transfer slope and the total torque, control the vehicle's front axle torque to adjust to the new target front axle torque, and control the vehicle's rear axle torque to adjust to the new target rear axle torque.

[0119] In some embodiments, the direction determination unit is specifically configured to:

[0120] determining a torque transfer state according to the front axle slip ratio and the rear axle slip ratio;

[0121] Obtaining a front axle load, a rear axle load, and a road adhesion coefficient of a road on which the vehicle is located, and determining a front axle adhesion force and a rear axle adhesion force according to the front axle load, the rear axle load, and the road adhesion coefficient;

[0122] In response to the torque transfer state being the front axle to the rear axle and the front axle adhesion being greater than the rear axle adhesion, or the torque transfer state being the rear axle to the front axle and the front axle adhesion being less than the rear axle adhesion, determining the torque transfer direction to be the axle with less adhesion; or,

[0123] In response to the torque transfer state being the front axle to the rear axle and the front axle adhesion being less than the rear axle adhesion, or the torque transfer state being the rear axle to the front axle and the front axle adhesion being greater than the rear axle adhesion, the torque transfer direction is determined to be transferred to the axle with greater adhesion.

[0124] In some embodiments, the stability factor determination unit is specifically configured to:

[0125] In response to the torque transfer direction being to the axle with less adhesion, performing a difference process on the front axle adhesion and the rear axle adhesion to obtain an adhesion difference value, and determining a target stability factor according to the adhesion difference value, wherein the target stability factor is less than a first threshold value; or

[0126] In response to the torque transfer direction being transferred toward the shaft with greater adhesion, the target stability factor is determined to be a first threshold.

[0127] In some embodiments, the torque adjustment module 203 is specifically configured to output a target flag in response to the front axle slip rate and the rear axle slip rate of the vehicle being greater than a preset slip rate threshold and lasting for a duration greater than a preset duration during the adjustment process, wherein the target flag is used to prompt the activation of the vehicle traction control function.

[0128] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0129] The device of the above embodiment is used to implement the corresponding vehicle torque adjustment method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0130] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle torque regulation method described in any of the above embodiments is implemented.

[0131] Figure 3 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0132] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0133] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0134] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0135] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0136] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0137] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0138] The electronic device of the above embodiment is used to implement the corresponding vehicle torque adjustment method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0139] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle torque regulation method described in any of the above embodiments.

[0140] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0141] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle torque regulation method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0142] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the vehicle torque adjustment device in the above-mentioned embodiments, the electronic device in the above-mentioned embodiments, and the computer-readable storage medium in the above-mentioned embodiments, and the vehicle equipment implements the vehicle torque adjustment method described in any of the above embodiments.

[0143] The vehicle of the above-mentioned embodiment is used to implement the vehicle torque regulation method described in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0144] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0145] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0146] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0147] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0148] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0149] In addition, to simplify the description and discussion, and in order not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0150] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0151] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A vehicle torque adjustment method, characterized in that: include: Under the condition that the vehicle traction control function is not activated, determining that the front axle slip rate or the rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and determining a target front and rear axle torque transfer slope according to the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value when slip occurs and is less than a slip rate value corresponding to activating the vehicle traction control function; Acquire the total torque of the vehicle, and determine the target front axle torque and the target rear axle torque according to the target front and rear axle torque transfer slope and the total torque; Control the front axle torque of the vehicle to be adjusted to the target front axle torque, and control the rear axle torque of the vehicle to be adjusted to the target rear axle torque; The process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque also includes: In response to a front axle slip ratio and a rear axle slip ratio of the vehicle being greater than a preset slip ratio threshold during the adjustment process, determining a torque transfer direction; determining a target stability factor according to the torque transfer direction; The target stability factor is multiplied by the target front-rear axle torque transfer slope to obtain a new target front-rear axle torque transfer slope; A new target front axle torque and a new target rear axle torque are determined according to the new target front and rear axle torque transfer slope and the total torque, and the front axle torque of the vehicle is controlled to be adjusted to the new target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the new target rear axle torque.

2. The method according to claim 1, characterized in that The determining the target front-rear axle torque transfer slope according to the front axle slip rate and the rear axle slip rate includes: Subtracting the front axle slip rate from the rear axle slip rate to obtain a front and rear axle slip rate difference; Acquire all historical front and rear axle slip rate differences corresponding to a preset period, and determine a front and rear axle slip rate difference change rate according to the historical front and rear axle slip rate differences; A target front and rear axle torque transfer slope is determined according to the front and rear axle slip ratio difference and the front and rear axle slip ratio difference change rate.

3. The method according to claim 1, characterized in that The process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque also includes: In response to the vehicle front axle torque reaching a preset front axle torque threshold, and / or the vehicle rear axle torque reaching a preset rear axle torque threshold, the adjustment of the vehicle front axle torque and the vehicle rear axle torque is stopped.

4. The method according to claim 1, characterized in that: The determining of the torque transfer direction comprises: determining a torque transfer state according to the front axle slip ratio and the rear axle slip ratio; Obtaining a front axle load, a rear axle load, and a road adhesion coefficient of a road on which the vehicle is located, and determining a front axle adhesion force and a rear axle adhesion force according to the front axle load, the rear axle load, and the road adhesion coefficient; In response to the torque transfer state being the front axle to the rear axle and the front axle adhesion being greater than the rear axle adhesion, or the torque transfer state being the rear axle to the front axle and the front axle adhesion being less than the rear axle adhesion, determining the torque transfer direction to be the axle with less adhesion; or, In response to the torque transfer state being the front axle to the rear axle and the front axle adhesion being less than the rear axle adhesion, or the torque transfer state being the rear axle to the front axle and the front axle adhesion being greater than the rear axle adhesion, the torque transfer direction is determined to be transferred to the axle with greater adhesion.

5. The method according to claim 4, characterized in that The determining of the target stability factor according to the torque transfer direction comprises: In response to the torque transfer direction being to the axle with less adhesion, performing a difference process on the front axle adhesion and the rear axle adhesion to obtain an adhesion difference value, and determining a target stability factor according to the adhesion difference value, wherein the target stability factor is less than a first threshold value; or In response to the torque transfer direction being transferred toward the shaft with greater adhesion, the target stability factor is determined to be a first threshold.

6. The method according to claim 1, characterized in that The process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque also includes: In response to the front axle slip rate and the rear axle slip rate of the vehicle being greater than a preset slip rate threshold and lasting for a duration greater than a preset duration during the adjustment process, a target flag is output, wherein the target flag is used to prompt that the vehicle traction control function is activated.

7. A vehicle torque regulating device, characterized in that: include: a slope determination module configured to determine, under the condition that the vehicle traction control function is not activated, that a front axle slip rate or a rear axle slip rate of the vehicle is greater than a preset slip rate threshold, and determine a target front and rear axle torque transfer slope according to the front axle slip rate and the rear axle slip rate, wherein the preset slip rate threshold is a slip rate value when slip occurs and is less than a slip rate value corresponding to activating the vehicle traction control function; a torque determination module configured to obtain a total torque of the vehicle, and determine a target front axle torque and a target rear axle torque according to the target front and rear axle torque transfer slope and the total torque; A torque adjustment module is configured to control the front axle torque of the vehicle to be adjusted to a target front axle torque, and control the rear axle torque of the vehicle to be adjusted to a target rear axle torque; The process of controlling the front axle torque of the vehicle to be adjusted to the target front axle torque and controlling the rear axle torque of the vehicle to be adjusted to the target rear axle torque also includes: In response to a front axle slip ratio and a rear axle slip ratio of the vehicle being greater than a preset slip ratio threshold during the adjustment process, determining a torque transfer direction; determining a target stability factor according to the torque transfer direction; The target stability factor is multiplied by the target front-rear axle torque transfer slope to obtain a new target front-rear axle torque transfer slope; A new target front axle torque and a new target rear axle torque are determined according to the new target front and rear axle torque transfer slope and the total torque, and the front axle torque of the vehicle is controlled to be adjusted to the new target front axle torque, and the rear axle torque of the vehicle is controlled to be adjusted to the new target rear axle torque.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the program.

9. A vehicle, characterized in that: The electronic device comprising the electronic device described in claim 8.

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