Resistance-based vehicle torque control method, device, equipment and storage medium

Abstract

The application discloses a resistance-based vehicle torque control method and device, equipment and a storage medium. The method comprises the following steps: identifying the road surface type on which the vehicle is currently running; wherein the road surface type comprises a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a sandstone road surface, a broken stone road surface and a muddy road surface, and the resistance of each road surface type is different; if the identified road surface type is a preset road surface type, the current vehicle speed and the current accelerator pedal opening degree of the vehicle are detected; the target driving torque is obtained by looking up a preset map according to the current vehicle speed and the current accelerator pedal opening degree, and the vehicle is controlled to run according to the target driving torque. By applying the technical scheme of the application, the problem that the driving experience of the vehicle is inconsistent during driving, which affects the use experience and safety of the user, is solved. Through adaptive adjustment of the output torque of the vehicle, the accuracy of the output of the driving torque of the vehicle can be improved, and the driving experience and safety of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile torque control, in particular to a vehicle torque control method and device based on resistance, equipment and computer readable storage medium. BACKGROUND

[0002] At present, pedal map torque control of a vehicle is one of the core technologies of a new energy vehicle, and directly determines the basic characteristics of the vehicle such as power, drivability and economy. Pedal map torque control usually takes the current speed and the accelerator pedal opening degree of the vehicle as inputs to obtain the current available driving torque by table lookup, and then outputs a torque value request command to the driving system based on the current available driving torque, so as to control the forward and reverse movement of the vehicle.

[0003] However, the current pedal map torque control only considers the vehicle speed and the throttle pedal opening degree as independent variables, which may cause inconsistent driving experience of the vehicle in different road conditions, affecting the user experience and sometimes even the safety. SUMMARY

[0004] In view of the above problems, the present application provides a vehicle torque control method and device based on resistance, equipment and computer readable storage medium, which solves the problem of inconsistent driving experience of the vehicle during driving, affecting the user experience and safety. Through adaptive adjustment of the vehicle output torque, the accuracy of torque output can be improved, and the driving experience and safety of the vehicle can be improved.

[0005] According to an aspect of an embodiment of the present application, a vehicle torque control method based on resistance is provided, the method comprising:

[0006] identifying the type of road surface currently traveled by the vehicle; wherein the road surface type includes snow-covered road surface, water-covered road surface, icy road surface, asphalt road surface, sandstone road surface, rotten stone road surface and muddy road surface, and the resistance of each road surface type is different;

[0007] if the road surface type is identified as a preset road surface type, detecting the current vehicle speed and the current accelerator pedal opening degree of the vehicle;

[0008] obtaining a target driving torque by table lookup of a preset map according to the current vehicle speed and the current accelerator pedal opening degree, and controlling the vehicle to travel according to the target driving torque.

[0009] In an optional example embodiment, if the road surface type is identified as a preset road surface type, the current vehicle speed and the current accelerator pedal opening degree of the vehicle are further detected, comprising:

[0010] If the road type is identified as a preset road type, and the vehicle has been driving on the preset road type for a preset time period;

[0011] Then, after the preset time period, the current vehicle speed and the current accelerator pedal opening of the vehicle are detected.

[0012] In an alternative exemplary embodiment, before the road type on which the vehicle is currently driving is identified, the method comprises:

[0013] The vehicle speed and the accelerator pedal opening are detected under different road types;

[0014] The target acceleration of the vehicle is calibrated according to the vehicle speed and the accelerator pedal opening.

[0015] In an alternative exemplary embodiment, before the road type on which the vehicle is currently driving is identified, the method further comprises:

[0016] The sliding resistance of the same vehicle model is tested based on different road types, and the driving resistance of each road type at different vehicle speeds is calibrated.

[0017] In an alternative exemplary embodiment, after the target acceleration of the vehicle is calibrated according to the vehicle speed and the accelerator pedal opening, the method further comprises:

[0018] The driving torque of the vehicle is determined according to the target acceleration and the driving resistance.

[0019] In an alternative exemplary embodiment, after the driving torque of the vehicle is determined according to the target acceleration and the driving resistance, the method comprises:

[0020] A preset map of the vehicle speed, the accelerator pedal opening and the driving torque is calibrated under different road types;

[0021] The preset map comprises torque control points corresponding to the vehicle speed and the accelerator pedal opening under each road type.

[0022] In an alternative exemplary embodiment, the driving torque of the vehicle is determined according to the target acceleration and the driving resistance, further comprising:

[0023] The total vehicle mass and the wheel radius of the vehicle are obtained;

[0024] The driving torque of the vehicle is determined according to the target acceleration, the driving resistance, the total vehicle mass and the wheel radius.

[0025] According to another aspect of the embodiments of the present application, a resistance-based vehicle torque control device is provided, the device comprising:

[0026] a recognition module configured to recognize a road surface type on which the vehicle is currently running, wherein the road surface type comprises a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a rubble road surface, and a muddy road surface, and each of the road surface types has different resistance;

[0027] a detection module configured to detect a current vehicle speed and a current accelerator pedal opening degree of the vehicle if the road surface type is recognized as a preset road surface type;

[0028] a control module configured to obtain a target driving torque by looking up a preset map according to the current vehicle speed and the current accelerator pedal opening degree, and control the vehicle to run according to the target driving torque.

[0029] According to another aspect of the embodiments of the present application, an electronic device is provided, comprising:

[0030] a controller;

[0031] a memory configured to store one or more programs, which, when executed by the controller, cause the controller to implement the resistance-based vehicle torque control method described above.

[0032] According to still another aspect of the embodiments of the present application, a computer readable storage medium is provided, the storage medium storing a computer program, the computer program comprising at least one executable instruction, which, when executed on the resistance-based vehicle torque control device / electronic device, causes the resistance-based vehicle torque control device / electronic device to perform the operations of the resistance-based vehicle torque control method as described above.

[0033] In the vehicle torque control method based on resistance in the embodiments of the present application, the type of the road surface on which the vehicle is currently running is identified, such as a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a rubble road surface, a muddy road surface, and the like, to determine the specific working condition of the road surface on which the vehicle is currently running. When the type of the road surface is identified as a preset road surface type, the current vehicle speed and the current accelerator pedal opening degree of the vehicle are detected, and a preset map corresponding to the preset road surface type is obtained according to the current vehicle speed and the current accelerator pedal opening degree, to obtain the target driving torque at this moment under the preset road surface type, and the vehicle is controlled to run according to the target driving torque obtained by the table lookup. Because the specific working condition of the road surface on which the vehicle runs is different, the driving resistances of different road surfaces are different, which may cause the driving experience under the same accelerator pedal opening degree to be consistent. Therefore, in the embodiments of the present application, the type of the road surface on which the vehicle is currently running is identified, and a preset map corresponding to the type of the road surface on which the vehicle is running, the current vehicle speed, and the current accelerator pedal opening degree is obtained by table lookup, to realize adaptive control of the driving torque of the vehicle under different road surface types, solve the problem that the driving experience is inconsistent during the running of the vehicle, and improve the accuracy of the driving torque output of the vehicle and the driving experience.

[0034] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, and to be implemented according to the content of the specification, and in order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings are only used to show the embodiments, and are not considered as limitations of the present application. Moreover, the same reference signs are used to represent the same parts throughout the drawings. In the drawings:

[0036] Figure 1 A flowchart of an embodiment of the vehicle torque control method based on resistance provided by the present application is shown;

[0037] Figure 2 A map diagram of an embodiment of the vehicle torque control method based on resistance provided by the present application is shown;

[0038] Figure 3 A structure diagram of an embodiment of the vehicle torque control device based on resistance provided by the present application is shown;

[0039] Figure 4 A structure diagram of an embodiment of the electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0040] Detailed description of exemplary embodiments will now be made with reference to the drawings, wherein like numerals indicate similar or like elements throughout the several views. The following description is not representative of all embodiments consistent with the present application. Rather, it is merely an example of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0041] The block diagrams shown in the drawings are merely functional entities, and do not necessarily have to correspond to physically independent entities. That is, the functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0042] The flowcharts shown in the drawings are merely exemplary illustrations, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so that the actual execution order can be changed depending on the actual situation.

[0043] In the present application, "a plurality of" means two or more. The "and / or" describes the association between the associated objects, indicating that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0044] First of all, it needs to be pointed out that the pedal map torque control of the vehicle is one of the core technologies of new energy vehicles. In the pedal map, the independent variable generally involved is the horizontal coordinate of the vehicle speed, the driving motor speed or the accelerator pedal opening, and the dependent variable is generally the vertical coordinate of the driving motor torque or the wheel end torque. Different accelerator pedal characteristics directly determine the basic characteristics of the vehicle such as power, drivability and economy. Specifically, the pedal map torque control usually takes the current vehicle speed and accelerator pedal opening as input to look up the current available driving torque, and then outputs a torque value request command to the drive system based on the current available driving torque to control the vehicle to move forward, backward, etc.

[0045] However, the pedal map torque control of the vehicle currently only considers the vehicle speed and the accelerator pedal opening as independent variables, without considering the change of the driving resistance of the vehicle running on different road conditions. Specifically, when the vehicle runs on wet road, asphalt road, broken stone road, mud road, ice road, snow road, etc., it has different driving resistances, which may cause inconsistent driving experience of the vehicle, affecting the user's experience, and sometimes even affecting safety.

[0046] To solve the above problems, details can be found in Figure 1 The application exemplarily shows a flow chart of a vehicle torque control method based on resistance.

[0047] The execution subject of the vehicle torque control method based on resistance can be a terminal device or a server or other processing device, wherein the terminal device can be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The execution subject of the vehicle torque control method based on resistance can also be a car. In some possible implementation manners, the vehicle torque control method based on resistance can be realized by a processor calling computer readable instructions stored in a memory.

[0048] Specifically, the vehicle torque control method based on resistance of the embodiment can be executed by a vehicle and include the following steps.

[0049] Step 100: Identify a road surface type currently traveled by the vehicle.

[0050] In the process of driving the vehicle, the driver can drive in urban conditions, high-speed conditions, suburban conditions, rural road conditions, etc. In these conditions, the road surface type of the road traveled by the vehicle can include snow-covered road surface, water-covered road surface, icy road surface, asphalt road surface, sand-stone road surface, broken-stone road surface, and muddy road surface, etc. It should be noted that the resistance of each road surface type is different when the vehicle travels on different road surface types, which can cause the driver to have consistent driving experience in the process of driving the vehicle. Therefore, the application identifies the road currently traveled by the vehicle, so as to facilitate subsequent control of the driving torque of the vehicle in combination with the road surface type.

[0051] Step 200: If the road surface type is identified as a preset road surface type, detect a current vehicle speed and a current accelerator pedal opening degree of the vehicle.

[0052] In the embodiment, when the road surface type is identified as a preset road surface type such as snow-covered road surface, water-covered road surface, icy road surface, asphalt road surface, sand-stone road surface, broken-stone road surface, and muddy road surface, the current vehicle speed and the accelerator pedal opening degree of the vehicle are further detected, so as to facilitate subsequent accurate control of the driving torque by combining the identified road surface type, the vehicle speed, and the accelerator pedal opening degree.

[0053] Further, if the road surface type is identified as a preset road surface type, and the vehicle continues to travel on the preset road surface type for a preset time length; then after the preset time length, the current vehicle speed and the current accelerator pedal opening degree of the vehicle are detected.

[0054] For example, if the road surface type on which the vehicle travels is identified as a waterlogged road surface, and continues to travel on the waterlogged road surface for a preset time length, it is judged that it is currently raining, and the road surface has been wet and waterlogged, so the current vehicle speed and the current accelerator pedal opening degree of the vehicle need to be detected at this time, so as to facilitate subsequent adaptive adjustment of the driving torque of the vehicle according to the waterlogged road surface type.

[0055] It can be understood that the accelerator pedal opening degree generally varies from 0-100%, for example, when the driver does not step on the accelerator pedal, the accelerator pedal opening degree is 0, and when the driver steps on the accelerator pedal completely, the accelerator pedal opening degree is 100%; the preset time length is set according to actual application conditions, which is not limited specifically herein, for example, the preset time length can be 1 minute, 2 minutes, 3 minutes, etc.; any road surface type on which the vehicle travels can be judged for the duration of traveling on the road surface type, so as to determine the road surface on which the vehicle travels, and to adaptively adjust the driving torque according to the road surface.

[0056] It should be noted that, in order to judge the duration of the vehicle traveling on the preset road surface type during the vehicle traveling process, the weather state, the navigation state, etc. can also be identified for judgment, the vehicle location is determined by obtaining the vehicle navigation position information, the weather state and the duration of the weather state are obtained according to the vehicle location, and the road surface type is determined as snow-covered road surface, waterlogged road surface, icy road surface, asphalt road surface, sandstone road surface, rotten stone road surface, muddy road surface, etc. based on the vehicle location, the weather state and the duration of the weather state, so as to facilitate subsequent adaptive adjustment control of the driving torque of the vehicle.

[0057] For example, if the vehicle location information is determined as A section by obtaining the vehicle navigation position information, and the weather state of A section is determined as heavy rain weather, and the heavy rain weather lasts for 30 minutes, it is judged that A section has a wet and waterlogged road surface, so the current vehicle speed and the current accelerator pedal opening degree of the vehicle need to be detected at this time in combination with the road surface type of the wet and waterlogged road surface, so as to facilitate subsequent adaptive adjustment control of the driving torque of the vehicle according to the wet and waterlogged road surface.

[0058] Step 300: obtaining a target driving torque by looking up a preset map according to the current vehicle speed and the current accelerator pedal opening degree, and controlling the vehicle to travel according to the target driving torque.

[0059] In the embodiment, when it is identified that the current road surface type on which the vehicle is running is a preset road surface type, and the current vehicle speed and the current accelerator pedal opening degree are detected in combination with the preset road surface type, a preset map table corresponding to the preset road surface type is looked up based on the preset road surface type, the current vehicle speed and the current accelerator pedal opening degree to obtain a target driving torque of the vehicle under the preset road surface type.

[0060] According to the above embodiment, the current road surface type on which the vehicle is running is identified, such as a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a broken stone road surface and a muddy road surface, to determine the specific working condition of the current road surface on which the vehicle is running. When it is identified that the road surface type is a preset road surface type, the current vehicle speed and the current accelerator pedal opening degree are detected, and a preset map corresponding to the preset road surface type is looked up according to the current vehicle speed and the current accelerator pedal opening degree to obtain the target driving torque at this moment under the preset road surface type, and the vehicle is controlled to run according to the target driving torque obtained by looking up. Since the specific working condition of the road surface on which the vehicle is running is different, the running resistance of different road surfaces is different, which may cause the driving experience under the same accelerator pedal opening degree to be consistent. Therefore, in the embodiment, the road surface type on which the vehicle is running is identified, and a preset map corresponding to the road surface type, the current vehicle speed and the current accelerator pedal opening degree is looked up to realize adaptive control of the driving torque of the vehicle under different road surface types, solve the problem that the driving experience is inconsistent during the running of the vehicle, affect the use experience and safety of the user, and improve the accuracy of the driving torque output of the vehicle and the driving experience.

[0061] In an example embodiment, the vehicle speed and the accelerator pedal opening degree of the vehicle are detected under different road surface types.

[0062] The target acceleration of the vehicle is calibrated according to the vehicle speed and the accelerator pedal opening degree.

[0063] In the embodiment, the vehicle speed and the accelerator pedal opening degree of the vehicle are detected under different road surface types, such as a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a broken stone road surface and a muddy road surface, and the target acceleration of the corresponding road surface type is calibrated according to the vehicle speed and the accelerator pedal opening degree of different road surface types.

[0064] Meanwhile, the running resistance of each road surface type under different vehicle speeds is calibrated by testing the rolling resistance of the same vehicle model under different road surface types.

[0065] In the embodiment, the running resistance of each road surface type under different vehicle speeds is calibrated by testing the rolling resistance of the same vehicle model under different road surface types, such as a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a broken stone road surface and a muddy road surface. For example, please refer to the following table. Figure 2For reference, such as Figure 2 The resistance torque of the vehicle at different vehicle speeds is exemplarily shown in the table to represent the driving resistance of the vehicle at different vehicle speeds on the same preset road surface type. It can be understood that the different road surface types, such as the snow-covered road surface, the water-covered road surface, the icy road surface, the asphalt road surface, the sandstone road surface, the broken stone road surface and the muddy road surface, also have different resistances at different vehicle speeds.

[0066] Further, on the road surface types, such as the snow-covered road surface, the water-covered road surface, the icy road surface, the asphalt road surface, the sandstone road surface, the broken stone road surface and the muddy road surface, the target acceleration of the corresponding road surface type is calibrated according to the vehicle speed and the accelerator pedal opening degree on different road surface types, and the driving torque of the vehicle on the corresponding road surface type is determined according to the obtained target acceleration and the driving resistance. Specifically, the vehicle mass and the wheel radius of the vehicle are obtained, and the driving torque of the vehicle is determined according to the target acceleration, the driving resistance, the vehicle mass and the wheel radius. That is, the driving torque of the vehicle at each vehicle speed and each accelerator pedal opening degree on different road surface types is calculated according to the following formula:

[0067] T = a * m * r + f * r;

[0068] In the above formula, T is the driving torque of the vehicle on the corresponding road surface type, a is the target acceleration calibrated according to the vehicle speed and the accelerator pedal opening degree of the corresponding road surface type, m is the vehicle mass, r is the tire radius of the vehicle, and f is the resistance on the corresponding road surface type. Through the calculation of the driving torque of the vehicle on the corresponding road surface type in the embodiment, the driving torque of the vehicle under different road surface types, different vehicle speeds and different accelerator pedal opening degrees is obtained, the adaptive control of the driving torque of the vehicle on different road surface types is realized, the problem of inconsistent driving experience of the vehicle during driving is solved, the use experience and safety of the user are affected, and the accuracy of the vehicle driving torque output and the driving experience are improved.

[0069] In combination with the above embodiments, the driving torque under each road surface type is calculated in combination with different road surface types such as snow-covered road surface, water-covered road surface, icy road surface, asphalt road surface, sand-stone road surface, broken-stone road surface, and muddy road surface, and the vehicle speed and the accelerator pedal opening degree under each road surface type, so as to calibrate the corresponding relationship diagram of the vehicle speed, the accelerator pedal opening degree and the driving torque of the vehicle under different road surface types, to form a preset map diagram about the vehicle driving road surface, the vehicle speed and the accelerator pedal opening degree, wherein the preset map diagram comprises the torque control points of the corresponding vehicle speed and accelerator pedal opening degree under each road surface type. Through the embodiment, after the vehicle forms and stores the preset map diagram, in the subsequent driving process of the vehicle, the vehicle can identify the road surface type currently driven by the vehicle, and in combination with the vehicle speed and the accelerator pedal opening degree, the appropriate driving torque can be obtained from the preset map diagram through table lookup, so as to achieve the adaptive adjustment of the driving torque of the vehicle under different road surface types.

[0070] Figure 3 The structural schematic diagram of the vehicle torque control device based on resistance according to the present application is shown. Please refer to Figure 3 As shown in the figure, the vehicle torque control device based on resistance 400 comprises an identification module 410, a detection module 420 and a control module 430.

[0071] The identification module is configured to identify the road surface type currently driven by the vehicle, wherein the road surface types comprise snow-covered road surface, water-covered road surface, icy road surface, asphalt road surface, sand-stone road surface, broken-stone road surface and muddy road surface, and the resistance of each road surface type is different.

[0072] The detection module is configured to detect the current vehicle speed and the current accelerator pedal opening degree of the vehicle if the road surface type is identified as a preset road surface type.

[0073] The control module is configured to obtain a target driving torque by looking up a preset map diagram according to the current vehicle speed and the current accelerator pedal opening degree, and control the vehicle to drive according to the target driving torque.

[0074] It should be noted that the vehicle torque control device based on resistance 500 provided by the above embodiment and the vehicle torque control method based on resistance provided by the foregoing embodiments belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiments, which will not be described here.

[0075] Figure 4 The structural schematic diagram of the electronic device according to the present application is shown, which shows the structural schematic diagram of the computer system of the electronic device suitable for implementing the embodiments of the present application, and the specific implementation of the electronic device is not limited in the specific embodiments of the present application.

[0076] Please refer toFigure 4 The electronic device includes a controller, and a memory storing one or more programs that, when executed by the controller, perform the above-described resistance-based vehicle torque control method.

[0077] Please continue to refer to Figure 4 The computer system 500 of the electronic device includes a central processing unit (CPU) 501 that can perform various appropriate actions and processes, such as executing the methods in the above-described embodiments, according to programs stored in a read-only memory (ROM) 502 or loaded from the storage section 508 into a random access memory (RAM) 503. Various programs and data required for system operation are also stored in the RAM 503. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0078] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as necessary. A removable recording medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 510 as necessary, so that a computer program read therefrom is installed into the storage section 508 as necessary.

[0079] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing computer programs for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication section 509, and / or installed from the removable recording medium 511. When the computer program is executed by the central processing unit (CPU) 501, various functions defined in the systems of the present application are performed.

[0080] Another aspect of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the resistance-based vehicle torque control method as described above. The computer readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately from the electronic device.

[0081] Another aspect of the present application provides a computer program product or computer program comprising at least one executable instruction which, when run on a resistance-based vehicle torque control device / electronic device, causes the resistance-based vehicle torque control device / electronic device to perform the resistance-based vehicle torque control method as described below:

[0082] identifying a road surface type on which the vehicle is currently traveling; wherein the road surface types include a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a rocky road surface, and a muddy road surface, each of which has a different resistance;

[0083] if the identified road surface type is a preset road surface type, detecting a current vehicle speed and a current accelerator pedal opening degree of the vehicle;

[0084] obtaining a target driving torque from a preset map according to the current vehicle speed and the current accelerator pedal opening degree, and controlling the vehicle to travel according to the target driving torque.

[0085] In an optional manner, the executable instruction can be specifically used to cause the resistance-based vehicle torque control device / electronic device to perform the following operations:

[0086] if the identified road surface type is a preset road surface type, and the vehicle has been traveling on the preset road surface type for a preset time period;

[0087] then, after the preset time period, detecting a current vehicle speed and a current accelerator pedal opening degree of the vehicle.

[0088] In an optional manner, the executable instruction can be specifically used to cause the resistance-based vehicle torque control device / electronic device to perform the following operations:

[0089] detecting a vehicle speed and an accelerator pedal opening degree of the vehicle under different road surface types;

[0090] calibrating a target acceleration of the vehicle according to the vehicle speed and the accelerator pedal opening degree.

[0091] In an optional manner, the executable instruction can be specifically used to cause the resistance-based vehicle torque control device / electronic device to perform the following operations:

[0092] The slip resistance of the same vehicle model is tested under different road surface types, and the driving resistance of each road surface type at different vehicle speeds is calibrated.

[0093] In an alternative way, the executable instructions can be specifically used to make the vehicle torque control device based on resistance perform the following operations:

[0094] The driving torque of the vehicle is determined according to the target acceleration and the driving resistance.

[0095] In an alternative way, the executable instructions can be specifically used to make the vehicle torque control device based on resistance perform the following operations:

[0096] The preset map of the vehicle speed, the accelerator pedal opening degree and the driving torque is calibrated under different road surface types;

[0097] The preset map includes torque control points corresponding to the vehicle speed and the accelerator pedal opening degree under each road surface type.

[0098] In an alternative way, the executable instructions can be specifically used to make the vehicle torque control device based on resistance perform the following operations:

[0099] The vehicle mass and the wheel radius of the vehicle are obtained;

[0100] The driving torque of the vehicle is determined according to the target acceleration, the driving resistance, the vehicle mass and the wheel radius.

[0101] In the vehicle torque control method based on resistance in the embodiments of the present application, the specific working conditions of the current driving road of the vehicle are determined by identifying the road surface types such as snow-covered road surface, water-covered road surface, icy road surface, asphalt road surface, sand and stone road surface, broken stone road surface, and muddy road surface. When the road surface type is identified as a preset road surface type, the current vehicle speed and the current accelerator pedal opening degree are detected, and the preset map corresponding to the preset road surface type is obtained according to the current vehicle speed and the current accelerator pedal opening degree, so as to obtain the target driving torque at this moment under the preset road surface type, and the vehicle is controlled to drive according to the target driving torque obtained by the table lookup. Since the specific working conditions of the driving road of the vehicle are different during driving, the driving resistances of different driving roads are different, which may cause the driving feeling under the same accelerator pedal opening degree to be consistent. Therefore, in the embodiments of the present application, the road surface type currently driven by the vehicle is identified, and the preset map corresponding to the driving road type, the current vehicle speed, and the current accelerator pedal opening degree is looked up, so as to realize adaptive control of the driving torque of the vehicle under different road surface type working conditions, solve the problem that the driving feeling is inconsistent during driving of the vehicle, and affect the use experience and safety of the user, and improve the accuracy of the vehicle driving torque output and the driving feeling.

[0102] It should be noted that the computer-readable medium in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus or device, and can be used or combined with the same. In this application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable computer programs. Such a propagated data signal can take various forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, transmit, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The computer programs contained in the computer-readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wired, or the like, or any suitable combination thereof.

[0103] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the involved functions. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0104] The units described in the embodiments of the present application can be implemented in the form of software, or can be implemented in the form of hardware, and the described units can also be arranged in a processor. In some cases, the names of these units do not constitute a limitation on the units themselves.

[0105] According to an aspect of the embodiments of the present application, a computer system is also provided, which includes a central processing unit (CPU) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as performing the method in the above-described embodiments. In the RAM, various programs and data required for system operation are also stored. The CPU, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0106] The following components are connected to the I / O interface: an input portion including a keyboard, a mouse, and the like; an output portion including a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like; a storage portion including a hard disk, and the like; and a communication portion including a network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication portion performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as necessary. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is attached to the drive as necessary, and a computer program read out from the removable medium is installed in the storage portion as necessary.

[0107] The above-described content is only a preferred exemplary embodiment of the present application, and is not intended to limit the implementation of the present application. Those skilled in the art can easily make corresponding modifications or changes according to the main idea and spirit of the present application, and the protection scope of the present application should be subject to the protection scope required by the claims.

[0108] The relevant data collection and processing in the present application should be strictly in accordance with the requirements of relevant national laws and regulations, and the informed consent or separate consent of the personal information subject should be obtained, and the subsequent data use and processing behavior should be carried out within the scope of authorization of laws and regulations and the personal information subject.

Claims

1. A resistance-based vehicle torque control method, characterized by, The method comprises: identifying a road surface type on which the vehicle is currently running; wherein the road surface type comprises a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a broken stone road surface, and a muddy road surface, and each of the road surface types has different resistance; if the identified road surface type is a preset road surface type, detecting a current vehicle speed and a current accelerator pedal opening degree of the vehicle; obtaining a target driving torque according to the current vehicle speed and the current accelerator pedal opening degree by looking up a preset map, and controlling the vehicle to run according to the target driving torque; before the step of identifying the road surface type on which the vehicle is currently running, the method comprises: detecting a vehicle speed and an accelerator pedal opening degree of the vehicle under different road surface types, and calibrating a target acceleration of the vehicle according to the vehicle speed and the accelerator pedal opening degree; testing the sliding resistance of the same vehicle model under different road surface types, and calibrating the running resistance of each road surface type under different vehicle speeds; obtaining a total vehicle mass and a wheel radius of the vehicle, and determining the driving torque of the vehicle according to the target acceleration, the running resistance, the total vehicle mass, and the wheel radius.

2. The resistance-based vehicle torque control method of claim 1, wherein, The step of detecting the current vehicle speed and the current accelerator pedal opening degree if the identified road surface type is the preset road surface type further comprises: if the identified road surface type is the preset road surface type, and the vehicle runs on the preset road surface type for a preset time length; then, detecting the current vehicle speed and the current accelerator pedal opening degree after the preset time length.

3. The resistance-based vehicle torque control method of claim 1, wherein, After the step of determining the driving torque of the vehicle according to the target acceleration and the running resistance, the method comprises: calibrating a preset map of the vehicle speed, the accelerator pedal opening degree, and the driving torque under different road surface types; wherein the preset map comprises torque control points corresponding to the vehicle speed and the accelerator pedal opening degree under each road surface type.

4. A resistance-based vehicle torque control device, characterized by, The device comprises: an identification module configured to identify a road surface type on which the vehicle is currently running; wherein the road surface type comprises a snow-covered road surface, a water-covered road surface, an icy road surface, an asphalt road surface, a gravel road surface, a broken stone road surface, and a muddy road surface, and each of the road surface types has different resistance; a detection module configured to detect a current vehicle speed and a current accelerator pedal opening degree of the vehicle if the identified road surface type is a preset road surface type; a control module configured to obtain a target driving torque according to the current vehicle speed and the current accelerator pedal opening degree by looking up a preset map, and control the vehicle to run according to the target driving torque; before the identification module, the device comprises a determination module configured to: detect a vehicle speed and an accelerator pedal opening degree of the vehicle under different road surface types, and calibrate a target acceleration of the vehicle according to the vehicle speed and the accelerator pedal opening degree; test the sliding resistance of the same vehicle model under different road surface types, and calibrate the running resistance of each road surface type under different vehicle speeds; obtain a total vehicle mass and a wheel radius of the vehicle, and determine the driving torque of the vehicle according to the target acceleration, the running resistance, the total vehicle mass, and the wheel radius.

5. An electronic device, comprising: The controller is configured to implement the resistance-based vehicle torque control method of any one of claims 1 to 3. The storage medium stores a computer program, and the computer program includes at least one executable instruction, which, when executed on the resistance-based vehicle torque control device / equipment, causes the resistance-based vehicle torque control device / equipment to perform the operations of the resistance-based vehicle torque control method of any one of claims 1 to 3. ​ 6. A computer-readable storage medium, characterized in that, ​

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