Vehicle torque control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle torque control method and device, a vehicle and a storage medium, and relates to the field of vehicle control. The method comprises the steps that under the condition that it is determined that a downhill road section exists at a first distance in front of the vehicle during running, the target gradient of the downhill road section is determined; when it is determined that the first distance is smaller than a first preset value, the slope length of the downhill road section is larger than a second preset value, and the target gradient is smaller than or equal to the preset gradient, the gearbox input end torque of the vehicle is determined based on the first distance and the slope length of the downhill road section; and performing torque control on the vehicle based on the torque of the input end of the gearbox until the difference value between the first distance and the driving distance of the vehicle after the torque control is less than a third preset value. According to the method, the torque of the vehicle can be automatically controlled, and the energy consumption of the vehicle in the downhill process is reduced.

Description

Technical Field

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

[0002] With the intensification of the global energy crisis and the improvement of people's awareness of environmental protection, vehicle energy consumption and emission issues have received increasing attention.

[0003] In the prior art, in order to reduce the energy consumption of the vehicle, when the driver finds that the road ahead is a downhill section during driving, he will control the vehicle to coast in neutral, so as to reduce fuel consumption and improve fuel economy.

[0004] However, in the prior art, when a vehicle is driving downhill, it is usually necessary to rely on manual operation by the driver to reduce the vehicle's energy consumption. For some inexperienced drivers, it is impossible to achieve energy saving effects through the above method, resulting in high energy consumption during vehicle driving. Summary of the invention

[0005] The present invention provides a vehicle torque control method, device, vehicle and storage medium, which are used to solve the defect of high vehicle energy consumption in the prior art when the vehicle relies on the driver's operation during downhill driving, and realize automatic control of the vehicle's torque to reduce the energy consumption of the vehicle during downhill driving.

[0006] The present invention provides a vehicle torque control method, comprising: In the case where it is determined that there is a downhill section at a first distance ahead of the vehicle, determining a target slope of the downhill section; When it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to a preset slope, determining the transmission input end torque of the vehicle based on the first distance and the slope length of the downhill section; The vehicle is torque-controlled based on the transmission input torque until a difference between the first distance and a distance traveled by the vehicle after the torque control is performed is less than a third preset value.

[0007] According to a vehicle torque control method provided by the present invention, the step of determining the transmission input torque of the vehicle based on the first distance and the slope length of the downhill section includes: predicting a first deceleration of the vehicle sliding on the downhill section based on the target slope; Predicting a first driving time of the vehicle on the downhill section based on the slope length of the downhill section and the actual vehicle speed at the moment of torque control; Determine a speed increment of the downhill section based on the first driving duration and the first deceleration, and predict a second driving duration of the vehicle over the first distance based on the first distance and the actual vehicle speed; predicting a second deceleration of the vehicle at the first distance based on the vehicle speed increment and the second driving duration; The transmission input torque is determined based on the second deceleration.

[0008] According to a vehicle torque control method provided by the present invention, the step of determining the transmission input end torque based on the second deceleration includes: determining a rolling resistance of the vehicle based on the second deceleration; determining a total resistance based on the rolling resistance, wind resistance, friction resistance and acceleration resistance; The transmission input torque is determined based on the total resistance.

[0009] According to a vehicle torque control method provided by the present invention, the step of determining that there is a downhill section at a first distance ahead of the vehicle comprises: Segmenting a road of a preset length ahead of the vehicle based on a preset distance to obtain a plurality of segmented roads; Obtaining the average slope of each of the segmented roads; In a case where a target average gradient representing a downhill gradient is included in all the average gradients, it is determined that a downhill road section exists.

[0010] According to a vehicle torque control method provided by the present invention, the method further includes: For each of the segmented roads, determining the road type of the segmented road based on the average slope of the segmented road; Traversing the road types of each of the segmented roads, and when it is determined that there are a first preset number of consecutive first segmented roads whose road types are all downhill road types, determining the number of consecutive second segmented roads whose road types are non-downhill road types after the last first segmented road; When the number is greater than or equal to a second preset number, the first preset number of first segmented roads are determined as the downhill road sections.

[0011] According to a vehicle torque control method provided by the present invention, the method further includes: When the number is less than the second preset number and there is at least one third segmented road of a downhill road type after the last second segmented road, the first preset number of first segmented roads, all the second segmented roads and all the third segmented roads are determined as the downhill road sections.

[0012] According to a vehicle torque control method provided by the present invention, after the vehicle is torque controlled based on the transmission input end torque, the method further includes: When it is determined that the duration of the throttle opening of the vehicle being greater than the preset opening is greater than the preset duration, the torque control of the vehicle is released.

[0013] The present invention also provides a vehicle torque control device, comprising: a determination module, configured to determine a target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle; The determination module is further configured to determine the transmission input end torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to a preset slope; The control module is further used to perform torque control on the vehicle based on the torque at the input end of the transmission until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value.

[0014] The present invention also provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, any one of the vehicle torque control methods described above is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the vehicle torque control method as described above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the vehicle torque control method as described above is implemented.

[0017] The vehicle torque control method, device, vehicle and storage medium provided by the present invention determine the target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle, and determine the gearbox input end torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is greater than the preset slope, thereby performing torque control on the vehicle based on the gearbox input end torque until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value. Since the gearbox input end torque is determined based on the first distance and the slope length of the downhill section when it is determined that there is a downhill section ahead of the vehicle, the torque control of the vehicle is automatically performed, which does not rely on the driver's experience, not only improves the degree of automation of the vehicle's driving control during the downhill process, but also reduces the energy consumption of the vehicle when it is on the downhill section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic flow chart of a vehicle torque control method provided in an embodiment of the present invention.

[0020] Figure 2 A schematic diagram of a downhill section provided in an embodiment of the present invention.

[0021] Figure 3 A schematic structural diagram of a vehicle torque control device provided in an embodiment of the present invention.

[0022] Figure 4 A schematic diagram of the physical structure of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] At present, in order to reduce the energy consumption of the vehicle during driving, the driver will control the vehicle to coast in neutral when finding that the road ahead is a downhill section, so as to reduce fuel consumption and improve fuel economy. However, on the one hand, if the vehicle speed is not properly controlled before going downhill, it is still necessary to slow down by braking on the downhill section, resulting in increased energy consumption of the vehicle. On the other hand, the above method will rely too much on the driver's experience and operation. When the driver does not see the downhill section ahead due to the blind spot of the vision or due to lack of experience, the operation of controlling the vehicle to coast will not be performed on the downhill section, and the throttle opening may even be increased, resulting in high energy consumption of the vehicle on the downhill section. Therefore, the current method of relying on the driver's operation to reduce the energy consumption of the vehicle not only makes the degree of automation of the vehicle's driving control during the downhill process low, but also still has high energy consumption.

[0025] In response to the above problems, an embodiment of the present invention provides a vehicle torque control method. In the method, when it is determined that there is a downhill section at a first distance ahead of the vehicle, a target slope of the downhill section will be determined. When the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is greater than the preset slope, it indicates that the vehicle is about to enter a downhill stage. Therefore, the transmission input torque of the vehicle can be determined based on the first distance and the slope length of the downhill section, and the vehicle can be torque controlled based on the transmission input torque. This can achieve the purpose of automatically controlling the vehicle's torque on the downhill section without relying on the driver's experience. This can not only improve the degree of automation of the vehicle's driving control during the downhill process, but also reduce the vehicle's energy consumption on the downhill section.

[0026] Combine the following Figure 1 and Figure 2 The vehicle torque control method provided by an embodiment of the present invention is described. The embodiment of the present invention can be applicable to the scenario of controlling the torque of the vehicle when the vehicle is traveling on a downhill section. The execution subject of the method can be an electronic device such as a vehicle, a terminal device, a server, a server cluster, or a specially designed vehicle torque control device, or a vehicle torque control device set in the electronic device, and the vehicle torque control device can be implemented by software, hardware, or a combination of the two.

[0027] Figure 1 A schematic flow chart of a vehicle torque control method provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes: Step 101: When it is determined that there is a downhill section at a first distance ahead of the vehicle, determine a target slope of the downhill section.

[0028] In this step, the vehicle can obtain road information within a preset length ahead of the vehicle based on the positioning system and Advanced Driver Assistance Systems (ADAS) map information, for example, it can obtain road information 8 km ahead of the vehicle. Based on this road information, it can be known in advance whether there is a downhill section ahead of the vehicle.

[0029] Figure 2 A schematic diagram of a downhill section provided by an embodiment of the present invention, such as Figure 2 As shown, when it is determined that there is a downhill section in front of the vehicle, a first distance between the current position of the vehicle and the downhill section will be further determined, such as Figure 2 As shown, the first distance may be c. In addition, it is also necessary to determine the target slope and slope length of the downhill section in combination with the ADAS map information. Figure 2 As shown, the slope length may be b, and the target slope indicates the inclination of the downhill section. The larger the absolute value of the target slope is, the greater the inclination of the downhill section is. When the downhill section is relatively long, the slopes at different locations may be different. Therefore, the average slope of the downhill section may be used as the target slope. For the downhill section, the target slope may be represented by a negative value.

[0030] Step 102: When it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to the preset slope, determine the transmission input torque of the vehicle based on the first distance and the slope length of the downhill section.

[0031] In this step, after obtaining the target slope and slope length of the downhill section, it can be determined whether it meets the following conditions: whether the first distance c is less than the first preset value, whether the slope length b of the downhill section is greater than the second preset value, and whether the target slope aveslope is greater than the preset slope. Among them, the first preset value, the second preset value and the preset slope can be set according to actual conditions or experience. For example, the first preset value can be set to 2000m, the second preset value can be set to 1000m, and the preset slope can be set to -1.5%. It should be understood that a negative slope value can be used to characterize the section as a downhill section, and a positive slope value can be used to characterize the section as a non-downhill section. When the target slope of the downhill section is less than or equal to the preset slope, since the preset slope is a negative value, when the target slope is less than or equal to the preset slope, it means that the slope of the downhill section is large, that is, the slope is relatively shaky.

[0032] When it is determined that the first distance is less than the first preset value, the slope length of the downhill section is greater than the second preset value, and the target slope is greater than the preset slope, it means that the vehicle is about to drive to the downhill section, and the length of the downhill section is long and the slope is steep. In this scenario, the vehicle torque can be started to limit the vehicle, so that when the vehicle reaches the downhill section and drives on the downhill section, not only the vehicle speed will be limited to prevent the vehicle from driving faster on the downhill section, but also energy consumption can be saved. Therefore, the vehicle's gearbox input torque will be determined based on the determined first distance and the slope length of the downhill section.

[0033] Step 103: Torque control is performed on the vehicle based on the torque at the input end of the transmission until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value.

[0034] In this step, after the vehicle is torque-controlled based on the determined transmission input torque, that is, after the torque limit is triggered, the vehicle speed will be integrated to obtain the distance traveled by the vehicle in real time, and the distance between the vehicle and the downhill section will be calculated in real time, that is, when When , the torque limit is released and the torque control of the vehicle is stopped. Wherein, the above-mentioned v represents the real-time speed of the vehicle, and h is a third preset value, which can be set according to actual conditions or experience, for example, it can be 1.

[0035] In addition, after the vehicle is torque controlled, a prompt message "There is a downhill slope of length b ahead, please control the speed" will be output to the driver through the vehicle's instrument.

[0036] The vehicle torque control method provided by the embodiment of the present invention determines the target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle, and determines the gearbox input end torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is greater than the preset slope, thereby performing torque control on the vehicle based on the gearbox input end torque until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value. Since the gearbox input end torque is determined based on the first distance and the slope length of the downhill section when it is determined that there is a downhill section ahead of the vehicle, the torque control of the vehicle is automatically performed, which not only improves the degree of automation of the vehicle's driving control during the downhill process, but also reduces the energy consumption of the vehicle when it is on the downhill section.

[0037] Exemplarily, based on the above embodiment, when determining the gearbox input torque of the vehicle based on the first distance and the slope length of the downhill section, it can be performed in the following manner: A first deceleration of the vehicle when gliding on a downhill section is predicted based on the target slope, a first driving duration of the vehicle on the downhill section is predicted based on the slope length of the downhill section and the actual vehicle speed at the moment of torque control, a speed increment of the downhill section is determined based on the first driving duration and the first deceleration, and a second driving duration of the vehicle at the first distance is predicted based on the first distance and the actual vehicle speed, after a second deceleration of the vehicle at the first distance is predicted based on the vehicle speed increment and the second driving duration, the torque at the input end of the transmission is determined based on the second deceleration.

[0038] Among them, assuming that the actual vehicle speed at the moment of torque control is v0, and the vehicle speed after going downhill can also reach v0, then the increased speed of the vehicle on the downhill section should be equivalent to the reduced speed of the vehicle on the non-downhill section. Based on this, we can first reverse the speed increment of the vehicle in the downhill section, and then further reverse the deceleration of the non-downhill section, so as to determine the torque at the input end of the gearbox.

[0039] Specifically, based on vehicle dynamics, the first deceleration of a vehicle sliding on a downhill section can be simplified to the following formula (1): (1) in, It indicates the predicted first deceleration of the vehicle sliding on a downhill section. represents the target slope, It represents the rolling resistance coefficient of the car, and g represents the acceleration due to gravity.

[0040] In addition, the first driving time t of the vehicle on the downhill section can be predicted based on the following formula (2): (2) After determining the first driving time t, the vehicle speed increment of the downhill section can be determined based on the following formula (3): : (3) Furthermore, the second driving time t1 of the vehicle within the first distance can be predicted based on the following formula (4): (4) The second driving time t1 may also be understood as the predicted driving time of the vehicle on the non-downhill section.

[0041] After determining the second driving time t1, the second deceleration of the vehicle at the first distance can be predicted based on the following formula (5): : (5) Therefore, the transmission input torque can be determined based on the determined second deceleration to control the vehicle.

[0042] It should be understood that after the first deceleration of the vehicle coasting on a downhill section is predicted by the above formula (1), the first deceleration can be appropriately limited to a maximum value or a minimum value according to the actual situation, thereby avoiding the situation of rapid acceleration or deceleration due to poor vehicle control in some extreme cases.

[0043] In this embodiment, by predicting the first deceleration of the vehicle when coasting on a downhill section, and further inferring the second deceleration of the vehicle on a non-downhill section based on the first deceleration, the torque at the input end of the transmission is determined based on the second deceleration. In this way, the speed of the vehicle when entering the torque control moment can be made the same as the speed of the vehicle after going downhill, thereby not only saving the power consumption of the vehicle on the downhill section, but also avoiding the phenomenon of excessive speed of the vehicle on the downhill section, thereby improving the safety of vehicle driving.

[0044] Exemplarily, based on the above embodiment, when determining the transmission input end torque based on the second deceleration, the rolling resistance of the vehicle can be determined based on the second deceleration, and the total resistance can be determined based on the rolling resistance, wind resistance, friction resistance and acceleration resistance, so as to determine the transmission input end torque based on the total resistance.

[0045] Specifically, the rolling resistance of the vehicle can be determined based on the following formula (6): : (6) Where m represents the mass of the vehicle.

[0046] Determine the vehicle's acceleration resistance After that, the total resistance can be determined based on the following formula (7): : (7) in, Indicates wind resistance, represents the friction resistance, Indicates the acceleration resistance.

[0047] Furthermore, the gearbox input torque T can be determined based on the following formula (8): (8) Among them, Ratio represents the product of the gearbox and the final reducer speed ratio, and R represents the tire radius of the vehicle.

[0048] In this embodiment, after the rolling resistance of the vehicle is determined based on the second deceleration, the total resistance can be determined based on the rolling resistance, wind resistance, friction resistance and acceleration resistance, and the transmission input torque can be determined based on the total resistance. Since the total resistance takes into account resistance in multiple dimensions, the total resistance is more accurate and can also further improve the transmission input torque.

[0049] Illustratively, based on the above-mentioned embodiments, when determining whether there is a downhill section at a first distance ahead of the vehicle, the road of a preset length ahead of the vehicle may be segmented based on a preset distance. After obtaining a plurality of segmented roads, the average slope of each segmented road is obtained. When all average slopes include a target average slope representing the downhill slope, it is determined that there is a downhill section.

[0050] Specifically, since the slope of the road changes in real time, and the vehicle will pre-acquire the road information within a preset length ahead, in order to facilitate subsequent calculations and reduce the amount of calculation, the road ahead of the vehicle can be segmented based on a preset distance, wherein the preset distance can be set or adjusted according to actual conditions or experience, for example, it can be set to 160m. After obtaining multiple segmented roads, the average slope of each segmented road will be obtained, and a corresponding relationship will be established between the segmented road number and the average slope of the corresponding segmented road. For example, it can be represented in matrix form, as shown in Table 1 below, and a 2x50 matrix can be obtained: Table 1

[0051] Among them, the matrix element number represents the identification of each segmented road. It should be understood that if the average slope is a positive value, it means that the corresponding segmented road is uphill, and if the average slope is a negative value, it means that the corresponding segmented road is downhill.

[0052] After the average slope of each segmented road is determined, when the average slopes of all segmented roads include a negative value, it indicates that there is a downhill section ahead of the vehicle.

[0053] It should be understood that when there is at least one target average slope representing a downhill slope among all the average slopes, it is considered that there is a downhill section ahead of the vehicle. Alternatively, when there are at least two consecutive target average slopes representing downhill slopes among all the average slopes, it is considered that there is a downhill section ahead of the vehicle.

[0054] In this embodiment, the road of a preset length in front of the vehicle can be segmented based on a preset distance. After obtaining multiple segmented roads, the average slope of each segmented road is determined based on the segmented roads. Based on the average slopes of these segmented roads, it is determined whether there is a downhill section in front of the vehicle. Compared with processing the entire road section, the above method can greatly reduce the amount of calculation and improve the efficiency of determining the downhill section.

[0055] Exemplarily, based on the above embodiment, when determining a downhill section, the road type of each segmented road can be determined based on the average slope of the segmented road, and the road types of each segmented road can be traversed. When it is determined that there are a first preset number of consecutive first segmented roads whose road types are all downhill road types, the number of consecutive second segmented roads whose road types are not downhill road types after the last first segmented road is determined. When the number is greater than or equal to the second preset number, the first preset number of first segmented roads are determined as downhill sections.

[0056] Specifically, the slope data obtained by segmenting the road is a matrix as shown in Table 1. In order to identify a continuous long downhill slope, each segmented road needs to be classified. For each segmented road, classification can be performed based on the average slope of the segmented road to determine the road type of the segmented road, as shown in Table 2 below: Table 2

[0057] By traversing the average slope of each segmented road and determining whether the road type of each segmented road is 1 or 0 in the manner shown in Table 2, 1 indicates that the segmented road is a downhill section, and 0 indicates that the segmented road is a non-downhill section.

[0058] Among them, -1.8% and -1.2% shown in Table 2 are examples, which can be calibrated and adjusted according to actual conditions. It should be understood that in the embodiment of the present invention, the average slope is not less than 0 as the judgment condition for whether it is a downhill section, but a threshold value smaller than 0 is used as the judgment reference. This is because it is considered that the vehicle needs to overcome the road resistance, wind resistance and internal mechanical resistance during the downhill sliding process. Therefore, the vehicle can slide autonomously under its own gravity only under a larger downhill condition.

[0059] After determining the road type of each segmented road, the road types of each segmented road are traversed to loop to find the first segmented road whose road type is 1 for more than a first preset number of consecutive times, as shown in Table 3: Table 3

[0060] Among them, from the tmp-j+1th segmented road to the tmpth segmented road, all are segmented roads of downhill type, and tmp is the end position point of the segmented road of road type 1.

[0061] The above-mentioned first preset number can be set according to actual conditions or experience, for example, it can be determined according to the preset distance for dividing the road into sections. The larger the preset distance, the smaller the first preset number can be set. For example, the first preset number can be 3.

[0062] When it is determined that there are a first preset number of consecutive first segmented roads whose road types are all downhill road types, the number of consecutive second segmented roads whose road type is 0 after the last first segmented road tmp is further determined. When the number of consecutive second segmented roads is greater than or equal to the second preset number, the loop calculation is stopped, and the first segmented roads between tmp-j+1 and tmp are determined as downhill sections.

[0063] Assume that the segmented roads and corresponding road types are as shown in Table 4: Table 4

[0064] As shown in Table 4, the road types of the segmented roads tmp+1 and tmp+2 are both 0, indicating that two consecutive non-downhill second segmented roads are encountered after the segmented road tmp. Then, the first segmented roads between tmp-j+1 and tmp are considered to be the first continuous downhill slope in front of the vehicle, and a first preset number of first segmented roads are determined as downhill sections. By calculating the average slope of these first segmented roads, the average slope is used as the target slope of the downhill section.

[0065] In addition, it should be noted that, since it is necessary to determine whether there are a first preset number of continuous first segmented roads whose road types are downhill road types, when the remaining segmented roads are less than the first preset number, it is necessary to determine the road type of each remaining segmented road separately. For example, assuming that the first preset number is 3, when tmp is 48, it is necessary to determine separately whether the road types of the 49th and 50th segmented roads are downhill road types. If the road types of the two segmented roads are both downhill road types, the segmented roads from tmp-j+1 to the 50th are all determined as downhill sections.

[0066] In this embodiment, the road type of each segmented road can be determined based on the average slope of the segmented road, so that the continuous downhill sections can be determined based on the road type, which improves the convenience of determining the downhill sections. In addition, the continuous first preset number of first segmented roads are merged, so that the braking of the vehicle on the downhill section is more accurate and continuous.

[0067] Exemplarily, based on the above embodiments, when the number is less than the second preset number and there is at least one third segmented road of a downhill road type after the last second segmented road, the first preset number of first segmented roads, all second segmented roads and all third segmented roads are determined as downhill sections.

[0068] Specifically, when the number of consecutive second segmented roads of non-downhill road type is less than the second preset number, and there is at least one third segmented road of downhill road type after the last second segmented road, it means that there may be only a small number of second segmented roads of non-downhill road type between the two downhill sections. The second preset number may be 2, for example.

[0069] Assume that the segmented roads and corresponding road types are as shown in Table 5: Table 5

[0070] After the segmented roads from tmp-j+1 to tmp, there is a second segmented road tmp+1 which is a non-downhill section. After that, at least one third segmented road of downhill road type is encountered, that is, there are three consecutive third segmented roads starting from tmp+2. At this time, the road type of the tmp+1 segmented road can be ignored, and all the segmented roads from tmp-j+1 to tmp+4 can be regarded as a continuous downhill section.

[0071] In this embodiment, when the number of consecutive second segmented roads of non-downhill road type is less than the second preset number, and there is at least one third segmented road of downhill road type after the last second segmented road, the first preset number of first segmented roads, all second segmented roads and all third segmented roads are determined as downhill sections. In this way, data interference and other phenomena that occur during the process of analyzing the road and determining the road slope or road type can be prevented, and the fault tolerance space is increased for the identification of downhill sections. In addition, even if a small number of non-downhill sections are mixed in multiple downhill sections, the impact on the overall torque control and reminder functions of the vehicle is not significant, and the continuity of vehicle control can also be improved.

[0072] In addition, it should be noted that after the downhill section is determined, the slope length b of the downhill section can be determined based on the product of the number of segmented roads of the downhill road type and the preset distance used in the segmentation.

[0073] Exemplarily, based on the above embodiments, after the vehicle is torque controlled based on the torque at the input end of the transmission, the method further includes: When it is determined that the duration of the throttle opening of the vehicle being greater than the preset opening is greater than the preset duration, the torque control of the vehicle is released.

[0074] Specifically, in order to prevent the driver from being unable to control the acceleration of the vehicle in certain situations, when it is detected that the throttle opening of the vehicle is greater than the preset opening, and the duration of the throttle opening greater than the preset opening is greater than the preset duration, that is, when the state of the throttle opening greater than the preset opening is maintained for a period of time, the torque control of the vehicle will be stopped, that is, the torque limit will be released.

[0075] In this embodiment, when it is detected that the throttle opening of the vehicle is greater than the preset opening for a duration greater than the preset time, the torque control of the vehicle will be released, which can improve the flexibility of vehicle control.

[0076] The vehicle torque control device provided by the present invention is described below. The vehicle torque control device described below and the vehicle torque control method described above can be referenced to each other.

[0077] Figure 3 A schematic diagram of the structure of a vehicle torque control device provided by an embodiment of the present invention, referring to Figure 3 As shown, the vehicle torque control device 300 includes: A determination module 11 is used to determine a target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle; The determination module 11 is further configured to determine the gearbox input end torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to a preset slope; The control module 12 is further configured to perform torque control on the vehicle based on the torque at the transmission input end until a difference between the first distance and a distance traveled by the vehicle after torque control is performed is less than a third preset value.

[0078] In an exemplary embodiment, the determining module 11 is specifically configured to: predicting a first deceleration of the vehicle sliding on the downhill section based on the target slope; Predicting a first driving time of the vehicle on the downhill section based on the slope length of the downhill section and the actual vehicle speed at the moment of torque control; Determine a speed increment of the downhill section based on the first driving duration and the first deceleration, and predict a second driving duration of the vehicle over the first distance based on the first distance and the actual vehicle speed; predicting a second deceleration of the vehicle at the first distance based on the vehicle speed increment and the second driving duration; The transmission input torque is determined based on the second deceleration.

[0079] In an exemplary embodiment, the determining module 11 is specifically configured to: determining a rolling resistance of the vehicle based on the second deceleration; determining a total resistance based on the rolling resistance, wind resistance, friction resistance and acceleration resistance; The transmission input torque is determined based on the total resistance.

[0080] In an exemplary embodiment, the determining module 11 is specifically configured to: Segmenting a road of a preset length ahead of the vehicle based on a preset distance to obtain a plurality of segmented roads; Obtaining the average slope of each of the segmented roads; In a case where a target average gradient representing a downhill gradient is included in all the average gradients, it is determined that a downhill road section exists.

[0081] In an exemplary embodiment, the determining module 11 is further configured to: For each of the segmented roads, determining the road type of the segmented road based on the average slope of the segmented road; Traversing the road types of each of the segmented roads, and when it is determined that there are a first preset number of consecutive first segmented roads whose road types are all downhill road types, determining the number of consecutive second segmented roads whose road types are non-downhill road types after the last first segmented road; When the number is greater than or equal to a second preset number, the first preset number of first segmented roads are determined as the downhill road sections.

[0082] In an exemplary embodiment, the determining module 11 is further configured to: When the number is less than the second preset number and there is at least one third segmented road of a downhill road type after the last second segmented road, the first preset number of first segmented roads, all the second segmented roads and all the third segmented roads are determined as the downhill road sections.

[0083] In an exemplary embodiment, the apparatus further comprises: a release module, wherein: The release module is used to release the torque control of the vehicle when it is determined that the throttle opening of the vehicle is greater than the preset opening for a duration greater than the preset duration.

[0084] The device of this embodiment can be used to execute the method of any one of the embodiments in the vehicle torque control method side embodiments. Its specific implementation process and technical effects are similar to those in the vehicle torque control method side embodiments. For details, please refer to the detailed introduction in the vehicle torque control method side embodiments, which will not be repeated here.

[0085] Figure 4 A schematic diagram of a physical structure of a vehicle provided by an embodiment of the present invention, such as Figure 4 As shown, the vehicle may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the vehicle torque control method, which includes: determining the target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle; determining the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to the preset slope, based on the first distance and the slope length of the downhill section, determining the transmission input end torque of the vehicle; and performing torque control on the vehicle based on the transmission input end torque until the difference between the first distance and the distance traveled by the vehicle after the torque control is performed is less than a third preset value.

[0086] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0087] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle torque control method provided by the above-mentioned methods, which includes: determining a target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle; determining the transmission input torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to the preset slope; and performing torque control on the vehicle based on the transmission input torque until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value.

[0088] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the vehicle torque control method provided by the above-mentioned methods, the method comprising: determining a target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle; determining the transmission input torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to the preset slope; and performing torque control on the vehicle based on the transmission input torque until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value.

[0089] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0090] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle torque control method, characterized in that: include: In the case where it is determined that there is a downhill section at a first distance ahead of the vehicle, determining a target slope of the downhill section; When it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to a preset slope, determining the transmission input end torque of the vehicle based on the first distance and the slope length of the downhill section; The vehicle is torque-controlled based on the transmission input torque until a difference between the first distance and a distance traveled by the vehicle after the torque control is performed is less than a third preset value.

2. The vehicle torque control method according to claim 1, characterized in that: The step of determining the transmission input end torque of the vehicle based on the first distance and the slope length of the downhill section includes: predicting a first deceleration of the vehicle sliding on the downhill section based on the target slope; Predicting a first driving time of the vehicle on the downhill section based on the slope length of the downhill section and the actual vehicle speed at the moment of torque control; Determine a speed increment of the downhill section based on the first driving duration and the first deceleration, and predict a second driving duration of the vehicle over the first distance based on the first distance and the actual vehicle speed; predicting a second deceleration of the vehicle at the first distance based on the vehicle speed increment and the second driving duration; The transmission input torque is determined based on the second deceleration.

3. The vehicle torque control method according to claim 2, characterized in that: The step of determining the transmission input end torque based on the second deceleration comprises: determining a rolling resistance of the vehicle based on the second deceleration; determining a total resistance based on the rolling resistance, wind resistance, friction resistance and acceleration resistance; The transmission input torque is determined based on the total resistance.

4. The vehicle torque control method according to claim 1, characterized in that: The step of determining that there is a downhill section at a first distance ahead of the vehicle comprises: Segmenting a road of a preset length ahead of the vehicle based on a preset distance to obtain a plurality of segmented roads; Obtaining the average slope of each of the segmented roads; In a case where a target average gradient representing a downhill gradient is included in all the average gradients, it is determined that a downhill road section exists.

5. The vehicle torque control method according to claim 4, characterized in that: The method further comprises: For each of the segmented roads, determining the road type of the segmented road based on the average slope of the segmented road; Traversing the road types of each of the segmented roads, and when it is determined that there are a first preset number of consecutive first segmented roads whose road types are all downhill road types, determining the number of consecutive second segmented roads whose road types are non-downhill road types after the last first segmented road; When the number is greater than or equal to a second preset number, the first preset number of first segmented roads are determined as the downhill road sections.

6. The vehicle torque control method according to claim 5, characterized in that: The method further comprises: When the number is less than the second preset number and there is at least one third segmented road of a downhill road type after the last second segmented road, the first preset number of first segmented roads, all the second segmented roads and all the third segmented roads are determined as the downhill road sections.

7. The vehicle torque control method according to any one of claims 1 to 6, characterized in that: After the vehicle is torque controlled based on the transmission input end torque, the method further includes: When it is determined that the duration of the throttle opening of the vehicle being greater than the preset opening is greater than the preset duration, the torque control of the vehicle is released.

8. A vehicle torque control device, characterized in that: include: a determination module, configured to determine a target slope of the downhill section when it is determined that there is a downhill section at a first distance ahead of the vehicle; The determination module is further configured to determine the transmission input end torque of the vehicle based on the first distance and the slope length of the downhill section when it is determined that the first distance is less than a first preset value, the slope length of the downhill section is greater than a second preset value, and the target slope is less than or equal to a preset slope; The control module is further used to perform torque control on the vehicle based on the torque at the input end of the transmission until the difference between the first distance and the distance traveled by the vehicle after torque control is less than a third preset value.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle torque control method according to any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle torque control method according to any one of claims 1 to 7 is implemented.

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