Vehicle torque adjusting method, device and equipment and computer readable storage medium

Abstract

The embodiment of the invention provides a torque adjusting method, device and equipment of a vehicle and a computer readable storage medium. The method comprises the following steps: acquiring a bump identification signal; comparing the bumping identification signal with a preset bumping signal to judge whether the current vehicle driving road surface is a bumping road surface; if the road surface is the bumpy road surface, the current vehicle speed and the current pre-output torque are obtained so as to determine the target torque, and the target torque is smaller than the pre-output torque; and outputting the target torque. In this way, in the running process of the vehicle, if the road surface is bumpy, the output torque can be properly reduced on the basis of the current pre-output torque expected by a user, in this way, the impact torque borne by a transmission system can be naturally reduced, and therefore instant cracking or fatigue failure of parts can be avoided as much as possible.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular to the technical field of vehicle torque adjustment. Background Art

[0002] At present, pure electric vehicles or extended-range electric vehicles respond to torque faster, so their transmission systems are subject to more impact torque than fuel vehicles; especially during vehicle driving, if the vehicle encounters bumpy road conditions, such as potholes, bumpy roads, speed bumps, etc., if the torque demand happens to be relatively large at this time, the wheel end will be subject to a large impact force, which will transmit an obvious impact torque to the transmission system, causing instantaneous cracking or fatigue failure of components, affecting the safety of the vehicle and passengers. Summary of the invention

[0003] The present disclosure provides a vehicle torque adjustment method, device, equipment, storage medium and vehicle.

[0004] According to a first aspect of the present disclosure, a method for adjusting torque of a vehicle is provided. The method comprises:

[0005] Obtaining a turbulence recognition signal;

[0006] Comparing the bump recognition signal with a preset bump signal to determine whether the current vehicle driving road surface is a bumpy road surface;

[0007] If the road is bumpy, the current vehicle speed and the current pre-output torque are obtained to determine the target torque, wherein the target torque is less than the pre-output torque;

[0008] The target torque is output.

[0009] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein comparing the bump recognition signal with a preset bump signal to determine whether the current vehicle driving road surface is a bumpy road surface includes:

[0010] calculating a signal difference between the bump recognition signal and the preset bump signal;

[0011] Determining whether the signal difference is greater than a preset threshold;

[0012] If it is greater than the preset threshold, it is determined that the current vehicle driving road surface is a bumpy road surface.

[0013] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein obtaining the current vehicle speed and the current pre-output torque to determine the target torque includes:

[0014] Obtaining a pre-stored first consumed time required for determining that the current vehicle driving road surface is a bumpy road surface;

[0015] Obtaining a pre-stored second consumed time required to output the target torque;

[0016] Obtaining a third elapsed time required from when the front drive motor of the vehicle passes through the bumpy road surface to when the rear drive motor of the vehicle passes through the bumpy road surface;

[0017] If the sum of the first consumed time and the second consumed time is less than the third consumed time, the current vehicle speed and the current pre-output torque are obtained to determine the target torque; otherwise, there is no need to determine the target torque.

[0018] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the outputting the target torque comprises:

[0019] If the sum of the first consumed time and the second consumed time is less than the third consumed time, then calculating the time difference between the third consumed time and the sum of the first consumed time and the second consumed time;

[0020] The target torque is output according to the time difference.

[0021] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein outputting the target torque according to the time difference comprises:

[0022] Subtracting a preset duration from the time difference to obtain a target delay time, wherein the preset duration is less than the time difference;

[0023] The front drive motor of the vehicle outputs the target torque after the target delay time on the bumpy road surface has elapsed.

[0024] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein obtaining the current vehicle speed and the current pre-output torque to determine the target torque includes:

[0025] Obtaining a preset corresponding relationship between vehicle speed, pre-output torque and pre-reduction torque;

[0026] matching the current vehicle speed and the pre-output torque with the preset corresponding relationship to determine a pre-reduction torque that matches the current vehicle speed and the current pre-output torque;

[0027] A torque difference between the current pre-output torque and the matched pre-reduction torque is determined as the target torque.

[0028] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the outputting the target torque comprises:

[0029] Get the preset torque reduction time;

[0030] The target torque is output according to the preset torque reduction time, and the current pre-output torque is restored after the torque reduction time is reached.

[0031] According to a second aspect of the present disclosure, a torque adjustment device for a vehicle is provided. The device comprises:

[0032] A first acquisition module, used for acquiring a turbulence recognition signal;

[0033] A judgment module, used for comparing the bump recognition signal with a preset bump signal to judge whether the current vehicle driving road surface is a bumpy road surface;

[0034] A second acquisition module is used to acquire the current vehicle speed and the current pre-output torque to determine the target torque if the road is bumpy;

[0035] An output module is used to output the target torque.

[0036] According to a third aspect of the present disclosure, an electronic device is provided, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, the method described above is implemented.

[0037] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0038] According to a fifth aspect of the present disclosure, a vehicle is provided, the vehicle comprising the vehicle torque adjustment device as described in the second aspect and / or the electronic device as described in the third aspect.

[0039] In the present disclosure, after obtaining the bump recognition signal, by automatically comparing the bump recognition signal with the preset bump signal, it is possible to accurately determine whether the current vehicle driving surface is a bumpy surface. If it is a bumpy surface, the current vehicle speed and the current pre-output torque are obtained, and then a target torque that is smaller than the current pre-output torque is recalculated and the smaller target torque is output. In this way, during the driving of the vehicle, if the road is bumpy, even if the current pre-output torque expected by the user is larger, the output torque can be appropriately reduced based on the current pre-output torque expected by the user. In this way, the impact force on the vehicle end will naturally be reduced, and the impact torque on the transmission system will naturally be reduced, thereby avoiding instantaneous cracking or fatigue failure of components as much as possible, and reducing the safety impact on the vehicle and passengers.

[0040] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0042] Figure 1 A flow chart showing a torque adjustment method for a vehicle according to an embodiment of the present disclosure is shown;

[0043] Figure 2 A block diagram of a torque adjustment device for a vehicle according to an embodiment of the present disclosure is shown;

[0044] Figure 3 A block diagram showing another torque adjustment device for a vehicle according to an embodiment of the present disclosure is shown;

[0045] Figure 4 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0047] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0048] Figure 1 A flow chart of a torque adjustment method 100 for a vehicle according to an embodiment of the present disclosure is shown. The method 100 may include:

[0049] Step 110, obtaining a bump recognition signal;

[0050] The bump identification signal includes but is not limited to the front drive motor speed, front drive motor torque, front drive motor speed fluctuation, front drive motor torque fluctuation, etc. If the vehicle has more sensors related to the suspension and body posture, it can also be the vehicle's vertical suspension displacement (i.e., up and down direction), unsprung (i.e., the structure under the vehicle's air spring, such as tires) vertical acceleration, sprung (i.e., the structure above the vehicle's air spring, such as the body) vertical acceleration, slope signal, yaw angular velocity yaw, pitch angular velocity pitch, roll angular velocity roll and other related signals.

[0051] The bump identification signal may be received every 2ms or every 10ms.

[0052] Step 120, comparing the bump recognition signal with a preset bump signal to determine whether the current vehicle driving road surface is a bumpy road surface;

[0053] The preset bump signal is a pre-set threshold value of the bump degree of the vehicle.

[0054] Step 130, if the road surface is bumpy, obtain the current vehicle speed and the current pre-output torque to determine the target torque, wherein the target torque is less than the pre-output torque;

[0055] In order to reduce the impact torque of bumpy roads on the wheel ends, the target torque should be smaller than the pre-output torque.

[0056] The current pre-output torque is the torque that the vehicle should generate when the user currently depresses the accelerator pedal, and is also the torque that the user expects the vehicle to output.

[0057] The target torque is also the rear wheel torque. The front wheel torque is usually smaller than the rear wheel torque and the front wheel has already passed through the bumpy road, so there is no need to reduce the torque.

[0058] Step 140: output the target torque.

[0059] After obtaining the bump recognition signal, by automatically comparing the bump recognition signal with the preset bump signal, it is possible to accurately determine whether the current vehicle driving surface is a bumpy surface. If it is a bumpy surface, the current vehicle speed and the current pre-output torque are obtained, and then a target torque that is smaller than the current pre-output torque is recalculated and the smaller target torque is output. In this way, during the driving of the vehicle, if the road is bumpy, even if the current pre-output torque expected by the user is larger, the output torque can be appropriately reduced based on the current pre-output torque expected by the user. In this way, the impact force on the vehicle end will naturally be reduced, and the impact torque on the transmission system will naturally be reduced, thereby avoiding instantaneous cracking or fatigue failure of components as much as possible, and reducing the safety impact on the vehicle and passengers.

[0060] In some embodiments, comparing the bump identification signal with a preset bump signal to determine whether the current vehicle driving road surface is a bumpy road surface includes:

[0061] calculating a signal difference between the bump recognition signal and the preset bump signal;

[0062] The signal difference may be an absolute value of a difference between the bump recognition signal and the preset bump signal.

[0063] Determining whether the signal difference is greater than a preset threshold;

[0064] If it is greater than the preset threshold, it is determined that the current vehicle driving road surface is a bumpy road surface.

[0065] By calculating the signal difference between the bump recognition signal and the preset bump signal, it can be determined whether the signal difference is greater than the preset threshold. If it is greater than the preset threshold, it means that the difference between the bump recognition signal and the preset bump signal is too large. Therefore, it can be accurately determined that the current vehicle driving surface is a bumpy road.

[0066] In some embodiments, obtaining the current vehicle speed and the current pre-output torque to determine the target torque includes:

[0067] Obtaining a pre-stored first consumed time required for determining that the current vehicle driving road surface is a bumpy road surface;

[0068] The first consumption time and the second consumption time are pre-set, and are generally integer multiples of the internal signal transmission cycle of the vehicle. For example, if the signal transmission cycle is 10ms, the first consumption time may be 20ms or 30ms, and the second consumption time may be 10ms or 20ms.

[0069] Obtaining a pre-stored second consumed time required to output the target torque;

[0070] Obtaining a third elapsed time required from when the front drive motor of the vehicle passes through the bumpy road surface to when the rear drive motor of the vehicle passes through the bumpy road surface;

[0071] Since the vehicle is still moving after the front wheels pass the bumpy road, it takes a certain amount of time, namely the third consumed time T3, from the front drive passing the bump to the rear drive passing the bumpy road. Therefore, T3 is determined by the current vehicle speed V and the vehicle's wheelbase L, where the wheelbase L remains unchanged. Specifically, T3=L / V.

[0072] If the sum of the first consumed time and the second consumed time is less than the third consumed time, the current vehicle speed and the current pre-output torque are obtained to determine the target torque; otherwise, there is no need to determine the target torque.

[0073] If the sum of the first consumed time and the second consumed time is less than the third consumed time, it means that the rear wheels have not reached the bumpy road surface during the time period from when the front wheels pass through the bumps and obtain the bump recognition signal to when the target torque is output. Therefore, a smaller target torque can be re-determined based on the current vehicle speed and the current pre-output torque, so that the torque output by the rear drive is smaller and the impact torque is naturally reduced. On the contrary, if the sum of the first consumed time and the second consumed time is greater than the third consumed time, it means that the rear wheels will reach the bumpy road surface during the time period from when the front wheels pass through the bumps and obtain the bump recognition signal to when the target torque is output. Therefore, there is no need to calculate the target torque.

[0074] In some embodiments, outputting the target torque includes:

[0075] If the sum of the first consumed time and the second consumed time is less than the third consumed time, then calculating the time difference between the third consumed time and the sum of the first consumed time and the second consumed time;

[0076] The target torque is output according to the time difference.

[0077] If the sum of the first consumed time and the second consumed time is less than the third consumed time, it means that the rear wheel has not reached the bumpy road surface during the time period from the front wheel passing through the bump and obtaining the bump recognition signal to the output of the target torque. Therefore, the time difference between the third consumed time and the sum of the first consumed time and the second consumed time can be accurately calculated to ensure that the target torque is output before the time difference is about to be reached, so as to avoid reducing the output torque too early and affecting the user's driving experience.

[0078] In some embodiments, outputting the target torque according to the time difference comprises:

[0079] Subtracting a preset duration from the time difference to obtain a target delay time, wherein the preset duration is less than the time difference;

[0080] The front drive motor of the vehicle outputs the target torque after the target delay time on the bumpy road surface has elapsed.

[0081] A time period is preset in advance based on the time difference to obtain a target delay time, and then the target torque is output after the front drive motor of the vehicle has passed the target delay time on the bumpy road surface. In this way, it is possible to avoid reducing the output torque too early and ensure that the output torque can be reduced before the rear wheels reach the bumpy road surface, so as to reduce the impact on the rear wheel end, avoid instantaneous cracking or fatigue failure of components as much as possible, and avoid affecting the safety of the vehicle and passengers.

[0082] In some embodiments, obtaining the current vehicle speed and the current pre-output torque to determine the target torque includes:

[0083] Obtaining a preset corresponding relationship between vehicle speed, pre-output torque and pre-reduction torque;

[0084] The preset correspondence may also vary according to vehicle models.

[0085] matching the current vehicle speed and the pre-output torque with the preset corresponding relationship to determine a pre-reduction torque that matches the current vehicle speed and the current pre-output torque;

[0086] A torque difference between the current pre-output torque and the matched pre-reduction torque is determined as the target torque.

[0087] In order to avoid affecting the driving experience, the torque that should be reduced will be different under different vehicle speeds and different output torques. Therefore, the preset correspondence between the vehicle speed, the pre-output torque and the pre-reduction torque can be obtained, and then the current vehicle speed and the pre-output torque are automatically matched with the preset correspondence to determine the pre-reduction torque that matches the current vehicle speed and the current pre-output torque, and then the torque difference between the current pre-output torque and the matching pre-reduction torque is determined as the target torque. In this way, the output torque can be appropriately reduced on bumpy roads. In this way, the impact force on the vehicle end will naturally be reduced, and the impact torque on the transmission system will naturally be reduced, so as to avoid instantaneous cracking or fatigue failure of components as much as possible, and reduce the safety impact on the vehicle and passengers.

[0088] In some embodiments, outputting the target torque includes:

[0089] Get the preset torque reduction time;

[0090] The preset torque reduction time can be 100ms. In short, it ensures that the function can work and meets the requirements of functional safety and user experience.

[0091] The target torque is output according to the preset torque reduction time, and the current pre-output torque is restored after the torque reduction time is reached.

[0092] Since reducing the torque for too long or failing to meet user expectations for too long will affect the user experience, a preset torque reduction duration can be obtained, and then the target torque is output according to the preset torque reduction duration, and the current pre-output torque is restored after the torque reduction duration is reached. In this way, the impact torque is reduced on bumpy roads to avoid instantaneous cracking or fatigue failure of components, and the torque reduction time is avoided to be too long, which may bring a bad experience to users.

[0093] At the same time, it can be determined whether the rear wheel has been subjected to a bump, and after confirming that the rear wheel has been subjected to a bump, the current pre-output torque is restored.

[0094] The following will be combined Figure 2 The technical solution of the present disclosure is further described in detail:

[0095] The present disclosure is composed of the following modules, including: a data acquisition module, a road condition recognition module, a delay calculation module, a torque impact reduction module, etc.

[0096] 1) Data acquisition module

[0097] The data acquisition module is used to collect the data required for calculation (i.e., bump recognition signal), for example, receiving the front drive motor speed, front drive motor torque, front drive motor speed fluctuation, front drive motor torque fluctuation, etc. every 2 ms. If there are more sensors related to the suspension and body posture, it can receive the suspension vertical displacement, unsprung vertical acceleration, sprung vertical acceleration, slope signal, yaw angular velocity yaw, pitch angular velocity pitch, roll angular velocity roll and other related signals every 10 ms.

[0098] These signals need to be transmitted at their fastest frequencies to the location of the computing unit, such as the rear-drive motor controller or the vehicle central computing unit (XCU).

[0099] The calculation unit receives data from the data acquisition module and prepares it for subsequent calculations.

[0100] 2) Road condition recognition module

[0101] The calculation unit identifies the bumpy road based on the received signal. When the relevant signal, such as the front drive motor speed fluctuation or the suspension vertical acceleration, is greater than a certain threshold (such as K), it is considered that the vehicle has passed through a bumpy road. The range of vehicle speed, front and rear drive speed, front and rear drive torque, slope signal, etc. used for judgment can be set (for example, judgment is enabled within the range from M to N), and judgment is not enabled if it is not within the allowed range.

[0102] 3) Delay calculation module

[0103] Data collection and road condition identification require a certain amount of computing time T1 (i.e., the first time consumption). After identifying the bump, the rear drive needs to be controlled to take corresponding response actions, and it takes a certain amount of time T2 (i.e., the second time consumption) from the instruction transmission to the action execution. At the same time, because the vehicle is still moving at this time, it also takes a certain amount of time T3 (i.e., the third time consumption) from the front drive passing the bump to the rear drive passing the bump. T3 is determined by the current vehicle speed V and the vehicle's wheelbase L, where the wheelbase L remains unchanged.

[0104] T1 and T2 are the strategy delays. T3 is the allowed duration limit. When T1 + T2 < T3, the strategy can operate normally. When T1 + T2 > T3, the strategy cannot be executed properly, and thus, taking actions is not allowed.

[0105] Meanwhile, calculate T3 - T1 - T2. The delay calculation module can obtain the delay time T4 for executing the action, that is, after waiting for the duration T4, start to execute the rear drive torque shock reduction strategy. At this time, the rear drive just passes through the bump point. To ensure the effectiveness of the strategy use, an appropriate lead can be set, such as 50 ms.

[0106] 4) Torque Shock Reduction Module

[0107] According to different vehicle speeds and torques, the torque shock reduction module selects the magnitude D of the torque shock reduction (i.e., the pre-reduced torque). The relationship between the magnitude of D and the vehicle speed and torque is shown in Table 1 below:

[0108] Table 1

[0109] Current vehicle speed\predicted output torque Pre-output torque 1 Pre-output torque 2 Pre-output torque 3 Speed ​​1 D1 D4 D7 Speed ​​2 D2 D5 D8 Speed ​​3 D3 D6 D9

[0110] The number of bins in Table 1 is not limited to 3 bins and can be arbitrarily binned according to needs.

[0111] After determining the magnitude D, subtract D from the torque demand command to form a new torque command for outputting the new torque (i.e., the target torque).

[0112] The time length of the new torque (i.e., the target torque) output is not greater than a certain duration, such as 100 ms. After exceeding, resume the original torque command output to avoid affecting the driver's driving intention.

[0113] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present disclosure is not limited by the described action sequence, because according to the present disclosure, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present disclosure.

[0114] The above is the introduction of the method embodiments. The following further illustrates the solution of the present disclosure through device embodiments.

[0115] Figure 3 The block diagram of the vehicle torque adjustment device 300 according to an embodiment of the present disclosure is shown. As Figure 3 shown, the device 300 includes:

[0116] A first acquisition module 310, configured to acquire a bump recognition signal;

[0117] The judging module 320 is used to compare the bump recognition signal with a preset bump signal to judge whether the current vehicle driving road surface is a bumpy road surface;

[0118] The second acquisition module 330 is used to acquire the current vehicle speed and the current pre-output torque to determine the target torque if the road is bumpy;

[0119] The output module 340 is configured to output the target torque.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0121] According to an embodiment of the present disclosure, the present disclosure further provides an electronic device, including:

[0122] at least one processor; and

[0123] a memory communicatively connected to the at least one processor; wherein,

[0124] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform any one of the above method embodiments.

[0125] According to an embodiment of the present disclosure, the present disclosure further provides a vehicle, comprising: the torque adjustment device of the vehicle as described in the above embodiment or the electronic device as described in the above embodiment.

[0126] According to an embodiment of the present disclosure, the present disclosure further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable the computer to execute any one of the above method embodiments.

[0127] Figure 4 A schematic block diagram of an electronic device 400 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0128] The device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0129] A number of components in the device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0130] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 404. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0131] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0132] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0133] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0134] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0135] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0136] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0137] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0138] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for adjusting torque of a vehicle, characterized in that: include: Obtaining a turbulence recognition signal; Comparing the bump recognition signal with a preset bump signal to determine whether the current vehicle driving road surface is a bumpy road surface; If the road is bumpy, the current vehicle speed and the current pre-output torque are obtained to determine the target torque, wherein the target torque is less than the pre-output torque; The target torque is output.

2. The method according to claim 1, characterized in that The step of comparing the bump recognition signal with a preset bump signal to determine whether the current vehicle driving road surface is a bumpy road surface includes: calculating a signal difference between the bump recognition signal and the preset bump signal; Determining whether the signal difference is greater than a preset threshold; If it is greater than the preset threshold, it is determined that the current vehicle driving road surface is a bumpy road surface.

3. The method according to claim 1, characterized in that The obtaining of the current vehicle speed and the current pre-output torque to determine the target torque includes: Obtaining a pre-stored first consumed time required for determining that the current vehicle driving road surface is a bumpy road surface; Obtaining a pre-stored second consumed time required to output the target torque; Obtaining a third elapsed time required from when the front drive motor of the vehicle passes through the bumpy road surface to when the rear drive motor of the vehicle passes through the bumpy road surface; If the sum of the first consumed time and the second consumed time is less than the third consumed time, the current vehicle speed and the current pre-output torque are obtained to determine the target torque; otherwise, there is no need to determine the target torque.

4. The method according to claim 3, characterized in that The outputting the target torque comprises: If the sum of the first consumed time and the second consumed time is less than the third consumed time, then calculating the time difference between the third consumed time and the sum of the first consumed time and the second consumed time; The target torque is output according to the time difference.

5. The method according to claim 4, characterized in that Outputting the target torque according to the time difference comprises: Subtracting a preset duration from the time difference to obtain a target delay time, wherein the preset duration is less than the time difference; The front drive motor of the vehicle outputs the target torque after the target delay time on the bumpy road surface has elapsed.

6. The method according to claim 1, characterized in that The obtaining of the current vehicle speed and the current pre-output torque to determine the target torque includes: Obtaining a preset corresponding relationship between vehicle speed, pre-output torque and pre-reduction torque; matching the current vehicle speed and the pre-output torque with the preset corresponding relationship to determine a pre-reduction torque that matches the current vehicle speed and the current pre-output torque; A torque difference between the current pre-output torque and the matched pre-reduction torque is determined as the target torque.

7. The method according to claim 1, characterized in that The outputting the target torque comprises: Get the preset torque reduction time; The target torque is output according to the preset torque reduction time, and the current pre-output torque is restored after the torque reduction time is reached.

8. A torque adjustment device for a vehicle, characterized in that: include: A first acquisition module, used for acquiring a turbulence recognition signal; A judgment module, used for comparing the bump recognition signal with a preset bump signal to judge whether the current vehicle driving road surface is a bumpy road surface; A second acquisition module is used to acquire the current vehicle speed and the current pre-output torque to determine the target torque if the road is bumpy; An output module is used to output the target torque.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

11. A vehicle, characterized in that: include: The torque adjustment device for a vehicle as claimed in claim 8, and / or the electronic device as claimed in claim 9, and / or the readable storage medium as claimed in claim 10.

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