Vehicle torque determination method, apparatus and vehicle

Abstract

The application relates to a vehicle torque determination method and device and a vehicle, and relates to the technical field of computers. The method is applied to a vehicle and comprises the following steps: acquiring road surface information of a target road section to be passed by the vehicle and vehicle driving data; determining a road surface impact force suffered by the vehicle when passing the target road section based on the road surface information and the vehicle driving data; and determining a target torque based on the road surface impact force; the target torque is a motor torque used by the vehicle when passing the target road section. Therefore, when the road surface impact force is determined, the operation data of the vehicle and the road surface information of the target road section are comprehensively considered, the accuracy of the road surface impact force is improved, and when the vehicle passes the target road section based on the target torque, the influence of the road surface impact force on the transmission system of the vehicle can be avoided, so that abnormal sound caused by inherent gaps in the transmission system of the vehicle can be effectively avoided.

Description

Technical Field

[0001] This application relates to the field of computer technology, and more particularly to the field of vehicle abnormal noise control technology, specifically to a method, device and vehicle for determining vehicle torque. Background Technology

[0002] With the rapid development of new energy vehicles, their market share has been increasing year by year. Because the power source of new energy vehicles has changed from the traditional fuel engine to a drive motor, the low-frequency noise of the engine inside the vehicle has been reduced. Although high-frequency electric drive noise has been added to new energy vehicles, compared with traditional vehicles, the interior of new energy vehicles is still quieter during operation, and any abnormal noises are more easily detected than in traditional fuel vehicles. New energy vehicles, especially those that are entirely driven by electric drive, rely solely on the torque output of the electric drive to propel the vehicle. Under some common operating conditions, such as low-speed forward and reverse driving, the electric drive only needs to output a very small amount of torque to drive the vehicle, and the auxiliary drive may not even output any torque. However, there are gaps in the gear meshing and keyed connections in the transmission mechanism from the electric drive to the wheels. When the electric drive output torque is very small or not output at all, if the vehicle's motor torque changes abruptly, collisions may occur between the gears and keyed connections in the transmission mechanism, resulting in abnormal noises from the vehicle.

[0003] CN117227499A discloses a method for determining the required pre-load torque of a vehicle when the accelerator pedal is released in drive mode or the brake pedal is released in regenerative braking mode. This method is based on the rate of change of brake pedal depth, the rate of change of accelerator pedal depth, the current gear position, and the current vehicle speed, thereby providing the vehicle with the corresponding pre-load torque to improve the phenomenon of abnormal noise caused by sudden torque changes. CN105691239B discloses a method for determining the target torque required in the operating state when the electric vehicle is in a rolling state, according to a preset correspondence between the operating state and torque, and controlling the torque output of the electric vehicle's motor to be the target torque. Both of these methods correct for sudden changes in the vehicle's motor torque, resulting in a delay and failing to prevent abnormal noise from the vehicle's transmission system. Therefore, how to avoid abnormal noise from the vehicle's transmission system is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, and vehicle for determining vehicle torque, to at least solve the technical problem in related technologies that makes it impossible to avoid abnormal noise in the vehicle's transmission system. The technical solution of this application is as follows:

[0005] According to a first aspect of this application, a method for determining vehicle torque is provided, applied to a vehicle. The method includes: acquiring road surface information and vehicle driving data of a target road segment that the vehicle is about to pass; determining the road impact force experienced by the vehicle as it passes the target road segment based on the road surface information and vehicle driving data; and determining a target torque based on the road impact force. The target torque is the motor torque used by the vehicle as it passes the target road segment.

[0006] Based on the aforementioned technical methods, the impact force of the target road segment on the vehicle is determined according to road surface information and vehicle driving data, and a target torque is determined so that the vehicle can pass through the target road segment based on the target torque. This comprehensively considers the influence of the external road environment and the vehicle's own driving data, effectively avoiding abnormal noises from the transmission system due to inherent clearances when the vehicle passes through impacted road surfaces. Furthermore, by adjusting the vehicle's motor torque in real time based on the target torque, the vehicle can adapt to different road conditions, not only avoiding abnormal noises from the vehicle's transmission system and reducing bumps caused by uneven road surfaces, thus improving vehicle ride comfort, but also reducing the risk of vehicle slippage or loss of control due to road conditions.

[0007] In one possible implementation, determining the target torque based on road impact force includes: calculating the impact torque experienced by the vehicle's powertrain when the vehicle passes through the target road segment based on the road impact force; and determining the target torque based on the impact torque.

[0008] Based on the aforementioned technical methods, the impact torque is used to determine the degree to which the road surface conditions of the target road segment affect the vehicle's motor torque. This allows for a more accurate determination of the target torque required for the vehicle to traverse the target road segment, adapting to different road conditions. Furthermore, accurately determining the target torque can effectively avoid the loss of driving range caused by blindly adding torque to the vehicle.

[0009] In another possible implementation, the impact torque when the vehicle passes through the target road segment is calculated based on the road impact force, including: determining the first traction force when the vehicle passes through the target road segment based on the road impact force and the vehicle's current power; and calculating the impact torque based on the first traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0010] Based on the aforementioned technical means, the impact torque of the target road segment on the vehicle can be determined more accurately by considering the road impact force and the vehicle's current power. This allows for the accurate determination of the target torque that enables the vehicle to pass through the target road segment without making any abnormal noises, thereby avoiding the waste of vehicle resources.

[0011] In another possible implementation, the impact torque of a vehicle passing through a target road segment is calculated based on the road impact force, including: inputting the road impact force into a first torque determination model to obtain the impact torque of the vehicle passing through the target road segment.

[0012] Based on the aforementioned technical means, by determining the model using road impact force and first torque, the impact torque of the target road segment on the vehicle can be determined more accurately, so as to accurately determine the target torque that allows the vehicle to pass through the target road segment without abnormal noise based on the impact torque.

[0013] In another possible implementation, determining the target torque based on the impact torque includes: determining the target torque based on the impact torque when the impact torque indicates that the motor torque of the vehicle has crossed zero.

[0014] Based on the aforementioned technical means, when the vehicle's motor torque crosses zero, the vehicle's transmission system will produce abnormal noise due to inherent clearance. It is necessary to apply a corresponding target torque to the vehicle's motor to prevent the motor torque from crossing zero, thus avoiding abnormal noise. Furthermore, determining the target torque only when the vehicle's motor torque crosses zero can effectively prevent the addition of torque to the vehicle's motor before the vehicle passes through impact sections, i.e., before the vehicle's motor torque crosses zero, which would increase the vehicle's motor energy consumption and lead to a loss of vehicle range. This reduces unnecessary energy consumption and improves energy utilization efficiency.

[0015] In another possible implementation, the road surface information includes the slope of the target road segment; determining the target torque based on the road impact force includes: determining the second traction force required for the vehicle to pass through the target road segment based on the road impact force, the vehicle's weight, and the slope of the target road segment; and determining the target torque based on the second traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0016] Based on the aforementioned technical means, the impact of road impact, road slope, and vehicle weight on the vehicle is taken into account, and the traction force required for the vehicle to pass through the target road section is calculated more accurately, thereby determining the target torque. This allows the vehicle to pass through the target road section without any abnormal noise based on the target torque, avoiding excessive energy consumption and improving the vehicle's energy utilization efficiency.

[0017] In another possible implementation, determining the target torque based on the road impact force includes: inputting the road impact force into a second torque determination model to obtain the target torque.

[0018] Based on the aforementioned technical means, by using the road impact force and second torque determination model, the target torque required for a vehicle to pass through the target road section can be determined more accurately, so that the vehicle can pass through the target road section without any abnormal noise based on the target torque.

[0019] In another possible implementation, the road impact force experienced by a vehicle passing through a target road segment is determined based on road surface information and vehicle driving data, including: querying the road impact force in a mapping relationship based on road surface information and vehicle driving data; the mapping relationship is used to characterize the correspondence between road surface information, vehicle driving data and road impact force.

[0020] Based on the above technical means, complex road information and vehicle driving data are converted into standardized road impact force through mapping relationships, avoiding complex real-time calculations, simplifying the data processing process, reducing response time by quickly querying mapping relationships, and improving the response speed to changes in road information and vehicle driving data.

[0021] In another possible implementation, the road impact force experienced by a vehicle passing through a target road segment is determined based on road surface information and vehicle driving data, including: inputting road surface information and vehicle driving data into an impact force determination model to obtain the road impact force experienced by the vehicle passing through the target road segment.

[0022] Based on the above technical means, the impact force determination model is used to determine the road impact force corresponding to road information and vehicle driving data, simplifying the data processing process and improving the response speed to changes in road information and vehicle driving data.

[0023] In another possible implementation, obtaining road surface information of the target road segment that the vehicle is about to pass through includes: acquiring an image of the target road segment; determining road surface information by recognizing the image of the target road segment; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

[0024] Based on the aforementioned technical means, the road surface information of the target road segment can be identified through image recognition of the target road segment, so as to analyze the target torque required for the vehicle to pass through the target road segment based on the road surface information of the target road segment.

[0025] In another possible implementation, obtaining road surface information of the target road segment that the vehicle is about to pass through includes: scanning the target road segment with radar to obtain point cloud data of the target road segment; determining road surface information based on the point cloud data of the target road segment; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

[0026] Based on the aforementioned technical means, the point cloud data of the target road segment can be scanned by radar to determine the road surface information of the target road segment, so as to analyze the target torque required for the vehicle to pass through the target road segment based on the road surface information of the target road segment.

[0027] In another possible implementation, the target torque is determined based on the impact torque, including: inputting the impact torque into a third torque determination model to obtain the target torque.

[0028] Based on the aforementioned technical means, the target torque can be accurately determined based on the impact torque through the third torque determination model, thereby improving the energy utilization efficiency of the vehicle and reducing unnecessary energy waste. Furthermore, the third torque determination model can quickly respond to changes in impact torque and adjust the target torque in a timely manner to adapt to the dynamic needs of the vehicle.

[0029] In another possible implementation, the method further includes: collecting vehicle feedback data as the vehicle passes through the target road segment; the feedback data includes the motor torque and driving data of the vehicle when passing through the target road segment based on the target torque; and retraining the third torque determination model based on the feedback data.

[0030] Based on the aforementioned technical means, the third torque determination model is retrained using feedback data from vehicles passing through the target road segment. This allows the third torque determination model to adapt to different driving conditions and road surface conditions, thereby improving its accuracy and predictive ability. Consequently, the third torque determination model can more accurately determine the target torque, reducing unnecessary energy waste and improving energy utilization efficiency.

[0031] According to a second aspect provided in this application, a vehicle torque determining device is provided. The device includes: an acquisition module for acquiring road surface information and vehicle driving data of a target road segment that the vehicle is about to pass through; a determining module for determining the road impact force experienced by the vehicle when passing through the target road segment based on the road surface information and vehicle driving data; and a determining module for determining a target torque based on the road impact force; wherein the target torque is the motor torque used by the vehicle when passing through the target road segment.

[0032] In one possible implementation, the determining module is specifically used to calculate the impact torque experienced by the vehicle's powertrain when the vehicle passes through the target road segment based on the road impact force; and to determine the target torque based on the impact torque.

[0033] In another possible implementation, the determining module is specifically used to determine the first traction force of the vehicle when it passes through the target road segment based on the road impact force and the vehicle's current power; and to calculate the impact torque based on the first traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0034] In another possible implementation, a determining module is specifically used to input the road impact force into a first torque determining model to obtain the impact torque when the vehicle passes through the target road section.

[0035] In another possible implementation, the determining module is specifically used to determine the target torque based on the impact torque when the impact torque indicates that the motor torque of the vehicle has crossed zero.

[0036] In another possible implementation, the determining module is specifically used to determine the second traction force required for the vehicle to pass through the target road segment based on the road impact force, the vehicle's weight, and the slope of the target road segment; and to determine the target torque based on the second traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0037] In another possible implementation, a determining module is specifically used to input the road impact force into a second torque determining model to obtain the target torque.

[0038] In another possible implementation, the determining module is specifically used to query the road impact force in a mapping relationship based on road information and vehicle driving data; the mapping relationship is used to characterize the correspondence between road information, vehicle driving data and road impact force.

[0039] In another possible implementation, the determination module is specifically used to input road surface information and vehicle driving data into the impact force determination model to obtain the road impact force experienced by the vehicle when passing through the target road segment.

[0040] In another possible implementation, the acquisition module is specifically used to acquire an image of the target road segment; by recognizing the image of the target road segment, the road surface information is determined; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

[0041] In another possible implementation, the acquisition module is specifically used to acquire point cloud data of the target road segment by scanning the target road segment with radar; and to determine road surface information based on the point cloud data of the target road segment; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

[0042] In another possible implementation, a determining module is specifically used to input the impact torque into a third torque determining model to obtain the target torque.

[0043] In another possible implementation, the device further includes a data acquisition module and a training module. The data acquisition module is used to acquire feedback data of the vehicle as it passes through the target road segment; the feedback data includes the motor torque and driving data of the vehicle when it passes through the target road segment based on the target torque; the training module is used to retrain the third torque determination model based on the feedback data.

[0044] According to a third aspect provided in this application, a vehicle is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0045] According to a fourth aspect provided in this application, a computer-readable storage medium is provided that, when the instructions in the computer-readable storage medium are executed by a processor of a vehicle, enables the vehicle to perform the methods described in the first aspect and any possible implementation thereof.

[0046] According to the fifth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions that, when executed on a vehicle, cause the vehicle to perform the method described in the first aspect and any possible implementation thereof.

[0047] Therefore, the above-mentioned technical features of this application have the following beneficial effects:

[0048] (1) Based on road surface information and vehicle driving data, the impact force of the target road segment on the vehicle is determined, and the target torque is determined so that the vehicle can pass through the target road segment based on the target torque. This comprehensively considers the influence of the external road environment and the vehicle's own driving data on the vehicle, thereby effectively avoiding abnormal noises caused by inherent clearances in the transmission system when the vehicle passes through the impact road surface. Furthermore, by adjusting the vehicle's motor torque in real time based on the target torque, the vehicle can adapt to different road conditions, not only avoiding abnormal noises in the vehicle's transmission system and reducing bumps caused by uneven road surfaces, but also improving vehicle ride comfort. It also reduces the risk of the vehicle slipping or losing control due to road conditions.

[0049] (2) By determining the impact torque, the impact torque is used to ascertain the degree of influence of the road surface conditions of the target road section on the vehicle's motor torque, so as to more accurately determine the target torque required for the vehicle to pass through the target road section and adapt to different road conditions. Furthermore, by accurately determining the target torque, the range loss caused by blindly adding torque to the vehicle can be effectively avoided.

[0050] (3) By using the road impact force and the vehicle's current power, the impact torque of the target road segment on the vehicle can be determined more accurately, so as to accurately determine the target torque that allows the vehicle to pass through the target road segment without making abnormal noise, thereby avoiding the waste of vehicle resources.

[0051] (4) By determining the model based on the road impact force and the first torque, the impact torque of the target road section on the vehicle can be determined more accurately, so as to accurately determine the target torque that allows the vehicle to pass through the target road section without abnormal noise based on the impact torque.

[0052] (5) When the motor torque of the vehicle crosses zero, the transmission system of the vehicle will make abnormal noise due to the inherent gap. It is necessary to add a corresponding target torque to the motor of the vehicle so that the motor torque does not cross zero and to avoid abnormal noise. Furthermore, determining the target torque only when the motor torque of the vehicle crosses zero can effectively avoid adding torque to the motor of the vehicle before the vehicle passes through the impact section, i.e., when the motor torque of the vehicle has not crossed zero, which would increase the energy consumption of the motor of the vehicle and lead to the loss of the vehicle's driving range. This reduces unnecessary energy consumption and improves energy utilization efficiency.

[0053] (6) Taking into account the impact of road impact, road slope and vehicle weight on the vehicle, the traction force required for the vehicle to pass through the target road section is calculated more accurately, thereby determining the target torque, so that the vehicle can pass through the target road section without abnormal noise based on the target torque, avoiding excessive energy consumption of the vehicle and improving the energy utilization efficiency of the vehicle.

[0054] (7) By using the road impact force and second torque determination model, the target torque required for the vehicle to pass through the target road section can be determined more accurately, so that the vehicle can pass through the target road section without any abnormal noise based on the target torque.

[0055] (8) By mapping relationships, complex road information and vehicle driving data are converted into standardized road impact forces, avoiding complex real-time calculations and simplifying the data processing process. By quickly querying the mapping relationships, the response time is reduced and the response speed to changes in road information and vehicle driving data is improved.

[0056] (9) By using the impact force determination model, the road impact force corresponding to road information and vehicle driving data can be determined, simplifying the data processing process and improving the response speed to changes in road information and vehicle driving data.

[0057] (10) The road surface information of the target road segment can be identified through the image of the target road segment so as to analyze the target torque required for the vehicle to pass through the target road segment based on the road surface information of the target road segment.

[0058] (11) The target road information can be determined by scanning the point cloud data of the target road segment with radar, so as to analyze the target torque required for the vehicle to pass through the target road segment based on the road information of the target road segment.

[0059] (12) The target torque can be accurately determined based on the impact torque by the third torque determination model, so as to improve the energy utilization efficiency of the vehicle and reduce unnecessary energy waste. Furthermore, the third torque determination model can quickly respond to changes in impact torque and adjust the target torque in a timely manner to adapt to the dynamic needs of the vehicle.

[0060] (13) Based on the feedback data of the vehicle passing through the target road segment, the third torque determination model is retrained so that the third torque determination model can be used under different driving conditions and road conditions, thereby improving the accuracy and prediction ability of the third torque determination model, making the third torque determination model more accurate in determining the target torque, reducing unnecessary energy waste and improving energy utilization efficiency.

[0061] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0062] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0063] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0064] Figure 1 This is a flowchart illustrating a method for determining vehicle torque according to an exemplary embodiment;

[0065] Figure 2 This is a flowchart illustrating another method for determining vehicle torque according to an exemplary embodiment;

[0066] Figure 3 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment;

[0067] Figure 4 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment;

[0068] Figure 5 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment;

[0069] Figure 6 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment;

[0070] Figure 7 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment;

[0071] Figure 8 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment;

[0072] Figure 9This is a block diagram illustrating a vehicle torque determining device according to an exemplary embodiment;

[0073] Figure 10 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0074] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0075] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0076] With economic development and improved living standards, automobiles have become a common mode of transportation. Currently, new energy vehicles are developing rapidly, and their market share is increasing year by year. Because the power source of new energy vehicles has changed from the traditional fuel engine to a drive motor, the low-frequency noise of the engine inside the vehicle is reduced. Although high-frequency electric drive noise is added to new energy vehicles, compared with traditional vehicles, the interior of new energy vehicles is quieter during operation, and any abnormal noises are more easily detected than in traditional fuel vehicles. New energy vehicles, especially those that are entirely driven by electric drive, rely solely on the torque output of the electric drive to propel the vehicle. Under common operating conditions, such as low-speed forward and reverse driving, the electric drive only needs to output a very small amount of torque to drive the vehicle, and the auxiliary drive may not even output any torque. However, there are gaps in the gear meshing and keyed connections in the transmission mechanism from the electric drive to the wheels. When the electric drive output torque is very small or not output at all, if the vehicle's motor torque changes abruptly, collisions may occur between the gears and keyed connections in the transmission mechanism, resulting in abnormal noises.

[0077] New energy vehicles are directly driven by electric drive. Compared to traditional fuel vehicles, the lack of engine noise masking makes any abnormal noises from the vehicle more noticeable to the driver and passengers. When the vehicle is running at low speeds, there is not only no engine noise, but road noise and wind noise are also minimal, so any abnormal noises will be clearly apparent. On the other hand, when the electric drive system drives the vehicle, the output torque of the electric drive changes in real time with the actual operating conditions, ranging from negative to positive over a wide range. If the vehicle is running at low speeds, the electric drive only needs to output a small amount of torque to maintain the vehicle's operation, and the torque in the entire transmission system is also small. Due to the unavoidable backlash and keyway clearance in the vehicle's transmission system, if the vehicle is suddenly subjected to a large impact from the outside, causing a change in torque in the transmission system, when the torque change exceeds the normal output torque of the system during current driving, it will cause a reversal of the meshing in the transmission system, resulting in knocking noises.

[0078] When a vehicle is moving at low speed, the rear-wheel drive is responsible for driving the vehicle, while the front-wheel drive is in a follow-up state, outputting only a very small amount of torque to keep the entire front drivetrain in a close engagement state, preventing loose knocking noises. If there is a large impact from the road surface, the torque in the vehicle's drivetrain will change significantly. If the change is greater than the pre-applied torque, it may cause torque reversal in the drivetrain, resulting in knocking noises. In addition, the continuous pre-applied torque will lead to a reduction in driving range and an increase in cost. Among related technologies, solutions to the above-mentioned abnormal noises in the vehicle's drivetrain include: when the accelerator pedal is released in drive mode or the brake pedal is released in regenerative braking mode, a corresponding pre-applied torque is applied to the vehicle to avoid abnormal noises in the drivetrain during torque switching. This solution cannot prevent abnormal noises in the drivetrain caused by external impacts. Another related technology is to actively adjust the motor torque when the change in motor speed within a preset time is greater than or equal to a preset change value, to prevent the motor from hitting the gears and causing abnormal noises. This method passively corrects the vehicle's motor torque, which has a delay and cannot match large, rapid external impacts. Therefore, the existing methods for controlling abnormal noises in automotive transmission systems have the following problems: they cannot resolve transmission system noises caused by external impacts; the vehicle's motor torque is passively corrected, resulting in a delay and making it unable to handle large, rapid external impacts. Therefore, how to prevent abnormal noises from a vehicle's transmission system is a pressing technical problem that needs to be solved.

[0079] To address the aforementioned issues, this application proposes a vehicle torque determination method. This method determines the magnitude of the road impact force on the vehicle from the target road segment based on road surface information and vehicle driving data, thereby determining the target torque. This allows the vehicle to pass through the target road segment based on the target torque, comprehensively considering the influence of the external road environment and the vehicle's own driving data. This effectively avoids abnormal noises from the transmission system due to inherent clearances when the vehicle passes over impact surfaces. Furthermore, by adjusting the vehicle's motor torque in real time based on the target torque, the vehicle can adapt to different road conditions, not only preventing abnormal noises from the vehicle's transmission system and reducing bumps caused by uneven road surfaces, thus improving ride comfort, but also reducing the risk of vehicle slippage or loss of control due to road conditions.

[0080] For ease of understanding, the method for determining vehicle torque provided in this application will be described in detail below with reference to the accompanying drawings.

[0081] Figure 1 This is a flowchart illustrating a vehicle torque determination method according to an exemplary embodiment, such as... Figure 1 As shown, the method for determining the vehicle torque includes the following steps:

[0082] S101. Obtain road surface information and vehicle driving data for the target road segment that the vehicle is about to pass through.

[0083] As one possible implementation, the determining device can acquire road surface information and vehicle driving data of the target road segment that the vehicle is about to pass through, so as to determine the impact force of the target road segment on the vehicle based on the road surface information and vehicle driving data of the target road segment, thereby determining the target torque required for the vehicle to pass through the target road segment.

[0084] For example, the determining device can collect road surface information and vehicle driving data of the target road segment through acquisition devices. The acquisition devices include: a road surface information acquisition device that scans the target road segment in front of the vehicle in real time, and a vehicle data acquisition device that collects vehicle driving data in real time based on the vehicle controller area network (CAN) bus. The acquisition devices can operate continuously while the vehicle is in motion. While the vehicle is moving, the road surface information acquisition device located in the direction of vehicle travel (i.e., the front of the vehicle when moving forward, and the rear of the vehicle when moving backward) scans and collects road surface information in real time. Simultaneously, the vehicle data acquisition system collects information such as vehicle speed, motor speed, motor torque, and throttle opening in real time via the CAN bus. The road surface information acquisition device can be a high-precision camera on the vehicle, which scans the road surface conditions of the target road segment in the direction of vehicle travel in real time and performs visual recognition of the road surface conditions to obtain the road surface information of the target road segment.

[0085] S102. Based on road surface information and vehicle driving data, determine the road impact force experienced by the vehicle as it passes through the target road section.

[0086] As one possible implementation, after the determining device acquires the road surface information and vehicle driving data of the target road segment, it can determine the road impact force experienced by the vehicle when passing through the target road segment based on the road surface information and vehicle driving data, and thus determine the target torque required by the vehicle based on the road impact force.

[0087] For example, the determining device can identify the road surface smoothness of the target road section that the vehicle's wheels are about to run over based on road surface information, determine whether the wheels will be impacted by the target road section if the vehicle continues to travel in the current direction, and combine the vehicle driving data to determine the degree of impact of the target road section on the vehicle's transmission system when the wheels are impacted by the target road section under the current operating conditions, that is, the road impact force experienced by the vehicle when passing through the target road section.

[0088] Specifically, the determining device inputs road surface information and vehicle driving data into the analysis equipment. The analysis equipment analyzes the road surface information to determine what kind of road surface the wheels will traverse as the vehicle continues along its current trajectory. This allows it to identify abnormal road surfaces that may cause external impacts to the vehicle's transmission system, such as potholes or bumps. The analysis equipment can analyze the size of potholes or the height of bumps based on the road surface information. Combined with vehicle driving data such as vehicle speed, electric drive torque, and throttle opening, it analyzes how long after the vehicle will encounter the abnormal road surface and, under the current driving conditions, the impact force the vehicle will experience when encountering the abnormal road surface.

[0089] S103. Determine the target torque based on road impact force.

[0090] The target torque is the motor torque used by the vehicle when passing through the target road section.

[0091] As one possible implementation, after determining the road impact force experienced by the vehicle as it passes through the target road segment, the determining device can determine the target torque required for the vehicle to pass through the target road segment based on the road impact force.

[0092] For example, the determining device can determine the impact torque generated by the vehicle motor when the vehicle passes through the target road segment with the current driving data based on the road impact force, and then determine the target torque required for the vehicle to pass through the target road segment based on the impact torque.

[0093] It should be noted that after the determining device determines the target torque required for the vehicle to pass through the target road section, the vehicle can add the target torque to the transmission system, so that when the whole vehicle passes through the target road section, the contact surfaces in the transmission system always remain in a stable fit, thereby avoiding abnormal noise caused by the inherent gaps in the transmission system when the vehicle passes through the target road section.

[0094] It should be understood that the determining device determines the magnitude of the road impact force on the vehicle based on the road surface information and vehicle driving data of the target road segment, and determines the target torque so that the vehicle can pass through the target road segment based on the target torque. This comprehensively considers the influence of the external road environment and the vehicle's own driving data, thereby effectively avoiding abnormal noises from the transmission system due to inherent clearances when the vehicle passes through the impact road surface. Furthermore, by adjusting the vehicle's motor torque in real time based on the target torque, the vehicle can adapt to different road conditions, not only avoiding abnormal noises from the vehicle's transmission system and reducing bumps caused by uneven road surfaces, thus improving vehicle ride comfort, but also reducing the risk of vehicle slippage or loss of control due to road conditions.

[0095] In some embodiments, the determining device can determine the impact torque of the vehicle passing through the target road segment based on the road impact force experienced by the vehicle, thereby determining the target torque based on the impact torque. Therefore, as... Figure 2 As shown, step S103 above can be specifically implemented as follows: steps S1031-S1032:

[0096] S1031. Based on the road impact force, calculate the impact torque on the vehicle's powertrain when the vehicle passes through the target road section.

[0097] As one possible implementation, the determining device can calculate the impact torque on the vehicle's powertrain when the vehicle passes through the target road segment based on the road impact force it experiences, and thus determine the target torque required for the vehicle to pass through the target road segment based on the impact torque.

[0098] For example, the determining device can determine a first traction force for the vehicle to pass through the target road segment based on the road impact force and the vehicle's current power, i.e., the traction force provided by the vehicle's motor to the vehicle just before the vehicle passes through the target road segment. The first traction force represents the traction force after the original traction force provided by the vehicle's motor to the vehicle is affected by the road impact force, under the influence of road surface information in the target road segment. The determining device can calculate the impact torque on the vehicle's powertrain when the vehicle passes through the target road segment based on the first traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency, in order to determine the degree of influence of the road impact force on the vehicle, thereby determining the target torque that enables the vehicle to pass through the target road segment.

[0099] S1032. Determine the target torque based on the impact torque.

[0100] As one possible implementation, after determining the impact torque, the device can also determine the target torque based on the impact torque, so that the vehicle can pass through the target road segment based on the target torque.

[0101] For example, the determining device can determine whether the vehicle can pass through the target road segment in its current driving state based on the impact torque, and whether the vehicle's transmission system produces abnormal noise when the vehicle passes through the target road segment in its current driving state. In cases where the vehicle cannot pass through the target road segment in its current driving state, or the vehicle can pass through the target road segment in its current driving state but the vehicle's transmission system produces abnormal noise, the vehicle determines the target torque based on the impact torque so that the vehicle can pass through the target road segment without the vehicle's transmission system producing abnormal noise.

[0102] It should be understood that the determining device can determine the impact of the road surface conditions of the target road segment on the vehicle's motor torque through the impact torque, so as to more accurately determine the target torque required for the vehicle to pass through the target road segment, in order to adapt to different road conditions. Furthermore, by accurately determining the target torque, the range loss caused by blindly adding torque to the vehicle can be effectively avoided.

[0103] In other embodiments, the determining device may also determine a first traction force of the vehicle as it passes through the target road segment based on the road impact force and the vehicle's current power, thereby determining the impact torque based on the first traction force. Therefore, as... Figure 3 As shown, step S1031 above can be specifically implemented as follows: steps S1031a-S1031b:

[0104] S1031a. Based on the road impact force and the vehicle's current power, determine the first traction force when the vehicle passes through the target road segment.

[0105] As one possible implementation, the determining device can determine the first traction force of the vehicle when it passes through the target road segment based on the road impact force and the vehicle's current power, and then determine the impact torque based on the first traction force.

[0106] For example, the determining device can obtain the power generated by the vehicle's motor from vehicle driving data and the road surface slope of the target road segment from road surface information, thereby determining the frictional force of the target road segment on the vehicle based on the road surface slope of the target road segment, the vehicle's weight, and the coefficient of friction between the vehicle's wheels and the target road segment. The determining device can determine the first traction force when the vehicle passes through the target road segment in its current driving state based on the frictional force of the target road segment on the vehicle, the vehicle's current power, and the road impact force on the vehicle.

[0107] Specifically, the determining device can determine the first traction force of the vehicle when passing through the target road segment using the following expression;

[0108] f1 = μmg cosθ;

[0109] F1 = F 动力 -F 冲击力 -f1;

[0110] Where f1 represents the frictional force exerted by the target road segment on the vehicle, μ represents the coefficient of friction between the vehicle's wheels and the target road segment, m represents the weight of the vehicle, and g represents the acceleration due to gravity, typically taken as 9.8 m / s². 2 θ represents the road surface slope of the target road segment, and F1 represents the initial traction force of the vehicle when it passes through the target road segment in its current driving state. 动力 F represents the vehicle's current power. 冲击力 This indicates the impact force on the road surface.

[0111] S1031b: Calculate the impact torque based on the first traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0112] As one possible implementation, after determining the first traction force when the vehicle passes through the target road segment, the determining device can calculate the impact torque based on the first traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0113] For example, the determining device can calculate the impact torque based on the following expression:

[0114] T1 = F1 * r / η;

[0115] Where T1 represents the impact torque, F1 represents the first traction force, r represents the vehicle's wheel radius, and η represents the vehicle's transmission system efficiency.

[0116] It should be understood that the determining device can more accurately determine the impact torque of the target road segment on the vehicle by using the road impact force and the vehicle's power, so as to accurately determine the target torque that allows the vehicle to pass through the target road segment without abnormal noise, thereby avoiding the waste of vehicle resources.

[0117] In other embodiments, the determining device can also determine the impact torque of the vehicle passing through the target road segment using a first torque determining model. Therefore, the above steps, based on the road impact force, calculate the impact torque of the vehicle passing through the target road segment, which can be specifically implemented as follows: inputting the road impact force into the first torque determining model to obtain the impact torque of the vehicle passing through the target road segment.

[0118] For example, the impact torque of a vehicle passing through a target road segment can also be determined using a first torque determination model. This first torque determination model is trained based on extensive vehicle test and road test data to establish the relationship between road impact force and the impact torque of the vehicle passing through the target road segment. Furthermore, the first torque determination model can be set up on the vehicle's end or in the cloud; this application embodiment does not limit this.

[0119] It should be understood that the model for determining the impact force and first torque on the road surface can more accurately determine the impact torque of the target road segment on the vehicle, so as to accurately determine the target torque that allows the vehicle to pass through the target road segment without abnormal noise based on the impact torque.

[0120] In other embodiments, after determining the impact torque of the vehicle, the determining device can determine whether the vehicle's motor torque has crossed zero based on the impact torque. If the impact torque indicates that the vehicle's motor torque has crossed zero, it means that when the vehicle passes through the target road segment, the vehicle's transmission system will experience abnormal noise due to the zero-crossing of the motor torque. The determining device can determine the target torque based on the impact torque, so that the vehicle passes through the target road segment based on the target torque, avoiding abnormal noise. Therefore, the above step S1032 can be specifically implemented as: when the impact torque indicates that the vehicle's motor torque has crossed zero, determining the target torque based on the impact torque.

[0121] As one possible implementation, after determining the impact torque, the device can determine whether the vehicle's motor torque has crossed zero based on the impact torque. Thus, if the impact torque indicates that the vehicle's motor torque has crossed zero, the target torque can be determined based on the impact torque.

[0122] For example, gears in a vehicle's transmission system have a certain amount of backlash. When the vehicle's motor torque changes rapidly, it causes impacts between internal transmission components, generating abnormal noise. Therefore, when the impact torque indicates that the vehicle's motor torque has crossed zero, the determining device can determine a target torque based on the impact torque to prevent abnormal noise when the vehicle passes through the target road segment. When the impact torque indicates that the vehicle's motor torque has not crossed zero, the vehicle's motor torque does not change rapidly, and the backlash in the vehicle's transmission system will not cause abnormal noise when the vehicle passes through the target road segment; therefore, the determining device does not need to determine the target torque.

[0123] Specifically, when a vehicle passes through a target road segment, if the motor torque changes from positive to negative, or vice versa, it indicates that the motor torque has crossed zero. For example, the motor torque changes from 2 Nm to -1 Nm. If the sign of the motor torque does not change when the vehicle passes through the target road segment, it indicates that the motor torque has not crossed zero. For example, the motor torque changes from 2 Nm to 1 Nm. The aforementioned impact torque represents the torque generated by the vehicle's motor due to the influence of the target road segment when the vehicle passes through it with the current driving data. Therefore, if the sign of the impact torque is opposite to that of the motor torque before the vehicle passes through the target road segment, it indicates that the motor torque crossed zero when passing through the target road segment.

[0124] It should be understood that when the vehicle's motor torque crosses zero, the vehicle's transmission system will produce abnormal noise due to inherent clearances. The determining device needs to apply a corresponding target torque to the vehicle's motor to prevent the motor torque from crossing zero, thus avoiding abnormal noise. Furthermore, determining the target torque only when the vehicle's motor torque crosses zero can effectively prevent adding torque to the vehicle's motor before the vehicle has passed through impact sections, i.e., when the vehicle's motor torque has not crossed zero, which would increase the vehicle's motor energy consumption and lead to a loss of driving range. This reduces unnecessary energy consumption and improves energy efficiency.

[0125] In other embodiments, road surface information includes the slope of the target road segment. The determining device can determine a second traction force for the vehicle to pass through the target road segment without making any abnormal noise, based on the road impact force, the vehicle's weight, and the slope of the target road segment, thereby determining the target torque based on the second traction force. Therefore, as Figure 4 As shown, step S103 above can be specifically implemented as follows: steps S103a-S103b:

[0126] S103a. Based on the road impact force, the vehicle's weight, and the slope of the target road section, determine the second traction force required for the vehicle to pass through the target road section.

[0127] As one possible implementation, the determining device can determine the second traction force required for the vehicle to pass through the target road segment based on the road impact force, the vehicle's weight, and the slope of the target road segment.

[0128] For example, the determining device can obtain the road surface slope of the target road segment from the road surface information, and determine the friction force of the target road segment on the vehicle based on the road surface slope of the target road segment, the weight of the vehicle, and the friction coefficient between the vehicle's wheels and the target road segment. Based on the friction force of the target road segment on the vehicle and the road impact force, it can determine the second traction force required for the vehicle to pass through the target road segment without making abnormal noise.

[0129] Specifically, the determining device can determine the second traction force required for the vehicle to pass through the target road segment using the following expression;

[0130] f2 = μmg cosθ;

[0131] F2 = F 冲击力 +f2;

[0132] Where f2 represents the frictional force exerted by the target road segment on the vehicle, μ represents the coefficient of friction between the vehicle's wheels and the target road segment, m represents the weight of the vehicle, and g represents the acceleration due to gravity, typically taken as 9.8 m / s². 2 θ represents the road surface slope of the target road segment, and F2 represents the initial traction force of the vehicle when it passes through the target road segment in its current driving state. 冲击力 This indicates the impact force on the road surface.

[0133] S103b, Based on the second traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency, determine the target torque.

[0134] As one possible implementation, after determining the second traction force required for the vehicle to pass through the target road segment, the determining device can determine the target torque based on the second traction force, the vehicle's wheel radius, and the efficiency of the vehicle's transmission system.

[0135] For example, the determining device can determine the target torque based on the following expression:

[0136] T2 = F2 * r / η;

[0137] Where T2 represents the target torque, F2 represents the second traction force, r represents the vehicle's wheel radius, and η represents the vehicle's transmission system efficiency.

[0138] It should be understood that the determining device takes into account the impact of road impact, road slope and the vehicle's own weight on the vehicle, and more accurately calculates the traction force required for the vehicle to pass through the target road section, thereby determining the target torque. This allows the vehicle to pass through the target road section without any abnormal noise based on the target torque, avoiding excessive energy consumption and improving the vehicle's energy utilization efficiency.

[0139] In other embodiments, the determining device can also determine the target torque using a second torque determining model. Therefore, the above steps, based on road impact force, determine the target torque, which can be specifically implemented as follows: inputting the road impact force into the second torque determining model to obtain the target torque.

[0140] For example, a second torque determination model can also be used to determine the target torque required for the vehicle to pass through the target road segment. The second torque determination model is trained based on a large amount of vehicle test data and road test data to determine the relationship between road impact force and the target torque required for the vehicle to pass through the target road segment. Furthermore, the second torque determination model can be set on the vehicle's end or in the cloud; this application embodiment does not limit this. Additionally, the second torque determination model can be the same as or different from the first torque determination model; this application embodiment also does not limit this.

[0141] It should be understood that by using the road impact force and second torque determination model, the target torque required for a vehicle to pass through the target road segment can be determined more accurately, so that the vehicle can pass through the target road segment without any abnormal noise based on the target torque.

[0142] In other embodiments, the determining device can determine the road impact force experienced by a vehicle passing through a target road segment by querying the road impact force corresponding to road information and vehicle driving data in a mapping relationship. Therefore, step S102 can be specifically implemented as: querying the road impact force in a mapping relationship based on road information and vehicle driving data. The mapping relationship is used to characterize the correspondence between road information, vehicle driving data, and road impact force.

[0143] As one possible implementation, the determining device can query the road impact force corresponding to road surface information and vehicle driving data from the mapping relationship.

[0144] For example, during vehicle development, road surface information and driving data of the road segments traversed by the vehicle can be calibrated and matched with the road impact force received by the vehicle on those segments. Specific road surfaces and special operating conditions are pre-selected, such as various noise evaluation roads at a test track, and the mapping relationship is calibrated using software on these test roads. The identified road surface information, vehicle driving data, and the actual impact force received by the vehicle from the road surface are correlated and coupled, and stored in the mapping relationship. Thus, the determining device can query the road impact force corresponding to the current road surface information and vehicle driving data from the mapping relationship.

[0145] It should be noted that when determining the mapping relationship between vehicles in the test track, the controlled variable method and mathematical fitting method can be used to determine the road impact force experienced by the vehicle under various road surface information and various vehicle driving data conditions. For example, when the road surface information is fixed, i.e., the same impact section, the road impact force experienced by the vehicle when passing through the impact section with multiple different driving data can be statistically analyzed. The multiple road impact forces can be mathematically fitted to obtain the curve equation of the road impact force of the vehicle passing through the impact section under different driving data conditions, thereby determining the road impact force of the vehicle passing through the impact section under various driving data conditions.

[0146] It should be understood that the determining device can convert complex road information and vehicle driving data into standardized road impact force through mapping relationships, avoiding complex real-time calculations, simplifying the data processing process, reducing response time by quickly querying the mapping relationship, and improving the response speed to changes in road information and vehicle driving data.

[0147] In other embodiments, the road impact force experienced by a vehicle passing through a target road segment is determined based on road surface information and vehicle driving data, including: inputting road surface information and vehicle driving data into an impact force determination model to obtain the road impact force experienced by the vehicle passing through the target road segment.

[0148] For example, an impact force determination model can also be used to determine the road impact force experienced by a vehicle when passing through a target road segment. This impact force determination model is trained based on a large amount of vehicle test data and road test data, analyzing the relationship between road surface information, vehicle driving data, and the road impact force experienced by the vehicle when passing through the target road segment. Furthermore, the impact force determination model can be set up on the vehicle's end or in the cloud; this application embodiment does not limit this.

[0149] It should be understood that by using the impact force determination model, the road impact force corresponding to road surface information and vehicle driving data can be determined, simplifying the data processing process and improving the response speed to changes in road surface information and vehicle driving data.

[0150] In other embodiments, the determining device can also identify road surface information of the target road segment from the image of the target road segment. Therefore, as... Figure 5 As shown, the above steps obtain road surface information of the target road segment that the vehicle is about to pass through, which can be specifically implemented as follows: steps S1011-S1012:

[0151] S1011. Obtain an image of the target road segment.

[0152] As one possible implementation, the determining device can acquire an image of the target road segment that the vehicle is about to pass through, so as to analyze the image and determine the road surface information of the target road segment.

[0153] For example, a vehicle can acquire images of the target road segment that it is about to pass through in real time through its onboard camera, or the determining device can acquire images of the target road segment through other image acquisition devices on the vehicle, or the determining device can acquire images of the target road segment through a high-precision map.

[0154] S1012. By recognizing the image of the target road section, the road surface information is determined.

[0155] The road surface information includes the road surface smoothness and / or road surface material of the target road section.

[0156] As one possible implementation, after the determining device acquires an image of the target road segment, it can identify the road surface smoothness and road surface material of the target road segment to obtain the road surface information of the target road segment.

[0157] For example, the determining device can preprocess the image of the target road segment, including denoising, grayscale conversion, and contrast enhancement, and extract surface features of the target road segment from the preprocessed image, such as road edges, cracks, and potholes. The determining device can then use road surface detection algorithms to identify and analyze the road surface condition of the target road segment, such as edge detection, texture analysis, or pattern recognition techniques. It can reconstruct a three-dimensional model of the target road segment using stereo vision technology or image data from multiple target road segments, thereby identifying the road surface smoothness and material by analyzing the three-dimensional model of the road surface, and obtaining road surface information.

[0158] It should be noted that the device can use machine learning algorithms to train data to learn the characteristics of road surface smoothness in order to automatically identify and classify different road surface conditions and improve the accuracy of road surface information identification.

[0159] It should be understood that the determining device can identify the road surface information of the target road segment through images of the target road segment, so as to analyze the target torque required for the vehicle to pass through the target road segment based on the road surface information of the target road segment.

[0160] In other embodiments, the determining device can also obtain point cloud data of the target road segment by scanning the target road segment with radar, thereby determining the road surface information of the target road segment based on the point cloud data. Therefore, as... Figure 6 As shown, the above steps obtain road surface information of the target road segment that the vehicle is about to pass through, which can be specifically implemented as follows: steps S101a-S101b:

[0161] S101a. Obtain point cloud data of the target road segment by scanning the target road segment with radar.

[0162] As one possible implementation, the determining device can also scan the target road segment with radar to obtain point cloud data of the target road segment, so as to determine the road surface information of the target road segment based on the point cloud data of the target road segment.

[0163] For example, a vehicle can obtain point cloud data of a target road segment by scanning the target road segment with its onboard radar, or the determining device can obtain point cloud data of the target road segment through other radar equipment.

[0164] It should be understood that the determining device can also acquire point cloud data of the target road segment scanned by radar equipment on the roadside of the target road segment. The specific acquisition method of the point cloud data of the target road segment is not limited in the embodiments of this application.

[0165] S101b. Determine the road surface information based on the point cloud data of the target road segment.

[0166] The road surface information includes the road surface smoothness and / or road surface material of the target road section.

[0167] As one possible implementation, after the device acquires the point cloud data of the target road segment, it can analyze the smoothness and pavement material of the target road segment based on the point cloud data, thereby determining the pavement information of the target road segment.

[0168] For example, the determining device can use point cloud processing techniques, such as octree sampling algorithm and Gaussian filtering algorithm, to filter and classify the point cloud data of the target road segment, thereby calculating the road surface smoothness of the target road segment based on the processed point cloud data and determining the road surface material of the target road segment to obtain road surface information.

[0169] It should be understood that the determining device can use radar to scan the point cloud data of the target road segment to determine the road surface information of the target road segment, so as to analyze the target torque required for the vehicle to pass through the target road segment based on the road surface information of the target road segment.

[0170] It should be noted that the determining device can also directly obtain the road surface information of the target road segment from the road surface information database or other devices, or obtain the road surface information of the target road segment through other road surface scanning or road surface processing methods. The specific method of obtaining the road surface information of the target road segment is not limited in the embodiments of this application. The above embodiments are just examples.

[0171] In other embodiments, when determining the target torque based on the impact torque, the impact torque can be input into a third torque determination model to obtain the target torque. Therefore, the above step of determining the target torque based on the impact torque can be specifically implemented as follows: inputting the impact torque into the third torque determination model to obtain the target torque.

[0172] As one possible implementation, the determining device can obtain the target torque by inputting the impact torque into a third torque determining model.

[0173] For example, the determining device can use a third torque determining model to determine how much torque (i.e., the target torque) needs to be pre-applied to the vehicle's motor to ensure the transmission system remains stable and does not produce abnormal noise when the tires pass over the target road segment under the current vehicle driving condition. The third torque determining model can match historical data to determine when and how much torque the transmission system needs to output to prevent disengagement of the internal meshing and the resulting knocking noise when subjected to impacts. Furthermore, the third torque determining model can be set at the vehicle's end or in the cloud; this application embodiment does not limit this. Additionally, the third torque determining model can be the same as or different from the first and second torque determining models; this application embodiment also does not limit this.

[0174] Specifically, during vehicle development, the mapping relationship between road surface information, vehicle driving data, and road impact force can be obtained. Since the test road surface is known, the magnitude of the impact experienced by the vehicle when passing through the road at different speeds can be clearly determined. Therefore, the third torque determination model can be used to calibrate and match the torque required to prevent disengagement of the transmission system when subjected to different impacts, i.e., the target torque, thereby enabling the training of the third torque determination model.

[0175] It should be noted that during vehicle operation, the determining device can acquire real-time road surface information and vehicle driving data of the target road segment to determine the target torque, so as to output the changing target torque demand in real time according to the changes in road conditions of the target road segment during vehicle operation.

[0176] It should be understood that the determining device, through the third torque determining model, can accurately determine the target torque based on the impact torque, thereby improving the energy utilization efficiency of the vehicle and reducing unnecessary energy waste. Furthermore, the third torque determining model can quickly respond to changes in the impact torque and adjust the target torque in a timely manner to adapt to the dynamic needs of the vehicle.

[0177] In other embodiments, as the vehicle passes through the target road segment based on the target torque, the determining device can also collect feedback data from the vehicle, namely, the motor torque and driving data of the vehicle passing through the target road segment. Thus, the determining device can train the third torque determination model based on the collected feedback data to improve the accuracy of the target torque determination. Therefore, as... Figure 7 As shown, the vehicle torque determination method provided in this application embodiment further includes the following steps:

[0178] S104. Collect vehicle feedback data during the process of the vehicle passing through the target road section.

[0179] The feedback data includes the motor torque and driving data of the vehicle when it passes through the target road segment based on the target torque.

[0180] As one possible implementation, during the process of a vehicle passing through a target road segment, the determining device can collect feedback data of the vehicle passing through the target road segment based on the target torque, so as to train the third torque determining model based on the real-time feedback data of the vehicle.

[0181] For example, as the vehicle passes through the target road segment, the vehicle's data acquisition equipment can also monitor and provide feedback on the vehicle's operating data in real time, obtaining the motor torque and driving data of the vehicle when it actually passes through the target road segment.

[0182] S105. Retrain the third torque determination model based on the feedback data.

[0183] As one possible implementation, after the determining device acquires the vehicle's feedback data, it can retrain the third torque determination model based on the feedback data.

[0184] For example, the determining device can determine whether abnormal noise occurs when the vehicle actually passes through the target road segment based on the motor torque of the vehicle in the feedback data. Based on the driving data and abnormal noise situation when the vehicle actually passes through the target road segment, it can determine whether the target torque is sufficient or excessive, and retrain the third torque determining model so that the third torque determining model can output the target torque more accurately, preventing abnormal noise from occurring when the vehicle passes through the target road surface due to the inherent clearance in the transmission system.

[0185] It should be understood that the determination device retrains the third torque determination model based on feedback data from the vehicle passing through the target road segment, enabling the third torque determination model to adapt to different driving conditions and road conditions. This improves the accuracy and predictive ability of the third torque determination model, allowing it to more accurately determine the target torque, reduce unnecessary energy waste, and improve energy utilization efficiency.

[0186] Figure 8 This is a flowchart illustrating yet another method for determining vehicle torque according to an exemplary embodiment, such as... Figure 8 As shown, the process includes the following steps: The data acquisition equipment of the determination device includes a road surface information acquisition device and a vehicle data acquisition device. The road surface information acquisition device is used to perform real-time road condition scanning to obtain road surface information of the target road segment that the vehicle is about to pass through. The vehicle data acquisition device is used to collect vehicle driving data. Based on the road surface information and vehicle driving data obtained from the real-time road condition scan, the analysis device analyzes the impact conditions that the vehicle will experience (i.e., the aforementioned road impact force). Based on the impact conditions, the control device calculates the time-varying pre-load torque (i.e., the aforementioned target torque), the execution device outputs the time-varying pre-load torque, and when the vehicle passes through the target road segment, it acquires vehicle driving data for feedback analysis to improve control accuracy.

[0187] The above primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the vehicle torque determining device or the vehicle includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0188] This application embodiment can, according to the above method, exemplarily divide a vehicle torque determination device or vehicle into functional modules. For example, the vehicle torque determination device or vehicle may include various functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0189] Figure 9 This is a block diagram illustrating a vehicle torque determining device according to an exemplary embodiment. (Refer to...) Figure 9 The vehicle torque determination device 900 includes an acquisition module 901 and a determination module 902. The acquisition module 901 acquires road surface information and vehicle driving data of the target road segment the vehicle is about to pass through. The determination module 902 determines the road impact force experienced by the vehicle as it passes through the target road segment based on the road surface information and vehicle driving data. The determination module 902 also determines the target torque based on the road impact force; the target torque is the motor torque used by the vehicle as it passes through the target road segment.

[0190] In one possible implementation, module 902 is specifically used to calculate the impact torque on the vehicle's powertrain when the vehicle passes through the target road section based on the road impact force; and to determine the target torque based on the impact torque.

[0191] In another possible implementation, the determination module 902 is specifically used to determine the first traction force of the vehicle when passing through the target road segment based on the road impact force and the vehicle's current power; and to calculate the impact torque based on the first traction force, the vehicle's wheel radius, and the vehicle's transmission system efficiency.

[0192] In another possible implementation, the determining module 902 is specifically used to determine the target torque based on the impact torque when the motor torque of the vehicle, which indicates the impact torque, crosses zero.

[0193] In another possible implementation, module 902 is specifically used to determine the second traction force required for the vehicle to pass through the target road segment based on the road impact force, the weight of the vehicle, and the slope of the target road segment; and to determine the target torque based on the second traction force, the wheel radius of the vehicle, and the efficiency of the vehicle's transmission system.

[0194] In another possible implementation, module 902 is specifically used to query the road impact force in the mapping relationship based on road information and vehicle driving data; the mapping relationship is used to characterize the correspondence between road information, vehicle driving data and road impact force.

[0195] In another possible implementation, the acquisition module 901 is specifically used to acquire an image of the target road segment; by recognizing the image of the target road segment, the road surface information is determined; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

[0196] In another possible implementation, the acquisition module 901 is specifically used to scan the target road segment with radar to acquire point cloud data of the target road segment; based on the point cloud data of the target road segment, determine the road surface information; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

[0197] In another possible implementation, module 902 is specifically used to input the impact torque into the third torque determination model to obtain the target torque.

[0198] In another possible implementation, the device further includes a data acquisition module 903 and a training module 904. The data acquisition module 903 is used to acquire feedback data of the vehicle as it passes through the target road segment; the feedback data includes the motor torque and driving data of the vehicle when it passes through the target road segment based on the target torque; the training module 904 is used to retrain the third torque determination model based on the feedback data.

[0199] Based on the aforementioned technical methods, the impact force of the target road segment on the vehicle is determined according to road surface information and vehicle driving data, and a target torque is determined so that the vehicle can pass through the target road segment based on the target torque. This comprehensively considers the influence of the external road environment and the vehicle's own driving data, effectively avoiding abnormal noises from the transmission system due to inherent clearances when the vehicle passes through impacted road surfaces. Furthermore, by adjusting the vehicle's motor torque in real time based on the target torque, the vehicle can adapt to different road conditions, not only avoiding abnormal noises from the vehicle's transmission system and reducing bumps caused by uneven road surfaces, thus improving vehicle ride comfort, but also reducing the risk of vehicle slippage or loss of control due to road conditions.

[0200] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0201] Figure 10 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Figure 10 As shown, vehicle 1000 includes, but is not limited to, processor 1001 and memory 1002.

[0202] The aforementioned memory 1002 is used to store the executable instructions of the processor 1001. It is understood that the processor 1001 is configured to execute instructions to implement the vehicle torque determination method in the above embodiments.

[0203] It should be noted that those skilled in the art will understand that Figure 10 The vehicle structure shown does not constitute a limitation on the vehicle; a vehicle may include, but is not limited to, other types of vehicles. Figure 10 This may indicate more or fewer components, or a combination of certain components, or a different arrangement of components.

[0204] The processor 1001 is the control center of the vehicle, connecting various parts of the vehicle through various interfaces and lines. It performs various vehicle functions and processes data by running or executing software programs and / or modules stored in the memory 1002, and by calling data stored in the memory 1002, thereby providing overall vehicle monitoring. The processor 1001 may include one or more processing units. Optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 1001.

[0205] The memory 1002 can be used to store software programs and various data. The memory 1002 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0206] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1002 including instructions, which can be executed by a processor 1001 of a vehicle 1000 to implement the vehicle torque determination method in the above embodiments.

[0207] In actual implementation, Figure 9 The functions of the acquisition module 901, determination module 902, acquisition module 903, and training module 904 can all be provided by... Figure 10 The processor 1001 calls the computer program stored in the memory 1002 to implement the process. The specific execution process can be found in the description of the method section in the previous embodiment, and will not be repeated here.

[0208] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0209] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the vehicle's processor 1001 to complete the vehicle torque determination method in the above embodiments.

[0210] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the vehicle's processor, they implement the various processes of the above method embodiments and achieve the same technical effects as the above methods. To avoid repetition, they will not be described again here.

[0211] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0212] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0213] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0214] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0215] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0216] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining vehicle torque, characterized in that, Applied to vehicles; the method includes: Obtain road surface information and vehicle driving data for the target road segment that the vehicle is about to pass through; Based on the road surface information and the vehicle driving data, the road impact force experienced by the vehicle as it passes through the target road section is determined. Based on the friction force of the target road segment on the vehicle, the impact force of the road surface, and the current power of the vehicle, determine the first traction force of the vehicle when passing through the target road segment; Based on the first traction force, the wheel radius of the vehicle, and the transmission system efficiency of the vehicle, calculate the impact torque on the powertrain of the vehicle when the vehicle passes through the target road section; Based on the impact torque, it is determined whether the vehicle can pass through the target road section in its current driving state, and whether the transmission system of the vehicle will produce abnormal noise when the vehicle passes through the target road section in its current driving state. If the vehicle cannot pass the target road segment in its current driving state, or if the vehicle's transmission system makes abnormal noise when passing the target road segment in its current driving state, the target torque is determined based on the impact torque; the target torque is the motor torque used when the vehicle passes the target road segment and the transmission system does not make abnormal noise.

2. The method according to claim 1, characterized in that, The calculation of the impact torque when the vehicle passes through the target road section based on the road impact force includes: The road impact force is input into the first torque determination model to obtain the impact torque when the vehicle passes through the target road section.

3. The method according to claim 1, characterized in that, Determining the target torque based on the impact torque includes: When the impact torque indicates that the motor torque of the vehicle has crossed zero, the target torque is determined based on the impact torque.

4. The method according to claim 1, characterized in that, The road surface information includes the slope of the target road segment; Determining the target torque based on the road impact force includes: Based on the road impact force, the weight of the vehicle, and the slope of the target road section, determine the second traction force required for the vehicle to pass through the target road section; The target torque is determined based on the second traction force, the wheel radius of the vehicle, and the efficiency of the vehicle's transmission system.

5. The method according to claim 1, characterized in that, Determining the target torque based on the road impact force includes: The road impact force is input into the second torque determination model to obtain the target torque.

6. The method according to any one of claims 1-5, characterized in that, The step of determining the road impact force experienced by the vehicle as it passes through the target road segment based on the road surface information and the vehicle driving data includes: Based on the road surface information and the vehicle driving data, the road impact force is queried in the mapping relationship; the mapping relationship is used to characterize the correspondence between the road surface information, the vehicle driving data and the road impact force.

7. The method according to any one of claims 1-5, characterized in that, The step of determining the road impact force experienced by the vehicle as it passes through the target road segment based on the road surface information and the vehicle driving data includes: The road surface information and vehicle driving data are input into the impact force determination model to obtain the road impact force experienced by the vehicle when passing through the target road section.

8. The method according to any one of claims 1-5, characterized in that, The step of obtaining road surface information of the target road segment that the vehicle is about to pass through includes: Acquire an image of the target road segment; The road surface information is determined by recognizing the image of the target road segment; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

9. The method according to any one of claims 1-5, characterized in that, The step of obtaining road surface information of the target road segment that the vehicle is about to pass through includes: The target road segment is scanned by radar to obtain point cloud data of the target road segment; Based on the point cloud data of the target road segment, the road surface information is determined; the road surface information includes the road surface smoothness and / or road surface material of the target road segment.

10. The method according to claim 1 or 2, characterized in that, Determining the target torque based on the impact torque includes: The impact torque is input into the third torque determination model to obtain the target torque.

11. The method according to claim 10, characterized in that, The method further includes: During the process of the vehicle passing through the target road segment, feedback data of the vehicle is collected; the feedback data includes the motor torque and driving data of the vehicle when passing through the target road segment based on the target torque; The third torque determination model is retrained based on the feedback data.

12. A vehicle torque determining device, characterized in that, Applied to vehicles; the device includes: The acquisition module is used to acquire road surface information and vehicle driving data of the target road segment that the vehicle is about to pass through; The determination module is used to determine the road impact force experienced by the vehicle as it passes through the target road section based on the road surface information and the vehicle driving data. The determining module is further configured to: determine a first traction force when the vehicle passes through the target road segment based on the friction force of the target road segment on the vehicle, the impact force of the road surface, and the current power of the vehicle; calculate the impact torque on the powertrain of the vehicle when it passes through the target road segment based on the first traction force, the wheel radius of the vehicle, and the efficiency of the vehicle's transmission system; determine whether the vehicle can pass through the target road segment in its current driving state, and whether the transmission system of the vehicle produces abnormal noise when it passes through the target road segment in its current driving state, based on the impact torque; and determine a target torque based on the impact torque if the vehicle cannot pass through the target road segment in its current driving state, or if the transmission system of the vehicle produces abnormal noise when it passes through the target road segment in its current driving state; the target torque is the motor torque used when the vehicle passes through the target road segment without abnormal noise in the transmission system.

13. A vehicle, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 11.

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