Torque control method and device, vehicle, storage medium and program product

Abstract

The invention relates to a torque control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicles, the method can comprise the steps that under the condition that the vehicle enters an anti-skid control mode, the vehicle is controlled to output first driving torque, the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode, and the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode; the anti-slip control mode is a mode for controlling the torque of the vehicle when the vehicle slips. And under the condition that the output duration of the first driving torque is larger than or equal to the target duration, a torque reduction strategy is executed according to the operation parameters of the vehicle and the first driving torque, and the torque reduction strategy is used for reducing the first driving torque output by the vehicle. The problem that the driving experience is affected due to immediate braking when the vehicle slips can be avoided while the driving safety of the vehicle is guaranteed.

Description

Technical Field

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

[0002] When the driver is driving a vehicle on a track, he expects the driving torque to match the accelerator pedal input to avoid unexpected torque fluctuations, and also hopes that the torque will not be reduced. Therefore, experienced drivers will completely turn off the TCS (Traction Control System) to prevent the TCS system from intervening and causing abrupt torque intervention when the wheels slip. However, if the TCS is completely turned off, the driver needs to release the accelerator as soon as possible to reduce the torque when the wheels slip, which requires high driving skills and is prone to safety accidents. Summary of the invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a method, device, vehicle, storage medium and program product for torque control.

[0004] According to an embodiment of the present disclosure, a method for torque control is shown, the method comprising: When the vehicle enters the anti-skid control mode, the vehicle is controlled to output a first driving torque, wherein the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode; the anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips; When the output duration of the first driving torque is greater than or equal to the target duration, a torque reduction strategy is executed according to the operating parameters of the vehicle and the first driving torque, wherein the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0005] Optionally, when the output duration of the first driving torque is greater than or equal to the target duration, executing the torque reduction strategy according to the operating parameters of the vehicle and the first driving torque includes: When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets a preset torque reduction condition, the torque reduction strategy is executed according to the operating parameters and the first driving torque.

[0006] Optionally, the operating parameter includes the longitudinal speed of the vehicle; and the torque reduction strategy includes: determining a first target slope according to the longitudinal vehicle speed and a first preset corresponding relationship, wherein the first preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope; reducing the first driving torque according to the first target slope to obtain a second driving torque; The vehicle is controlled to output the second driving torque.

[0007] Optionally, after executing the torque reduction strategy according to the operating parameter and the first driving torque, the method further includes: When the vehicle does not meet the preset torque reduction condition, a torque increase strategy is executed according to the operating parameter and the second driving torque.

[0008] Optionally, the torque increase strategy includes: determining a second target slope according to the longitudinal vehicle speed and a second preset corresponding relationship, wherein the second preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope; increasing the second driving torque according to the second target slope to obtain a third driving torque; The vehicle is controlled to output the third driving torque.

[0009] Optionally, the preset torque reduction condition includes: a difference between a shaft speed of a drive shaft of the vehicle and a longitudinal vehicle speed of the vehicle is greater than a first preset speed threshold.

[0010] Optionally, the method further comprises: When the vehicle meets a preset activation condition, the vehicle is controlled to enter the anti-skid control mode.

[0011] Optionally, the preset activation condition includes: The required torque of the vehicle is greater than a first preset torque threshold; The duration for which the difference between the shaft speed of the driving shaft of the vehicle and the longitudinal vehicle speed is greater than a second preset speed threshold is greater than a preset duration; and The gear information of the vehicle indicates that the vehicle is in a forward gear or a reverse gear.

[0012] Optionally, the method further comprises: When the vehicle meets a preset recovery condition, the vehicle is controlled to output a required torque of the vehicle.

[0013] Optionally, the preset recovery condition includes at least one of the following: The required torque of the vehicle is less than or equal to a second preset torque threshold; The target driving torque of the vehicle is greater than or equal to the required torque, and the target driving torque is the torque determined by the vehicle in the anti-slip control mode; The gear information of the vehicle indicates that the vehicle is in a parking gear or a neutral gear.

[0014] Optionally, the target duration is determined by: The target duration is determined according to the longitudinal speed of the vehicle and a third preset corresponding relationship, wherein the third preset corresponding relationship includes a corresponding relationship between the longitudinal speed and the duration.

[0015] According to a second aspect of an embodiment of the present disclosure, there is provided a torque control device, the device comprising: a control module configured to control the vehicle to output a first driving torque when the vehicle enters an anti-skid control mode, wherein the first driving torque is an actual driving torque when the vehicle enters the anti-skid control mode; the anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips; The torque reduction module is configured to execute a torque reduction strategy based on the operating parameters of the vehicle and the first driving torque when the output duration of the first driving torque is greater than or equal to the target duration. The torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0016] Optionally, the torque reduction module is configured as follows: When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets a preset torque reduction condition, the torque reduction strategy is executed according to the operating parameters and the first driving torque.

[0017] Optionally, the operating parameter includes the longitudinal speed of the vehicle; and the torque reduction strategy includes: determining a first target slope according to the longitudinal vehicle speed and a first preset corresponding relationship, wherein the first preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope; reducing the first driving torque according to the first target slope to obtain a second driving torque; The vehicle is controlled to output the second driving torque.

[0018] Optionally, the device further comprises: The torque increase module is configured to execute the torque increase strategy according to the operating parameters and the second driving torque after the torque reduction strategy is executed according to the operating parameters and the first driving torque, if the vehicle does not meet the preset torque reduction condition.

[0019] Optionally, the torque increase strategy includes: determining a second target slope according to the longitudinal vehicle speed and a second preset corresponding relationship, wherein the second preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope; increasing the second driving torque according to the second target slope to obtain a third driving torque; The vehicle is controlled to output the third driving torque.

[0020] Optionally, the preset torque reduction condition includes: a difference between a shaft speed of a drive shaft of the vehicle and a longitudinal vehicle speed of the vehicle is greater than a first preset speed threshold.

[0021] Optionally, the control module is further configured to: When the vehicle meets a preset activation condition, the vehicle is controlled to enter the anti-skid control mode.

[0022] Optionally, the preset activation condition includes: The required torque of the vehicle is greater than a first preset torque threshold; The duration for which the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal speed of the vehicle is greater than a second preset speed threshold is greater than a preset time period; and The gear information of the vehicle indicates that the vehicle is in a forward gear or a reverse gear.

[0023] Optionally, the control module is further configured to: When the vehicle meets a preset recovery condition, the vehicle is controlled to output a required torque of the vehicle.

[0024] Optionally, the preset recovery condition includes at least one of the following: The required torque of the vehicle is less than or equal to a second preset torque threshold; The target driving torque of the vehicle is greater than or equal to the required torque, and the target driving torque is the torque determined by the vehicle in the anti-slip control mode; The gear information of the vehicle indicates that the vehicle is in a parking gear or a neutral gear.

[0025] Optionally, the target duration is determined by: The target duration is determined according to the longitudinal speed of the vehicle and a third preset corresponding relationship, wherein the third preset corresponding relationship includes a corresponding relationship between the longitudinal speed and the duration.

[0026] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: When the vehicle enters the anti-skid control mode, the vehicle is controlled to output a first driving torque, wherein the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode; the anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips; When the output duration of the first driving torque is greater than or equal to the target duration, a torque reduction strategy is executed according to the operating parameters of the vehicle and the first driving torque, wherein the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0027] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the first aspect of the embodiment of the present disclosure are implemented.

[0028] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect of the embodiment of the present disclosure.

[0029] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: The present invention does not brake immediately after the vehicle enters the anti-skid control mode, but controls the vehicle to continuously output the first driving torque so that the output torque of the vehicle remains unchanged from the actual driving torque when entering the anti-skid control mode, thereby avoiding the problem of immediate braking affecting the driving experience when the vehicle slips. At the same time, when the output duration of the first driving torque exceeds the target duration, the torque reduction strategy is executed to reduce the output torque of the vehicle, thereby ensuring the safety of vehicle driving.

[0030] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0032] Figure 1 The figure is a flow chart of a torque control method according to an exemplary embodiment.

[0033] Figure 2 is a flow chart showing another torque control method according to an exemplary embodiment.

[0034] Figure 3 is a flow chart showing another torque control method according to an exemplary embodiment.

[0035] Figure 4 It is a schematic diagram of a software architecture of a torque control method according to an exemplary embodiment.

[0036] Figure 5 It is a block diagram of a torque control device according to an exemplary embodiment.

[0037] Figure 6 It is a block diagram of another torque control device according to an exemplary embodiment.

[0038] Figure 7 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0040] Figure 1 is a flow chart of a method for torque control according to an exemplary embodiment. Figure 1 As shown, the method may include the following steps.

[0041] In step S101 , when the vehicle enters the anti-skid control mode, the vehicle is controlled to output a first driving torque.

[0042] For example, if the vehicle meets the preset activation condition, the vehicle can be controlled to enter the anti-skid control mode. The anti-skid control mode can be understood as a mode for controlling the torque of the vehicle when the vehicle slips.

[0043] In some embodiments, the preset activation conditions may include: the difference between the shaft speed of the vehicle's drive shaft and the longitudinal speed of the vehicle is greater than a second preset speed threshold and lasts for a period greater than a preset time, wherein the second preset speed threshold and the preset time can both be calibrated based on actual vehicle tests.

[0044] In other embodiments, the preset activation conditions may include: the vehicle's required torque is greater than a first preset torque threshold, and the difference between the vehicle's drive shaft speed and the vehicle's longitudinal speed is greater than a second preset speed threshold for a duration greater than a preset duration, wherein the first preset torque threshold may be 0.

[0045] In other embodiments, the preset activation conditions may include: the vehicle's required torque is greater than a first preset torque threshold, the difference between the vehicle's drive shaft speed and the vehicle's longitudinal speed is greater than a second preset speed threshold for a duration greater than a preset duration, and the vehicle's gear information indicates that the vehicle is in a forward gear (D gear) or a reverse gear (R gear).

[0046] For example, if the vehicle enters the anti-skid control mode, the vehicle can be controlled to output a first driving torque, wherein the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode. That is, once the vehicle enters the anti-skid control mode, the vehicle is controlled to continuously output the actual driving torque when entering the anti-skid control mode, so that the output torque of the vehicle remains unchanged, ensuring that the output torque of the vehicle will not increase when skidding occurs, thereby ensuring the safety of the vehicle. At the same time, the output torque of the vehicle will not suddenly decrease, thereby ensuring the driving experience of the driver.

[0047] In step S102 , when the output duration of the first driving torque is greater than or equal to the target duration, a torque reduction strategy is executed according to the operating parameters of the vehicle and the first driving torque.

[0048] For example, if the output duration of the first driving torque is greater than or equal to the target duration, the operating parameters of the vehicle can be obtained, and the torque reduction strategy can be executed according to the operating parameters of the vehicle and the first driving torque to control the vehicle to reduce the output torque. The operating parameters can include any parameters during the operation of the vehicle, such as longitudinal vehicle speed, longitudinal acceleration, lateral acceleration, actual output torque, wheel speed, etc. The torque reduction strategy can be used to reduce the first driving torque output by the vehicle.

[0049] In some embodiments, a first target slope can be determined based on the operating parameters of the vehicle, and then a torque reduction strategy is executed based on the first target slope and the first driving torque, wherein the torque reduction strategy can be: reducing the first driving torque according to the first target slope, and controlling the reduced torque of the vehicle's output so that the vehicle's output torque is slowly and steadily reduced according to the first target slope.

[0050] In other embodiments, a plurality of second driving torques may be determined according to the operating parameters of the vehicle and the first driving torque, wherein the second driving torque may be less than the first driving torque, and the plurality of second driving torques decrease in sequence. The vehicle may then be controlled to periodically output a plurality of second driving torques that decrease in sequence, so that the output torque of the vehicle decreases slowly and steadily.

[0051] In other embodiments, while the vehicle continues to output a first driving torque, if the output duration of the first driving torque has not reached the target duration, and the vehicle's required torque is less than the first driving torque, that is, the driver actively controls the vehicle to reduce the torque, then the output of the first driving torque can be stopped, and the vehicle can be controlled to output the required torque to reduce the vehicle's output torque according to the driver's control.

[0052] For example, the target duration may be a preset value, that is, the target duration is the same under different operating parameters. The target duration may also be dynamically determined according to the longitudinal speed of the vehicle, and the target duration may also be determined according to the first driving torque, that is, the target duration may be dynamically changed under different operating parameters, and the present disclosure does not specifically limit this.

[0053] In other embodiments, the target duration can be determined based on the longitudinal speed of the vehicle and a third preset correspondence, wherein the third preset correspondence can include a correspondence between the longitudinal speed and the duration. For example, the target duration can be negatively correlated with the longitudinal speed, that is, the higher the longitudinal speed, the shorter the duration for which the vehicle continuously outputs the first drive torque, and the lower the longitudinal speed, the longer the duration for which the vehicle continuously outputs the first drive torque. In this way, by determining the target duration based on the longitudinal speed of the vehicle, the duration for maintaining the first drive torque can be dynamically set at different vehicle speeds, thereby improving the flexibility and intelligence of the anti-skid control and further improving the driver's driving experience.

[0054] To sum up, the present invention does not brake immediately after the vehicle enters the anti-skid control mode, but controls the vehicle to continuously output the first driving torque to keep the vehicle's output torque unchanged, which can avoid the problem of immediate braking affecting the driving experience when the vehicle slips. At the same time, when the output duration of the first driving torque exceeds the target duration, the torque reduction strategy is executed to reduce the vehicle's output torque, which can ensure the safety of vehicle driving.

[0055] In some other embodiments, an implementation of step S102 may be: When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets a preset torque reduction condition, a torque reduction strategy is executed according to the operating parameters and the first driving torque.

[0056] For example, the preset torque reduction condition may be: the difference between the shaft speed of the vehicle's drive shaft and the longitudinal speed of the vehicle is greater than a first preset speed threshold, wherein the first preset speed threshold may be calibrated based on actual vehicle testing, and the first preset speed threshold may be the same as or different from the second preset speed threshold, and the present disclosure does not make any specific limitations on this.

[0057] When the difference between the shaft speed of the vehicle's drive shaft and the longitudinal speed of the vehicle is greater than the first preset speed threshold, it means that the shaft speed of the vehicle's drive shaft and the longitudinal speed of the vehicle differ greatly, and it can be determined that the vehicle is in a slipping state, so the torque reduction strategy can be executed according to the operating parameters and the first driving torque to reduce the output torque of the vehicle. In this way, after entering the anti-skid control mode, the output torque of the vehicle is first controlled to remain at the first driving torque. When the output duration of the first driving torque is greater than or equal to the target duration, if it is determined that the vehicle is still in a slipping state, the vehicle is controlled to reduce the output torque, which can improve the driving safety of the vehicle while ensuring the driving experience of the driver.

[0058] In other embodiments, the operating parameter may include the longitudinal speed of the vehicle, and accordingly, the torque reduction strategy may include: Step 1: Determine a first target slope according to the longitudinal vehicle speed and a first preset corresponding relationship.

[0059] For example, the first preset correspondence may include a correspondence between the longitudinal vehicle speed and the slope, and different torque reduction slopes may correspond to different longitudinal vehicle speeds. The first preset correspondence may be a first relationship table between the longitudinal vehicle speed and the slope. After determining the current longitudinal vehicle speed of the vehicle, the first target slope corresponding to the current longitudinal vehicle speed may be searched in the first relationship table. The first preset correspondence may also be a first relationship function between the longitudinal vehicle speed and the slope. After determining the current longitudinal vehicle speed of the vehicle, the current longitudinal vehicle speed may be substituted into the first relationship function to obtain the first target slope corresponding to the current longitudinal vehicle speed. The first preset correspondence may also be a first relationship model between the longitudinal vehicle speed and the slope. After determining the current longitudinal vehicle speed of the vehicle, the current longitudinal vehicle speed may be input into the first relationship model to obtain the first target slope output by the first relationship model. The present disclosure does not specifically limit the form of the first preset correspondence.

[0060] In other embodiments, the first target slope may be positively correlated with the longitudinal vehicle speed, that is, the higher the longitudinal vehicle speed, the faster the output torque decreases, and the lower the longitudinal vehicle speed, the slower the output torque decreases.

[0061] Step 2: reducing the first driving torque according to the first target slope to obtain the second driving torque.

[0062] Step 3: Control the vehicle to output a second driving torque.

[0063] For example, in the process of reducing the first driving torque according to the first target slope, multiple second driving torques that decrease in sequence according to the first target slope can be obtained, and the second driving torque at each moment is determined according to the second driving torque at the previous moment. Each time a second driving torque is obtained, the vehicle can be controlled to output the second driving torque, so that as the second driving torque decreases in sequence according to the first target slope, the output torque of the vehicle also gradually decreases, which can ensure that the output torque of the vehicle is steadily reduced, avoiding the problem of torque sudden drop affecting the driving experience.

[0064] Figure 2 is a flow chart of another torque control method according to an exemplary embodiment. Figure 2 As shown, after step S102, the method may further include: In step S103 , when the vehicle does not meet the preset torque reduction condition, a torque increase strategy is executed according to the operating parameters and the second driving torque.

[0065] For example, during the execution of step S102, it can be determined in real time whether the vehicle meets the preset torque reduction condition. Taking the preset torque reduction condition as the difference between the shaft speed of the drive shaft and the longitudinal vehicle speed being greater than the first preset speed threshold as an example, during the execution of the torque reduction strategy, the shaft speed of the drive shaft and the longitudinal vehicle speed can be obtained in real time, and it can be determined whether the difference between the shaft speed of the drive shaft and the longitudinal vehicle speed is greater than the first preset speed threshold. When the difference between the shaft speed of the drive shaft and the longitudinal vehicle speed is less than or equal to the first preset speed threshold, it can be determined that the vehicle does not meet the preset torque reduction condition. If it is determined that the vehicle does not meet the preset torque reduction condition, it means that the vehicle is no longer in a slipping state and the output torque of the vehicle needs to be increased in time. Therefore, the torque increase strategy can be executed according to the operating parameters and the second driving torque.

[0066] In some embodiments, the torque boost strategy may include the following steps: Step 1: Determine a second target slope according to the longitudinal vehicle speed and a second preset corresponding relationship.

[0067] Among them, the second preset correspondence may include the correspondence between the longitudinal vehicle speed and the slope, the second preset correspondence and the first preset correspondence may be different, the first target slope may be a negative value, the second target slope may be a positive value, and the absolute value of the second target slope may be greater than the absolute value of the first target slope.

[0068] For example, the second preset correspondence may include a correspondence between the longitudinal vehicle speed and the slope, and different slopes of the torque increase may correspond to different longitudinal vehicle speeds. The second preset correspondence may be a second relationship table between the longitudinal vehicle speed and the slope. After determining the current longitudinal vehicle speed of the vehicle, the second target slope corresponding to the current longitudinal vehicle speed may be searched in the second relationship table. The second preset correspondence may also be a second relationship function between the longitudinal vehicle speed and the slope. After determining the current longitudinal vehicle speed of the vehicle, the current longitudinal vehicle speed may be substituted into the second relationship function to obtain the second target slope corresponding to the current longitudinal vehicle speed. The second preset correspondence may also be a second relationship model between the longitudinal vehicle speed and the slope. After determining the current longitudinal vehicle speed of the vehicle, the current longitudinal vehicle speed may be input into the second relationship model to obtain the second target slope output by the second relationship model. The present disclosure does not specifically limit the form of the second preset correspondence.

[0069] In other embodiments, the second target slope may be positively correlated with the longitudinal vehicle speed, that is, the higher the longitudinal vehicle speed, the faster the torque increases, and the lower the longitudinal vehicle speed, the slower the torque increases.

[0070] Step 2: Increase the second driving torque according to the second target slope to obtain the third driving torque.

[0071] Step 3: Control the vehicle to output a third driving torque.

[0072] For example, in the process of reducing the second driving torque according to the second target slope, multiple third driving torques that increase in sequence according to the second target slope can be obtained, and the third driving torque at each moment is determined according to the third driving torque at the previous moment. Each time a third driving torque is obtained, the vehicle can be controlled to output the third driving torque, so that as the third driving torque increases in sequence according to the second target slope, the output torque of the vehicle also gradually increases, which can ensure that when the vehicle resumes normal operation from a slipping state, the output torque increases quickly, which can improve the driving experience of the driver.

[0073] Figure 3 is a flow chart of another torque control method according to an exemplary embodiment. Figure 3 As shown, the method may also include: In step S104 , when the vehicle meets a preset recovery condition, the vehicle is controlled to output a required torque of the vehicle.

[0074] In some embodiments, the preset recovery conditions may include at least one of the following: 1) the vehicle's required torque is less than or equal to a second preset torque threshold, wherein the second preset torque threshold may be the same as or different from the first preset torque threshold, and the second preset torque threshold may be, for example, 0; 2) the vehicle's target driving torque is greater than or equal to the required torque, wherein the target driving torque may be the output torque determined by the vehicle in the anti-skid control mode, such as the first driving torque, the second driving torque or the third driving torque; 3) the vehicle's gear information indicates that the vehicle is in the parking gear (P gear) or the neutral gear (N gear).

[0075] For example, if the vehicle meets the preset recovery conditions, indicating that the vehicle no longer needs anti-skid control, then the anti-skid control mode can be exited and the vehicle can be controlled to output the required torque of the vehicle, where the required torque can be understood as the torque triggered by the driver through the accelerator pedal, so that the vehicle can output the corresponding torque according to the driver's control.

[0076] A specific embodiment is provided below.

[0077] The software architecture of the torque control method shown in the embodiment of the present disclosure can be as follows: Figure 4 As shown, it includes three parts: perception module, control module and execution module.

[0078] The perception module can receive sensor information and GPS (Global Positioning System) information, where the sensor information can include the four-wheel speed, drive shaft speed, etc., and the GPS information can include the longitudinal vehicle speed. The perception module can send the sensor information and GPS information to the control module. The control module can use the sensor information, GPS information, the driver's required torque, the vehicle's actual driving torque and other information to perform state machine judgment and target driving torque calculation.

[0079] The state machine is divided into two types: function activation and function shutdown of the anti-skid control mode. Among them, the condition for function activation (i.e., preset activation condition) can be: the following three items are met at the same time, 1. The driver's required torque > 0; 2. The shaft speed of the drive shaft > (longitudinal vehicle speed + target slip) and lasts for a certain time (calibrable value), and the target slip can be understood as the first preset speed threshold in the embodiment of the present disclosure; 3. The gear position of the vehicle is D gear or R gear. The condition for function shutdown (i.e., preset recovery condition) can be: any one of the following three items is met, 1. The driver's required torque ≤ 0; 2. The target drive torque ≥ the driver's required torque; 3. The gear position of the vehicle is N gear or P gear.

[0080] The calculation method of the target driving torque can be divided into three states: torque holding, torque slow reduction and torque fast increase. The setting condition of the torque holding state can be: the anti-slip control mode is activated and the activation duration is ≤ the target duration. When the torque holding state is set, the target driving torque can be the actual driving torque (i.e., the first driving torque) when entering the anti-slip control mode; the setting condition of the torque slow reduction state can be: the shaft speed of the drive shaft> (longitudinal vehicle speed+target slip amount). When the torque slow reduction state is set, the target driving torque is reduced according to the first target slope based on the previous moment. The first target slope is obtained by looking up the longitudinal vehicle speed in a two-dimensional table. The higher the longitudinal vehicle speed, the greater the first target slope; the setting condition of the torque fast increase state can be: the shaft speed of the drive shaft ≤ (longitudinal vehicle speed+target slip amount). When the torque fast increase state is set, the target driving torque is increased according to the second target slope based on the previous moment. The second target slope can be obtained by looking up the longitudinal vehicle speed in a two-dimensional table. The higher the longitudinal vehicle speed, the greater the second target slope.

[0081] The execution module can receive the target driving torque and send it to the engine or the motor to execute the target driving torque.

[0082] To sum up, the present invention does not brake immediately after the vehicle enters the anti-skid control mode, but controls the vehicle to continuously output the first driving torque to keep the vehicle's output torque unchanged, which can avoid the problem of immediate braking affecting the driving experience when the vehicle slips. At the same time, when the output duration of the first driving torque exceeds the target duration, the torque reduction strategy is executed to reduce the vehicle's output torque, which can ensure the safety of vehicle driving.

[0083] Figure 5 is a block diagram of a torque control device according to an exemplary embodiment. Figure 5 As shown, the device 200 includes: The control module 201 is configured to control the vehicle to output a first driving torque when the vehicle enters the anti-skid control mode, where the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode. The anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips.

[0084] The torque reduction module 202 is configured to execute a torque reduction strategy according to the vehicle operating parameters and the first driving torque when the output duration of the first driving torque is greater than or equal to the target duration. The torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0085] In some embodiments, the torque reduction module 202 is configured to: When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets a preset torque reduction condition, a torque reduction strategy is executed according to the operating parameters and the first driving torque.

[0086] In other embodiments, the operating parameter includes the longitudinal speed of the vehicle, and accordingly, the torque reduction strategy may include: The first target slope is determined according to the longitudinal vehicle speed and a first preset corresponding relationship, wherein the first preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope.

[0087] The first driving torque is reduced according to the first target slope to obtain the second driving torque.

[0088] The vehicle is controlled to output a second driving torque.

[0089] Figure 6 is a block diagram of another torque control device according to an exemplary embodiment. Figure 6 As shown, the device 200 may also include: The torque increase module 203 is configured to execute the torque increase strategy according to the operating parameters and the second driving torque after executing the torque reduction strategy according to the operating parameters and the first driving torque, if the vehicle does not meet the preset torque reduction condition.

[0090] In some other embodiments, the torque boost strategy may include: The second target slope is determined according to the longitudinal vehicle speed and a second preset corresponding relationship, wherein the second preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope.

[0091] The second driving torque is increased according to the second target slope to obtain the third driving torque.

[0092] The vehicle is controlled to output a third driving torque.

[0093] In other embodiments, the preset torque reduction condition includes: a difference between the shaft speed of the vehicle's drive shaft and the longitudinal speed of the vehicle is greater than a first preset speed threshold.

[0094] In some other embodiments, the control module 201 is further configured to: When the vehicle meets the preset activation conditions, the vehicle is controlled to enter the anti-skid control mode.

[0095] In some other embodiments, the preset activation conditions include: The vehicle's demand torque is greater than a first preset torque threshold.

[0096] The duration of the difference between the shaft speed of the vehicle's drive shaft and the longitudinal speed of the vehicle being greater than the second preset speed threshold is greater than the preset time. The gear information of the vehicle indicates whether the vehicle is in a forward gear or a reverse gear.

[0097] In some other embodiments, the control module 201 is further configured to: When the vehicle meets the preset recovery conditions, the vehicle is controlled to output the required torque of the vehicle.

[0098] In some other embodiments, the preset recovery condition includes at least one of the following: The vehicle's demand torque is less than or equal to a second preset torque threshold.

[0099] The target driving torque of the vehicle is greater than or equal to the required torque, and the target driving torque is the torque determined by the vehicle in the anti-slip control mode.

[0100] The gear information of the vehicle indicates whether the vehicle is in the parking gear or the neutral gear.

[0101] In other embodiments, the target duration is determined by: The target duration is determined according to the longitudinal speed of the vehicle and a third preset corresponding relationship, wherein the third preset corresponding relationship includes a corresponding relationship between the longitudinal speed and the duration.

[0102] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0103] To sum up, the present invention does not brake immediately after the vehicle enters the anti-skid control mode, but controls the vehicle to continuously output the first driving torque to keep the vehicle's output torque unchanged, which can avoid the problem of immediate braking affecting the driving experience when the vehicle slips. At the same time, when the output duration of the first driving torque exceeds the target duration, the torque reduction strategy is executed to reduce the vehicle's output torque, which can ensure the safety of vehicle driving.

[0104] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the torque control method provided by the present disclosure are implemented.

[0105] Figure 7 300 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 300 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 300 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0106] Reference Figure 7, the vehicle 300 may include various subsystems, for example, an infotainment system 310, a perception system 320, a decision control system 330, a drive system 340, and a computing platform 350. The vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 300 may be interconnected by wire or wireless means.

[0107] In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, and a navigation system, among others.

[0108] The perception system 320 may include several sensors for sensing information about the environment around the vehicle 300. For example, the perception system 320 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0109] The decision control system 330 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0110] The drive system 340 may include components that provide power movement for the vehicle 300. In one embodiment, the drive system 340 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0111] Some or all functions of the vehicle 300 are controlled by a computing platform 350. The computing platform 350 may include at least one processor 351 and a memory 352, and the processor 351 may execute instructions 353 stored in the memory 352.

[0112] The processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0113] The memory 352 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0114] In addition to instructions 353 , memory 352 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 352 may be used by computing platform 350 .

[0115] In the embodiment of the present disclosure, the processor 351 may execute the instruction 353 to complete all or part of the steps of the above-mentioned torque control method.

[0116] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 352 including instructions, and the instructions can be executed by a processor 351 of the vehicle 300 to perform the above torque control method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0117] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has a code portion for performing the above-mentioned torque control method when the computer program is executed by the programmable device.

[0118] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0119] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0120] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0121] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0122] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0123] It should be understood that, unless otherwise specifically noted, the features of some embodiments of the various present disclosures described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more; similarly, "at least one of . . . " includes any one of the related listed items and any combination of any two or more.

[0124] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A method for torque control, characterized in that: The method comprises: When the vehicle enters the anti-skid control mode, the vehicle is controlled to output a first driving torque, wherein the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode; the anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips; When the output duration of the first driving torque is greater than or equal to the target duration, a torque reduction strategy is executed according to the operating parameters of the vehicle and the first driving torque, wherein the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

2. The method according to claim 1, characterized in that: When the output duration of the first driving torque is greater than or equal to the target duration, executing the torque reduction strategy according to the operating parameters of the vehicle and the first driving torque includes: When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets a preset torque reduction condition, the torque reduction strategy is executed according to the operating parameters and the first driving torque.

3. The method according to claim 2, characterized in that The operating parameters include the longitudinal speed of the vehicle; the torque reduction strategy includes: determining a first target slope according to the longitudinal vehicle speed and a first preset corresponding relationship, wherein the first preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope; reducing the first driving torque according to the first target slope to obtain a second driving torque; The vehicle is controlled to output the second driving torque.

4. The method according to claim 3, characterized in that After executing the torque reduction strategy according to the operating parameter and the first driving torque, the method further includes: When the vehicle does not meet the preset torque reduction condition, a torque increase strategy is executed according to the operating parameter and the second driving torque.

5. The method according to claim 4, characterized in that The torque increase strategy includes: determining a second target slope according to the longitudinal vehicle speed and a second preset corresponding relationship, wherein the second preset corresponding relationship includes a corresponding relationship between the longitudinal vehicle speed and the slope; increasing the second driving torque according to the second target slope to obtain a third driving torque; The vehicle is controlled to output the third driving torque.

6. The method according to claim 4, characterized in that The preset torque reduction condition includes: a difference between the shaft speed of the driving shaft of the vehicle and the longitudinal vehicle speed is greater than a first preset speed threshold.

7. The method according to claim 1, characterized in that The method further comprises: When the vehicle meets a preset activation condition, the vehicle is controlled to enter the anti-skid control mode.

8. The method according to claim 7, characterized in that The preset activation conditions include: The required torque of the vehicle is greater than a first preset torque threshold; The duration for which the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal speed of the vehicle is greater than a second preset speed threshold is greater than a preset time period; and The gear information of the vehicle indicates that the vehicle is in a forward gear or a reverse gear.

9. The method according to claim 1, characterized in that: The method further comprises: When the vehicle meets a preset recovery condition, the vehicle is controlled to output a required torque of the vehicle.

10. The method according to claim 9, characterized in that The preset recovery condition includes at least one of the following: The required torque of the vehicle is less than or equal to a second preset torque threshold; The target driving torque of the vehicle is greater than or equal to the required torque, and the target driving torque is the torque determined by the vehicle in the anti-slip control mode; The gear information of the vehicle indicates that the vehicle is in a parking gear or a neutral gear.

11. The method according to any one of claims 1 to 10, characterized in that The target duration is determined as follows: The target duration is determined according to the longitudinal speed of the vehicle and a third preset corresponding relationship, wherein the third preset corresponding relationship includes a corresponding relationship between the longitudinal speed and the duration.

12. A torque control device, characterized in that: The device comprises: a control module configured to control the vehicle to output a first driving torque when the vehicle enters an anti-skid control mode, wherein the first driving torque is an actual driving torque when the vehicle enters the anti-skid control mode; the anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips; The torque reduction module is configured to execute a torque reduction strategy based on the operating parameters of the vehicle and the first driving torque when the output duration of the first driving torque is greater than or equal to the target duration. The torque reduction strategy is used to reduce the first driving torque output by the vehicle.

13. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: When the vehicle enters the anti-skid control mode, the vehicle is controlled to output a first driving torque, wherein the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode; the anti-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips; When the output duration of the first driving torque is greater than or equal to the target duration, a torque reduction strategy is executed according to the operating parameters of the vehicle and the first driving torque, wherein the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

15. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 11.

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