Method, device, vehicle, storage medium and program product for torque control

Abstract

The present disclosure relates to a method, a device, a vehicle, a storage medium, and a program product for torque control, and relates to the technical field of vehicles. The method may include: when the vehicle enters an anti-slip control mode, controlling the vehicle to output a first driving torque, where the first driving torque is the actual driving torque when the vehicle enters the anti-slip control mode, and the anti-slip 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 a target duration, a torque reduction strategy is executed according to the operating parameters of the vehicle and the first driving torque, and the torque reduction strategy is used to reduce the first driving torque output by the vehicle. The present disclosure can, while ensuring the safety of vehicle driving, avoid the problem of immediately braking when the vehicle slips and affecting the driving experience.

Description

Technical Field

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

[0002] When a driver drives a vehicle on a race track, it is desired that the driving torque conforms to the throttle pedal input, avoiding unexpected torque fluctuations, and at the same time, it is also desired that the torque does not decrease. Therefore, an experienced driver will completely turn off the TCS (English: Traction Control System, Chinese: Traction Control System) to prevent the TCS system from intervening to generate abrupt torque intervention when the wheels slip. However, when the TCS is completely turned off, the driver needs to quickly release the throttle 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 a method for torque control shown in an embodiment of the present disclosure, the method includes:

[0005] When the vehicle enters the anti-slip control mode, controlling the vehicle to output a first driving torque, where the first driving torque is the actual driving torque when the vehicle enters the anti-slip control mode; the anti-slip control mode is a mode for controlling the torque of the vehicle when the vehicle slips.

[0006] When the output duration of the first driving torque is greater than or equal to a target duration, performing a torque reduction strategy according to the running parameters of the vehicle and the first driving torque, where the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0007] Optionally, the performing a torque reduction strategy according to the running parameters of the vehicle and the first driving torque when the output duration of the first driving torque is greater than or equal to a target duration includes:

[0008] When the output duration of the first driving torque is greater than or equal to a target duration, if the vehicle meets a preset torque reduction condition, performing the torque reduction strategy according to the running parameters and the first driving torque.

[0009] Optionally, the running parameters include the longitudinal vehicle speed of the vehicle; the torque reduction strategy includes:

[0010] Determine a first target slope according to the longitudinal vehicle speed and a first preset correspondence, where the first preset correspondence includes the correspondence between the longitudinal vehicle speed and the slope;

[0011] Reduce the first driving torque according to the first target slope to obtain a second driving torque;

[0012] Control the vehicle to output the second driving torque.

[0013] Optionally, after executing the torque reduction strategy according to the operating parameters and the first driving torque, the method further includes:

[0014] In the case where the vehicle does not meet the preset torque reduction condition, execute a torque increase strategy according to the operating parameters and the second driving torque.

[0015] Optionally, the torque increase strategy includes:

[0016] Determine a second target slope according to the longitudinal vehicle speed and a second preset correspondence, where the second preset correspondence includes the correspondence between the longitudinal vehicle speed and the slope;

[0017] Increase the second driving torque according to the second target slope to obtain a third driving torque;

[0018] Control the vehicle to output the third driving torque.

[0019] Optionally, the preset torque reduction condition includes: the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a first preset speed threshold.

[0020] Optionally, the method further includes:

[0021] In the case where the vehicle meets the preset activation condition, control the vehicle to enter the anti-skid control mode.

[0022] Optionally, the preset activation condition includes:

[0023] The required torque of the vehicle is greater than a first preset torque threshold;

[0024] The duration for which the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a second preset speed threshold is greater than a preset duration; and

[0025] The gear information of the vehicle indicates that the vehicle is in the forward gear or the reverse gear.

[0026] Optionally, the method further includes:

[0027] When the vehicle meets the preset recovery condition, control the vehicle to output the required torque of the vehicle.

[0028] Optionally, the preset recovery condition includes at least one of the following:

[0029] The required torque of the vehicle is less than or equal to a second preset torque threshold;

[0030] 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-skid control mode;

[0031] The gear position information of the vehicle indicates that the vehicle is in the parking gear or neutral gear.

[0032] Optionally, the target duration is determined by the following method:

[0033] Determine the target duration according to the longitudinal vehicle speed of the vehicle and a third preset correspondence, and the third preset correspondence includes the correspondence between the longitudinal vehicle speed and the duration.

[0034] According to a second aspect of the embodiments of the present disclosure, there is provided a torque control device, and the device includes:

[0035] A control module, configured to control the vehicle to output a first 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-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips;

[0036] A torque reduction module, configured to execute a torque reduction strategy according to 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, and the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0037] Optionally, the torque reduction module is configured to:

[0038] When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets the preset torque reduction condition, execute the torque reduction strategy according to the operating parameters and the first driving torque.

[0039] Optionally, the operating parameters include the longitudinal vehicle speed of the vehicle; the torque reduction strategy includes:

[0040] Determine a first target slope according to the longitudinal vehicle speed and a first preset correspondence, and the first preset correspondence includes the correspondence between the longitudinal vehicle speed and the slope;

[0041] Reduce the first driving torque according to the first target slope to obtain a second driving torque;

[0042] Control the vehicle to output the second driving torque.

[0043] Optionally, the device further includes:

[0044] A torque increasing module configured to, after executing the torque reduction strategy according to the operating parameters and the first driving torque, and when the vehicle does not meet the preset torque reduction condition, execute a torque increasing strategy according to the operating parameters and the second driving torque.

[0045] Optionally, the torque increasing strategy includes:

[0046] Determine a second target slope according to the longitudinal vehicle speed and a second preset correspondence, where the second preset correspondence includes the correspondence between the longitudinal vehicle speed and the slope;

[0047] Increase the second driving torque according to the second target slope to obtain a third driving torque;

[0048] Control the vehicle to output the third driving torque.

[0049] Optionally, the preset torque reduction condition includes: the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a first preset speed threshold.

[0050] Optionally, the control module is further configured to:

[0051] When the vehicle meets the preset activation condition, control the vehicle to enter the anti-skid control mode.

[0052] Optionally, the preset activation condition includes:

[0053] The required torque of the vehicle is greater than a first preset torque threshold;

[0054] The duration for which the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a second preset speed threshold is greater than a preset duration; and

[0055] The gear information of the vehicle indicates that the vehicle is in the forward gear or the reverse gear.

[0056] Optionally, the control module is further configured to:

[0057] When the vehicle meets the preset recovery condition, control the vehicle to output the required torque of the vehicle.

[0058] Optionally, the preset recovery condition includes at least one of the following:

[0059] The required torque of the vehicle is less than or equal to a second preset torque threshold;

[0060] 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-skid control mode;

[0061] The gear position information of the vehicle indicates that the vehicle is in the parking gear or the neutral gear.

[0062] Optionally, the target duration is determined by the following method:

[0063] The target duration is determined according to the longitudinal vehicle speed of the vehicle and a third preset correspondence relationship, and the third preset correspondence relationship includes the correspondence relationship between the longitudinal vehicle speed and the duration.

[0064] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, including:

[0065] A processor;

[0066] A memory for storing instructions executable by the processor;

[0067] Wherein, the processor is configured to:

[0068] In the case where the vehicle enters the anti-skid control mode, control the vehicle to output a first driving torque, and 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 in the case where the vehicle slips;

[0069] In the case where the output duration of the first driving torque is greater than or equal to the target duration, execute a torque reduction strategy according to the operating parameters of the vehicle and the first driving torque, and the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0070] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect of the embodiments of the present disclosure are implemented.

[0071] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect of the embodiments of the present disclosure are implemented.

[0072] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0073] After the vehicle enters the anti-skid control mode, it does not brake immediately. Instead, it controls the vehicle to continuously output the first driving torque so that the output torque of the vehicle remains unchanged at the actual driving torque when entering the anti-skid control mode, which can avoid the problem of affecting the driving experience by braking immediately when the vehicle slips. At the same time, when the output duration of the first driving torque exceeds the target duration, a torque reduction strategy is executed to reduce the output torque of the vehicle, which can ensure the safety of vehicle driving.

[0074] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0076] Figure 1 is a flowchart of a method for torque control shown according to an exemplary embodiment.

[0077] Figure 2 is a flowchart of another method for torque control shown according to an exemplary embodiment.

[0078] Figure 3 is a flowchart of another method for torque control shown according to an exemplary embodiment.

[0079] Figure 4 is a schematic diagram of a software architecture of a method for torque control shown according to an exemplary embodiment.

[0080] Figure 5 is a block diagram of a device for torque control shown according to an exemplary embodiment.

[0081] Figure 6 is a block diagram of another device for torque control shown according to an exemplary embodiment.

[0082] Figure 7 is a block diagram of a vehicle shown according to an exemplary embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0083] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0084] Figure 1 is a flowchart of a torque control method shown according to an exemplary embodiment. As Figure 1 shown, the method may include the following steps.

[0085] In step S101, when the vehicle enters the anti-skid control mode, control the vehicle to output a first driving torque.

[0086] Exemplarily, if the vehicle meets the preset activation condition, the vehicle can be controlled to enter the anti-skid control mode. Among them, the anti-skid control mode can be understood as a mode of controlling the torque of the vehicle when the vehicle slips.

[0087] In some embodiments, the preset activation condition may include: the duration that the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a second preset speed threshold is greater than a preset duration, where both the second preset speed threshold and the preset duration can be calibrated according to actual vehicle tests.

[0088] In other embodiments, the preset activation condition may include: the required torque of the vehicle is greater than a first preset torque threshold, and the duration that the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a second preset speed threshold is greater than a preset duration, where the first preset torque threshold may be 0.

[0089] In other embodiments, the preset activation condition may include: the required torque of the vehicle is greater than a first preset torque threshold, the duration that the difference between the shaft speed of the drive 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 the forward gear (D gear) or the reverse gear (R gear).

[0090] Exemplarily, if the vehicle enters the anti-skid control mode, then the vehicle can be controlled to output a first driving torque, where the first driving torque is the actual driving torque when the vehicle enters the anti-skid control mode. That is to say, once the vehicle enters the anti-skid control mode, it 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 does not increase when the vehicle slips, ensuring the safety of the vehicle. At the same time, the output torque of the vehicle does not suddenly decrease, ensuring the driving experience of the driver.

[0091] In step S102, when the output duration of the first driving torque is greater than or equal to the target duration, execute a torque reduction strategy according to the operating parameters of the vehicle and the first driving torque.

[0092] Exemplarily, if the output duration of the first driving torque is greater than or equal to the target duration, then the operating parameters of the vehicle can be obtained, and a torque reduction strategy can be executed based on the operating parameters of the vehicle and the first driving torque to control the vehicle to reduce the output torque. Among them, the operating parameters can include any parameters during the operation of the vehicle, such as at least one of 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.

[0093] In some embodiments, the first target slope can be determined according to the operating parameters of the vehicle, and then the torque reduction strategy can be executed based on the first target slope and the first driving torque. Among them, the torque reduction strategy can be: reducing the first driving torque according to the first target slope, and controlling the output torque of the vehicle after reduction, so that the output torque of the vehicle slowly and smoothly decreases according to the first target slope.

[0094] In other embodiments, a plurality of second driving torques can be determined according to the operating parameters of the vehicle and the first driving torque. Among them, the second driving torque can be less than the first driving torque, and the plurality of second driving torques decrease in sequence. Then, the vehicle can be controlled to periodically output a plurality of second driving torques that decrease in sequence, so that the output torque of the vehicle slowly and smoothly decreases.

[0095] In other embodiments, during the process of the vehicle continuously outputting the first driving torque, if the output duration of the first driving torque has not reached the target duration and the required torque of the vehicle 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, so as to reduce the output torque of the vehicle according to the driver's control.

[0096] Exemplarily, the target duration can be a preset value, that is to say, under different operating parameters, the target duration is the same. The target duration can also be dynamically determined according to the longitudinal vehicle speed of the vehicle, and the target duration can also be determined according to the first driving torque, that is to say, under different operating parameters, the target duration can be dynamically changed, and the present disclosure does not make specific limitations on this.

[0097] In some other embodiments, the target duration can be determined according to the longitudinal vehicle speed and a third preset correspondence relationship, where the third preset correspondence relationship can include the correspondence relationship between the longitudinal vehicle speed and the duration. Exemplarily, the target duration can be negatively correlated with the longitudinal vehicle speed, that is, the higher the longitudinal vehicle speed, the shorter the duration for which the vehicle continuously outputs the first driving torque, and the lower the longitudinal vehicle speed, the longer the duration for which the vehicle continuously outputs the first driving torque. In this way, determining the target duration according to the longitudinal vehicle speed of the vehicle can dynamically set the duration of maintaining the first driving torque at different vehicle speeds, improving the flexibility and intelligence of the anti-skid control and further enhancing the driving experience of the driver.

[0098] In summary, after the vehicle enters the anti-skid control mode, it does not immediately brake, but controls the vehicle to continuously output the first driving torque to keep the output torque of the vehicle unchanged, which can avoid the problem of immediately braking when the vehicle slips and affecting the driving experience. At the same time, when the output duration of the first driving torque exceeds the target duration, a torque reduction strategy is executed to reduce the output torque of the vehicle, which can ensure the safety of vehicle driving.

[0099] In some other embodiments, one implementation manner of step S102 can be:

[0100] When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets the preset torque reduction condition, a torque reduction strategy is executed according to the operating parameters and the first driving torque.

[0101] Exemplarily, the preset torque reduction condition can be: the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than a first preset speed threshold, where the first preset speed threshold can be calibrated according to actual vehicle tests. The first preset speed threshold can be the same as the second preset speed threshold or different from the second preset speed threshold. The present disclosure does not make specific limitations on this.

[0102] When the difference between the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed is greater than the first preset speed threshold, it indicates that the shaft speed of the drive shaft of the vehicle and the longitudinal vehicle speed differ greatly. Then it can be determined that the vehicle is in a skidding state. Therefore, a 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, first control the output torque of the vehicle 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 skidding state, then control the vehicle to reduce the output torque, which can improve the safety of vehicle driving while ensuring the driving experience of the driver.

[0103] In some other embodiments, the operating parameters can include the longitudinal vehicle speed of the vehicle. Correspondingly, the torque reduction strategy can include:

[0104] Step 1: Determine a first target slope according to the longitudinal vehicle speed and a first preset correspondence.

[0105] Exemplarily, the first preset correspondence may include the correspondence between the longitudinal vehicle speed and the slope. For different longitudinal vehicle speeds, different slopes for reducing torque may be corresponding. 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 found 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 make a specific limitation on the form of the first preset correspondence.

[0106] In some 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.

[0107] Step 2: Reduce the first driving torque according to the first target slope to obtain a second driving torque.

[0108] Step 3: Control the vehicle to output the second driving torque.

[0109] Exemplarily, in the process of reducing the first driving torque according to the first target slope, a plurality of second driving torques decreasing in sequence according to the first target slope may be obtained. 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 may be controlled to output the second driving torque. In this way, 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 decreases smoothly and avoid the problem that the sudden decrease in torque affects the driving experience.

[0110] Figure 2 is a flowchart of another torque control method shown according to an exemplary embodiment. As Figure 2 shown, after step S102, the method may further include:

[0111] In step S103, when the vehicle does not meet the preset torque reduction condition, an increase torque strategy is executed according to the operating parameters and the second driving torque.

[0112] Exemplarily, during the execution of step S102, it is possible to determine in real time whether the vehicle meets a preset torque reduction condition. Taking the preset torque reduction condition that the difference between the shaft speed of the drive shaft and the longitudinal vehicle speed is greater than a 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 it is necessary to increase the output torque of the vehicle in a timely manner. Therefore, an up-torque strategy can be executed according to the operating parameters and the second drive torque.

[0113] In some embodiments, the up-torque strategy may include the following steps:

[0114] Step 1: Determine a second target slope according to the longitudinal vehicle speed and a second preset correspondence.

[0115] Wherein, 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 negative, the second target slope may be positive, and the absolute value of the second target slope may be greater than the absolute value of the first target slope.

[0116] Exemplarily, the second preset correspondence may include the correspondence between the longitudinal vehicle speed and the slope. Different longitudinal vehicle speeds may correspond to different slopes for increasing torque. 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 can be found 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 can 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 can 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.

[0117] In some 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.

[0118] Step 2: Increase the second drive torque according to the second target slope to obtain a third drive torque.

[0119] Step 3: Control the vehicle to output a third driving torque.

[0120] Exemplarily, during the process of reducing the second driving torque according to the second target slope, multiple third driving torques that increase sequentially according to the second target slope can be obtained, and the third driving torque at each moment is determined based on the third driving torque at the previous moment. Each time a third driving torque is obtained, the vehicle can be controlled to output this third driving torque. In this way, as the third driving torque increases sequentially according to the second target slope, the output torque of the vehicle also gradually increases, ensuring that when the vehicle recovers from the skidding state to normal operation, the output torque rapidly increases, which can improve the driving experience of the driver.

[0121] Figure 3 It is a flowchart of another torque control method shown according to an exemplary embodiment. As Figure 3 shown, the method may further include:

[0122] In step S104, when the vehicle meets the preset recovery condition, control the vehicle to output the required torque of the vehicle.

[0123] In some embodiments, the preset recovery condition may include at least one of the following: 1) The required torque of the vehicle is less than or equal to the second preset torque threshold, where 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 0, for example; 2) The target driving torque of the vehicle is greater than or equal to the required torque, where the target driving torque may be the output torque determined by the vehicle in the anti-skid control mode, and may be the first driving torque, the second driving torque or the third driving torque, for example; 3) The gear position information of the vehicle indicates that the vehicle is in the parking gear (P gear) or neutral gear (N gear).

[0124] Exemplarily, if the vehicle meets the preset recovery condition, it means 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.

[0125] A specific embodiment is provided below.

[0126] The software architecture of the torque control method shown in the embodiments of the present disclosure may be as Figure 4 shown, including a perception module, a control module, and an execution module.

[0127] The perception module can receive sensor information and GPS (Global Positioning System) information. Among them, the sensor information can include the four-wheel wheel speed, the 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 actual driving torque of the vehicle, etc. to perform state machine judgment and target driving torque calculation.

[0128] The state machine is divided into two types: function activation and function deactivation in the anti-skid control mode. Among them, the activation conditions (i.e., preset activation conditions) can be: all of the following three items are satisfied simultaneously. 1. The driver's required torque > 0; 2. The speed of the drive shaft > (longitudinal vehicle speed + target slip amount) and lasts for a certain period of time (calibratable value), and the target slip amount can be understood as the first preset speed threshold in the embodiments of the present disclosure; 3. The vehicle gear is in D gear or R gear. The deactivation conditions (i.e., preset recovery conditions) can be: any one of the following three items is satisfied. 1. The driver's required torque ≤ 0; 2. The target driving torque ≥ the driver's required torque; 3. The vehicle gear is in N gear or P gear.

[0129] The calculation method of the target driving torque can be divided into three states: torque holding, torque slow decrease, and torque fast increase. The setting condition for the torque holding state can be: the anti-skid control mode is activated and the activation duration ≤ 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-skid control mode; the setting condition for the torque slow decrease state can be: the speed of the drive shaft > (longitudinal vehicle speed + target slip amount). When the torque slow decrease state is set, the target driving torque decreases according to the first target slope based on the previous moment, and the first target slope is obtained by two-dimensional look-up based on the longitudinal vehicle speed. The higher the longitudinal vehicle speed, the greater the first target slope; the setting condition for the torque fast increase state can be: the speed of the drive shaft ≤ (longitudinal vehicle speed + target slip amount). When the torque fast increase state is set, the target driving torque increases according to the second target slope based on the previous moment, and the second target slope can be obtained by two-dimensional look-up based on the longitudinal vehicle speed. The higher the longitudinal vehicle speed, the greater the second target slope.

[0130] The execution module can receive the target driving torque and hand it over to the engine or motor to execute the target driving torque.

[0131] In summary, after the vehicle enters the anti-skid control mode, it does not brake immediately, but controls the vehicle to continuously output the first driving torque to keep the output torque of the vehicle unchanged, which can avoid the problem of affecting the driving experience by braking immediately when the vehicle slips. At the same time, when the output duration of the first driving torque exceeds the target duration, a torque reduction strategy is executed to reduce the output torque of the vehicle, which can ensure the safety of vehicle driving.

[0132] Figure 5 is a block diagram of a torque control device shown according to an exemplary embodiment, as Figure 5 shown, the device 200 includes:

[0133] A control module 201, configured to control the vehicle to output a first 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-skid control mode is a mode for controlling the torque of the vehicle when the vehicle slips.

[0134] A torque reduction module 202, configured to execute a torque reduction strategy according to the running 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, and the torque reduction strategy is used to reduce the first driving torque output by the vehicle.

[0135] In some embodiments, the torque reduction module 202 is configured to:

[0136] When the output duration of the first driving torque is greater than or equal to the target duration, if the vehicle meets the preset torque reduction condition, execute the torque reduction strategy according to the running parameters and the first driving torque.

[0137] In some other embodiments, the running parameters include the longitudinal vehicle speed of the vehicle. Correspondingly, the torque reduction strategy may include:

[0138] Determine a first target slope according to the longitudinal vehicle speed and a first preset correspondence, and the first preset correspondence includes the correspondence between the longitudinal vehicle speed and the slope.

[0139] Reduce the first driving torque according to the first target slope to obtain a second driving torque.

[0140] Control the vehicle to output the second driving torque.

[0141] Figure 6 is a block diagram of another torque control device shown according to an exemplary embodiment, as Figure 6 shown, the device 200 may further include:

[0142] The torque increase module 203 is configured to execute a torque increase strategy based on the operating parameters and the second driving torque when the vehicle does not meet the preset torque reduction condition after executing a torque reduction strategy based on the operating parameters and the first driving torque.

[0143] In some other embodiments, the torque increase strategy may include:

[0144] Determine a second target slope according to a second preset correspondence, where the second preset correspondence includes the correspondence between the longitudinal vehicle speed and the slope.

[0145] Increase the second driving torque according to the second target slope to obtain a third driving torque.

[0146] Control the vehicle to output the third driving torque.

[0147] In some other embodiments, the preset torque reduction condition includes: the difference between the shaft speed of the vehicle's drive shaft and the longitudinal vehicle speed is greater than a first preset speed threshold.

[0148] In some other embodiments, the control module 201 is further configured to:

[0149] When the vehicle meets the preset activation condition, control the vehicle to enter the anti-skid control mode.

[0150] In some other embodiments, the preset activation condition includes:

[0151] The required torque of the vehicle is greater than a first preset torque threshold.

[0152] The duration for which the difference between the shaft speed of the vehicle's drive shaft and the longitudinal vehicle speed is greater than a second preset speed threshold is greater than a preset duration. And

[0153] The gear information of the vehicle indicates that the vehicle is in the forward gear or the reverse gear.

[0154] In some other embodiments, the control module 201 is further configured to:

[0155] When the vehicle meets the preset recovery condition, control the vehicle to output the required torque of the vehicle.

[0156] In some other embodiments, the preset recovery condition includes at least one of the following:

[0157] The required torque of the vehicle is less than or equal to a second preset torque threshold.

[0158] 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-skid control mode.

[0159] The gear information of the vehicle indicates that the vehicle is in the parking gear or the neutral gear.

[0160] In some other embodiments, the target duration is determined as follows:

[0161] The target duration is determined according to the longitudinal vehicle speed and a third preset correspondence relationship, where the third preset correspondence relationship includes the correspondence relationship between the longitudinal vehicle speed and the duration.

[0162] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0163] In summary, after the vehicle enters the anti-skid control mode, the present disclosure does not immediately brake, but controls the vehicle to continuously output a first driving torque to keep the output torque of the vehicle unchanged, which can avoid the problem of immediately braking when the vehicle slips and affecting the driving experience. At the same time, when the output duration of the first driving torque exceeds the target duration, a torque reduction strategy is executed to reduce the output torque of the vehicle, which can ensure the safety of vehicle driving.

[0164] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the torque control method provided by the present disclosure are implemented.

[0165] Figure 7 is a block diagram of a vehicle shown according to an exemplary embodiment. For example, vehicle 300 may be a hybrid vehicle, or 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.

[0166] Referring to Figure 7 , vehicle 300 may include various subsystems. For example, the infotainment system 310, the perception system 320, the decision control system 330, the drive system 340, and the computing platform 350. Among them, vehicle 300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of vehicle 300 may be interconnected by wired or wireless means.

[0167] In some embodiments, the infotainment system 310 may include a communication system, an entertainment system, and a navigation system, etc.

[0168] 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, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0169] The decision-making and control system 330 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0170] The drive system 340 may include components that provide motive power 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 can convert the energy provided by the energy source into mechanical energy.

[0171] Some or all of the functions of the vehicle 300 are controlled by the 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.

[0172] The processor 351 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0173] The memory 352 may be implemented by any type of volatile or non-volatile storage 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, a magnetic disk, or an optical disk.

[0174] In addition to the instructions 353, the memory 352 may also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 352 can be used by the computing platform 350.

[0175] In an embodiment of the present disclosure, the processor 351 may execute the instruction 353 to complete all or part of the steps of the above torque control method.

[0176] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is further provided, such as a memory 352 including instructions. The above instructions can be executed by the processor 351 of the vehicle 300 to complete the above torque control method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0177] In another exemplary embodiment, a computer program product is further provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above torque control method when executed by the programmable device.

[0178] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art can use various methods to implement the described function for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of the present application.

[0179] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily understood to be advantageous compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean 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 mean any arrangement in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context referring to the singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0180] Similarly, 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 upon reading and understanding this specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may, as may be desired and advantageous for any given or particular application, be combined with one or more other features of other implementations. Further, with respect to the use of "comprising," "having," "including," "with," or variants thereof in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "including."

[0181] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known or customary techniques in the art that are not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0182] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

[0183] It should be understood that, unless otherwise specifically stated, the features of some embodiments of the various aspects of the present disclosure 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 thereof; similarly, "at least one of..." includes any one of the related listed items and any combination of any two or more thereof.

[0184] Although terms such as "first", "second", and "third" may 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, part, region, layer, or section from another. Thus, the first component, part, region, layer, or section referred to in the examples described herein may also be referred to as the second component, part, region, layer, or section without departing from the teachings of the various examples. Additionally, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description herein, "a plurality of" means at least two, such as two, three, etc., unless otherwise 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, executing a torque reduction strategy according to the operating parameters of the vehicle and the first driving torque, the torque reduction strategy being used to reduce the first driving torque output by the vehicle; 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.

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. 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; a torque reduction module, configured to execute a torque reduction strategy according to 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 a target duration, wherein the torque reduction strategy is used to reduce the first driving torque output by the vehicle; 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 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, executing a torque reduction strategy according to the operating parameters of the vehicle and the first driving torque, the torque reduction strategy being used to reduce the first driving torque output by the vehicle; 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.

13. 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 10 are implemented.

14. 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 10.

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