Vehicle driving method, device and equipment and storage medium

Abstract

The invention relates to a vehicle driving method, device and equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that the running resistance of the vehicle is determined, and the driving force of the vehicle is determined according to the running resistance; the difference value between the driving force and the running resistance is smaller than or equal to a preset threshold value; the driving torque of the vehicle is determined according to the driving force, and the vehicle is driven according to the driving torque; the driving torque is used for controlling vehicle wriggling. The wriggling noise can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, in particular to the field of vehicle driving technology, and specifically to a vehicle driving method, device, equipment and storage medium. Background Art

[0002] Braking creep noise is a low-frequency noise that occurs inside the vehicle body and is generally less than 600 Hz. Specifically, when the vehicle starts, the brake pedal is slowly released or the Autohold is activated and the accelerator pedal is pressed, the stick-slip motion of the disc generates creep noise excitation, which is transmitted to the vehicle through the horns and suspension system. Passengers can easily perceive the noise caused by braking creep noise. In order to reduce creep noise, the relevant technical solution discloses a method for early identification of braking creep noise. This method reduces creep noise by simulating user working conditions through a brake assembly test bench, but the optimization object is still the friction plate material, and the creep noise problem cannot be solved.

[0003] As the cabin of new energy vehicles becomes quieter, users are more likely to perceive the comfort issues caused by brake noise. Since electric vehicles are quiet, brake creep noise is more likely to be detected by customers when the brake pedal is released when starting. Therefore, how to reduce creep noise is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a vehicle driving method, device, equipment and storage medium for reducing creeping noise. The technical solution of the present application is as follows:

[0005] According to a first aspect of the present application, a vehicle driving method is provided, the method comprising: determining a driving resistance of a vehicle, and determining a driving force of the vehicle according to the driving resistance. The difference between the driving force and the driving resistance is less than or equal to a preset threshold. Determining a driving torque of the vehicle according to the driving force, and driving the vehicle according to the driving torque. The driving torque is used to control the creep of the vehicle.

[0006] According to the above technical means, the driving resistance of the vehicle is determined, and the driving force of the vehicle is determined according to the driving resistance. The difference between the driving force and the driving resistance is less than or equal to the preset threshold. Subsequently, the driving torque of the vehicle is determined according to the driving force, and the vehicle is driven according to the driving torque. In this way, when controlling the creep of the vehicle, the driving force output by the vehicle is controlled to be close to the driving resistance, so as to achieve a balance between the braking torque and the driving torque of the vehicle and reduce the noise of the creep of the vehicle.

[0007] In one possible manner, the driving resistance includes ramp resistance, and determining the driving force of the vehicle according to the driving resistance includes: correcting the ramp resistance according to the slope of the vehicle to obtain the ramp driving force. Determining the driving force according to the ramp driving force and the basic resistance. The basic resistance is the resistance other than the ramp resistance in the driving resistance.

[0008] According to the above technical means, when the driving resistance includes the slope resistance, the slope resistance is corrected according to the slope of the vehicle. In this way, the driving force matching the driving resistance can be accurately obtained, so as to achieve a balance between the vehicle braking torque and the driving torque, and reduce the noise of the vehicle creeping.

[0009] In one possible manner, when the vehicle is on an uphill slope, the slope resistance is corrected according to the slope of the vehicle to obtain the slope driving force, including: determining a slope correction coefficient according to the slope, and correcting the slope resistance according to the slope correction coefficient to obtain the slope driving force. The slope correction coefficient is positively correlated with the slope.

[0010] According to the above technical means, by determining the correction coefficient corresponding to the ramp and correcting the ramp resistance according to the modification coefficient, the ramp resistance can be accurately obtained, thereby achieving a balance between the vehicle braking torque and the driving torque and reducing the noise of the vehicle creep.

[0011] In one possible manner, determining the slope correction coefficient according to the slope includes: determining the slope correction coefficient according to the slope and the opening degree of the vehicle's brake pedal.

[0012] In one possible manner, the method further includes: in response to a brake pedal release operation on the vehicle, determining a driving torque of the vehicle according to an opening of an accelerator pedal and a driving torque. The driving torque is used to drive the vehicle. A torque adjustment time is determined according to a difference between the driving torque and the driving torque and a change rate threshold, and the driving torque is adjusted to the driving torque according to the torque adjustment time. The change rate threshold is less than or equal to the change rate threshold.

[0013] In one possible manner, the method further includes: determining a driving torque of the vehicle in response to a brake pedal release operation on the vehicle. The driving torque is used to drive the vehicle to travel at a target vehicle speed. The driving torque is used to drive the vehicle to determine a torque adjustment time according to a difference between the driving torque and the driving torque and a change rate threshold, and adjust the driving torque to the driving torque according to the torque adjustment time. The change rate threshold is less than or equal to the change rate threshold.

[0014] In one possible manner, the method further includes: determining a driving torque of the vehicle in response to a brake pedal release operation on the vehicle. The driving torque is used to drive the vehicle to travel at a target vehicle speed. Determining a torque adjustment time for adjusting the driving torque to the driving torque, and adjusting the driving torque to the driving torque according to the torque adjustment time. The torque adjustment time is less than or equal to a time threshold.

[0015] In a possible manner, the driving resistance includes at least one of ground rolling resistance, air resistance, acceleration resistance and slope resistance of the vehicle.

[0016] According to a second aspect provided by the present application, a vehicle driving device is provided, the device comprising: a determination unit and a driving unit. The determination unit is used to determine the driving resistance of the vehicle. The determination unit is also used to determine the driving force of the vehicle according to the driving resistance. The difference between the driving force and the driving resistance is less than or equal to a preset threshold. The determination unit is also used to determine the driving torque of the vehicle according to the driving force. The driving unit is used to drive the vehicle according to the driving torque. The driving torque is used to control the creep of the vehicle.

[0017] In one possible manner, the driving resistance includes a ramp resistance, and the determination unit is specifically configured to: correct the ramp resistance according to the slope of the vehicle to obtain the ramp driving force, and determine the driving force according to the ramp driving force and the basic resistance. The basic resistance is the resistance other than the ramp resistance in the driving resistance.

[0018] In one possible manner, the vehicle is on an uphill slope, and the determination unit is specifically configured to: determine a slope correction coefficient according to the slope, and correct the slope resistance according to the slope correction coefficient to obtain the slope driving force. The slope correction coefficient is positively correlated with the slope.

[0019] In one possible manner, the determination unit is specifically configured to determine a slope correction coefficient according to a slope and an opening degree of a brake pedal of the vehicle.

[0020] In one possible manner, the vehicle drive device further includes an adjustment unit. The determination unit is further used to determine the driving torque of the vehicle in response to a brake pedal release operation on the vehicle, and the driving torque is used to drive the vehicle to travel at a target vehicle speed. The determination unit is further used to determine the torque adjustment time according to the difference between the driving torque and the driving torque and a change rate threshold. The change rate threshold is less than or equal to the change rate threshold. The adjustment unit is used to adjust the driving torque to the driving torque according to the torque adjustment time.

[0021] In one possible manner, the determination unit is further configured to determine a driving torque of the vehicle in response to a brake pedal release operation on the vehicle. The driving torque is used to drive the vehicle to travel at a target vehicle speed. The determination unit is further configured to determine a torque adjustment time for adjusting the driving torque to the driving torque. The adjustment unit is configured to adjust the driving torque to the driving torque according to the torque adjustment time. The torque adjustment time is less than or equal to a time threshold.

[0022] According to a third aspect provided by the present application, an electronic device is provided, comprising: a processor and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation method thereof.

[0023] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of a processing device, the processing device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0024] According to the fifth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on a processing device, the processing device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0025] According to a sixth aspect provided by the present application, a vehicle is provided, comprising the electronic device of the third aspect.

[0026] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0029] Figure 1 is a structural schematic diagram of a torque determination system according to an exemplary embodiment;

[0030] Figure 2 is a schematic diagram showing a change in braking torque according to an exemplary embodiment;

[0031] Figure 3 is one of the flowchart diagrams of a vehicle driving method according to an exemplary embodiment;

[0032] Figure 4 is a schematic diagram of interaction between a braking torque and a driving torque according to an exemplary embodiment;

[0033] Figure 5 is a noise test schematic diagram according to an exemplary embodiment;

[0034] Figure 6 is another noise test schematic diagram shown according to an exemplary embodiment;

[0035] Figure 7 is a second flow chart of a vehicle driving method according to an exemplary embodiment;

[0036] Figure 8 is a schematic diagram showing a comparison of creeping noise according to an exemplary embodiment;

[0037] Fig. 9 is a block diagram of a torque determination device according to an exemplary embodiment;

[0038] Fig.10 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0041] As described in the background art, since electric vehicles work quietly, the brake creep noise is more easily detected by customers when the brake pedal is released when starting. Therefore, how to reduce the creep noise is a technical problem that needs to be solved urgently.

[0042] In order to solve the above technical problems, the present application provides a vehicle driving method, the method comprising: determining the driving resistance of the vehicle, and determining the driving force of the vehicle according to the driving resistance. The difference between the driving force and the driving resistance is less than or equal to a preset threshold. The driving torque of the vehicle is determined according to the driving force, and the vehicle is driven according to the driving torque. The driving torque is used to control the creep of the vehicle.

[0043] According to the above technical solution, the driving resistance of the vehicle is determined, and the driving force of the vehicle is determined according to the driving resistance. The difference between the driving force and the driving resistance is less than or equal to a preset threshold. Subsequently, the driving torque of the vehicle is determined according to the driving force, and the vehicle is driven according to the driving torque. In this way, when controlling the creep of the vehicle, the driving force output by the vehicle is controlled to be close to the driving resistance, so as to achieve a balance between the braking torque and the driving torque of the vehicle and reduce the noise of the creep of the vehicle.

[0044] like Figure 1 As shown, Figure 1A torque determination system 100 is provided in an embodiment of the present application. The vehicle control method system 100 may include an electronic device 101 , a brake disc 102 , and a disc 103 .

[0045] The electronic device 101 is used to determine the driving resistance of the vehicle and determine the driving force of the vehicle according to the driving resistance. The electronic device 101 is also used to determine the driving torque of the vehicle according to the driving force and drive the vehicle according to the driving torque. The driving torque is used to control the creep of the vehicle.

[0046] The electronic device 101 is also used to obtain the running-in state of the brake disc 102 and the dry and wet state of the disc 103 .

[0047] The friction plate in the embodiment of the present application is determined by multiple bench tests.

[0048] For example, for the friction plate of a vehicle, the bench test Stick-slip prefers a friction plate formula with a small braking torque variation rate.

[0049] Specifically, when starting or stopping, due to the conversion of dynamic and static friction coefficients, a stick-slip effect occurs between the discs, causing the braking torque to fluctuate. Through bench tests, the torque fluctuation value is tested, and the reverse friction coefficient change rate is calculated. By optimizing the friction coefficient change rate, reducing torque fluctuations, improving the excitation when the disc sticks and slips, and reducing vibration, the creep noise can be optimized to a certain extent. That is, the current means in the industry, the friction plate bench test stick-slip prefers a formula with a small friction coefficient change rate.

[0050] The friction coefficient of the bench test is μ = Md / 2 / (P-P0) / Ap / Ref / η. Md represents the braking torque, P represents the braking pressure, P0 represents the piston starting pressure, Ap represents the piston area, Ref represents the effective braking radius, and η represents the efficiency. The dynamic and static friction coefficients are obtained through testing and calculation.

[0051] The static-dynamic change rate of the friction coefficient ε = (μ1-μ2) / μ2×100%, where μ1 represents the static friction coefficient and μ2 represents the dynamic friction coefficient. Stick-slip optimization is achieved by the size of the ε value.

[0052] Creep torque is the torque output of the vehicle's power system that is automatically controlled before the accelerator pedal is pressed, which enables the vehicle to move slowly without pressing the accelerator or even lightly pressing the brake. It is a necessary driving requirement. The setting of creep torque is based on the vehicle speed, brake pedal depth, and slope information for actual vehicle calibration. Generally, it increases as the vehicle speed decreases and the brake pedal is released.

[0053] Through real vehicle calibration, the creep torque is locked to the key factor affecting the creep noise. The size of the creep torque directly affects the pressure balance point where the creep noise occurs during starting. Under large creep torque, the critical pressure for the vehicle to maintain balance during the vehicle starting process increases, thereby worsening the creep noise performance. From the perspective of reducing the decibel value of the creep noise, the brake pressure at the balance point should be kept at a relatively small level. From the perspective of the time that the creep noise can be maintained, the pressure at the balance point should be as unsustainable as possible. Through optimization calculation, real vehicle calibration and software joint debugging, the creep torque is locked to the key factor affecting the creep noise.

[0054] Define different brake pedal travels of 1mm, 2mm, 3mm, 4mm, 5mm to correspond to different vehicle speeds -3km / h, -2km / h, -1km / h, 0km / h, -1km / h, so as to calculate the basic creep torque, and calculate the correction target based on the vehicle's low-speed flat ground kinetic energy requirements. Define different vehicle speeds of 1km / h, 2km / h, 3km / h, 4km / h, 5km / h to correspond to different slopes of 0°, 1°, 2°, 3°, 4°, so as to calculate the ramp speed torque, and calculate the correction target based on the vehicle's low-speed climbing kinetic energy requirements. Limit the gradient of the slope correction torque value to avoid sudden changes in torque due to abnormal signals or vehicle impacts, and correct the gradient of the torque. Considering the simplicity of the model, it is also possible to consider correcting according to a fixed gradient.

[0055] Through the creep noise control strategy, under starting creep and parking creep conditions, and according to the slope, brake disc running-in status, and disc dry and wet status, different verification matrices are combined. The decibel value of the creep noise in the driver's right ear is tested with the windows closed on the actual vehicle, and the influence of different creep torque maps on the creep noise is analyzed, so as to achieve the purpose of optimizing the control of the creep torque.

[0056] like Figure 2 As shown in FIG. 1 , a diagram showing the variation of the braking torque is shown. Figure 2 In the figure, the horizontal axis is time, the vertical axis is torque, and the fluctuation curve is the braking torque change curve and the fluctuation range.

[0057] For ease of understanding, the torque determination method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0058] Figure 3 According to an exemplary embodiment, a flow chart of a vehicle driving method is shown as follows: Figure 3 As shown, the vehicle driving method includes: S201-S204.

[0059] S201: Determine the driving resistance of the vehicle.

[0060] In the embodiment of the present application, the driving resistance includes at least one of the vehicle's ground rolling resistance, air resistance, acceleration resistance and slope resistance.

[0061] As a possible implementation method, the electronic device obtains the driving resistance of the vehicle according to the motion parameters of the vehicle and a preset resistance algorithm.

[0062] In some embodiments, in some embodiments, the electronic device obtains the motion parameters of the vehicle and determines the ground rolling resistance, ramp resistance, air resistance and vehicle acceleration resistance respectively according to the motion parameters. Further, the driving resistance of the vehicle is determined according to the ground rolling resistance, ramp resistance, air resistance and vehicle acceleration resistance.

[0063] For example, the calculation formula of the driving resistance of the car can be: z =F f +F w +F i +F j Among them, F z is the driving resistance, F f is the ground rolling resistance, F w is air resistance, F i is the slope resistance, F j is the car acceleration resistance. It can be understood that the driving resistance of the car includes slope resistance, ground rolling resistance, air resistance and car acceleration resistance. If the road the vehicle is currently driving on is a horizontal road, the slope resistance is 0.

[0064] Driving resistance F f =fmg. Among them, f is the rolling resistance coefficient, m is the mass of the vehicle, and g is the acceleration due to gravity.

[0065] Air resistance Among them, C d is the drag coefficient, A is the windward area, u a For vehicle speed.

[0066] Car acceleration resistance Where δ is the rotational mass conversion factor, is the driving acceleration.

[0067] It should be noted that the coefficients for calculating the rolling resistance coefficient, vehicle mass, gravitational acceleration, wind resistance coefficient, windward area, and rotational mass conversion coefficient can be pre-stored in the electronic device or in the server by the operation and maintenance personnel. The preset resistance algorithm is pre-stored in the electronic device by the operation and maintenance personnel.

[0068] It is understandable that when a vehicle creeps on a road, it needs to overcome ground rolling resistance, air resistance, and vehicle acceleration resistance. In addition, when the road on which the vehicle is traveling is an uphill road, the vehicle must also overcome slope resistance. Thus, the vehicle's driving resistance is calculated from one or more of the slope resistance, ground rolling resistance, air resistance, and vehicle acceleration resistance.

[0069] For example, Figure 4 As shown in FIG. 1 , a schematic diagram of the interaction between the braking torque and the driving torque is shown. Figure 4 It can be seen that as the opening of the accelerator pedal increases, the driving torque and braking torque of the vehicle in comfort mode and sports mode change.

[0070] S202: Determine the driving force of the vehicle according to the driving resistance.

[0071] The difference between the driving force and the driving resistance is less than or equal to a preset threshold.

[0072] In some embodiments, when determining the driving resistance, the electronic device determines the driving resistance as the driving force.

[0073] In some embodiments, the electronic device determines the driving force based on the driving resistance and a preset resistance formula.

[0074] It should be noted that the preset resistance formula is pre-stored in the electronic device by the operation and maintenance personnel.

[0075] It is understandable that when a vehicle creeps on a road, the vehicle needs to overcome the driving resistance. In this way, the driving force is accurately calculated according to the driving resistance.

[0076] S203: Determine the driving torque of the vehicle according to the driving force.

[0077] Among them, the driving torque is used to control vehicle creep.

[0078] In some embodiments, the electronic device determines the driving torque of the vehicle according to the driving force and torque calculation formula.

[0079] Exemplarily, the torque calculation formula is: T t =F t ×r. Among them, T t is the driving torque, F t is the driving force and r is the rolling radius of the tire.

[0080] In some embodiments, the braking force may be a braking torque. The electronic device acquires the braking torque of the vehicle, determines the driving torque of the vehicle based on the braking torque of the vehicle, and controls the vehicle to output the driving torque.

[0081] Exemplarily, the braking torque is a hydraulic torque. Thus, when the driving torque = hydraulic torque, the vehicle is in a dynamic-static equilibrium stick-slip state, that is, a dynamic-static conversion state of the friction coefficient, and is also a balance point of the interaction between the motor output torque and the braking torque. At this time, the creeping noise of the vehicle is small.

[0082] S204: Drive the vehicle according to the driving torque.

[0083] In some embodiments, when acquiring the driving torque, the electronic device controls the difference between the torque output by the vehicle and the driving torque to be less than or equal to a force threshold.

[0084] The vehicle driving method provided in the embodiment of the present application brings at least the following beneficial effects: the driving resistance of the vehicle is determined, and the driving force of the vehicle is determined based on the driving resistance. The difference between the driving force and the driving resistance is less than or equal to a preset threshold. Subsequently, the driving torque of the vehicle is determined based on the driving force, and the vehicle is driven based on the driving torque. In this way, when controlling the creep of the vehicle, the driving force output by the vehicle is controlled to be close to the driving resistance, so that the braking torque of the vehicle and the driving torque reach a lower balance or the difference between the braking torque of the vehicle and the driving torque is less than or equal to the preset torque threshold, thereby reducing the noise of the creep of the vehicle.

[0085] In one design, the driving resistance includes slope resistance, and the above S202 includes: S2021-S2022.

[0086] S2021. Correct the ramp resistance according to the slope of the vehicle to obtain the ramp driving force.

[0087] As a possible implementation method, the electronic device determines the slope of the vehicle, and determines a slope correction coefficient corresponding to the slope according to the slope. Further, the slope resistance is corrected according to the slope correction coefficient to obtain the slope driving force.

[0088] In some embodiments, the electronic device determines a slope correction factor based on the slope and the slope correction curve.

[0089] In some embodiments, the electronic device determines a slope correction coefficient according to the slope and a preset correction formula. The slope correction coefficient is positively correlated with the slope.

[0090] In some embodiments, the electronic device determines the slope correction factor based on the slope and the opening degree of the vehicle's brake pedal.

[0091] For example, the electronic device searches the slope correction coefficient table according to the slope and the opening of the vehicle's brake pedal to obtain the slope correction coefficient. The slope correction coefficient table includes multiple slopes, multiple brake pedal openings, and slope correction coefficients corresponding to any slope and any brake pedal opening. For another example, the electronic device inputs the slope and the opening of the brake pedal into the correction coefficient formula to obtain the slope correction coefficient.

[0092] It should be noted that the preset modification formula, correction coefficient formula and ramp correction curve are pre-set in the electronic device by the operation and maintenance personnel.

[0093] S2022. Determine the driving force according to the ramp driving force and the foundation resistance.

[0094] The basic resistance is the resistance other than the slope resistance in the driving resistance.

[0095] In the embodiment of the present application, the basic resistance includes ground rolling resistance, air resistance and vehicle acceleration resistance.

[0096] In some embodiments, the base resistance may also be the base creep force of the vehicle.

[0097] In another case, the electronic device determines the ramp compensation torque according to the ramp driving force and torque calculation formula when determining the ramp driving force. Further, the electronic device determines the basic resistance as the basic creeping force, and determines the basic creeping torque according to the basic creeping force and torque calculation formula. Further, the electronic device determines the driving torque by the sum of the ramp supplementary torque and the basic creeping torque.

[0098] In one design, in order to shorten the duration of the creeping noise, the vehicle driving method provided in the embodiment of the present application further includes: S205-S207.

[0099] S205: In response to a brake pedal release operation on the vehicle, determine a driving torque of the vehicle.

[0100] The driving torque is used to drive the vehicle to travel at a target speed.

[0101] S206: Determine the torque adjustment time according to the difference between the running torque and the driving torque and the change rate threshold.

[0102] The change rate threshold is less than or equal to the change rate threshold.

[0103] In some embodiments, the electronic device inputs the difference between the driving torque and the driving torque and the change rate threshold into the time determination formula The torque adjustment time is obtained. is the difference between the driving torque and the driving torque, Δ is the change rate threshold, d tis the torque adjustment time.

[0104] It should be noted that the change rate threshold is pre-configured in the electronic device by the operation and maintenance personnel.

[0105] It is understandable that from the perspective of the continuity of creep noise, the torque at the interactive balance point between the braking torque and the driving torque should be as unsustainable as possible to ensure that the noise is discontinuous. At the same time, the power should not have problems such as speed overshoot and slow response, as well as starting jitter and power abruptness. When the brake pedal is slowly released, the driving torque and the braking torque interact to reach a balanced torque. The continuity of the torque at the equilibrium point satisfies: the time determination formula. Δ directly affects the continuity of creep noise. The faster the equilibrium point torque responds over time, the shorter the time to break the equilibrium point, and the shorter the duration of creep noise. However, in order to avoid power abruptness, Δ must be controlled within a certain range. In the joint calibration of the actual vehicle, the Δ value is increased without affecting the driving comfort, so as to achieve the optimal calibration match and reduce the continuity of creep noise.

[0106] like Figure 5 As shown in FIG. 1 , a noise test schematic diagram is shown. Figure 5 In the figure, the horizontal axis is time, the vertical axis is creep torque, and the torque adjustment time from the running torque to the driving torque is shown.

[0107] In addition, if Figure 6 Another noise test schematic is shown in FIG. Figure 6 Three equilibrium points are shown in FIG: equilibrium point 1, equilibrium point 2, and equilibrium point 3.

[0108] S207: Adjust the travel torque to the driving torque according to the torque adjustment time.

[0109] In some embodiments, the electronic device controls the travel torque to be adjusted to the driving torque in a time that is less than or equal to the torque adjustment time.

[0110] In one design, in order to shorten the duration of the creeping noise, the vehicle driving method provided in the embodiment of the present application further includes: S208-S210.

[0111] S208: In response to a brake pedal release operation on the vehicle, determine a driving torque of the vehicle.

[0112] Among them, the driving torque is used to drive the vehicle to travel at the target speed;

[0113] S209: Determine the torque adjustment time for adjusting the driving torque to the traveling torque.

[0114] The torque adjustment time is less than or equal to the time threshold.

[0115] It should be noted that the time threshold is pre-configured in the electronic device by the operation and maintenance personnel.

[0116] S210: Adjust the travel torque to the driving torque according to the torque adjustment time.

[0117] In one design, in order to better understand the vehicle driving method provided by the embodiment of the present application, as Figure 7 As shown, a vehicle driving method is shown, including: S401-S406.

[0118] S401, collecting motion parameters of the vehicle.

[0119] In some embodiments, the electronic device collects the vehicle speed and the opening degree (or mileage) of the brake pedal. Further, the electronic device determines the basic resistance of the vehicle based on the collected data and a preset resistance algorithm. This step is detailed in S201 above.

[0120] Furthermore, the electronic device uses the basic resistance and torque calculation formula to determine the basic creep torque.

[0121] In some embodiments, the degree of opening of the vehicle's brake pedal is associated with different speeds.

[0122] For example, as shown in Table 1 below, a table showing the opening degree, speed, and torque of the brake pedal is shown.

[0123] Table 1 Basic creep torque table

[0124]

[0125]

[0126] Among them, -3, -2, and -1 are the speeds of the vehicle moving backward, and 1, 2, and 3 are the speeds of the vehicle moving forward.

[0127] In some embodiments, the electronic device determines the basic creep torque of the vehicle based on the speed of the vehicle and the opening of the brake pedal, as well as a basic creep torque table.

[0128] S402: Determine the vehicle speed torque on the slope.

[0129] In some embodiments, the ramp speed torque T′ i =F i ×r=mgsinα, where α is the slope. Define different vehicle speeds of 0km / h, 1km / h, 2km / h, 3km / h, 4km / h, 5km / h corresponding to different slopes of 0%, 4%, 8%, 10%, 20%, and thus calculate the theoretical ramp speed torque.

[0130] The ramp speed torque is input into the electronic control unit. The ramp speed torque is corrected by calibrating the actual vehicle to a slope condition greater than 0%, and the relationship curve between the ramp speed torque and the ramp compensation coefficient is obtained, that is, the ramp compensation torque T i =T′ i ×C=F i ×r×C=mgsinα×C, C is the slope compensation coefficient. The slope vehicle speed torque diagram and slope compensation coefficient table are shown in Table 2 below.

[0131]

[0132] In some embodiments, the electronic device determines the ramp vehicle speed torque according to the vehicle speed and the slope as shown in Table 2.

[0133] S403: Determine a slope compensation coefficient.

[0134] In some embodiments, the electronic device determines the hill supplement factor based on the vehicle speed and the degree of opening of the brake pedal.

[0135] For example, the slope supplement coefficient is determined based on the vehicle speed, the opening degree of the brake pedal, and the slope supplement coefficient table.

[0136] Exemplarily, the ramp supplement factor table is shown in Table 3 below.

[0137] Table 3 Slope Supplementary Coefficient Table

[0138]

[0139]

[0140] S404: Correct the ramp torque according to the ramp compensation coefficient to obtain the ramp compensation torque.

[0141] In some embodiments, the product of the ramp compensation coefficient and the ramp torque is used as the ramp supplementary torque.

[0142] S405: Determine the driving torque of the vehicle according to the slope compensation torque and the basic creep torque.

[0143] In some embodiments, the sum of the slope compensation torque and the basic creep torque is determined as the driving torque. Subsequently, the vehicle is driven according to the driving torque.

[0144] In one design, the vehicle driving method provided in the embodiment of the present application further includes: S406-S408.

[0145] S406, collecting the decibel value of the creeping noise.

[0146] S407: When the decibel value of the creeping noise is greater than or equal to the decibel threshold, correct the target torque.

[0147] S408: Obtain the current position of the driver's head.

[0148] In one possible manner, the vehicle driving method provided in the embodiment of the present application further includes: the electronic device selects the friction plate formula with a small braking torque variation rate according to the friction plate bench test Stick-slip. Furthermore, the electronic device uses the creeping noise control strategy to combine different verification matrices under starting creeping and parking creeping conditions according to the slope, brake disc running-in state, and disc dry and wet state, and tests the driver's right ear creeping noise decibel value with the window closed.

[0149] For example, Figure 8 As shown in Figure 1, a schematic diagram of the comparison of creeping noise is shown. Figure 8 The noise before optimization and the noise after optimization are shown in FIG. 1 . The noise before optimization is the noise without using the vehicle driving method provided by the embodiment of the present application, and the noise after optimization is the noise with using the vehicle driving method provided by the embodiment of the present application.

[0150] The vehicle driving method provided by the embodiment of the present application brings at least the following beneficial effects: through the creep torque optimization control strategy, the noise optimization decibel contribution exceeds 70%. At the same time, combined with the traditional noise matching technology, according to the friction plate bench test Stick-slip, the friction plate formula with a small braking torque change rate is optimized, and the noise optimization decibel contribution is close to 30%. At the same time, the subjective evaluation is significantly improved, which can effectively reduce noise.

[0151] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the regulating device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0152] Fig. 9 A torque determination device is shown according to an exemplary embodiment. Fig. 9 The vehicle driving device 50 includes: a determining unit 501 and a driving unit 502.

[0153] The determination unit 501 is used to determine the driving resistance of the vehicle.

[0154] The determination unit 501 is further used to determine the driving force of the vehicle according to the driving resistance. The difference between the driving force and the driving resistance is less than or equal to a preset threshold. The determination unit is further used to determine the driving torque of the vehicle according to the driving force.

[0155] The driving unit 502 is used to drive the vehicle according to the driving torque. The driving torque is used to control the creep of the vehicle.

[0156] In one possible manner, the driving resistance includes a ramp resistance, and the determination unit 501 is specifically configured to: correct the ramp resistance according to the slope of the vehicle to obtain the ramp driving force. Determine the driving force according to the ramp driving force and the basic resistance. The basic resistance is the resistance other than the ramp resistance in the driving resistance.

[0157] In one possible manner, the vehicle is on a slope, and the determination unit 501 is specifically configured to: determine a slope correction coefficient according to the slope, and correct the slope resistance according to the slope correction coefficient to obtain the slope driving force. The slope correction coefficient is positively correlated with the slope.

[0158] In a possible manner, the determination unit 501 is specifically configured to determine a slope correction coefficient according to a slope and an opening degree of a brake pedal of the vehicle.

[0159] One possible approach is Fig. 9 As shown, the vehicle driving device 50 also includes an adjustment unit 503. The determination unit 501 is also used to determine the driving torque of the vehicle in response to the brake pedal release operation of the vehicle, and the driving torque is used to drive the vehicle to travel at a target speed. The determination unit 501 is also used to determine the torque adjustment time according to the difference between the driving torque and the driving torque and the change rate threshold. The change rate threshold is less than or equal to the change rate threshold. The adjustment unit 503 is used to adjust the driving torque to the driving torque according to the torque adjustment time.

[0160] In one possible manner, the determination unit 501 is further configured to determine the driving torque of the vehicle in response to a brake pedal release operation on the vehicle. The driving torque is used to drive the vehicle to travel at a target vehicle speed. The determination unit 501 is further configured to determine a torque adjustment time for adjusting the driving torque to the driving torque. The adjustment unit 503 is configured to adjust the driving torque to the driving torque according to the torque adjustment time. The torque adjustment time is less than or equal to a time threshold.

[0161] Fig.10 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.10 As shown, the electronic device includes but is not limited to: a processor 601 and a memory 602 .

[0162] The memory 602 is used to store executable instructions of the processor 601. It can be understood that the processor 601 is configured to execute instructions to implement the torque determination method in the above embodiment.

[0163] It should be noted that those skilled in the art can understand that Fig.10 The processing device structure shown in the figure does not constitute a limitation on the processing device, and the processing device may include Fig.10 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0164] The processor 601 is the control center of the processing device. It uses various interfaces and lines to connect various parts of the entire processing device. By running or executing software programs and / or modules stored in the memory 602, and calling data stored in the memory 602, it performs various functions of the processing device and processes data, thereby monitoring the processing device as a whole. The processor 601 may include one or more processing units. Optionally, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 601.

[0165] The memory 602 may be used to store software programs and various data. The memory 602 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0166] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 602 including instructions, and the above instructions can be executed by a processor 601 of a processing device to implement the method in the above embodiment.

[0167] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0168] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 601 of the processing device to complete the method in the above embodiment.

[0169] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the processing device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0170] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0172] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0173] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0174] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0175] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle driving method, characterized in that: The method comprises: Determining a driving resistance of a vehicle, and determining a driving force of the vehicle according to the driving resistance; a difference between the driving force and the driving resistance is less than or equal to a preset threshold; The driving torque of the vehicle is determined according to the driving force, and the vehicle is driven according to the driving torque; the driving torque is used to control the creep of the vehicle.

2. The method according to claim 1, characterized in that The driving resistance includes slope resistance, and determining the driving force of the vehicle according to the driving resistance includes: Correcting the ramp resistance according to the slope of the vehicle to obtain the ramp driving force; The driving force is determined according to the ramp driving force and the basic resistance; the basic resistance is the resistance other than the ramp resistance in the driving resistance.

3. The method according to claim 2, characterized in that The vehicle is on an uphill slope, and the slope resistance is corrected according to the slope of the vehicle to obtain the slope driving force, including: A slope correction coefficient is determined according to the slope, and the slope resistance is corrected according to the slope correction coefficient to obtain a slope driving force; the slope correction coefficient is positively correlated with the slope.

4. The method according to claim 3, characterized in that The step of determining a slope correction coefficient according to the slope comprises: The slope correction coefficient is determined according to the slope and the opening degree of the brake pedal of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: In response to a brake pedal release operation on the vehicle, determining a driving torque of the vehicle; the driving torque is used to drive the vehicle to travel at a target vehicle speed; The torque adjustment time is determined according to the difference between the running torque and the driving torque and the change rate threshold, and the running torque is adjusted to the driving torque according to the torque adjustment time; the change rate threshold is less than or equal to the change rate threshold.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: In response to a brake pedal release operation on the vehicle, determining a driving torque of the vehicle; the driving torque is used to drive the vehicle to travel at a target vehicle speed; A torque adjustment time for adjusting the driving torque to the traveling torque is determined, and the traveling torque is adjusted to the driving torque according to the torque adjustment time; the torque adjustment time is less than or equal to a time threshold.

7. The method according to any one of claims 1 to 4, characterized in that The running resistance includes at least one of ground rolling resistance, air resistance, acceleration resistance, and slope resistance of the vehicle.

8. A vehicle driving device, characterized in that: The device comprises: a determination unit and a driving unit; The determination unit is used to determine the running resistance of the vehicle; The determination unit is further configured to determine the driving force of the vehicle according to the driving resistance; the difference between the driving force and the driving resistance is less than or equal to a preset threshold; The determination unit is further configured to determine a driving torque of the vehicle according to the driving force; The driving unit is used to drive the vehicle according to the driving torque; the driving torque is used to control the creep of the vehicle.

9. The device according to claim 8, characterized in that The driving resistance includes slope resistance, and the determining unit is specifically used for: Correcting the ramp resistance according to the slope of the vehicle to obtain the ramp driving force; The driving force is determined according to the ramp driving force and the basic resistance; the basic resistance is the resistance other than the ramp resistance in the driving resistance.

10. An electronic device, characterized in that: including memory and processor; The memory is coupled to the processor; The memory is used to store computer program code, wherein the computer program code includes computer instructions; When the processor executes the computer instructions, the electronic device performs the method as claimed in any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of a processing device, the processing device is capable of performing the method according to any one of claims 1 to 7.

12. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 10.

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