Vehicle driving method, device, apparatus, and storage medium

Abstract

The application relates to a vehicle driving method, device, equipment and storage medium, and relates to the technical field of vehicles. The method comprises the following steps: determining the driving resistance of a 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; determining the driving torque of the vehicle according to the driving force, and driving the vehicle according to the driving torque; and the driving torque is used for controlling the peristalsis of the vehicle. The peristalsis noise can be reduced.

Description

TECHNICAL FIELD

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

[0002] Brake creep noise is a low-frequency noise, which generally occurs inside the vehicle body at less than 600 Hz. Specifically, when the vehicle starts, the brake pedal is slowly released or the Autohold function is activated to start the accelerator pedal, the disc stick-slip motion generates a creep noise excitation, which is transmitted to the vehicle interior through the horn and suspension system, and passengers are easy to perceive the noise caused by the brake creep noise. In order to reduce the creep noise, a related technical solution discloses a pre-identification method for brake creep noise, which reduces the creep noise by simulating user conditions on a brake assembly bench, but the optimization object is still the friction plate material, which cannot solve the problem of creep noise.

[0003] With the increasingly quiet cabin of new energy vehicles, users are more likely to perceive the comfort problem caused by brake noise. Since electric vehicles work quietly, the brake creep noise is more likely to be captured by customers when the brake pedal is released at start. Therefore, how to reduce the creep noise is a technical problem to be solved at present. SUMMARY

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

[0005] According to the first aspect of the present application, a vehicle driving method is provided, which comprises: 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.

[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 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, in the case of controlling the creep of the vehicle, the driving force output by the vehicle is close to the driving resistance, so as to achieve the balance between the brake 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 a slope resistance, and the driving force of the vehicle is determined according to the driving resistance, which comprises: correcting the slope resistance according to the slope of the location of the vehicle to obtain a slope driving force. The driving force is determined according to the slope driving force and a basic resistance. The basic resistance is the resistance in the driving resistance except the slope resistance.

[0008] According to the above technical means, in the case that the driving resistance includes the slope resistance, the slope resistance is corrected according to the slope of the position where the vehicle is located. In this way, the driving force matched with the driving resistance can be accurately obtained, so that the balance between the braking torque and the driving torque of the vehicle is achieved, and the noise caused by the creep of the vehicle is reduced.

[0009] In a possible manner, when the vehicle is on an uphill slope, the slope resistance is corrected according to the slope of the position where the vehicle is located 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 slope and correcting the slope resistance according to the correction coefficient, the slope resistance can be accurately obtained, so that the balance between the braking torque and the driving torque of the vehicle is achieved, and the noise caused by the creep of the vehicle is reduced.

[0011] In a possible manner, the slope correction coefficient is determined according to the slope, including: determining the slope correction coefficient according to the slope and the opening degree of the brake pedal of the vehicle.

[0012] In a possible manner, the method further includes: in response to the release operation of the brake pedal of the vehicle, determining the driving torque of the vehicle according to the opening degree of the accelerator pedal and the driving torque. The driving torque is used to drive the vehicle. The torque adjustment time is determined 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.

[0013] In a possible manner, the method further includes: in response to the release operation of the brake pedal of the vehicle, determining the driving torque of 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 adjust the driving torque to the driving torque 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.

[0014] In a possible manner, the method further includes: in response to the release operation of the brake pedal of the vehicle, determining the 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 to adjust the driving torque to the driving torque, and the driving torque is adjusted to the driving torque according to the torque adjustment time. The torque adjustment time is less than or equal to the time threshold.

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

[0016] According to a second aspect provided by the present application, a vehicle driving device is provided, which comprises a determining unit and a driving unit. The determining unit is configured to determine a driving resistance of the vehicle. The determining unit is further configured to determine 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 determining unit is further configured to determine a driving torque of the vehicle according to the driving force. The driving unit is configured to drive the vehicle according to the driving torque. The driving torque is used to control the vehicle creep.

[0017] In a possible implementation, the driving resistance comprises a slope resistance. The determining unit is specifically configured to correct the slope resistance according to a slope of a location where the vehicle is located, to obtain a slope driving force. The driving force is determined according to the slope driving force and a basic resistance. The basic resistance is a resistance other than the slope resistance in the driving resistance.

[0018] In a possible implementation, the vehicle is on an uphill slope. The determining 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 a possible implementation, the determining unit is specifically configured to determine the slope correction coefficient according to the slope and an opening degree of a brake pedal of the vehicle.

[0020] In a possible implementation, the vehicle driving device further comprises an adjusting unit. The determining unit is further configured to determine a driving torque of the vehicle in response to a release operation of a brake pedal of the vehicle. The driving torque is used to drive the vehicle to travel at a target vehicle speed. The determining unit is further configured to determine a torque adjustment time according to a 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 adjusting unit is configured to adjust the driving torque to the driving torque according to the torque adjustment time.

[0021] In a possible implementation, the determining unit is further configured to determine a driving torque of the vehicle in response to a release operation of a brake pedal of the vehicle. The driving torque is used to drive the vehicle to travel at a target vehicle speed. The determining unit is further configured to determine a torque adjustment time for adjusting the driving torque to the driving torque. The adjusting 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, which comprises a processor and a memory for storing processor-executable instructions. The processor is configured to execute the instructions to implement the method of the first aspect and any possible implementation thereof.

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

[0024] According to a fifth aspect provided in the present application, a computer program product is provided, the computer program product comprises computer instructions, when the computer instructions are run on a processing device, the processing device performs the method in the first aspect and any possible implementation thereof.

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

[0026] It should be noted that the technical effects brought by any possible implementation of the second aspect to the sixth aspect can be referred to the technical effects brought by the corresponding implementation of the first aspect, which will not be repeated here.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application; they should not be regarded in an exclusive manner as the description herein sets forth embodiments in conjunction with the accompanying drawings and does not represent an exclusive description of the application, and thus the scope of the application is not to be determined by the description of embodiments.

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

[0030] Figure 2 is a schematic diagram of a change of braking torque according to an example embodiment;

[0031] Figure 3 is one of flow schematic diagrams of a vehicle driving method according to an example embodiment;

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

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

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

[0035] Figure 7 is another one of flow schematic diagrams of a vehicle driving method according to an example embodiment;

[0036] Figure 8 is a peristaltic noise contrast diagram according to an exemplary embodiment;

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

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

[0039] In order for those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the 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 do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, 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. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0041] As described in the background, since the electric vehicle works quietly, the peristaltic noise is more easily captured by the customer when the brake pedal is released at the start. Therefore, how to reduce the peristaltic noise is a technical problem that needs to be solved at present.

[0042] To solve the above technical problem, the present application provides a vehicle driving method, which comprises: determining the running resistance of the vehicle, and determining the driving force of the vehicle according to the running resistance. The difference between the driving force and the running 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 peristalsis of the vehicle.

[0043] According to the above technical solution, the running resistance of the vehicle is determined, and the driving force of the vehicle is determined according to the running resistance. The difference between the driving force and the running 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, in the case of controlling the peristalsis of the vehicle, the driving force output by the vehicle is close to the running resistance, so as to realize the balance between the braking torque and the driving torque of the vehicle, and reduce the noise of the peristalsis of the vehicle.

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

[0045] The electronic device 101 is configured 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 further configured 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 further configured to obtain the running-in state of the brake disc 102 and the dry-wet state of the disc 103.

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

[0048] For example, the friction plate of the vehicle, the bench test Stick-slip preferably the friction plate formula with small brake torque variation rate.

[0049] Specifically, when starting or parking, due to the conversion of dynamic and static friction coefficients, stick-slip effect occurs between the discs, resulting in fluctuation of brake torque. Through bench test, the torque fluctuation value is tested and the friction coefficient variation rate is calculated. By optimizing the friction coefficient variation rate, the torque fluctuation is reduced, the excitation during stick-slip of the disc is improved, the vibration is reduced, and the creep noise is optimized to a certain extent. That is, the current means in the industry, the bench test of the friction plate Stick-slip optimizes the formula with small friction coefficient variation rate.

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

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

[0052] The creep torque is necessary for the driver to control the torque output of the vehicle power system before the accelerator pedal is depressed, so that the vehicle has the function of slow driving without stepping on the accelerator or even stepping on the brake. The setting of the creep torque is based on the vehicle speed, the brake pedal depth, and the slope information for real vehicle calibration, which is generally increased with the decrease of vehicle speed and the release of brake pedal.

[0053] The key factor of affecting the creep noise is locked by real vehicle calibration. The size of the creep torque directly affects the pressure balance point of the starting creep noise. Under the condition of large creep torque, the critical pressure of the vehicle maintaining balance during the starting process increases, thereby deteriorating 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 small level. From the perspective of the time that the creep noise can be maintained, the pressure at the balance point should be as inmaintainable as possible. Through optimization calculation, real vehicle calibration and software joint debugging, the key factor of affecting the creep noise is locked.

[0054] Different brake pedal strokes 1mm, 2mm, 3mm, 4mm, 5mm correspond to different vehicle speeds -3km / h, -2km / h, -1km / h, 0km / h, -1km / h, so as to calculate the basic creep torque. Based on the kinetic energy demand of the vehicle under low-speed conditions, the correction target is calculated. Different vehicle speeds 1km / h, 2km / h, 3km / h, 4km / h, 5km / h correspond to different slopes 0°, 1°, 2°, 3°, 4°, so as to calculate the slope speed torque. Based on the kinetic energy demand of the vehicle under low-speed conditions, the correction target is calculated. The change gradient of the slope correction torque value is limited to avoid sudden changes in torque caused by abnormal signals or vehicle impact. The gradient of the correction torque can also be considered according to the simplicity of the model, or it can be corrected according to a fixed gradient.

[0055] Through the creep noise control strategy, different verification matrices are combined according to the slope, the brake disc running-in state and the disc dry-wet state under the starting creep and parking creep conditions. The real vehicle window test driver's right ear creep noise decibel value is analyzed to analyze the influence of different creep torque maps on the creep noise, so as to realize the optimization control purpose of the creep torque.

[0056] As shown in Figure 2 , a brake torque change diagram is shown. In Figure 2 , the horizontal axis is time, the vertical axis is torque, the fluctuation curve is the brake torque change curve, and the fluctuation interval is the brake torque change interval.

[0057] In order to facilitate understanding, the torque determination method provided by the present application is specifically introduced below in combination with the drawings.

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

[0059] S201, determine the running resistance of the vehicle.

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

[0061] As one possible approach, electronic devices can determine the vehicle's driving resistance based on the vehicle's motion parameters and a preset resistance algorithm.

[0062] In some embodiments, the electronic device acquires the vehicle's motion parameters and determines ground rolling resistance, slope resistance, air resistance, and vehicle acceleration resistance based on these parameters. Further, the vehicle's driving resistance is determined based on the ground rolling resistance, slope resistance, air resistance, and vehicle acceleration resistance.

[0063] For example, the formula for calculating the driving resistance of a car can be: F z =F f +F w +F i +F j Among them, F z For driving resistance, F f For ground rolling resistance, F w For air resistance, F i For the slope resistance, F j This refers to the resistance to acceleration of a car. As can be understood, the resistance to a car's movement includes slope resistance, rolling resistance, air resistance, and acceleration resistance. If the road the vehicle is currently traveling on is level, then the slope resistance is 0.

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

[0065] air resistance Among them, C d Where A is the drag coefficient, and u is the frontal area. a The vehicle speed.

[0066] Car acceleration resistance Where δ is the rotational mass conversion factor. This refers to acceleration during travel.

[0067] It should be noted that the coefficients used to calculate rolling resistance coefficient, vehicle mass, gravitational acceleration, wind resistance coefficient, frontal area, and rotational mass conversion factor can be pre-stored in electronic devices or on a server by maintenance personnel. The preset resistance algorithm is pre-stored in electronic devices by maintenance personnel.

[0068] It can be understood that when the vehicle is crawling on the road, the vehicle needs to overcome the ground rolling resistance, air resistance and vehicle acceleration resistance. In addition, when the vehicle is running on an uphill road, the vehicle also needs to overcome the slope resistance. Thus, the driving resistance of the vehicle is calculated by one or more of the slope resistance, the ground rolling resistance, the air resistance and the vehicle acceleration resistance.

[0069] As shown in the examples, Figure 4 , the interaction diagram of the braking torque and the driving torque is shown. In Figure 4 , it can be seen that as the opening of the accelerator pedal increases, the changes of the driving torque and the braking torque in the comfort mode and the sports mode of the vehicle.

[0070] S202, determining the driving force of the vehicle according to the driving resistance.

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

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

[0073] In some embodiments, the electronic device determines the driving force according to 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 can be understood that when the vehicle is crawling on the road, the vehicle needs to overcome the driving resistance. Thus, the driving force is accurately calculated according to the driving resistance.

[0076] S203, determining the driving torque of the vehicle according to the driving force.

[0077] Wherein, the driving torque is used to control the vehicle to crawl.

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

[0079] For example, the torque calculation formula is: T t = F t × r. Wherein, 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 can be the braking torque. The electronic device obtains the braking torque of the vehicle, determines the driving torque of the vehicle according to the braking torque of the vehicle, and controls the vehicle to output the driving torque.

[0081] The braking torque is a hydraulic torque. When the driving torque equals the hydraulic torque, the vehicle is in a dynamic-static balance stick-slip state, i.e., a friction coefficient dynamic-static conversion state, which is also a balance point of the motor output torque and the braking torque. At this time, the creep noise of the vehicle is small.

[0082] S204, driving the vehicle according to the driving torque.

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

[0084] The vehicle driving method provided by the embodiments of the present application at least has the following beneficial effects: 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 the vehicle is controlled to creep, the driving force output by the vehicle and the driving resistance are close, so that the braking torque of the vehicle and the driving torque of the vehicle reach a low balance or the difference between the braking torque of the vehicle and the driving torque of the vehicle is less than or equal to a preset torque threshold, thereby reducing the noise of the vehicle creep.

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

[0086] S2021, correcting the slope resistance according to the slope of the location where the vehicle is located to obtain a slope driving force.

[0087] As a possible implementation manner, the electronic device determines the slope of the location where the vehicle is located, and determines a slope correction coefficient corresponding to the slope according to the slope. Further, the slope correction coefficient is used to correct the slope resistance to obtain a slope driving force.

[0088] In some embodiments, the electronic device determines the slope correction coefficient according to the slope and a slope correction curve.

[0089] In some embodiments, the electronic device determines the 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 coefficient according to the slope and the opening degree of the brake pedal of the vehicle.

[0091] For example, the electronic device looks up a ramp correction coefficient from a ramp correction coefficient table according to the slope and the opening of the brake pedal of the vehicle. The ramp correction coefficient table includes a plurality of slopes, a plurality of openings of the brake pedal, and a ramp correction coefficient corresponding to any slope and any opening of the brake pedal. For another example, the electronic device inputs the slope and the opening of the brake pedal into a correction coefficient formula to obtain the ramp correction coefficient.

[0092] It should be noted that the preset modification formula, the correction coefficient formula, and the 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 basic resistance.

[0094] The basic resistance is the resistance in the running resistance except the ramp resistance.

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

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

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

[0098] In one design, in order to shorten the time of the creep noise, the vehicle driving method provided by the embodiment of the application further includes S205-S207.

[0099] S205, in response to the release operation of the brake pedal of the vehicle, determine the running torque of the vehicle.

[0100] The running torque is used to drive the vehicle to run at the target vehicle 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 running torque and the driving torque and the change rate threshold into the time determination formula to obtain the torque adjustment time. In the formula, is the difference between the running torque and the driving torque, Δ is the change rate threshold, and d tFor the torque adjustment time.

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

[0105] It can be understood that, from the perspective of the continuity of the peristaltic noise, the torque at the interaction balance point of the braking torque and the driving torque is as sustainable as possible to ensure that the noise is not continuous, and at the same time, the speed overshoot and slow response problems of the power, as well as the start jitter and power abruptness problems are avoided. When the brake pedal is slowly released, the driving torque and the braking torque interact to reach a balance torque, and the sustainability of the balance point torque satisfies the time determination formula. The direct influence on the continuity of the peristaltic noise is that the faster the balance point torque responds with time, the shorter the time to break the balance point, and the shorter the duration of the peristaltic noise. However, in order to avoid power abruptness, the value of Δ should be controlled within a certain range. In the real vehicle joint calibration, the value of Δ is increased on the basis of not affecting the driving comfort, the optimal calibration matching is realized, and the continuity of the peristaltic noise is reduced.

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

[0107] In addition, as shown in Figure 6 , another noise test schematic diagram is shown. In Figure 6 , three balance points are shown: balance point 1, balance point 2, and balance point 3.

[0108] S207, adjusting the driving torque to the driving torque according to the torque adjustment time.

[0109] In some embodiments, the electronic device controls the time for adjusting the driving torque to the driving torque to be less than or equal to the torque adjustment time.

[0110] In one design, in order to shorten the time of peristaltic noise, the vehicle driving method provided by the embodiments of the present application further includes: S208-S210.

[0111] S208, in response to the release operation of the brake pedal of the vehicle, determining the driving torque of the vehicle.

[0112] The driving torque is used to drive the vehicle to travel at a target vehicle speed.

[0113] S209, determining the torque adjustment time for adjusting the driving torque to the driving 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 driving 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 embodiments of the present application, as shown in Figure 7 A vehicle driving method is shown, which comprises S401-S406.

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

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

[0120] Further, the electronic device determines the basic creep torque according to the basic resistance and the torque calculation formula.

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

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

[0123] Table 1 Basic Creep Torque Table

[0124]

[0125]

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

[0127] In some embodiments, the electronic device determines the basic creep torque of the vehicle according to the speed of the vehicle and the opening degree of the brake pedal, and the basic creep torque table.

[0128] S402, determine the slope speed torque of the vehicle.

[0129] In some embodiments, the slope speed torque T' i = F i × r = mgsinα, where α is the slope. Define different speeds 0 km / h, 1 km / h, 2 km / h, 3 km / h, 4 km / h, 5 km / h corresponding to different slopes 0%, 4%, 8%, 10%, 20%, so as to calculate the theoretical slope speed torque.

[0130] The ramp speed torque input electric control unit corrects the ramp speed torque through real vehicle calibration greater than 0% slope condition, to obtain the ramp speed torque and the ramp compensation coefficient relationship curve, i.e. the ramp compensation torque T i i × C = F i × r × C = mgsinα × C, C is the ramp compensation coefficient. The ramp speed torque graph and the ramp compensation coefficient table are shown in the following table 2.

[0131]

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

[0133] S403, determine the ramp compensation coefficient.

[0134] In some embodiments, the electronic device determines the ramp compensation coefficient according to the vehicle speed and the opening degree of the brake pedal.

[0135] For example, the ramp compensation coefficient is determined according to the vehicle speed, the opening degree of the brake pedal and the ramp compensation coefficient table.

[0136] For example, the ramp compensation coefficient table is shown in the following table 3.

[0137] Table 3: Ramp compensation 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 taken as the ramp compensation torque.

[0142] S405, determine the driving torque of the vehicle according to the ramp compensation torque and the basic peristaltic torque.

[0143] In some embodiments, the sum of the ramp compensation torque and the basic peristaltic 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 by the embodiments of the present application further includes S406-S408.

[0145] S406, collect the peristaltic noise decibel value.

[0146] S407, correct the target torque in the case that the peristaltic noise decibel value is greater than or equal to the decibel threshold.​

[0147] S408, acquire the current position of the driver's head.

[0148] In one possible way, the vehicle driving method provided by the embodiments of the present application further includes: the electronic device selects a friction plate formula with a small brake torque variation rate in a Stick-slip test. Further, the electronic device controls the creep noise through a peristalsis noise control strategy, and combines the slope, the brake disc running-in state, and the disc dry and wet state to form different verification matrices in the starting creep and parking creep working conditions, and tests the decibel value of the creep noise at the right ear of the driver with the window closed.

[0149] As shown in Figure 8 , a creep noise comparison diagram is shown. In Figure 8 , the noise before optimization and the noise after optimization are shown. The noise before optimization is without the vehicle driving method provided by the embodiments of the present application, and the noise after optimization is with the vehicle driving method provided by the embodiments of the present application.

[0150] The vehicle driving method provided by the embodiments of the present application at least brings the following beneficial effects: through the peristalsis torque optimization control strategy, the noise optimization decibel contribution is more than 70%. At the same time, combined with the traditional noise matching technology, the noise optimization decibel contribution is close to about 30% by selecting a friction plate formula with a small brake torque variation rate in a Stick-slip test, and the subjective evaluation is obviously improved, which can effectively reduce the noise.

[0151] The above mainly describes the scheme provided by the embodiments of the present application from the perspective of the method. In order to realize the above functions, the adjusting device includes the hardware structure and / or software module corresponding to each function. Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present text can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0152] Figure 9 is a torque determination device according to an example embodiment. Referring to Figure 9 , the vehicle driving device 50 includes a determination unit 501 and a driving unit 502.

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

[0154] The determining unit 501 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 determining unit is further configured to determine the driving torque of the vehicle according to the driving force.

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

[0156] In a possible implementation, the driving resistance includes a slope resistance. The determining unit 501 is specifically configured to correct the slope resistance according to the slope of the location where the vehicle is located, to obtain a slope driving force. The driving force is determined according to the slope driving force and a basic resistance. The basic resistance is the resistance in the driving resistance except the slope resistance.

[0157] In a possible implementation, the vehicle is on a slope. The determining 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 implementation, the determining unit 501 is specifically configured to determine the slope correction coefficient according to the slope and the opening degree of the brake pedal of the vehicle.

[0159] In a possible implementation, as shown in Figure 9 The determining unit 501 is further configured to determine the driving torque of the vehicle in response to the release operation of the brake pedal of the vehicle. The driving torque is used to drive the vehicle to travel at the target vehicle speed. The determining unit 501 is further configured to determine a 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 adjusting unit 503 is configured to adjust the driving torque to the driving torque according to the torque adjustment time.

[0160] In a possible implementation, the determining unit 501 is further configured to determine the driving torque of the vehicle in response to the release operation of the brake pedal of the vehicle. The driving torque is used to drive the vehicle to travel at the target vehicle speed. The determining unit 501 is further configured to determine a torque adjustment time for adjusting the driving torque to the driving torque. The adjusting 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] Figure 10 is a block diagram of an electronic device according to an example embodiment. As shown in Figure 10 The electronic device includes but is not limited to a processor 601 and a memory 602.

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

[0163] It should be noted that those skilled in the art can understand that the structure of the processing device shown in the above embodiments does not constitute a limitation on the processing device, and the processing device can include more or fewer components than those shown in the above embodiments, or combine some components, or different arrangement of components. Figure 10 It should be noted that those skilled in the art can understand that the structure of the processing device shown in the above embodiments does not constitute a limitation on the processing device, and the processing device can include more or fewer components than those shown in the above embodiments, or combine some components, or different arrangement of components. Figure 10 It should be noted that those skilled in the art can understand that the structure of the processing device shown in the above embodiments does not constitute a limitation on the processing device, and the processing device can include more or fewer components than those shown in the above embodiments, or combine some components, or different arrangement of components.

[0164] The processor 601 is the control center of the processing device, which connects each part of the whole processing device through various interfaces and lines, executes software programs and / or modules stored in the memory 602 and calls data stored in the memory 602, performs various functions of the processing device and processes data, and thus monitors the whole processing device. The processor 601 can include one or more processing units. Alternatively, the processor 601 can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the modem processor can also not be integrated into the processor 601.

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

[0166] In the exemplary embodiments, a computer readable storage medium including instructions is also provided, for example, the memory 602 including instructions, which can be executed by the processor 601 of the processing device to implement the method in the above embodiments.

[0167] Alternatively, the computer readable storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a CD-ROM, a magnetic tape, a floppy disk and an optical data storage device, etc.

[0168] In the example embodiments, the embodiments of the present application also provide a computer program product including one or more instructions executable by the processor 601 of the processing device to complete the method in the above embodiments.

[0169] It should be noted that the instructions in the above computer-readable storage medium or the one or more instructions in the computer program product are executed by the processor of the processing device to realize each process of the above method embodiments, and can achieve the same technical effects as the above method. To avoid repetition, it will not be described here.

[0170] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the above-described full classification or partial function.

[0171] In 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. In actual implementation, there can be another division manner. For example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0172] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, that is, they can be located in one place or distributed in multiple different places. Some or all of the units can 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 can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0174] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or say the part that contributes to the prior art or the whole classification part or part of the technical solutions can be embodied in the form of a software product. The software product is stored in a storage medium, including a plurality of instructions to make a device (which can be a single-chip microcomputer, a chip, etc.) or a processor execute the whole classification part or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various storage program codes.

[0175] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle drive method characterized by, The method comprises: determining a driving resistance of the 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 value; 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 vehicle to creep; in response to a brake pedal release operation of 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; determining a torque adjustment time according to a difference between the driving torque and the driving torque and a change rate threshold value, and adjusting the driving torque to the driving torque according to the torque adjustment time.

2. The method of claim 1, wherein, The driving resistance comprises a slope resistance, and the determining the driving force according to the driving resistance comprises: correcting the slope resistance according to a slope of a location where the vehicle is located to obtain a slope driving force; determining the driving force according to the slope driving force and a basic resistance; the basic resistance is a resistance other than the slope resistance in the driving resistance.

3. The method of claim 2, wherein, The vehicle is on an uphill slope, and the correcting the slope resistance according to the slope of the location where the vehicle is located to obtain the slope driving force comprises: 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.

4. The method of claim 3, wherein, The determining the slope correction coefficient according to the slope comprises: determining the slope correction coefficient according to the slope and an opening degree of a brake pedal of the vehicle.

5. The method according to any one of claims 1-4, characterized in that, The driving resistance comprises at least one of a ground rolling resistance, an air resistance, an acceleration resistance and a slope resistance of the vehicle.

6. A vehicle drive apparatus characterized by comprising: The device comprises a determining unit, an adjusting unit and a driving unit; The determining unit is configured to determine a driving resistance of the vehicle; The determining unit is further configured to determine 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 value; The determining unit is further configured to determine a driving torque of the vehicle according to the driving force; The driving unit is configured to drive the vehicle according to the driving torque; the driving torque is used to control the vehicle to creep; The determining unit is further configured to determine a driving torque of the vehicle in response to a brake pedal release operation of the vehicle; the driving torque is used to drive the vehicle to travel at a target vehicle speed; The determining unit is further configured to determine a torque adjustment time according to a difference between the driving torque and the driving torque and a change rate threshold value; The adjusting unit is configured to adjust the driving torque to the driving torque according to the torque adjustment time.

7. The apparatus of claim 6, wherein, The driving resistance comprises a slope resistance, and the determining unit is specifically configured to: correct the slope resistance according to a slope of a location where the vehicle is located to obtain a slope driving force; determine the driving force according to the slope driving force and a basic resistance; the basic resistance is a resistance other than the slope resistance in the driving resistance.

8. An electronic device, comprising: The device comprises a memory and a processor; The memory and the processor are coupled. The memory is configured to store computer program code including computer instructions; When the processor executes the computer instructions, the electronic device executes the method as claimed in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, When the computer executable instructions stored in the computer readable storage medium are executed by the processor of the processing device, the processing device is capable of executing the method as claimed in any one of claims 1 to 5.

10. A vehicle characterized by comprising: The electronic device as claimed in claim 8 is included.

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