Vehicle output torque control method, device and system and storage medium

Abstract

The invention discloses a vehicle output torque control method, device and system and a storage medium, and the method comprises the steps: determining the current acceleration of a vehicle when the vehicle starts a creeping mode; calculating a torque compensation value of the vehicle according to a difference value between the current acceleration and a target acceleration; the target acceleration is a test value of the vehicle in a preset road surface starting crawling mode; and adjusting the output torque in the crawling mode based on the torque compensation value. According to the scheme, the calculation process of the output torque in the vehicle crawling process is simplified, the vehicle torque is controlled based on the acceleration of the vehicle, influences of muddy and hollow road surfaces and the like are avoided, and then the accuracy of the output torque calculation result is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle output torque control method, device, system and storage medium. Background Art

[0002] Creep mode refers to a driving mode in which the vehicle moves forward at a slow speed when the brake pedal is released. Usually in creep mode, the vehicle will travel at a preset target speed. When the vehicle just enters creep mode, if the speed is less than the target speed, the target acceleration needs to be met within a certain period of time so that the vehicle speed can reach the target speed within a specific period of time. However, due to the presence of slopes, turns and other different conditions on the road surface on which the vehicle is driving, after the vehicle enters creep mode, it is necessary to dynamically adjust the output torque to keep the vehicle driving at the target acceleration or target speed.

[0003] In the prior art, in order to make the vehicle maintain the target acceleration or target speed as much as possible, the ramp information is collected by the ramp sensor, and a torque compensation value is calculated using the slope information to compensate for the creep torque; in order to solve the resistance problem caused by steering, it is necessary to collect steering information, and a torque compensation value is calculated using the steering wheel angle to achieve compensation for the creep torque. This method requires relying on multiple devices such as ramp information sensors and steering information collection devices to collect information, has a high degree of dependence on hardware devices, and a complex calculation process. Moreover, when the vehicle is driving on muddy, pothole-like roads that affect vehicle driving, the ramp sensor and steering information collection device cannot calculate the torque compensation value of the vehicle after being affected by the muddy and pothole-like roads. Therefore, the calculation result is also inaccurate, which affects the torque control effect of the vehicle during creeping, thereby reducing the auxiliary effect of the creeping mode on the driver. Summary of the invention

[0004] The present application provides a vehicle output torque control method, device, system and storage medium, which are used to improve the calculation accuracy of the torque when the vehicle is creeping.

[0005] The present application provides a vehicle output torque control method, comprising:

[0006] When the vehicle starts the creep mode, determining the current acceleration of the vehicle;

[0007] Calculating the torque compensation value of the vehicle according to the difference between the current acceleration and the target acceleration; the target acceleration is a test value of the vehicle in a creep mode started on a preset road surface;

[0008] The output torque in the creep mode is adjusted based on the torque compensation value.

[0009] The beneficial effects of the present application are: when the vehicle starts the creeping mode, the current acceleration of the vehicle is determined; and the torque compensation value of the vehicle is calculated according to the difference between the current acceleration and the target acceleration, wherein the target acceleration is the test value of the vehicle when starting the creeping mode on a preset road surface; and then the output torque in the creeping mode is adjusted based on the torque compensation value. Since the present application only needs to obtain the vehicle acceleration, it is not necessary to set up multiple sensors and calculate multiple torque compensation values, which simplifies the calculation process, and the present application controls the vehicle torque based on the vehicle acceleration, which will not be affected by muddy, pothole-prone roads, etc., thereby improving the accuracy of the output torque calculation result.

[0010] In one embodiment, adjusting the output torque in the creep mode based on the torque compensation value comprises:

[0011] Determining a base torque of the vehicle in a creep mode, wherein the base torque is a target torque corresponding to a difference between a current speed and a target speed on a preset road surface;

[0012] Determine the sum of the torque compensation value and the basic torque as the target output torque;

[0013] The output torque in the creep mode is adjusted to the target output torque.

[0014] In one embodiment, the base torque is determined as follows:

[0015] Substitute the difference between the current vehicle speed and the target vehicle speed into the following first preset formula to determine the base torque of the vehicle:

[0016]

[0017] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0018] In one embodiment, the method further comprises:

[0019] When the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state, obtaining the current vehicle speed;

[0020] When the current vehicle speed is 0, determine the basic torque of the vehicle at the current moment;

[0021] The output torque of the vehicle at the current moment is adjusted to the basic torque to control the vehicle to start the creep mode.

[0022] In one embodiment, the method further comprises:

[0023] When the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state, obtaining the current vehicle speed;

[0024] When the current vehicle speed is greater than the maximum vehicle speed corresponding to the creep mode, the vehicle speed is monitored;

[0025] When the current vehicle speed is equal to the maximum vehicle speed corresponding to the creep mode, the vehicle is controlled to start the creep mode.

[0026] In one embodiment, after the vehicle starts the creep mode, the method further includes:

[0027] When the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode or the current acceleration is the same as the target acceleration, the output torque of the vehicle at the current moment is adjusted to the basic torque.

[0028] In one embodiment, the calculating the torque compensation value of the vehicle according to the difference between the current acceleration and the target acceleration includes:

[0029] Substituting the difference between the current acceleration and the target acceleration of the vehicle into the following second preset formula to determine the torque compensation value of the vehicle:

[0030]

[0031] Among them, T2(t) is the torque compensation value calculated based on acceleration PID, a(t) is the difference between the current acceleration and the target acceleration, K p1 is the proportional gain calculated based on acceleration, K I2 is the integral gain calculated based on acceleration, K d2 is the derivative gain calculated based on acceleration.

[0032] In one embodiment, the target acceleration is determined as follows:

[0033] Acquiring a target acceleration curve of the vehicle, wherein the target acceleration curve of the vehicle is an acceleration curve measured when a creep mode is started on a preset road surface;

[0034] The target acceleration curve is queried to obtain the target acceleration corresponding to the current moment.

[0035] The present application also provides a vehicle output torque control device, comprising:

[0036] A first determination module, used to determine the current acceleration of the vehicle when the vehicle starts the creep mode;

[0037] a second determination module, configured to calculate a torque compensation value of the vehicle according to a difference between the current acceleration and a target acceleration; the target acceleration being a test value of the vehicle in a creep mode started on a preset road surface;

[0038] The adjustment module is used to adjust the output torque in the creep mode based on the torque compensation value.

[0039] In one embodiment, the adjustment module includes:

[0040] A first determination submodule is used to determine a basic torque of the vehicle in a creep mode, wherein the basic torque is a target torque corresponding to a difference between a current speed and a target speed on a preset road surface;

[0041] A second determination submodule, used for determining a sum of the torque compensation value and the basic torque as a target output torque;

[0042] The adjustment submodule is used to adjust the output torque in the creep mode to the target output torque.

[0043] In one embodiment, the base torque is determined as follows:

[0044] Substitute the difference between the current vehicle speed and the target vehicle speed into the following first preset formula to determine the base torque of the vehicle:

[0045]

[0046] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0047] In one embodiment, the apparatus further comprises:

[0048] An acquisition module, used for acquiring the current vehicle speed when the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state;

[0049] A third determination module is used to determine the basic torque of the vehicle at the current moment when the current vehicle speed is 0;

[0050] The adjustment module is also used to adjust the output torque of the vehicle at the current moment to the basic torque to control the vehicle to start the creep mode.

[0051] In one embodiment, the apparatus further comprises:

[0052] An acquisition module, used for acquiring the current vehicle speed when the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state;

[0053] A monitoring module, used for monitoring the vehicle speed when the current vehicle speed is greater than the target vehicle speed corresponding to the creep mode;

[0054] The control module is used to control the vehicle to start the creep mode when the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode.

[0055] In one embodiment, after the vehicle starts the creep mode, the adjustment module is further configured to:

[0056] When the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode or the current acceleration is the same as the target acceleration, the output torque of the vehicle at the current moment is adjusted to the basic torque.

[0057] In one embodiment, the second determining module is further configured to:

[0058] Substitute the difference between the current acceleration of the vehicle and the target acceleration into the following second preset formula to determine the torque compensation value of the vehicle:

[0059]

[0060] Among them, T2(t) is the torque compensation value calculated based on acceleration PID, a(t) is the difference between the current acceleration and the target acceleration, K p2 is the proportional gain calculated based on acceleration, K I2 is the integral gain calculated based on acceleration, K d2 is the derivative gain calculated based on acceleration.

[0061] In one embodiment, the target acceleration is determined as follows:

[0062] Acquiring a target acceleration curve of the vehicle, wherein the target acceleration curve of the vehicle is an acceleration curve measured when a creep mode is started on a preset road surface;

[0063] The target acceleration curve is queried to obtain the target acceleration corresponding to the current moment.

[0064] The present application also provides a vehicle output torque control system, comprising:

[0065] at least one processor; and,

[0066] a memory communicatively connected to the at least one processor; wherein,

[0067] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the vehicle output torque control method described in any of the above embodiments.

[0068] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the vehicle output torque control system, the vehicle output torque control system can implement the vehicle output torque control method described in any of the above embodiments.

[0069] Other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings.

[0070] The technical solution of the present application is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0072] Figure 1 This is a flow chart of a vehicle output torque control method in one embodiment of the present application;

[0073] Figure 2 This is a structural schematic diagram of a vehicle output torque control device in one embodiment of the present application;

[0074] Figure 3 This is a schematic diagram of the hardware structure of a vehicle output torque control system in one embodiment of the present application. DETAILED DESCRIPTION

[0075] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application and are not used to limit the present application.

[0076] Figure 1 Flow chart of a vehicle output torque control method in one embodiment of the present application. Figure 1 As shown, the method can be implemented as the following steps S101-S104:

[0077] In step S101, when the vehicle starts the creep mode, the current acceleration of the vehicle is determined;

[0078] In step S102, the torque compensation value of the vehicle is calculated according to the difference between the current acceleration and the target acceleration; the target acceleration is a test value of the vehicle in the creep mode started on a preset road surface;

[0079] In step S103 , the output torque in the creep mode is adjusted based on the torque compensation value.

[0080] The vehicle creep mode (Creep Mode) refers to a function in which the vehicle will move forward slowly when the car's automatic transmission (automatic gear) is started in neutral (N gear). Since the maximum speed of the creep mode is relatively low, the vehicle equipped with the creep mode does not require the driver to frequently step on the accelerator pedal to drive the vehicle in scenarios such as parking, starting on a slope, warehousing, and slow driving. The control goal of the creep mode is to control the vehicle to travel at a uniform and slow speed, which is smoother than the speed of the driver manually stepping on the accelerator pedal, thereby providing the vehicle with better handling performance. When the vehicle starts the creep mode, the vehicle will travel at a preset target speed, such as 7km / h. In order to enable the vehicle to travel smoothly, for example, when there are ramps, turns, or muddy or potholes on the road surface, the present application adjusts the vehicle's torque in real time through the vehicle's acceleration value.

[0081] In the present application, when the vehicle starts the creeping mode, the current acceleration of the vehicle is determined. There are many ways to obtain the acceleration. The current acceleration of the vehicle can be obtained in real time through the acceleration sensor on the vehicle. Of course, the acceleration obtained by the acceleration sensor can also be modified through data such as satellite positioning, which is not limited in the present application. For the target acceleration, it is a preset value. For example, in order to avoid the sudden acceleration of the vehicle and cause a poor user experience, it can be pre-tested to obtain the corresponding relationship between the time when the vehicle starts the creeping mode and the acceleration, and then, according to the start time of the creeping mode, the corresponding target acceleration is determined. For another example, during the driving process of the vehicle, the creeping mode driving can be tested in advance on a preset road surface, and the corresponding relationship between the vehicle driving speed and the acceleration change can be recorded at the same time, wherein the preset road surface is a road surface with a friction change rate less than a preset change rate and a road surface slope in a preset range, which is approximately regarded as a standard road surface that is flat and has balanced road friction; then, when the vehicle is in the creeping mode, the target acceleration curve is queried according to the vehicle speed to obtain the target acceleration corresponding to the current speed.

[0082] The torque compensation value of the vehicle is calculated according to the difference between the current acceleration and the target acceleration; the target acceleration is the test value of the vehicle in the creep mode started on a preset road surface. In order to avoid the situation where the vehicle sensor cannot accurately determine the vehicle torque compensation value to ensure the vehicle runs smoothly on muddy, pothole-like roads, etc., the vehicle torque is corrected by the current acceleration and the target acceleration. For example, the difference between the current acceleration and the target acceleration of the vehicle is substituted into the following second preset formula to determine the torque compensation value of the vehicle:

[0083]

[0084] Among them, T2(t) is the torque compensation value calculated based on acceleration PID, a(t) is the difference between the current acceleration and the target acceleration, K p1 is the proportional gain calculated based on acceleration, K I2 is the integral gain calculated based on acceleration, K d2 is the derivative gain calculated based on acceleration.

[0085] Specifically, K p , K I and K d It can be obtained through experiments or simulations to ensure the stability and performance of the system. The specific parameter acquisition process is not limited in this application.

[0086] The output torque in the creep mode is adjusted based on the torque compensation value. In order to determine the output torque of the vehicle in the curve mode, first, the basic torque of the vehicle in the creep mode is determined, wherein the basic torque can be a preset fixed value, for example, the basic torque is the torque of the vehicle when it is driving at a constant speed while maintaining a target speed on a preset road surface; it can also be a value determined based on the current vehicle speed. In one embodiment of the present application, the basic torque is calculated by the actual vehicle speed and the target vehicle speed. Specifically, the difference between the current vehicle speed and the target vehicle speed is substituted into the following first preset formula to determine the basic torque of the vehicle:

[0087]

[0088] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0089] Then, after calculating the basic torque by PID adjustment of the actual vehicle speed and the target vehicle speed, the current acceleration and the target acceleration PID adjustment are used for correction, and the sum of the torque compensation value and the basic torque is determined as the target output torque.

[0090] Since the basic torque is positively correlated with the acceleration, when the basic torque is not 0, the acceleration is also not 0, which causes the vehicle speed to change continuously. When the vehicle speed changes continuously, the v(t) value in the first preset formula also changes continuously. In this case, the basic torque also changes continuously. It can be seen that the basic torque changes dynamically with the change of the current speed.

[0091] It can be understood that the basic torque is essentially a relative concept and appears in pairs with the compensation value. For example, when the current speed does not reach the target speed, the basic torque is not 0. Assuming that the torque is calculated to be a, there are two situations:

[0092] Case 1: If the vehicle is traveling on a preset road surface, the vehicle torque can be adjusted to torque a to reach the target speed within the specified time. Therefore, in this case, torque a is the target torque.

[0093] Case 2: If the vehicle is not traveling on the preset road surface, such as driving uphill, the calculated torque a needs to be added with a compensation value b to allow the vehicle speed to reach the target speed within the specified time. In this case, the sum of the torque a and the compensation value b is the target torque. In this case, the torque a is the basic torque. It can be seen that the concept of basic torque can only appear with the appearance of a compensation value.

[0094] Finally, the output torque of the vehicle at the current moment is adjusted to the target output torque at the current moment, so that the vehicle is controlled to travel according to the target output torque.

[0095] It should be noted that, in the process of vehicle creeping, when the brake pedal or the accelerator pedal is detected to be pressed, the acceleration compensation torque of the vehicle is cleared, that is, the torque compensation value determined based on acceleration is cleared and only the basic torque is retained. In addition, the basic torque is adjusted differently according to the different situations of pressing the brake pedal or the accelerator pedal:

[0096] When the brake pedal is pressed, the target output torque is calculated according to the brake pedal stroke. The target output torque is the torque after the basic torque is attenuated according to the brake pedal stroke. The brake pedal stroke is positively correlated with the basic torque attenuation ratio.

[0097] When the accelerator pedal is pressed, due to the immediate exit from coiling mode, the vehicle's torque may not be as large as the creeping torque, and the vehicle may slow down instead. Therefore, in order to make the user feel that the vehicle accelerates after pressing the accelerator, when the accelerator pedal is pressed, within a relatively short period of time, the current vehicle speed has not exceeded the creeping target speed. At this time, the target output torque is the sum of the basic torque and the accelerator pedal compensation torque, among which the accelerator pedal compensation torque is positively correlated with the accelerator pedal stroke; when the current vehicle speed exceeds the creeping target speed, the creeping mode is exited, and the torque control after exiting the creeping mode is only related to the accelerator pedal stroke.

[0098] The beneficial effects of the present application are: when the vehicle starts the creeping mode, the current acceleration of the vehicle is determined; and the torque compensation value of the vehicle is calculated according to the difference between the current acceleration and the target acceleration, wherein the target acceleration is the test value of the vehicle when starting the creeping mode on a preset road surface; and then the output torque in the creeping mode is adjusted based on the torque compensation value. Since the present application only needs to obtain the vehicle acceleration, it is not necessary to set up multiple sensors and calculate multiple torque compensation values, which simplifies the calculation process, and the present application controls the vehicle torque based on the vehicle acceleration, which will not be affected by muddy, pothole-prone roads, etc., thereby improving the accuracy of the output torque calculation result.

[0099] In one embodiment, the above step S103 may be implemented as the following steps A1-A3:

[0100] In step A1, a basic torque of the vehicle in creep mode is determined, wherein the basic torque is a target torque corresponding to a difference between a current speed and a target speed on a preset road surface;

[0101] In step A2, the sum of the torque compensation value and the basic torque is determined as the target output torque;

[0102] In step A3, the output torque in the creep mode is adjusted to the target output torque.

[0103] In this embodiment, in order to determine the output torque of the vehicle in the curve mode, first, the basic torque of the vehicle in the creep mode is determined, wherein the basic torque is the target torque corresponding to the difference between the current speed and the target speed under the preset road surface. For example, the vehicle is tested on the preset road surface to monitor the torque corresponding to the difference between the vehicle speed and the target speed, and the corresponding relationship is stored to generate a corresponding relationship table between the difference between the vehicle speed and the target speed and the basic torque. Then, the corresponding relationship table can be queried based on the difference between the current speed and the target speed to obtain the target torque. For another example, the difference between the current vehicle speed and the target vehicle speed can be substituted into the following first preset formula to determine the basic torque of the vehicle:

[0104]

[0105] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0106] Then, a sum of the torque compensation value and the basic torque is determined as a target output torque, and the output torque in the creep mode is adjusted to the target output torque.

[0107] In one embodiment, the base torque is determined as follows:

[0108] Substitute the difference between the current vehicle speed and the target vehicle speed into the following first preset formula to determine the base torque of the vehicle:

[0109]

[0110] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0111] In one embodiment, the method can also be implemented as the following steps B1-B3:

[0112] In step B1, when the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state, the current vehicle speed is obtained;

[0113] In step B2, when the current vehicle speed is 0, the base torque of the vehicle at the current moment is determined;

[0114] In step B3, the output torque of the vehicle at the current moment is adjusted to the basic torque to control the vehicle to start the creep mode.

[0115] In this embodiment, when the current gear position of the vehicle is the driving gear position, and the brake pedal and the accelerator pedal are in a released state, it means that the vehicle needs to start the creep mode. At this time, the current vehicle speed is obtained.

[0116] When the current vehicle speed is 0, determine the basic torque of the vehicle at the current moment. At the vehicle starting stage, start the vehicle with the basic torque. The basic torque can be a preset value or obtained through PID adjustment. For example, substitute the difference between the current vehicle speed and the target vehicle speed into the following first preset formula to determine the basic torque of the vehicle:

[0117]

[0118] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0119] Finally, the vehicle is controlled to start the creep mode by adjusting the output torque of the vehicle at the current moment to the basic torque.

[0120] In one embodiment, the method can also be implemented as the following steps C1-C3:

[0121] In step C1, when the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state, the current vehicle speed is obtained;

[0122] In step C2, when the current vehicle speed is greater than the maximum vehicle speed corresponding to the creep mode, the vehicle speed is monitored;

[0123] In step C3, when the current vehicle speed is equal to the maximum vehicle speed corresponding to the creep mode, the vehicle is controlled to start the creep mode.

[0124] In this embodiment, when the current gear position of the vehicle is the driving gear position, and the brake pedal and the accelerator pedal are in a released state, it means that the vehicle needs to start the creep mode. At this time, the current vehicle speed is obtained.

[0125] When the current vehicle speed is greater than the maximum vehicle speed corresponding to the creep mode, the vehicle speed is monitored. The target vehicle speed is a pre-set driving speed in the creep mode, such as 7km / h. Since the vehicle speed exceeds the target speed, the control torque is 0 at this time, and the vehicle speed is monitored to reduce the vehicle speed to the target speed.

[0126] When the current vehicle speed is equal to the maximum vehicle speed corresponding to the creep mode, the vehicle is controlled to start the creep mode.

[0127] In one embodiment, after the vehicle starts the creep mode, the method may also be implemented as follows:

[0128] In step D1 , when the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode or when the current acceleration is equal to the target acceleration, the output torque of the vehicle at the current moment is adjusted to the basic torque.

[0129] In one embodiment, the above step S102 may be implemented as follows:

[0130] Substitute the difference between the current acceleration of the vehicle and the target acceleration into the following second preset formula to determine the torque compensation value of the vehicle:

[0131]

[0132] Among them, T2(t) is the torque compensation value calculated based on acceleration PID, a(t) is the difference between the current acceleration and the target acceleration, K p2 is the proportional gain calculated based on acceleration, K I2 is the integral gain calculated based on acceleration, K d2 is the derivative gain calculated based on acceleration.

[0133] In one embodiment, the target acceleration can be determined by the following steps E1-E2:

[0134] In step E1, a target acceleration curve of the vehicle is obtained, wherein the target acceleration curve of the vehicle is an acceleration curve measured when a creep mode is started on a preset road surface;

[0135] In step E2, the target acceleration curve is queried to obtain the target acceleration corresponding to the current moment.

[0136] In this embodiment, in order to obtain the target acceleration corresponding to the current moment, the target acceleration curve of the vehicle is first obtained, wherein the target acceleration curve of the vehicle is the acceleration curve measured when the creep mode is started on a preset road surface. For example, during the vehicle starting process, the best starting time of the creep mode is tested on a preset road surface in advance, and the target acceleration curve in the creep mode activation scenario is calculated. Specifically, during the test process, the target acceleration is calculated by the following formula:

[0137] a 最佳 =v t / t;

[0138] Among them, v t is the vehicle speed during the test; t is the starting time during the vehicle test; a 最佳 is the target acceleration.

[0139] Then, when the vehicle starts to start and is in the creep mode, the target acceleration curve is queried according to the starting time of the vehicle to obtain the target acceleration corresponding to the current moment.

[0140] For another example, during the driving process of the vehicle, the creeping mode can be tested on a preset road surface in advance, and the corresponding relationship between the vehicle speed and the acceleration change can be recorded. Then, when the vehicle is in the creeping mode, the target acceleration curve is queried according to the vehicle speed to obtain the target acceleration corresponding to the current speed.

[0141] Figure 2 Schematic diagram of the structure of a vehicle output torque control device in one embodiment of the present application. Figure 2 As shown, the device comprises:

[0142] A first determination module 201 is used to determine the current acceleration of the vehicle after the vehicle starts the creep mode;

[0143] A second determination module 202 is used to calculate the torque compensation value of the vehicle according to the difference between the current acceleration and the target acceleration; the target acceleration is a test value of the vehicle in the creep mode started on a preset road surface;

[0144] The adjustment module 203 is configured to adjust the output torque in the creep mode based on the torque compensation value.

[0145] In one embodiment, the adjustment module includes:

[0146] A first determination submodule is used to determine a basic torque of the vehicle in a creep mode, wherein the basic torque is a target torque corresponding to a difference between a current speed and a target speed on a preset road surface;

[0147] A second determination submodule, used for determining a sum of the torque compensation value and the basic torque as a target output torque;

[0148] The adjustment submodule is used to adjust the output torque in the creep mode to the target output torque.

[0149] In one embodiment, the base torque is determined as follows:

[0150] Substitute the difference between the current vehicle speed and the target vehicle speed into the following first preset formula to determine the output torque of the vehicle at the starting stage:

[0151]

[0152] Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

[0153] In one embodiment, the apparatus further comprises:

[0154] An acquisition module, used for acquiring the current vehicle speed when the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state;

[0155] A third determination module is used to determine the basic torque of the vehicle at the current moment when the current vehicle speed is 0;

[0156] The adjustment module is also used to adjust the output torque of the vehicle at the current moment to the basic torque to control the vehicle to start the creep mode.

[0157] In one embodiment, the apparatus further comprises:

[0158] An acquisition module, used for acquiring the current vehicle speed when the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state;

[0159] A monitoring module, used for monitoring the vehicle speed when the current vehicle speed is greater than the target vehicle speed corresponding to the creep mode;

[0160] The control module is used to determine that the vehicle creep mode is started when the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode.

[0161] In one embodiment, after the vehicle starts the creep mode, the adjustment module is further configured to:

[0162] When the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode or the current acceleration is the same as the target acceleration, the output torque of the vehicle at the current moment is adjusted to the basic torque.

[0163] In one embodiment, the second determining module is further configured to:

[0164] Substitute the difference between the current acceleration of the vehicle and the target acceleration into the following second preset formula to determine the torque compensation value of the vehicle:

[0165]

[0166] Among them, T2(t) is the torque compensation value calculated based on acceleration PID, a(t) is the difference between the current acceleration and the target acceleration, K p2 is the proportional gain calculated based on acceleration, K I2 is the integral gain calculated based on acceleration, K f2 is the derivative gain calculated based on acceleration.

[0167] In one embodiment, the target acceleration is determined as follows:

[0168] Acquiring a target acceleration curve of the vehicle, wherein the target acceleration curve of the vehicle is an acceleration curve measured when a creep mode is started on a preset road surface;

[0169] The target acceleration curve is queried to obtain the target acceleration corresponding to the current moment.

[0170] Figure 3 This is a hardware structure diagram of a vehicle output torque control system in an embodiment of the present application. The vehicle output torque control system includes:

[0171] at least one processor 320; and,

[0172] A memory 304 in communication with the at least one processor 320; wherein,

[0173] The memory 304 stores instructions that can be executed by the at least one processor 320 , and the instructions are executed by the at least one processor 320 to implement the vehicle output torque control method described in any of the above embodiments.

[0174] Reference Figure 3 The vehicle output torque control system 300 may include one or more of the following components: a processing component 302 , a memory 304 , a power component 306 , a multimedia component 308 , an audio component 310 , an input / output (I / O) interface 312 , a sensor component 314 , and a communication component 316 .

[0175] The processing component 302 generally controls the overall operation of the vehicle output torque control system 300. The processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 302 may include one or more modules to facilitate the interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate the interaction between the multimedia component 308 and the processing component 302.

[0176] The memory 304 is configured to store various types of data to support the operation of the vehicle output torque control system 300. Examples of such data include instructions for any application or method operating on the vehicle output torque control system 300, such as text, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0177] The power assembly 306 provides power to the various components of the vehicle output torque control system 300. The power assembly 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the vehicle output torque control system 300.

[0178] The multimedia component 308 includes a screen that provides an output interface between the vehicle output torque control system 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 may also include a front camera and / or a rear camera. When the vehicle output torque control system 300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0179] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC), and when the vehicle output torque control system 300 is in an operating mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 304 or sent via the communication component 316. In some embodiments, the audio component 310 also includes a speaker for outputting audio signals.

[0180] I / O interface 312 provides an interface between processing component 302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0181] The sensor assembly 314 includes one or more sensors for providing various aspects of status assessment for the vehicle output torque control system 300. For example, the sensor assembly 314 may include an acoustic sensor. In addition, the sensor assembly 314 may detect the on / off state of the vehicle output torque control system 300, the relative positioning of components, such as the display and keypad of the vehicle output torque control system 300, the operating state of the vehicle output torque control system 300 or a component of the vehicle output torque control system 300, the orientation or acceleration / deceleration of the vehicle output torque control system 300, and the temperature change of the vehicle output torque control system 300. The sensor assembly 314 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 314 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, a material stack thickness sensor, or a temperature sensor.

[0182] The communication component 316 is configured to enable the vehicle output torque control system 300 to provide the ability to communicate with other devices and cloud platforms in a wired or wireless manner. The vehicle output torque control system 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0183] In an exemplary embodiment, the vehicle output torque control system 300 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the vehicle output torque control method described in any of the above embodiments.

[0184] The present application also provides a computer-readable storage medium. When the instructions in the storage medium are executed by a processor corresponding to the vehicle output torque control system, the vehicle output torque control system can implement the vehicle output torque control method described in any of the above embodiments.

[0185] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0186] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0187] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0188] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0189] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A vehicle output torque control method, characterized in that: include: When the vehicle starts the creep mode, determining the current acceleration of the vehicle; Calculating a torque compensation value of the vehicle according to a difference between the current acceleration and the target acceleration; The target acceleration is a test value of the vehicle in a creep mode started on a preset road surface; The output torque in the creep mode is adjusted based on the torque compensation value.

2. The method according to claim 1, characterized in that The step of adjusting the output torque in the creep mode based on the torque compensation value comprises: Determining a base torque of the vehicle in a creep mode, wherein the base torque is a target torque corresponding to a difference between a current speed and a target speed on a preset road surface; Determine the sum of the torque compensation value and the basic torque as the target output torque; The output torque in the creep mode is adjusted to the target output torque.

3. The method according to claim 2, characterized in that The base torque is determined as follows: Substitute the difference between the current vehicle speed and the target vehicle speed into the following first preset formula to determine the base torque of the vehicle: Among them, T1(t) is the basic torque calculated based on the vehicle speed PID, v(t) is the difference between the current vehicle speed and the target vehicle speed, K p1 is the proportional gain calculated based on vehicle speed, K I1 is the integral gain calculated based on vehicle speed, K d1 is the derivative gain calculated based on vehicle speed.

4. The method according to claim 1, characterized in that The method further comprises: When the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state, obtaining the current vehicle speed; When the current vehicle speed is 0, determine the basic torque of the vehicle at the current moment; The output torque of the vehicle at the current moment is adjusted to the basic torque to control the vehicle to start the creep mode.

5. The method according to claim 1, characterized in that The method further comprises: When the current gear of the vehicle is the driving gear and the brake pedal and the accelerator pedal are in a released state, obtaining the current vehicle speed; When the current vehicle speed is greater than the maximum vehicle speed corresponding to the creep mode, the vehicle speed is monitored; When the current vehicle speed is equal to the maximum vehicle speed corresponding to the creep mode, the vehicle is controlled to start the creep mode.

6. The method according to claim 1, characterized in that After the vehicle starts the creep mode, the method further includes: When the current vehicle speed is equal to the target vehicle speed corresponding to the creep mode or the current acceleration is the same as the target acceleration, the output torque of the vehicle at the current moment is adjusted to the basic torque.

7. The method according to claim 1, characterized in that The step of calculating the torque compensation value of the vehicle according to the difference between the current acceleration and the target acceleration includes: Substitute the difference between the current acceleration and the target acceleration into the following second preset formula to determine the torque compensation value of the vehicle: Among them, T2(t) is the torque compensation value calculated based on acceleration PID, a(t) is the difference between the current acceleration and the target acceleration, K p1 is the proportional gain calculated based on acceleration, K I2 is the integral gain calculated based on acceleration, K d2 is the derivative gain calculated based on acceleration.

8. The method according to claim 1, characterized in that The target acceleration is determined as follows: Acquiring a target acceleration curve of the vehicle, wherein the target acceleration curve of the vehicle is an acceleration curve measured when a creep mode is started on a preset road surface; The target acceleration curve is queried to obtain the target acceleration corresponding to the current moment.

9. A vehicle output torque control device, characterized in that: include: A first determination module, used to determine the current acceleration of the vehicle when the vehicle starts the creep mode; a second determination module, configured to calculate a torque compensation value of the vehicle according to a difference between the current acceleration and a target acceleration; the target acceleration being a test value of the vehicle in a creep mode started on a preset road surface; The adjustment module is used to adjust the output torque in the creep mode based on the torque compensation value.

10. A vehicle output torque control system, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to implement the vehicle output torque control method as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: When the instructions in the storage medium are executed by a processor corresponding to the vehicle output torque control system, the vehicle output torque control system can implement the vehicle output torque control method as described in any one of claims 1-8.

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