Vehicle torque adjusting method and device, electronic equipment and storage medium

Abstract

The invention provides a vehicle torque adjusting method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle control. Comprising the steps that road section information of a road on which a vehicle is to travel is determined according to map information, and the road section information comprises at least one of an uphill road section and a downhill road section; determining a predicted torque corresponding to the road section information according to the road section information; obtaining the current speed of the vehicle, and determining a target vehicle speed according to a vehicle speed prediction model, the current speed of the vehicle and the predicted torque; and according to the target vehicle speed and a preset threshold value, the pedal torque of the vehicle is adjusted. The problem that the uphill and downhill torque adjusting precision of an existing vehicle is not high can be solved in a targeted mode.

Description

Technical Field

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

[0002] At present, when the vehicle is driving uphill or downhill, the speed of the vehicle is controlled by the driver, that is, the torque control of the vehicle mainly depends on the driver's operation. The accuracy of manual torque adjustment is not high, which will lead to unstable vehicle speed. The driver's incorrect judgment may cause the vehicle speed to be too low or too high, resulting in frequent braking or gear shifting, causing energy waste and affecting driving safety.

[0003] It should be noted that the above statements are only used to provide background technical information related to the present application and do not necessarily constitute prior art. Summary of the invention

[0004] In view of this, the purpose of the present application is to propose a vehicle torque adjustment method, device, electronic device and storage medium. The present application can specifically solve the problem of low uphill and downhill torque adjustment accuracy of existing vehicles.

[0005] Based on the above-mentioned purpose, in the first aspect, the present application proposes a vehicle torque adjustment method, comprising: determining the section information of the road to be traveled by the vehicle according to the map information, the section information including at least one of an uphill section and a downhill section; determining the predicted torque corresponding to the section information according to the section information; obtaining the current speed of the vehicle, and determining the target speed according to the speed prediction model, the current speed of the vehicle and the predicted torque; and adjusting the pedal torque of the vehicle according to the target speed and the size of a preset threshold.

[0006] Optionally, the predicted torque corresponding to each road section information is determined according to the road section information, including: according to the road section information including an uphill section, determining that the predicted torque is a first predicted torque, and the first predicted torque is the maximum torque of the vehicle; according to the road section information including a downhill section, determining that the predicted torque is a second predicted torque, and the second predicted torque is zero.

[0007] Optionally, the vehicle speed prediction model characterizes the relationship between the vehicle's speed, torque and dynamic parameters, and the target vehicle speed is determined based on the vehicle speed prediction model, the vehicle's current speed and the predicted torque, including: for the uphill section, obtaining a first predicted vehicle speed based on the vehicle speed prediction model, the vehicle's current speed and the first predicted torque; determining a first target vehicle speed based on the magnitude of the first predicted vehicle speed and the current vehicle speed; for the downhill section, obtaining a second predicted vehicle speed based on the vehicle speed prediction model, the vehicle's current speed and the second predicted torque; determining a second target vehicle speed based on the magnitude of the second predicted vehicle speed and the current vehicle speed.

[0008] Optionally, determining the first target vehicle speed based on the first predicted vehicle speed and the current vehicle speed includes: determining the first target vehicle speed to be the current vehicle speed based on the first predicted vehicle speed being greater than the current vehicle speed; determining the first target vehicle speed to be the first predicted vehicle speed based on the first predicted vehicle speed being less than or equal to the current vehicle speed.

[0009] Optionally, determining the second target vehicle speed based on the difference between the second predicted vehicle speed and the current vehicle speed includes: determining the second target vehicle speed to be the current vehicle speed based on the second predicted vehicle speed being less than the current vehicle speed; determining the second target vehicle speed to be the second predicted vehicle speed based on the second predicted vehicle speed being greater than or equal to the current vehicle speed.

[0010] Optionally, the preset thresholds include a first preset threshold corresponding to an uphill section and a second preset threshold corresponding to a downhill section; the pedal torque of the vehicle is adjusted according to the target vehicle speed and the preset thresholds, including: for the uphill section, based on the target vehicle speed being less than the first preset threshold, increasing the linear slope of the vehicle's pedal torque, adding a first correction value to the vehicle's pedal torque, and obtaining a corrected vehicle's pedal torque; for the downhill section, based on the target vehicle speed being greater than the second preset threshold, reducing the linear slope of the vehicle's pedal torque, reducing the vehicle's pedal torque by a second correction value, and obtaining a corrected vehicle's pedal torque.

[0011] Optionally, the method also includes: determining a change in the linear slope of the pedal torque based on historical slope driving data of the vehicle, and the change in the linear slope of the pedal torque is used to control an increase in the linear slope of the pedal torque of the vehicle, or to control a decrease in the linear slope of the pedal torque of the vehicle.

[0012] In the second aspect, a vehicle torque adjustment device is also provided, including: a section identification module, used to determine the section information of the road to be traveled by the vehicle based on map information, the section information including at least one of an uphill section and a downhill section; a first processing module, used to determine the predicted torque corresponding to the section information based on the section information; a second processing module, used to obtain the current speed of the vehicle, and determine the target speed based on a speed prediction model, the current speed of the vehicle and the predicted torque; an adjustment module, used to adjust the pedal torque of the vehicle according to the target speed and a preset threshold.

[0013] According to a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0014] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the program is executed by a processor to implement any method described in the first aspect.

[0015] In general, this application has at least the following beneficial effects:

[0016] The embodiment of the present application provides a vehicle torque adjustment method, which determines the section information of the road to be traveled by the vehicle through map information, and the section information includes at least one of an uphill section and a downhill section. It can quickly identify whether the vehicle is going uphill or downhill ahead, and then determine the predicted torque corresponding to the section information according to different section information; and determine the target vehicle speed based on the vehicle speed prediction model, the current speed of the vehicle and the predicted torque, which can improve the control accuracy of the vehicle speed. According to the target vehicle speed and the size of a preset threshold, the pedal torque of the vehicle is adjusted, so that when the vehicle is going uphill or downhill, the torque adjusted according to this embodiment is output, and the vehicle travels at the target speed. Through precise vehicle speed control, the driving risk caused by excessively high or low vehicle speed can be reduced, and by predicting the vehicle speed change in advance, it is ensured that the vehicle's driving speed in different sections is more stable, and frequent use of braking due to excessively high vehicle speed when going downhill is avoided, thereby reducing energy waste.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application. In addition, the same reference numerals are used to represent the same parts in all the drawings.

[0019] Figure 1 A flowchart showing a method for adjusting vehicle torque provided by this embodiment is shown;

[0020] Figure 2 A schematic structural diagram of a vehicle torque adjustment device according to an embodiment of the present application is shown;

[0021] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present application is shown;

[0022] Figure 4 A schematic diagram of a storage medium provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] The following embodiments of the technical solution of the present application will be described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0025] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0026] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0028] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0029] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0030] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] At present, the speed of the vehicle is controlled by the driver in uphill or downhill conditions. For example, when going downhill, the driver may have an inaccurate judgment and the vehicle speed is too high, and frequent braking is required, resulting in energy waste. When going uphill, the driver may have an inaccurate judgment and the vehicle speed is too low, resulting in frequent gear shifting, affecting driving smoothness and power performance. In other words, the torque control of the vehicle mainly depends on the driver's operation, and the accuracy of manual torque adjustment is not high, which will lead to unstable vehicle speed. The vehicle speed may be too low or too high due to incorrect judgment of the driver, resulting in frequent braking or gear shifting, causing energy waste and affecting driving safety.

[0033] Based on the above problems, an embodiment of the present application provides a vehicle torque adjustment method, which determines the section information of the road to be traveled by the vehicle through map information, and the section information includes at least one of an uphill section and a downhill section. It can quickly identify whether the vehicle is going uphill or downhill ahead, and then determine the predicted torque corresponding to the section information according to different section information; and determine the target vehicle speed based on the vehicle speed prediction model, the current speed of the vehicle and the predicted torque, which can improve the control accuracy of the vehicle speed. According to the target vehicle speed and the size of the preset threshold, the pedal torque of the vehicle is adjusted, so that when the vehicle is going uphill or downhill, the torque adjusted according to this embodiment is output, and it travels at the target speed. Through precise vehicle speed control, the driving risk caused by excessively high or low vehicle speed can be reduced, and by predicting the vehicle speed change in advance, it is ensured that the vehicle's driving speed in different sections is more stable, avoiding frequent use of braking due to excessively high vehicle speed when going downhill, and reducing energy waste.

[0034] The following is a specific example to illustrate the vehicle torque adjustment method in some embodiments of the present application. The method is described by taking a vehicle equipped with a front map information acquisition configuration as an example.

[0035] Figure 1 A flow chart showing the steps of a vehicle torque adjustment method provided by this embodiment is shown as follows: Figure 1 As shown, the method includes the following steps S101 to S104:

[0036] S101. Determine, based on map information, road section information of a road on which a vehicle is to travel, where the road section information includes at least one of an uphill section and a downhill section.

[0037] In one example, when a vehicle is traveling on a flat road, the torque output of the vehicle is relatively stable, and the torque output on the flat road does not need to be dynamically adjusted to cope with slope changes. When going uphill, gravity needs to be overcome, and when going downhill, the vehicle speed needs to be prevented from being too high. Therefore, the vehicle torque needs to be adjusted on uphill and downhill sections. Therefore, the road section information obtained through map information in this embodiment includes at least one of an uphill section and a downhill section.

[0038] In one example, the collected images and historical road conditions can be integrated and calculated by the on-board map software and algorithm engine to identify the road section information, including but not limited to the length and trend of the road slope. In another example, the on-board equipment sensors and environmental sensors can be used to obtain the information of the area in front of the vehicle, and the position of the vehicle can be detected through the cloud information platform, and the information of the road in front of the vehicle can be obtained through the roadside unit.

[0039] S102: Determine a predicted torque corresponding to the road section information according to the road section information.

[0040] In this embodiment, the road section information includes at least one of an uphill section and a downhill section, and the torques corresponding to different sections are different. For example, gravity needs to be overcome on an uphill section, but the speed on a downhill section will be accelerated due to the influence of gravity. Therefore, the required torques for the uphill section and the downhill section are different. In this embodiment, the predicted torque corresponding to the uphill section can be preset as the first predicted torque, and the predicted torque corresponding to the downhill section can be preset as the second predicted torque, and different predicted torques can be selected according to different road section information.

[0041] S103, obtaining the current speed of the vehicle, and determining the target vehicle speed according to the vehicle speed prediction model, the current speed of the vehicle and the predicted torque.

[0042] The vehicle speed prediction model in this embodiment characterizes the relationship between the vehicle's speed, torque and dynamic parameters, wherein the dynamic parameters include the torque at the current vehicle speed, the vehicle speed after the interval time t, the transmission ratio, the rear axle ratio, the vehicle weight, the wheel radius, the friction coefficient and the acceleration of gravity.

[0043] The vehicle speed prediction model can be used to predict the vehicle speed after the interval time t, and then the vehicle speed can be controlled at the target speed to prevent the vehicle speed from being too high or too low, thereby avoiding unnecessary energy waste.

[0044] S104: Adjust the pedal torque of the vehicle according to the target vehicle speed and a preset threshold.

[0045] In this embodiment, the preset threshold value can be set to a preset percentage of the maximum driving speed of the vehicle on a slope based on the vehicle's power performance parameters, or it can be determined based on historical data and empirical calibration according to the historical driving data of the vehicle under different road conditions and working conditions. For example, if historical data shows that the average speed of the vehicle on a certain uphill section is 60 km / h, the preset threshold value for that section can be set to 60 km / h.

[0046] According to the target vehicle speed and the preset threshold, the pedal torque of the vehicle is adjusted, and the relationship between the target vehicle speed and the preset threshold is quickly judged through the preset threshold, thereby improving the response speed and real-time performance of the system. When the vehicle is going uphill or downhill, the torque adjusted by this embodiment is output to control the vehicle to travel at the target vehicle speed. Through precise vehicle speed control, the driving risk caused by excessively high or low speed can be reduced.

[0047] In an embodiment of the present application, the predicted torque corresponding to each road section information is determined based on the road section information, including: based on the road section information including an uphill section, the predicted torque is determined to be a first predicted torque, and the first predicted torque is the maximum torque of the vehicle; based on the road section information including a downhill section, the predicted torque is determined to be a second predicted torque, and the second predicted torque is zero.

[0048] That is to say, when determining the preset torque, the uphill section is matched with the vehicle's maximum torque, and the downhill section is matched with zero torque. The maximum torque is used when going uphill to ensure that the vehicle has enough power to climb; zero torque is used when going downhill to avoid unnecessary energy waste.

[0049] By setting a fixed predicted torque value, the complexity of the system is reduced, the logic of torque regulation is simplified, and the response speed and reliability of the system are improved.

[0050] In an embodiment of the present application, a vehicle speed prediction model characterizes the relationship between the vehicle's speed, torque and dynamic parameters, and determines a target vehicle speed based on the vehicle speed prediction model, the vehicle's current speed and the predicted torque, including: for an uphill section, obtaining a first predicted vehicle speed based on the vehicle speed prediction model, the vehicle's current speed and the first predicted torque; determining a first target vehicle speed based on the magnitude of the first predicted vehicle speed and the current vehicle speed; for a downhill section, obtaining a second predicted vehicle speed based on the vehicle speed prediction model, the vehicle's current speed and the second predicted torque; determining a second target vehicle speed based on the magnitude of the second predicted vehicle speed and the current vehicle speed.

[0051] In this embodiment, the vehicle speed prediction model is:

[0052]

[0053] Among them, v pre To predict the vehicle speed, t is the interval time, v0 is the current vehicle speed, N is the torque at the current vehicle speed, pt is the transmission ratio, r is the rear axle ratio, m is the vehicle weight, d is the wheel radius, ρ is the friction coefficient, and g is the acceleration due to gravity.

[0054] For an uphill section, the first predicted vehicle speed is obtained according to the vehicle speed prediction model, the current speed of the vehicle and the first predicted torque. That is, the first predicted torque (the maximum torque N of the vehicle) is max )

[0055] Formula 1, the first predicted vehicle speed is obtained:

[0056]

[0057] According to the first predicted vehicle speed v pre1 With the current vehicle speed v n The first target vehicle speed is determined according to the size of the first predicted vehicle speed and the current vehicle speed. The first target vehicle speed is dynamically determined according to the size relationship between the first predicted vehicle speed and the current vehicle speed, thereby improving the flexibility and adaptability of vehicle speed control.

[0058] For downhill sections, the second predicted vehicle speed is obtained according to the vehicle speed prediction model, the current speed of the vehicle and the second predicted torque. That is, the second predicted torque (torque is 0) is substituted into Formula 1 to obtain the second predicted vehicle speed:

[0059] According to the second predicted vehicle speed v pre2 With the current vehicle speed v n The second target vehicle speed is determined according to the size of the second predicted vehicle speed and the current vehicle speed. The second target vehicle speed is dynamically determined according to the size relationship between the second predicted vehicle speed and the current vehicle speed, thereby improving the flexibility and adaptability of vehicle speed control.

[0060] It should be noted that the above v0 is the initial current vehicle speed, v n Refers to the current vehicle speed at any moment, v pre Refers to the predicted vehicle speed after a time difference of t from n.

[0061] This embodiment improves the accuracy of vehicle speed prediction by taking the vehicle's dynamic parameters into consideration, dynamically determines the target speed based on the relationship between the predicted speed and the current speed, thereby improving the flexibility and adaptability of speed control. By dynamically adjusting the target speed, it ensures that the vehicle's driving speed on different road sections is more stable, thereby improving driving experience and safety.

[0062] In an embodiment of the present application, the first target vehicle speed is determined based on the magnitude of the first predicted vehicle speed and the current vehicle speed, including: based on the first predicted vehicle speed being greater than the current vehicle speed, determining the first target vehicle speed to be the current vehicle speed; based on the first predicted vehicle speed being less than or equal to the current vehicle speed, determining the first target vehicle speed to be the first predicted vehicle speed.

[0063] That is, for an uphill section, if v pre1 >v n , then the first target vehicle speed v1 after time interval t = v n , if v pre1 ≤v n , then the first target vehicle speed v1 after time interval t = v pre1 .

[0064] In this way, when going uphill, if the predicted vehicle speed is greater than the current vehicle speed, maintain the current vehicle speed to avoid unnecessary acceleration; if the predicted vehicle speed is less than or equal to the current vehicle speed, adjust the vehicle speed to the predicted speed to ensure the stability of the vehicle speed.

[0065] In an embodiment of the present application, the second target vehicle speed is determined based on the difference between the second predicted vehicle speed and the current vehicle speed, including: based on the second predicted vehicle speed being less than the current vehicle speed, the second target vehicle speed is determined to be the current vehicle speed; based on the second predicted vehicle speed being greater than or equal to the current vehicle speed, the second target vehicle speed is determined to be the second predicted vehicle speed.

[0066] That is, for a downhill section, if v pre2 <v n , then the second target vehicle speed v2 after time interval t = v n, if v pre2 ≥v n , then the second target vehicle speed v2 after time interval t = v pre2 .

[0067] In this way, when going downhill, if the predicted vehicle speed is lower than the current vehicle speed, maintain the current vehicle speed to avoid unnecessary deceleration and reduce the number of braking times; if the predicted vehicle speed is greater than or equal to the current vehicle speed, adjust the vehicle speed to the predicted speed to ensure the stability of the vehicle speed.

[0068] In an embodiment of the present application, the preset thresholds include a first preset threshold corresponding to an uphill section and a second preset threshold corresponding to a downhill section, and the pedal torque of the vehicle is adjusted according to the target vehicle speed and the preset thresholds, including: for an uphill section, based on the target vehicle speed being less than the first preset threshold, the linear slope of the vehicle's pedal torque is increased, and a first correction value is added to the vehicle's pedal torque to obtain a corrected vehicle pedal torque; for a downhill section, based on the target vehicle speed being greater than the second preset threshold, the linear slope of the vehicle's pedal torque is reduced, and the vehicle's pedal torque is reduced by a second correction value to obtain a corrected vehicle pedal torque.

[0069] As described above, the preset threshold can be a preset percentage of the maximum speed of the vehicle on the slope, or it can be calibrated based on historical data and experience. In this case, the first percentage of the maximum speed of the vehicle on the uphill section can be used as the first preset threshold, and the second percentage of the maximum speed of the vehicle on the uphill section can be used as the second preset threshold.

[0070] In one example, for an uphill section, assuming that the first target vehicle speed is 40km / h and the first preset threshold is 50km / h, the pedal torque linear slope needs to be increased. Assuming that the current pedal torque linear slope is 100Nm / s, the pedal torque linear slope can be increased to 150Nm / s, and the first correction value is added to the pedal torque of the vehicle to obtain the corrected pedal torque of the vehicle. The first correction value is obtained by increasing the pedal torque linear slope. Assuming that the pedal position is 0.5 (50%), the corrected pedal torque is 150Nm / s*0.5=75Nm.

[0071] For downhill sections, based on the second target vehicle speed being greater than the second preset threshold, assuming that the second target vehicle speed is 40km / h and the second preset threshold is 30km / h, it is necessary to reduce the vehicle's pedal torque linear slope. Assuming that the current pedal torque linear slope is 80Nm / s, it is reduced by 30Nm / s, and the corrected pedal torque linear slope is 50Nm / s, which is the second correction value for reducing the vehicle's pedal torque. The second correction value is obtained based on the amount of reduction in the pedal torque linear slope. Assuming that the pedal position is 0.5 (50%), the corrected pedal torque is 50Nm / s*0.5=25Nm.

[0072] This embodiment improves the flexibility and adaptability of torque regulation by dynamically adjusting the linear slope of the pedal torque. When going uphill, the linear slope and correction value of the pedal torque are increased to ensure that the vehicle has sufficient power to climb the slope; when going downhill, the linear slope and correction value of the pedal torque are reduced to avoid unnecessary energy waste.

[0073] The method of the embodiment of the present application also includes: determining the change in the linear slope of the pedal torque based on the historical slope driving data of the vehicle, and the change in the linear slope of the pedal torque is used to control the increase in the linear slope of the pedal torque of the vehicle, or to control the decrease in the linear slope of the pedal torque of the vehicle.

[0074] That is to say, this embodiment controls the change in the linear slope of the pedal torque so that its slope is within a reasonable range of change, for example, by gradually increasing the linear slope of the pedal torque, so as to avoid excessive torque output that affects vehicle stability and driving experience.

[0075] For example, during an uphill driving process, the initial pedal torque linear slope is k1. When it is detected that the road ahead is an uphill section and the vehicle speed is decreasing, the torque linear slope Δk is increased for the vehicle. Considering the characteristics of the vehicle power system and driving comfort, the upper limit of the slope increase is set, that is, the maximum allowable slope k max In one example, the slope can be gradually increased at a certain time interval (such as per second) until k is reached. max Or the uphill section ends. In this way, the vehicle's pedal torque will increase smoothly to avoid vehicle shaking or loss of control due to torque mutation. Since the pedal torque linear slope changes gradually, the pedal torque also increases gradually until the pedal torque increases from T1 to the maximum torque Tmax. This progressive adjustment can better adapt to slope changes and ensure that the vehicle's power output is smooth and stable during the uphill process.

[0076] For example, during a downhill driving process, the initial pedal torque linear slope is k2. When it is detected that the road ahead is a downhill section and the vehicle speed has an increasing trend, the torque linear slope Δk′ is reduced. Considering the characteristics of the vehicle power system and driving comfort, the lower limit of the slope reduction is set, that is, the minimum allowable slope kmin. The slope is gradually reduced at a certain time interval (such as every second) until it reaches kmin or the downhill section ends. In this way, the vehicle's pedal torque will be reduced smoothly to avoid vehicle loss of control or untimely braking due to a sudden drop in torque. Since the pedal torque linear slope changes gradually, the pedal torque also decreases gradually until the pedal torque decreases from T2 to 0. This progressive adjustment can better adapt to slope changes, ensure the braking performance and stability of the vehicle during the downhill process, and reduce energy waste.

[0077] In one example, for an uphill section, if the first target vehicle speed is greater than or equal to a first preset threshold, or the second target vehicle speed is less than or equal to a second preset threshold, the current torque of the vehicle is maintained without correction.

[0078] The vehicle torque regulation method provided in the above embodiment can improve the control accuracy of the vehicle speed, so that when the vehicle is going uphill or downhill, the torque adjusted according to the present embodiment is output and the vehicle travels at the target speed. Through precise vehicle speed control, the driving risk caused by excessively high or low vehicle speed can be reduced. By predicting the vehicle speed change in advance, the vehicle's driving speed in different sections can be ensured to be more stable, avoiding frequent use of braking due to excessive speed when going downhill, thereby reducing energy waste.

[0079] Figure 2 FIG. 2 is a schematic diagram showing the structure of a vehicle torque adjustment device according to an embodiment of the present application. Figure 2 As shown, the vehicle torque regulating device 02 includes:

[0080] A road section identification module 021, used to determine the road section information of the road to be traveled by the vehicle according to the map information, wherein the road section information includes at least one of an uphill road section and a downhill road section;

[0081] A first processing module 022, configured to determine a predicted torque corresponding to the road section information according to the road section information;

[0082] The second processing module 023 is used to obtain the current speed of the vehicle and determine the target vehicle speed according to the vehicle speed prediction model, the current speed of the vehicle and the predicted torque;

[0083] The regulating module 024 is used to regulate the pedal torque of the vehicle according to the target vehicle speed and a preset threshold.

[0084] Among them, the first processing module 022 is used to determine that the predicted torque is a first predicted torque according to the road section information including an uphill section, and the first predicted torque is the maximum torque of the vehicle; according to the road section information including a downhill section, determine that the predicted torque is a second predicted torque, and the second predicted torque is zero.

[0085] The vehicle speed prediction model characterizes the relationship between the vehicle's speed, torque and dynamic parameters. The second processing module 023 is used to obtain a first predicted vehicle speed for the uphill section based on the vehicle speed prediction model, the vehicle's current speed and the first predicted torque; determine a first target vehicle speed based on the first predicted vehicle speed and the current vehicle speed; for the downhill section, obtain a second predicted vehicle speed based on the vehicle speed prediction model, the vehicle's current speed and the second predicted torque; determine a second target vehicle speed based on the second predicted vehicle speed and the current vehicle speed.

[0086] The second processing module 023 is used to determine that the first target vehicle speed is the current vehicle speed based on the first predicted vehicle speed being greater than the current vehicle speed; and to determine that the first target vehicle speed is the first predicted vehicle speed based on the first predicted vehicle speed being less than or equal to the current vehicle speed.

[0087] The second processing module 023 is used to determine that the second target vehicle speed is the current vehicle speed based on the second predicted vehicle speed being less than the current vehicle speed; and to determine that the second target vehicle speed is the second predicted vehicle speed based on the second predicted vehicle speed being greater than or equal to the current vehicle speed.

[0088] The preset thresholds include a first preset threshold corresponding to an uphill section and a second preset threshold corresponding to a downhill section. The adjustment module 024 is used to: for the uphill section, based on the target vehicle speed being less than the first preset threshold, increase the linear slope of the pedal torque of the vehicle, add a first correction value to the pedal torque of the vehicle, and obtain a corrected pedal torque of the vehicle; for the downhill section, based on the target vehicle speed being greater than the second preset threshold, reduce the linear slope of the pedal torque of the vehicle, reduce the pedal torque of the vehicle by a second correction value, and obtain a corrected pedal torque of the vehicle.

[0089] The adjustment module 024 is also used to determine the change in the linear slope of the pedal torque based on the historical slope driving data of the vehicle, and the change in the linear slope of the pedal torque is used to control the increase in the linear slope of the pedal torque of the vehicle, or to control the decrease in the linear slope of the pedal torque of the vehicle.

[0090] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0091] The vehicle torque regulation device provided in the above-mentioned embodiments of the present application and the vehicle torque regulation method provided in the embodiments of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0092] The present application also provides an electronic device corresponding to the vehicle torque adjustment method provided in the above embodiment to execute the above vehicle torque adjustment method. Figure 3 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. Figure 3As shown, the electronic device 20 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, and the processor 200, the communication interface 203 and the memory 201 are connected via the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and the processor 200 executes the method provided in any of the aforementioned embodiments of the present application when running the computer program.

[0093] The memory 201 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0094] The bus 202 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 201 is used to store programs, and the processor 200 executes the programs after receiving execution instructions. The vehicle torque adjustment method disclosed in any implementation of the above-mentioned embodiment of the present application may be applied to the processor 200, or implemented by the processor 200.

[0095] The processor 200 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 200. The above processor 200 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the above method in combination with its hardware.

[0096] The electronic device provided in the embodiment of the present application and the vehicle torque adjustment method provided in the embodiment of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0097] The present application also provides a computer-readable storage medium corresponding to the vehicle torque adjustment method provided in the above embodiment. Figure 4 , which shows a computer-readable storage medium 30, which may be a CD, on which a program product is stored, which may be an operating system, application software, game, tool software, etc. The program product includes a computer program, which usually exists in source code or compiled binary form. When the computer program is run by the processor, it will execute the vehicle torque adjustment method provided by any of the aforementioned embodiments.

[0098] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0099] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the vehicle torque regulation method provided in the embodiments of the present application are based on the same application concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0100] It should be noted that:

[0101] In the above text, the term "comprises", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0103] The embodiments of the present application are described above in conjunction with the accompanying drawings, which are only specific implementation modes of the present application. However, the present application is not limited to the above-mentioned specific implementation modes. The above-mentioned specific implementation modes are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A vehicle torque adjustment method, characterized in that: The method comprises: Determine, according to the map information, road section information of the road to be traveled by the vehicle, wherein the road section information includes at least one of an uphill section and a downhill section; determining a predicted torque corresponding to the road section information according to the road section information; Obtaining a current speed of the vehicle, and determining a target vehicle speed according to a vehicle speed prediction model, the current speed of the vehicle, and the predicted torque; The pedal torque of the vehicle is adjusted according to the target vehicle speed and a preset threshold.

2. The method according to claim 1, characterized in that Determining the predicted torque corresponding to each road section information according to the road section information includes: According to the road section information including an uphill road section, determining that the predicted torque is a first predicted torque, the first predicted torque being a maximum torque of the vehicle; According to the road section information including a downhill section, the predicted torque is determined to be a second predicted torque, and the second predicted torque is zero.

3. The method according to claim 2, characterized in that The vehicle speed prediction model characterizes the relationship between the speed, torque and dynamic parameters of the vehicle, and the target vehicle speed is determined according to the vehicle speed prediction model, the current speed of the vehicle and the predicted torque, including: For the uphill section, a first predicted vehicle speed is obtained according to the vehicle speed prediction model, the current speed of the vehicle and the first predicted torque; a first target vehicle speed is determined according to the magnitude of the first predicted vehicle speed and the current vehicle speed; For the downhill section, a second predicted vehicle speed is obtained according to the vehicle speed prediction model, the current speed of the vehicle and the second predicted torque; and a second target vehicle speed is determined according to the magnitude of the second predicted vehicle speed and the current vehicle speed.

4. The method according to claim 3, characterized in that The determining a first target vehicle speed according to the first predicted vehicle speed and the current vehicle speed includes: According to the first predicted vehicle speed being greater than the current vehicle speed, determining the first target vehicle speed to be the current vehicle speed; According to the first predicted vehicle speed being less than or equal to the current vehicle speed, the first target vehicle speed is determined to be the first predicted vehicle speed.

5. The method according to claim 3, characterized in that: The determining the second target vehicle speed according to the second predicted vehicle speed and the current vehicle speed includes: According to the second predicted vehicle speed being less than the current vehicle speed, determining the second target vehicle speed to be the current vehicle speed; According to the second predicted vehicle speed being greater than or equal to the current vehicle speed, the second target vehicle speed is determined to be the second predicted vehicle speed.

6. The method according to claim 1, characterized in that The preset thresholds include a first preset threshold corresponding to an uphill section and a second preset threshold corresponding to a downhill section; According to the target vehicle speed and a preset threshold, the pedal torque of the vehicle is adjusted, including: For the uphill section, according to the target vehicle speed being less than the first preset threshold, increasing the linear slope of the pedal torque of the vehicle, adding a first correction value to the pedal torque of the vehicle, and obtaining a corrected pedal torque of the vehicle; For the downhill section, according to the target vehicle speed being greater than the second preset threshold, the pedal torque linear slope of the vehicle is reduced, the pedal torque of the vehicle is reduced by a second correction value, and a corrected pedal torque of the vehicle is obtained.

7. The method according to claim 6, characterized in that The method further comprises: The pedal torque linear slope change is determined based on the historical slope driving data of the vehicle, and the pedal torque linear slope change is used to control the increase in the pedal torque linear slope of the vehicle, or to control the decrease in the pedal torque linear slope of the vehicle.

8. A vehicle torque regulating device, characterized in that: include: A road section identification module, used to determine the road section information of the road to be traveled by the vehicle according to the map information, wherein the road section information includes at least one of an uphill road section and a downhill road section; A first processing module, configured to determine a predicted torque corresponding to the road section information according to the road section information; A second processing module is used to obtain the current speed of the vehicle and determine the target vehicle speed according to the vehicle speed prediction model, the current speed of the vehicle and the predicted torque; The regulating module is used to regulate the pedal torque of the vehicle according to the target vehicle speed and a preset threshold.

9. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method according to any one of claims 1 to 7.

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