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

Abstract

The application provides a vehicle torque adjustment method and device, electronic equipment and storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: determining road section information of a road to be traveled by a vehicle according to map information, wherein 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 a current vehicle speed, and determining a target vehicle speed according to a vehicle speed prediction model, the current vehicle speed and the predicted torque; and adjusting a pedal torque of the vehicle according to the target vehicle speed and the size of a preset threshold. The application can solve the problem that the uphill and downhill torque adjustment accuracy of an existing vehicle is not high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle torque adjustment method and device, electronic equipment and storage medium. BACKGROUND

[0002] At present, in the uphill or downhill working condition of the vehicle, the speed of the vehicle is controlled by the driver, that is, the torque control of the vehicle mainly depends on the operation of the driver, and the accuracy of the artificial torque adjustment is not high, which can cause unstable vehicle speed, and the vehicle speed can be too low or too high due to incorrect judgment of the driver, thereby causing frequent braking or gear shifting, 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

[0004] Therefore, the purpose of the present application is to provide a vehicle torque adjustment method, device, electronic equipment and storage medium, which can solve the problem of low uphill and downhill torque adjustment accuracy of the existing vehicle.

[0005] In order to achieve the above purpose, in a first aspect, the present application provides a vehicle torque adjustment method, comprising: determining road section information of a road to be traveled by a vehicle according to map information, the road section information comprising 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 a current vehicle speed, determining a target vehicle speed according to a vehicle speed prediction model, the current vehicle speed of the vehicle and the predicted torque; and adjusting a pedal torque of the vehicle according to the target vehicle speed and the size of a preset threshold.

[0006] Optionally, determining the predicted torque corresponding to each road section information according to the road section information comprises: determining the predicted torque as a first predicted torque according to the road section information comprising an uphill road section, the first predicted torque being a maximum torque of the vehicle; and determining the predicted torque as a second predicted torque according to the road section information comprising a downhill road section, the second predicted torque being zero.

[0007] Optionally, the vehicle speed prediction model represents a relationship between a speed, a torque and a dynamic parameter of the vehicle, and the determining the target speed according to the vehicle speed prediction model, the current speed of the vehicle and the predicted torque comprises: for the uphill road section, obtaining a first predicted speed according to the vehicle speed prediction model, the current speed of the vehicle and the first predicted torque; determining a first target speed according to a size of the first predicted speed and the current speed; for the downhill road section, obtaining a second predicted speed according to the vehicle speed prediction model, the current speed of the vehicle and the second predicted torque; determining a second target speed according to a size of the second predicted speed and the current speed.

[0008] Optionally, the determining the first target speed according to the size of the first predicted speed and the current speed comprises: determining the first target speed as the current speed according to the first predicted speed being greater than the current speed; determining the first target speed as the first predicted speed according to the first predicted speed being less than or equal to the current speed.

[0009] Optionally, the determining the second target speed according to the size of the second predicted speed and the current speed comprises: determining the second target speed as the current speed according to the second predicted speed being less than the current speed; determining the second target speed as the second predicted speed according to the second predicted speed being greater than or equal to the current speed.

[0010] Optionally, the preset threshold comprises a first preset threshold corresponding to the uphill road section and a second preset threshold corresponding to the downhill road section, and the adjusting the pedal torque of the vehicle according to the size of the target speed and the preset threshold comprises: for the uphill road section, increasing a linear slope of the pedal torque of the vehicle according to the target speed being less than the first preset threshold, increasing a first correction value for the pedal torque of the vehicle to obtain a corrected pedal torque of the vehicle; for the downhill road section, decreasing the linear slope of the pedal torque of the vehicle according to the target speed being greater than the second preset threshold, decreasing a second correction value for the pedal torque of the vehicle to obtain a corrected pedal torque of the vehicle.

[0011] Optionally, the method further comprises: determining a pedal torque linear slope change amount according to historical slope driving data of the vehicle, the pedal torque linear slope change amount being used for controlling an increase amount of the linear slope of the pedal torque of the vehicle or controlling a decrease amount of the linear slope of the pedal torque of the vehicle.

[0012] In a second aspect, a vehicle torque adjustment device is provided, comprising: a road section identification module configured to determine road section information of a road to be traveled by a vehicle according to map information, the road section information comprising 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 configured to obtain a current vehicle speed of the vehicle, and determine a target vehicle speed according to a vehicle speed prediction model, the current vehicle speed of the vehicle, and the predicted torque; and an adjustment module configured to adjust a pedal torque of the vehicle according to a size of the target vehicle speed and a preset threshold.

[0013] In 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, the processor executing the computer program to implement the method of the first aspect.

[0014] In a fourth aspect, a computer readable storage medium is provided, having a computer program stored thereon, the program being executable by a processor to implement the method of any one of the first aspect.

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

[0016] The vehicle torque adjustment method provided by the embodiments of the present application determines road section information of a road to be traveled by a vehicle according to map information, the road section information comprising at least one of an uphill road section and a downhill road section, so that the vehicle can quickly identify whether the road ahead is uphill or downhill, and then determine a predicted torque corresponding to the road section information according to different road section information; and determine a target vehicle speed based on a vehicle speed prediction model, a current vehicle speed of the vehicle, and the predicted torque, so as to improve the control accuracy of the vehicle speed, adjust a pedal torque of the vehicle according to a size of the target vehicle speed and a preset threshold, so that the vehicle outputs the torque adjusted according to the embodiments when the vehicle is on an uphill or downhill, and travels at the target vehicle speed, so that through accurate vehicle speed control, the driving risk caused by excessively high or low vehicle speed can be reduced, and through early prediction of vehicle speed changes, the driving speed of the vehicle on different road sections is more stable, the use of brakes is reduced due to excessively high vehicle speed on a downhill, and energy waste is reduced.

[0017] The above description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0018] In the drawings, like reference numerals refer to same or similar components throughout the several views. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the application. It should be understood that the drawings are merely for purposes of illustration and are not to be construed as limiting the scope of the application. Moreover, the use of the same reference numerals in different figures indicates similar or identical components.

[0019] Figure 1 A step flow chart of a vehicle torque adjustment method provided by the embodiment is shown;

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

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

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

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

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the use of the terms "including," "comprising," "having" and variations thereof herein is meant to encompass the inclusion of the recited elements but not the exclusion of others not recited.

[0025] In the description of the embodiments of the 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 application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

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

[0027] In the description of the embodiments of the present application, the term "and / or" is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0028] In the description of the embodiments of the present application, the term "a plurality of" refers to two or more (including two), and similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0029] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and 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 devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot 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 explicitly specified and limited, the technical terms "mounting", "connection", "connection", "fixing", and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning 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 the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0032] At present, in the uphill or downhill working condition of the vehicle, the speed of the vehicle is controlled by the driver, for example, when downhill, the driver may have inaccurate judgment and the vehicle speed is too high, and frequent braking is needed, resulting in energy waste. When uphill, the driver may have inaccurate judgment and the vehicle speed is too low, resulting in frequent shifting, affecting driving smoothness and power performance. That is, the torque control of the vehicle mainly depends on the operation of the driver, and the accuracy of the human torque adjustment is not high, which can cause unstable vehicle speed, and the driver may have incorrect judgment, resulting in too low or too high vehicle speed, thereby causing frequent braking or shifting, causing energy waste, and affecting driving safety.

[0033] Based on the above problems, the embodiment of the present application provides a vehicle torque adjustment method, which determines the road section information of the road to be traveled by the vehicle through map information, the road section information including at least one of an uphill road section and a downhill road section, can quickly identify whether the front of the vehicle is uphill or downhill, and then determines the predicted torque corresponding to the road section information according to different road section information; and determines the target vehicle speed based on the vehicle speed prediction model, the current vehicle speed of the vehicle and the predicted torque, which can improve the control accuracy of the vehicle speed, adjusts the pedal torque of the vehicle according to the size of the target vehicle speed and the preset threshold, so that the vehicle outputs the torque adjusted according to the embodiment when climbing or descending, and travels at the target vehicle speed, through accurate vehicle speed control, the driving risk caused by excessively high or low vehicle speed can be reduced, and through early prediction of vehicle speed change, the driving speed of the vehicle on different road sections is more stable, the use of brakes is avoided due to excessively high vehicle speed when descending, and energy waste is reduced.

[0034] The vehicle torque adjustment method in some embodiments of the present application is described below with a specific example. In this method, a vehicle equipped with a front map information acquisition configuration is taken as an example for description.

[0035] Figure 1 A step flowchart of a vehicle torque adjustment method provided by the embodiment is shown in FIG. 1, and the method includes the following steps S101-S104. Figure 1

[0036] S101, determining the road section information of the road to be traveled by the vehicle according to the map information, the road section information including at least one of an uphill road section and a downhill road section.

[0037] In an example, when the vehicle travels 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 the slope change, while the torque needs to be adjusted on the uphill and downhill road sections to overcome gravity on the uphill and prevent the vehicle speed from being too high on the downhill. Therefore, the road section information obtained by the map information in the embodiment includes at least one of an uphill road section and a downhill road section.

[0038] In an example, the road section information of the road can be recognized by integrating and operating the collected images and historical road conditions through the vehicle-mounted map software and algorithm engine, including but not limited to the length and trend of the road slope section. In another example, the vehicle-mounted device sensors and environmental sensors can also be used to obtain the information of the front area of the vehicle, and the cloud information platform can also be used to detect the position of the vehicle to obtain the information of the road in front of the vehicle through the roadside unit.

[0039] S102, determining the predicted torque corresponding to the road section information according to the road section information. ​

[0040] In this embodiment, the road segment information includes at least one of an uphill road segment and a downhill road segment, and the torque corresponding to different road segments is different. For example, the uphill road segment needs to overcome gravity, and the downhill road segment is affected by gravity and the speed is accelerated, so the required torque of the uphill road segment and the downhill road segment is different. In this embodiment, the predicted torque corresponding to the uphill road segment can be preset as a first predicted torque, and the predicted torque corresponding to the downhill road segment can be preset as a second predicted torque, and then different predicted torques can be selected according to different road segment information.

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

[0042] The vehicle speed prediction model in this embodiment represents the relationship between the speed of the vehicle, the torque, and the dynamic parameters, wherein the dynamic parameters include the torque at the current speed, the interval time the speed of the vehicle after the interval time, 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 speed of the vehicle after the interval time and then control the vehicle speed at the target vehicle speed, to prevent the vehicle speed from being too high or too low, and to avoid unnecessary energy waste.

[0044] S104, adjusting the pedal torque of the vehicle according to the size of the target vehicle speed and the preset threshold.

[0045] In this embodiment, the preset threshold can be set as a preset percentage of the maximum driving speed of the vehicle on the slope based on the dynamic performance parameters of the vehicle. Alternatively, the preset threshold can be determined based on historical data and experience calibration according to the historical driving data of the vehicle under different road conditions and working conditions. For example, if the historical data shows that the average vehicle speed of the vehicle on a certain uphill road segment is 60 km / h, the preset threshold of this road segment can be set to 60 km / h.

[0046] The pedal torque of the vehicle is adjusted according to the size of the target vehicle speed and the preset threshold. The preset threshold is used to quickly determine the relationship between the target vehicle speed and the preset threshold, thereby improving the response speed and real-time performance of the system. When the vehicle is climbing or descending, the vehicle outputs the torque adjusted by this embodiment, and the vehicle is controlled to travel at the target vehicle speed. Through accurate vehicle speed control, the driving risk caused by excessively high or low vehicle speed can be reduced.

[0047] In the embodiments of this application, the predicted torque corresponding to each road segment information is determined according to the road segment information, including: determining the predicted torque as a first predicted torque according to the road segment information including an uphill road segment, the first predicted torque being the maximum torque of the vehicle; and determining the predicted torque as a second predicted torque according to the road segment information including a downhill road segment, the second predicted torque being zero.

[0048] That is, in determining the preset torque, the uphill section and the maximum torque of the vehicle are matched, the downhill section and zero torque are matched, the maximum torque is used when climbing uphill, and it is ensured that the vehicle has enough power to climb the slope; zero torque is used when descending, avoiding unnecessary energy waste.

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

[0050] In the embodiment of the application, the vehicle speed prediction model represents the relationship between the speed, torque and dynamic parameters of the vehicle, and the target 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 speed is obtained according to the vehicle speed prediction model, the current speed of the vehicle and the first predicted torque; a first target speed is determined according to the size of the first predicted speed and the current speed; for the downhill section, a second predicted speed is obtained according to the vehicle speed prediction model, the current speed of the vehicle and the second predicted torque; a second target speed is determined according to the size of the second predicted speed and the current speed.

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

[0052] (Formula 1)

[0053] wherein, is the predicted speed, is the interval time, is the current speed, is the torque under the current speed, is the transmission ratio, is the rear axle ratio, is the vehicle weight, is the wheel radius, is the friction coefficient, and g is the acceleration of gravity.

[0054] For the uphill section, a first predicted 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 of the vehicle is brought into formula 1 to obtain the first predicted speed:

[0055]

[0056] According to the size of the first predicted speed and the current speed , the first target speed is determined, and the first target speed is dynamically determined according to the size relationship between the first predicted speed and the current speed, improving the flexibility and adaptability of the speed control.

[0057] For the downhill section, according to the vehicle speed prediction model, the current vehicle speed and the second predicted torque, the second predicted vehicle speed is obtained, that is, the second predicted torque (torque is 0) is brought into formula 1 to obtain the second predicted vehicle speed: .

[0058] According to the size of the second predicted vehicle speed And the current speed , the second target speed is determined, and the second target speed is dynamically determined according to the size relationship between the second predicted vehicle speed and the current speed, which improves the flexibility and adaptability of the vehicle speed control.

[0059] It should be noted that the above Is the initial current speed, Refers to the current speed at any time, Refers to the predicted speed after Difference in time .

[0060] The embodiment improves the accuracy of vehicle speed prediction by considering the dynamics parameters of the vehicle, dynamically determines the target speed according to the size relationship between the predicted speed and the current speed, improves the flexibility and adaptability of the vehicle speed control, dynamically adjusts the target speed, ensures the driving speed of the vehicle in different sections more stable, and improves the driving experience and safety.

[0061] In the embodiment of the application, the first target speed is determined according to the size of the first predicted speed and the current speed, including: determining the first target speed as the current speed according to the first predicted speed greater than the current speed; determining the first target speed as the first predicted speed according to the first predicted speed less than or equal to the current speed.

[0062] That is, for the uphill section, if , the first target speed after the time interval = , If , the first target speed after the time interval = , .

[0063] In this way, when climbing, if the predicted speed is greater than the current speed, the current speed is maintained to avoid unnecessary acceleration; if the predicted speed is less than or equal to the current speed, the speed is adjusted to the predicted speed to ensure the stability of the speed.

[0064] In the embodiments of the present application, the second target speed is determined according to the size of the second predicted speed and the current speed, including: determining the second target speed as the current speed according to the second predicted speed being less than the current speed; determining the second target speed as the second predicted speed according to the second predicted speed being greater than or equal to the current speed.

[0065] That is, for the downhill section, if , the time interval , the second target speed after the time interval = , if , the time interval , the second target speed after the time interval = .

[0066] In this way, when descending, if the predicted speed is less than the current speed, the current speed is maintained to avoid unnecessary deceleration and reduce the number of braking; if the predicted speed is greater than or equal to the current speed, the speed is adjusted to the predicted speed to ensure the stability of the speed.

[0067] In the embodiments of the present application, the preset threshold includes a first preset threshold corresponding to the uphill section and a second preset threshold corresponding to the downhill section, and the pedal torque of the vehicle is adjusted according to the size of the target speed and the preset threshold, including: for the uphill section, increasing the linear slope of the pedal torque of the vehicle according to the target speed being less than the first preset threshold, increasing the pedal torque of the vehicle by a first correction value to obtain the corrected pedal torque of the vehicle; for the downhill section, decreasing the linear slope of the pedal torque of the vehicle according to the target speed being greater than the second preset threshold, decreasing the pedal torque of the vehicle by a second correction value to obtain the corrected pedal torque of the vehicle.

[0068] As described above, the preset threshold can be a preset percentage of the maximum driving speed of the vehicle on the slope, or can be based on historical data and experience calibration, then the first preset threshold can be a first percentage of the maximum speed of the vehicle on the uphill section, and the second preset threshold can be a second percentage of the maximum speed of the vehicle on the uphill section.

[0069] In one example, for the uphill section, assuming that the first target speed is 40 km / h and the first preset threshold is 50 km / h, the pedal torque linear slope needs to be increased, assuming that the current pedal torque linear slope is 100 Nm / s, the pedal torque linear slope can be increased to 150 Nm / s, and the pedal torque of the vehicle is increased by a first correction value to obtain the corrected pedal torque of the vehicle. The first correction value is obtained according to the amount of increase in the pedal torque linear slope, assuming that the pedal position is 0.5 (50%), the corrected pedal torque is 150 Nm / s * 0.5 = 75 Nm.

[0070] For a downhill section, if the second target vehicle speed is greater than a second preset threshold value, assuming the second target vehicle speed is 40 km / h and the second preset threshold value is 30 km / h, the pedal torque linear slope of the vehicle needs to be reduced, assuming that the current pedal torque linear slope is 80 Nm / s, and the pedal torque linear slope is reduced by 30 Nm / s, and the corrected pedal torque linear slope is 50 Nm / s, the pedal torque of the vehicle is reduced by a second correction value, wherein the second correction value is obtained according to the amount of reducing the pedal torque linear slope, assuming that the pedal position is 0.5 (50%), the corrected pedal torque is 50 Nm / s * 0.5 = 25 Nm.

[0071] The embodiment improves the flexibility and adaptability of torque adjustment by dynamically adjusting the pedal torque linear slope. When climbing uphill, the pedal torque linear slope and the correction value are increased to ensure that the vehicle has enough power to climb uphill. When descending, the pedal torque linear slope and the correction value are reduced to avoid unnecessary energy waste.

[0072] The method of the embodiment of the application further comprises: determining a pedal torque linear slope change amount according to historical slope driving data of the vehicle, the pedal torque linear slope change amount being used to control an increase amount of the pedal torque linear slope of the vehicle or to control a decrease amount of the pedal torque linear slope of the vehicle.

[0073] That is, the embodiment controls the pedal torque linear slope change amount so that its slope is within a reasonable change range, for example, gradually increases the pedal torque linear slope, so as to avoid abrupt torque output and affect vehicle stability and driving experience.

[0074] For example, during a one-time uphill driving process, the initial pedal torque linear slope is k1, and when it is detected that the front is an uphill section and the vehicle speed has a decreasing trend, the torque linear slope of the vehicle is increased by Δk. Considering the vehicle power system characteristics and driving comfort, the upper limit of the slope increase is set, that is, the maximum allowed slope k max In one example, the slope can be gradually increased at a certain time interval (such as every second) until k max or the uphill section ends. In this way, the pedal torque of the vehicle will be smoothly increased, avoiding vehicle shaking or loss of control due to sudden torque changes. Since the pedal torque linear slope is gradually changed, the pedal torque is also gradually increased until the pedal torque increases from T1 to the maximum torque Tmax. This gradual adjustment can better adapt to slope changes and ensure smooth and stable power output of the vehicle during uphill driving.

[0075] For example, during a downhill driving process, the initial pedal torque linear slope is k2, and when it is detected that the front road section is a downhill road section and the vehicle speed has an increasing trend, the torque linear slope is reduced by Δk'. Considering the vehicle power system characteristics 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 kmin or the end of the downhill road section. In this way, the pedal torque of the vehicle is smoothly reduced, avoiding vehicle loss of control or delayed braking due to sudden torque reduction. Since the pedal torque linear slope is gradually changed, the pedal torque is also gradually reduced until the pedal torque is reduced from T2 to 0. This gradual adjustment can better adapt to slope changes, ensure the braking performance and stability of the vehicle during downhill driving, and reduce energy waste.

[0076] In one example, for an uphill road 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 and no correction is performed.

[0077] The vehicle torque adjustment method provided by the above embodiments can improve the control accuracy of the vehicle speed, so that the vehicle outputs the torque adjusted according to the embodiments when climbing or descending, and travels according to the target speed. Through accurate speed control, the driving risk caused by excessively high or low speed can be reduced, and through early prediction of speed change, the driving speed of the vehicle on different road sections is more stable, avoiding frequent use of brakes due to excessively high speed when descending, and reducing energy waste.

[0078] Figure 2 A structure schematic diagram of a vehicle torque adjustment device according to an embodiment of the present application is shown. As shown in the figure, the vehicle torque adjustment device 02 includes: Figure 2

[0079] A road section identification module 021 is configured to determine road section information of a road to be traveled by a vehicle according to map information, the road section information including at least one of an uphill road section and a downhill road section;

[0080] A first processing module 022 is configured to determine a predicted torque corresponding to the road section information according to the road section information;

[0081] A second processing module 023 is configured to obtain a current vehicle speed, and determine a target speed according to a vehicle speed prediction model, the current vehicle speed, and the predicted torque;

[0082] An adjustment module 024 is configured to adjust a pedal torque of the vehicle according to the target speed and the size of a preset threshold.

[0083] ​The first processing module 022 is configured to: determine the predicted torque as a first predicted torque according to the road segment information including an uphill road segment, the first predicted torque being a maximum torque of the vehicle; and determine the predicted torque as a second predicted torque according to the road segment information including a downhill road segment, the second predicted torque being zero.

[0084] The second processing module 023 is configured to: obtain a first predicted vehicle speed according to the vehicle speed prediction model, a current vehicle speed of the vehicle and the first predicted torque for the uphill road segment; determine a first target vehicle speed according to a size relationship between the first predicted vehicle speed and the current vehicle speed; obtain a second predicted vehicle speed according to the vehicle speed prediction model, the current vehicle speed of the vehicle and the second predicted torque for the downhill road segment; and determine a second target vehicle speed according to a size relationship between the second predicted vehicle speed and the current vehicle speed.

[0085] The second processing module 023 is configured to: determine the first target vehicle speed as the current vehicle speed according to the first predicted vehicle speed being greater than the current vehicle speed; and determine the first target vehicle speed as the first predicted vehicle speed according to the first predicted vehicle speed being less than or equal to the current vehicle speed.

[0086] The second processing module 023 is configured to: determine the second target vehicle speed as the current vehicle speed according to the second predicted vehicle speed being less than the current vehicle speed; and determine the second target vehicle speed as the second predicted vehicle speed according to the second predicted vehicle speed being greater than or equal to the current vehicle speed.

[0087] The preset threshold includes a first preset threshold corresponding to the uphill road segment and a second preset threshold corresponding to the downhill road segment. The adjusting module 024 is configured to: for the uphill road segment, increase a pedal torque linear slope of the vehicle according to the target vehicle speed being less than the first preset threshold, to increase a first correction value of the pedal torque of the vehicle, to obtain a corrected pedal torque of the vehicle; and for the downhill road segment, decrease the pedal torque linear slope of the vehicle according to the target vehicle speed being greater than the second preset threshold, to decrease a second correction value of the pedal torque of the vehicle, to obtain a corrected pedal torque of the vehicle.

[0088] The adjusting module 024 is further configured to determine a pedal torque linear slope change amount according to historical slope driving data of the vehicle, the pedal torque linear slope change amount being used to control an increase amount of the pedal torque linear slope of the vehicle or to control a decrease amount of the pedal torque linear slope of the vehicle.

[0089] The above description of each embodiment tends to emphasize the differences between the embodiments, and the same or similar parts can be referred to each other. For the sake of brevity, the same or similar parts will not be described herein again.

[0090] The vehicle torque adjustment device provided by the above embodiments of the present application has the same beneficial effects as the method adopted, run or implemented by the stored application program.

[0091] The present application also provides an electronic device corresponding to the vehicle torque adjustment method provided by the above embodiments, to execute the above vehicle torque adjustment method. Please refer to Figure 3 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. As Figure 3 shown, the electronic device 20 includes a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores a computer program that can run on the processor 200, and the processor 200 executes the method provided by any of the above embodiments of the present application when running the computer program.

[0092] The memory 201 can include a high-speed random access memory (RAM) and can also include a non-volatile memory such as at least one disk memory. The communication between the system network element and at least one other network element is realized through at least one communication interface 203 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0093] The bus 202 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can 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 of the above embodiments of the present application can be applied to the processor 200 or implemented by the processor 200.

[0094] The processor 200 can be an integrated circuit chip with signal processing capability. In implementation, the steps of the above method can be completed by integrated logic circuits or instructions in the form of software in the processor 200. The processor 200 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams 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. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in 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 in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and combines the hardware to complete the steps of the above method.

[0095] The electronic device provided by the embodiments of the present application and the vehicle torque adjustment method provided by the embodiments of the present application have the same beneficial effects as the method adopted, operated or implemented.

[0096] The present application also provides a computer readable storage medium corresponding to the vehicle torque adjustment method provided by the preceding embodiments. Please refer to Figure 4 which shows a computer readable storage medium 30, which can be an optical disc, and the optical disc has a program product stored thereon, and the program product can be an operating system, application software, game, tool software, etc. The program product includes a computer program, which usually exists in the form of source code or compiled binary code, and the computer program will execute the vehicle torque adjustment method provided by any of the preceding embodiments when being run by a processor.

[0097] It should be noted that examples of the computer readable storage medium can 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, magnetic storage medium, which will not be described one by one here.

[0098] The computer readable storage medium provided by the above embodiments of the present application has the same application concept as the vehicle torque adjustment method provided by the embodiments of the present application, and has the same beneficial effects as the method adopted, run or implemented by the application stored therein.

[0099] It should be noted that:

[0100] It should be noted that:

[0101] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in various embodiments of the present application.

[0102] The embodiments of the present application are described above in conjunction with the accompanying drawings, which are merely specific embodiments of the present application, but the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

Claims

1. A vehicle torque adjustment method characterized by, The method comprises: determining road section information of a road to be traveled by the vehicle according to map information, the road section information comprising 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 a current vehicle speed of the vehicle, and determining a target vehicle speed according to a vehicle speed prediction model, the current vehicle speed of the vehicle, and the predicted torque; adjusting a pedal torque of the vehicle according to a size of the target vehicle speed and a preset threshold value; wherein the preset threshold value comprises a first preset threshold value corresponding to the uphill road section and a second preset threshold value corresponding to the downhill road section; adjusting the pedal torque of the vehicle according to the size of the target vehicle speed and the preset threshold value comprises: for the uphill road section, increasing a linear slope of the pedal torque of the vehicle according to the target vehicle speed being less than the first preset threshold value, adding a first correction value to the pedal torque of the vehicle to obtain a corrected pedal torque of the vehicle; and for the downhill road section, decreasing the linear slope of the pedal torque of the vehicle according to the target vehicle speed being greater than the second preset threshold value, subtracting a second correction value from the pedal torque of the vehicle to obtain a corrected pedal torque of the vehicle.

2. The method of claim 1, wherein, determining a predicted torque corresponding to each road section information according to the road section information comprises: determining the predicted torque as a first predicted torque according to the road section information comprising an uphill road section, the first predicted torque being a maximum torque of the vehicle; determining the predicted torque as a second predicted torque according to the road section information comprising a downhill road section, the second predicted torque being zero.

3. The method of claim 2, wherein, The vehicle speed prediction model represents a relationship between a speed, a torque, and a dynamic parameter of the vehicle, and determining the target vehicle speed according to the vehicle speed prediction model, the current vehicle speed of the vehicle, and the predicted torque comprises: for the uphill road section, obtaining a first predicted vehicle speed according to the vehicle speed prediction model, the current vehicle speed of the vehicle, and the first predicted torque, and determining a first target vehicle speed according to a size of the first predicted vehicle speed and the current vehicle speed; for the downhill road section, obtaining a second predicted vehicle speed according to the vehicle speed prediction model, the current vehicle speed of the vehicle, and the second predicted torque, and determining a second target vehicle speed according to a size of the second predicted vehicle speed and the current vehicle speed.

4. The method of claim 3, wherein, determining the first target vehicle speed according to the size of the first predicted vehicle speed and the current vehicle speed comprises: determining the first target vehicle speed as the current vehicle speed according to the first predicted vehicle speed being greater than the current vehicle speed; determining the first target vehicle speed as the first predicted vehicle speed according to the first predicted vehicle speed being less than or equal to the current vehicle speed.

5. The method of claim 3, wherein, determining the second target vehicle speed according to the size of the second predicted vehicle speed and the current vehicle speed comprises: determining the second target vehicle speed as the current vehicle speed according to the second predicted vehicle speed being less than the current vehicle speed; determining the second target vehicle speed as the second predicted vehicle speed according to the second predicted vehicle speed being greater than or equal to the current vehicle speed.

6. The method of claim 1, wherein, The method further comprises: According to historical slope driving data of the vehicle, a pedal torque linear slope change amount is determined, the pedal torque linear slope change amount being used to control an increase amount of a pedal torque linear slope of the vehicle or to control a decrease amount of the pedal torque linear slope of the vehicle.

7. A vehicle torque adjustment device characterized by, The method comprises: a road section identification module configured to determine road section information of a road to be traveled by the vehicle according to map information, the road section information comprising 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 configured to obtain a current vehicle speed of the vehicle, and determine a target vehicle speed according to a vehicle speed prediction model, the current vehicle speed of the vehicle, and the predicted torque; an adjustment module configured to adjust a pedal torque of the vehicle according to a size of the target vehicle speed and a preset threshold value; wherein the preset threshold value comprises a first preset threshold value corresponding to the uphill road section and a second preset threshold value corresponding to the downhill road section; and the adjustment of the pedal torque of the vehicle according to the size of the target vehicle speed and the preset threshold value comprises: for the uphill road section, increasing a pedal torque linear slope of the vehicle according to the target vehicle speed being less than the first preset threshold value, adding a first correction value to the pedal torque of the vehicle to obtain a corrected pedal torque of the vehicle; and for the downhill road section, decreasing the pedal torque linear slope of the vehicle according to the target vehicle speed being greater than the second preset threshold value, subtracting a second correction value from the pedal torque of the vehicle to obtain a corrected pedal torque of the vehicle.

8. An electronic device, comprising: A computer program product comprising a memory and a processor, and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the method of any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1-6.

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