Vehicle torque determination method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of vehicle parameter adjustment, in particular to a vehicle torque determination method and device, computer equipment and a storage medium. The method comprises the following steps: when the ponding depth of a wading environment in which a target vehicle is located is greater than a depth threshold value and the target vehicle is in a driving state, acquiring an initial output torque of the target vehicle; determining an initial torque increment corresponding to the target vehicle according to the environment parameters and the vehicle driving parameters; according to the vehicle size parameter and the vehicle driving parameter, determining an initial torque reduction amount corresponding to the target vehicle; and adjusting the initial output torque according to the initial torque increment and the initial torque decrement to obtain a target output torque. After the initial output torque is adjusted according to the target torque adjustment amount, the target output torque can more effectively guarantee the driving experience of the target vehicle in the wading environment, and the driving stability and the driving controllability of the target vehicle in the wading road section are guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle parameter adjustment, and in particular to a vehicle torque determination method, device, computer equipment and storage medium. Background Art

[0002] When a vehicle encounters a flooded section during driving, in order to ensure the driving safety of the vehicle, the wading mode of the vehicle can be triggered to ensure that the vehicle can safely pass through the flooded section.

[0003] However, since the wading sections in different situations will bring different driving interferences to the vehicle, thereby reducing the vehicle's driving stability and controllability, the vehicle's driving experience on the wading sections is poor. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle torque determination method, device, computer equipment and storage medium that can ensure the vehicle's driving stability and driving controllability on flooded sections and improve the vehicle's driving experience on flooded sections in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for determining vehicle torque. The method comprises:

[0006] When the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle;

[0007] Determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters;

[0008] Determining an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameters and the vehicle driving parameters;

[0009] The initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque.

[0010] In one embodiment, the initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque, including:

[0011] Performing torque correction on the initial torque increase and the initial torque decrease respectively to obtain a target torque increase and a target torque decrease;

[0012] The initial output torque is adjusted according to the target torque increase amount and the target torque decrease amount to obtain the target output torque.

[0013] In one embodiment, performing torque correction on the initial torque increase to obtain a target torque increase includes:

[0014] Conduct viscous resistance analysis on the target vehicle according to vehicle size parameters and vehicle driving parameters to obtain viscous resistance correction;

[0015] Perform wave-making resistance analysis on the target vehicle according to the vehicle driving parameters to obtain the wave-making resistance correction value;

[0016] The initial torque increase is corrected according to the viscous resistance correction amount and the wave-making resistance correction amount to obtain the target torque increase amount.

[0017] In one embodiment, performing torque correction on the initial torque reduction to obtain a target torque reduction includes:

[0018] Performing pitch angle correction on the target vehicle according to the pitch angle of the vehicle to obtain a first correction coefficient;

[0019] The initial torque reduction amount is subjected to torque correction according to the first correction coefficient to obtain a target torque reduction amount.

[0020] In one embodiment, performing torque correction on the initial torque reduction amount according to the first correction coefficient to obtain the target torque reduction amount includes:

[0021] According to the tire slip rate and the mapping relationship between the tire slip rate and the torque variation, the tire slip rate of the target vehicle is corrected to obtain a second correction coefficient;

[0022] The initial torque reduction amount is subjected to torque correction according to the first correction coefficient and the second correction coefficient to obtain a target torque reduction amount.

[0023] In one embodiment, obtaining the initial output torque of the target vehicle includes:

[0024] Obtain the accelerator pedal opening and closing degree of the target vehicle and the current driving mode corresponding to the target vehicle;

[0025] The initial output torque of the target vehicle is determined according to the current driving mode, the degree of opening and closing of the accelerator pedal and the vehicle driving parameters.

[0026] In one embodiment, the method further comprises:

[0027] When the water depth of the wading environment where the target vehicle is located is greater than the depth threshold and the range extender of the target vehicle is started, determining the wading water pressure of the wading environment where the target vehicle is located;

[0028] According to the wading water pressure, the power generation speed and power generation torque of the range extender are adjusted so that the target exhaust pressure of the range extender is greater than the wading water pressure.

[0029] In one embodiment, determining the wading water pressure of the wading environment in which the target vehicle is located includes:

[0030] Determine the initial water pressure based on the height of the exhaust pipe outlet of the target vehicle from the ground and the wading height of the vehicle;

[0031] The sum of the initial water pressure and the preset water pressure adjustment amount is used as the wading water pressure.

[0032] In a second aspect, the present application also provides a vehicle torque determination device. The device comprises:

[0033] An acquisition module, used for acquiring an initial output torque of the target vehicle when the water depth of the wading environment in which the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state;

[0034] A first determination module, used to determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters;

[0035] A second determination module is used to determine an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameter and the vehicle driving parameter;

[0036] The adjustment module is used to adjust the initial output torque according to the initial torque increase and the initial torque decrease to obtain the target output torque.

[0037] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0038] When the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle;

[0039] Determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters;

[0040] Determining an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameters and the vehicle driving parameters;

[0041] The initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque.

[0042] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0043] When the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle;

[0044] Determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters;

[0045] Determining an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameters and the vehicle driving parameters;

[0046] The initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque.

[0047] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0048] When the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle;

[0049] Determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters;

[0050] Determining an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameters and the vehicle driving parameters;

[0051] The initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque.

[0052] The above-mentioned vehicle torque determination method, device, computer equipment and storage medium, when the water depth of the wading environment in which the target vehicle is located is greater than the depth threshold and the target vehicle is in a driving state, obtains the initial output torque of the target vehicle, and determines the initial torque increase and initial torque decrease corresponding to the target vehicle according to the environmental parameters, vehicle driving parameters and vehicle size parameters, and then adjusts the initial output torque according to the initial torque increase and initial torque decrease to obtain the target output torque. According to the above content, it can be seen that the initial torque increase and initial torque decrease in the present application are obtained by analyzing the environmental parameters of the wading environment in which the target vehicle is located, as well as the vehicle size parameters and vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and initial torque decrease can ensure that the initial output torque of the target vehicle is adjusted to the output torque that meets the wading environment and the actual situation of the target vehicle, and ensure that after the initial output torque is adjusted according to the initial torque increase and initial torque decrease, the target output torque can more effectively ensure the driving experience of the target vehicle in the wading environment, and ensure the driving stability and driving controllability of the target vehicle in the wading section. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 An application environment diagram of a vehicle torque determination method provided in an embodiment of the present application;

[0054] Figure 2 A schematic flow chart of a first method for determining vehicle torque provided in an embodiment of the present application;

[0055] Figure 3 A schematic flow chart of a second method for determining vehicle torque provided in an embodiment of the present application;

[0056] Figure 4 A schematic flow chart of a third method for determining vehicle torque provided in an embodiment of the present application;

[0057] Figure 5 A schematic flow chart of a fourth method for determining vehicle torque provided in an embodiment of the present application;

[0058] Figure 6 A structural block diagram of a vehicle torque determination device provided in an embodiment of the present application;

[0059] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] The vehicle torque determination method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the controller 102 communicates with the range extender 103 and the server 104 respectively through the network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. When the water depth in the wading environment where the target vehicle is located is greater than the depth threshold, and the target vehicle is in a driving state, the initial output torque of the target vehicle is obtained, and the initial torque increase and initial torque decrease corresponding to the target vehicle are determined according to the environmental parameters, the vehicle driving parameters and the vehicle size parameters, and then the initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque.

[0062] In one embodiment, Figure 2 As shown, a method for determining vehicle torque is provided, and the method is applied to Figure 1 The controller 102 in the example is used as an example to illustrate, and the following steps are included:

[0063] S201, when the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle.

[0064] It should be noted that the initial output torque is related to the current driving mode of the target vehicle, the degree of opening and closing of the accelerator pedal, and the vehicle's driving speed; therefore, when it is necessary to obtain the initial output torque of the target vehicle, it can be determined based on the current driving mode, the degree of opening and closing of the accelerator pedal, and the vehicle's driving speed.

[0065] In one embodiment of the present application, a torque analysis model for a target vehicle can be pre-trained. Then, when the initial output torque of the target vehicle needs to be obtained, the current driving mode, accelerator pedal opening and closing degree, and vehicle speed of the target vehicle can be input into the torque analysis model, and the output result of the torque analysis model can be obtained, which is the initial output torque of the target vehicle.

[0066] Among them, the training process of the torque analysis model may include: obtaining at least one set of sample data in advance, each set of sample data contains the current driving mode of the sample vehicle, the degree of opening and closing of the accelerator pedal and the vehicle speed; determining the initial output torque corresponding to each set of sample data through manual labeling and other forms, and then inputting each set of sample data labeled with the initial output torque into the initial analysis model to realize model training for the initial analysis model and obtain the torque analysis model.

[0067] It is further explained that in order to further improve the accuracy of determining the initial output torque and prevent it from being affected by other torques, after it is determined that the water depth in the wading environment where the target vehicle is located is greater than the depth threshold, the energy recovery mode of the target vehicle can be turned off, thereby preventing the energy recovery torque from affecting the accuracy of determining the initial output torque; the energy recovery torque refers to the torque generated by the target vehicle in the energy recovery mode.

[0068] The water depth is a predicted estimated value of the water accumulation situation in the water environment where the target vehicle is located.

[0069] In one embodiment of the present application, when the target vehicle is required to determine whether the water depth in the wading environment in which it is located is greater than a depth threshold, it may specifically include the following contents: detecting the water depth in the wading environment in which the target vehicle is located by a sensor, and then determining whether the water depth in the wading environment in which the target vehicle is located is greater than a depth threshold.

[0070] Among them, the body camera of the target vehicle can also be used to realize image perception of the wading environment in which the vehicle is located, so as to obtain the water depth of the target vehicle.

[0071] Furthermore, when the water depth in the wading environment where the target vehicle is located is greater than a depth threshold, an inquiry to start the wading mode may be initiated to the vehicle driver; after receiving the driver's feedback to confirm the operation instruction to start the wading mode, the wading mode is triggered.

[0072] Furthermore, when the water depth in the wading environment where the target vehicle is located is greater than a depth threshold, a wading warning can be issued to the vehicle driver to inform the driver not to continue driving, and the water depth is displayed in the vehicle instrument and vehicle head-up display of the target vehicle.

[0073] S202: Determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters.

[0074] Among them, environmental parameters may include: water density; vehicle driving parameters may include: vehicle water resistance coefficient, vehicle frontal surface area and vehicle driving speed.

[0075] It should be noted that, based on the above content, a calculation formula for the initial torque increase can be determined, and the initial torque increase can be obtained by substituting the water density, vehicle water resistance coefficient, vehicle frontal surface area and vehicle driving speed into the calculation formula.

[0076] The calculation formula for the initial torque increase is as follows:

[0077] ;

[0078] Among them, T water1 Refers to the initial torque increase; C d It refers to the vehicle's water resistance coefficient; ρ refers to the water density; A refers to the vehicle's frontal surface area; and v refers to the vehicle's speed.

[0079] S203: Determine an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameters and the vehicle driving parameters.

[0080] Among them, the vehicle size parameters may include: vehicle length and vehicle mass; the vehicle driving parameters may also include: vehicle wading height, vehicle driving speed and additional torque requirement; among them, the vehicle wading height is the actual measured value of the wading environment in which the target vehicle is located; the additional torque requirement can be pre-set according to different models of the target vehicle, and the value of the additional torque requirement is not limited here.

[0081] It should be noted that, based on the above content, a calculation formula for the initial torque reduction can be determined, and the vehicle length, vehicle mass, vehicle wading height, vehicle speed and additional torque requirement are substituted into the calculation formula to obtain the initial torque reduction.

[0082] The calculation formula of the initial torque reduction is as follows:

[0083] ;

[0084] Among them, T sim1 refers to the initial torque reduction; h refers to the vehicle's wading height; v refers to the vehicle's speed; L refers to the vehicle's length; m refers to the vehicle's mass; and J refers to the additional torque requirement.

[0085] S204: adjusting the initial output torque according to the initial torque increase and the initial torque decrease to obtain a target output torque.

[0086] It should be noted that when the initial output torque is adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque, the initial output torque and the initial torque increase can be summed, and the sum calculation result and the initial torque decrease can be differenced, and the difference calculation result obtained is the target output torque.

[0087] The above vehicle torque determination method, when the water depth of the wading environment in which the target vehicle is located is greater than the depth threshold and the target vehicle is in a driving state, obtains the initial output torque of the target vehicle, and determines the initial torque increase and initial torque decrease corresponding to the target vehicle according to the environmental parameters, vehicle driving parameters and vehicle size parameters, and then adjusts the initial output torque according to the initial torque increase and initial torque decrease to obtain the target output torque. According to the above content, it can be seen that the initial torque increase and initial torque decrease in this application are obtained by analyzing the environmental parameters of the wading environment in which the target vehicle is located, as well as the vehicle size parameters and vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and initial torque decrease can ensure that the initial output torque of the target vehicle is adjusted to the output torque that meets the wading environment and the actual situation of the target vehicle, and ensure that after the initial output torque is adjusted according to the initial torque increase and initial torque decrease, the target output torque can more effectively ensure the driving experience of the target vehicle in the wading environment, and ensure the driving stability and driving controllability of the target vehicle in the wading section.

[0088] In one embodiment, if Figure 3 As shown, when the initial output torque needs to be adjusted according to the initial torque increase and the initial torque decrease to obtain the target output torque, the following contents may be specifically included:

[0089] S301 , performing torque correction on the initial torque increase and the initial torque decrease, respectively, to obtain a target torque increase and a target torque decrease.

[0090] It should be noted that when it is necessary to perform torque correction on the initial torque increase to obtain a target torque increase, the following contents may be included: performing a viscous resistance analysis on the target vehicle according to vehicle size parameters and vehicle driving parameters to obtain a viscous resistance correction; performing a wave-making resistance analysis on the target vehicle according to the vehicle driving parameters to obtain a wave-making resistance correction; performing a torque correction on the initial torque increase according to the viscous resistance correction and the wave-making resistance correction to obtain a target torque increase.

[0091] In one embodiment of the present application, the vehicle driving parameters may include: vehicle wading height and vehicle driving speed.

[0092] Therefore, when it is necessary to analyze the wave-making resistance of the target vehicle based on the vehicle's wading height and vehicle speed, the following calculation formula can be used:

[0093] ;

[0094] Among them, k1 refers to the wave-making resistance correction; v refers to the vehicle speed; g refers to the acceleration of gravity; h refers to the vehicle's wading height; and L refers to the vehicle's length.

[0095] In another embodiment of the present application, the vehicle size parameter may include the vehicle length; the vehicle driving parameter may include: the vehicle wading height.

[0096] Therefore, when it is necessary to analyze the viscous resistance of the target vehicle based on the vehicle length and the vehicle wading height to obtain the viscous resistance correction, the following calculation formula can be used:

[0097] ;

[0098] Among them, k2 refers to the viscous resistance correction; h refers to the vehicle's wading height; and L refers to the vehicle's length.

[0099] From the above, it can be seen that when it is necessary to perform torque correction on the initial torque increase in the initial torque adjustment amount according to the viscous resistance correction amount and the wave-making resistance correction amount to determine the target torque increase amount, the following formula can be used:

[0100] ;

[0101] Among them, T water2 Refers to the target torque increase; C d It refers to the vehicle's water resistance coefficient; ρ refers to the water density; A refers to the vehicle's frontal surface area; v refers to the vehicle's driving speed; k1 refers to the wave-making resistance correction; h refers to the vehicle's wading height; and L refers to the vehicle's length.

[0102] It should be noted that when it is necessary to perform torque correction on the initial torque reduction to obtain a target torque reduction, the following contents may be included: performing pitch angle correction on the target vehicle according to the vehicle pitch angle to obtain a first correction coefficient; performing torque correction on the initial torque reduction according to the first correction coefficient to obtain a target torque reduction.

[0103] Furthermore, in order to further improve the accuracy of determining the target torque reduction, when determining the target torque reduction, it is also possible to make corrections in combination with the tire slip rate. Therefore, when the initial torque reduction is torque corrected according to the first correction coefficient to obtain the target torque reduction, the following contents may be included: based on the tire slip rate and the mapping relationship between the tire slip rate and the torque change, the tire slip rate of the target vehicle is corrected to obtain the second correction coefficient; the initial torque reduction is torque corrected according to the first correction coefficient and the second correction coefficient to obtain the target torque reduction.

[0104] When it is necessary to correct the pitch angle of the target vehicle according to the pitch angle of the vehicle to obtain the first correction coefficient, the following formula can be used:

[0105] ;

[0106] Wherein, k3 refers to the first correction coefficient, and θ refers to the vehicle pitch angle.

[0107] When it is necessary to correct the tire slip rate of the target vehicle based on the tire slip rate and the mapping relationship between the tire slip rate and the torque change, the following formula can be used:

[0108] ;

[0109] Among them, k4 refers to the second correction coefficient, s refers to the tire slip rate, and λ refers to the calibration parameter, that is, the mapping relationship between the tire slip rate and the torque change. For example, when λ is 0.15, it means that the output torque increases by 0.15% for every 1% increase in tire slip rate.

[0110] In summary, when the torque correction is performed on the initial torque reduction amount in the initial torque adjustment amount according to the first correction coefficient and the second correction coefficient, the following formula may be used:

[0111] ;

[0112] Among them, T sim2refers to the target torque reduction; h refers to the vehicle wading height; v refers to the vehicle speed; L refers to the vehicle length; m refers to the vehicle mass; J refers to the additional torque requirement; θ refers to the vehicle pitch angle; s refers to the tire slip rate; λ refers to the calibration parameter, which is the mapping relationship between the tire slip rate and the torque change.

[0113] S302: adjusting the initial output torque according to the target torque increase and the target torque decrease to obtain the target output torque.

[0114] When the initial output torque needs to be adjusted according to the target torque increase and the target torque decrease to obtain the target output torque, the following formula can be used:

[0115] ;

[0116] Wherein, T refers to the target output torque, and the target output torque is greater than zero; T base Refers to the initial output torque; T water2 Refers to the target torque increase; T sim2 Refers to the target torque reduction amount.

[0117] It should be noted that when it is necessary to obtain the initial output torque of the target vehicle, the following contents may be included: obtaining the opening and closing degree of the accelerator pedal of the target vehicle, and the current driving mode corresponding to the target vehicle; determining the initial output torque of the target vehicle based on the current driving mode, the opening and closing degree of the accelerator pedal and the vehicle driving parameters.

[0118] Specifically, the vehicle driving parameter may be the vehicle driving speed.

[0119] In one embodiment of the present application, a mapping relationship table may be pre-set; the mapping relationship table records different current driving modes, accelerator pedal opening and closing degree value ranges, and vehicle driving speed value ranges corresponding to at least one candidate output torque; then, after determining the current driving mode, accelerator pedal opening and closing degree, and vehicle driving speed of the target vehicle, the candidate output torque corresponding to the current driving mode, accelerator pedal opening and closing degree, and vehicle driving speed of the target vehicle in the mapping relationship table is judged; if the current driving mode corresponding to a candidate output torque in the mapping relationship table is the same as the current driving mode of the target vehicle, and the accelerator pedal opening and closing degree and vehicle driving speed of the target vehicle both belong to the accelerator pedal opening and closing degree value range and vehicle driving speed value range of the candidate output torque, then the candidate output torque is used as the initial output torque of the target vehicle.

[0120] The above-mentioned vehicle torque determination method determines the initial torque increase and the initial torque decrease, and performs torque correction on the initial torque increase and the initial torque decrease to obtain the target torque increase and the target torque decrease, thereby ensuring that the target vehicle can adaptively adjust the output torque according to different situations, thereby further improving the adjustment accuracy of the target torque increase and the target torque decrease, and ensuring that after the initial output torque is adjusted, the target output torque can more effectively guarantee the driving experience of the target vehicle in a wading environment, and ensure the driving stability and controllability of the target vehicle on wading sections.

[0121] In one embodiment, if Figure 4 As shown, the present application may also include the following contents during the process of controlling the target vehicle:

[0122] S401, when the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the range extender of the target vehicle is started, determine the wading water pressure of the wading environment where the target vehicle is located.

[0123] It should be noted that when it is necessary to determine the water pressure of the wading environment in which the target vehicle is located, the following contents may be specifically included: determining the initial water pressure based on the height of the pipe mouth of the exhaust pipe of the target vehicle from the ground and the wading height of the vehicle; and taking the sum of the initial water pressure and the preset water pressure adjustment amount as the wading water pressure.

[0124] To further explain, when it is necessary to determine the initial water pressure based on the height of the pipe mouth of the target vehicle's exhaust pipe from the ground and the vehicle's wading height, the height difference between the vehicle's wading height and the pipe mouth's height from the ground can be multiplied by the water density and the gravitational acceleration to obtain the initial water pressure.

[0125] Specifically, the calculation formula for the initial water pressure is as follows:

[0126] ;

[0127] Among them, P 初 refers to the initial water pressure; ρ refers to the density of accumulated water; g refers to the acceleration of gravity; h refers to the height of the vehicle wading; h 排 Refers to the height of the pipe mouth from the ground.

[0128] Furthermore, according to the initial water pressure calculation formula, the calculation formula for determining the wading water pressure is as follows:

[0129] ;

[0130] Among them, P refers to the water pressure; ρ refers to the water density; g refers to the acceleration of gravity; h refers to the height of the vehicle wading; h 排It refers to the height of the pipe mouth from the ground; P0 refers to the water pressure adjustment amount.

[0131] Among them, the water pressure adjustment amount is a safety threshold, which can be set or adjusted according to the actual situation of the target vehicle and the actual needs of the driver. The value range of the water pressure adjustment amount is not limited here.

[0132] It should be noted that the state of the range extender of the target vehicle can be determined in advance based on the SOC (State of Charge) of the power battery of the target vehicle; specifically, a first threshold and a second threshold can be set in advance, wherein the second threshold is greater than the first threshold; if the SOC is less than the first threshold, the range extender of the target vehicle is started; if the SOC is greater than the second threshold, the range extender of the target vehicle is turned off; if the SOC is greater than the first threshold and less than the second threshold, the state of the range extender remains unchanged at the previous moment.

[0133] S402, adjusting the power generation speed and power generation torque of the range extender according to the wading water pressure, so that the target exhaust pressure of the range extender is greater than the wading water pressure.

[0134] It should be noted that when adjusting the power generation speed and power generation torque of the range extender according to the fording water pressure, it is necessary to ensure that the target exhaust pressure of the range extender is greater than the fording water pressure; wherein, the target exhaust pressure of the range extender is related to the power generation speed and power generation torque of the range extender; therefore, an inequality formula for the power generation speed and power generation torque of the range extender can be constructed.

[0135] The inequality formula is as follows:

[0136] ;

[0137] Among them, P E Refers to the target exhaust pressure; S E Refers to the power generation speed; T E refers to the power generation torque; ρ refers to the water density; g refers to the acceleration of gravity; h refers to the vehicle's wading height; h 排 It refers to the height of the pipe mouth from the ground; P0 refers to the water pressure adjustment amount.

[0138] In one embodiment of the present application, different power generation speeds S can be obtained by performing experiments on the target vehicle engine. E , generating torque T E The exhaust pressure under the condition of E =f(S E , T E ).

[0139] Specifically, the experimental process includes:

[0140] (1) Initial setting: Install the target vehicle's engine on the test bench and connect the dynamometer, exhaust pressure sensor, data acquisition system and other equipment. Start the engine and preheat it to normal operating temperature. Generally, the engine coolant temperature reaches about 80-90℃.

[0141] (2) Fixed power generation torque, changing power generation speed: Set a fixed torque value through the dynamometer, such as 20%, 40%, 60%, 80% and 100% of the rated torque of the engine. Under each torque condition, gradually change the engine power generation speed, starting from a lower power generation speed (such as 1.2 times the idle speed), and gradually increase to a higher power generation speed (close to the rated speed of the engine) at a certain speed interval (such as 200 r / min). Run stably for a period of time (such as 30-60 seconds) at each speed point. After the various parameters of the engine are stable, use the data acquisition system to record the engine power generation speed, power generation torque and exhaust pressure data at this time.

[0142] (3) Fixed generating speed, changing generating torque: Select several typical engine speed points, such as idle speed, 50%, 75% and 100% of rated speed, etc. At each speed, gradually change the engine generating torque through the dynamometer, starting from the minimum stable output torque, and gradually increasing to the maximum torque with a certain torque increment (such as 10% of rated torque). Similarly, run stably at each torque point and collect data.

[0143] (4) Draw a scatter plot and obtain the relationship function P E =f(S E , T E ): With the engine power generation speed as the horizontal axis and the exhaust pressure as the vertical axis, a scatter plot of the exhaust pressure changing with the speed under different power generation torques is drawn. The scatter plot can be intuitively observed under different power generation torque conditions, and then combined with the polynomial function for fitting, P is obtained. E =f(S E , T E ).

[0144] It should be noted that if the target exhaust pressure is lower than the wading water pressure, the range extender needs to be shut down, and the range extender remains in the shutdown state during this driving process to prevent accumulated water from entering the range extender and causing damage to the range extender.

[0145] Further description: when the target vehicle triggers the wading mode and the target vehicle is in a locked state, an evasion route is obtained. According to the evasion route, the vehicle drives to a high terrain area.

[0146] The end point of the avoidance route is a high terrain area where the target vehicle does not need to trigger the wading mode.

[0147] In one embodiment of the present application, if the target vehicle triggers the wading mode and the target vehicle is in a locked state, the driver of the target vehicle can be contacted through a control application notification or a telephone notification of the target vehicle, and an avoidance route can be obtained after obtaining the driver's permission.

[0148] In another embodiment of the present application, the target vehicle drives automatically along a risk avoidance route through automatic driving, and then drives to a high terrain area; when the target vehicle leaves the wading section, the wading mode is turned off.

[0149] During the automatic driving of the target vehicle along the risk avoidance route, the vehicle position of the target vehicle can be pushed to the driver's terminal in real time, so that the driver can know the vehicle position of the target vehicle in real time through the terminal.

[0150] The above-mentioned vehicle torque determination method determines the wading water pressure of the wading environment in which the target vehicle is located, so as to adjust the power generation speed and power generation torque of the range extender according to the wading water pressure, prevent accumulated water from entering the range extender and causing damage to the range extender, thereby ensuring the continuous and stable driving of the target vehicle.

[0151] In one embodiment, if Figure 5 As shown, when it is necessary to obtain the target output torque, the following contents may be specifically included:

[0152] S501, when the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle.

[0153] S502, determining an initial torque increase corresponding to the target vehicle according to the water density, the vehicle water resistance coefficient, the vehicle frontal surface area and the vehicle driving speed.

[0154] S503: Determine an initial torque reduction amount corresponding to the target vehicle according to the vehicle length, vehicle mass, vehicle wading height, vehicle speed and additional torque requirement.

[0155] S504: Perform a viscous resistance analysis on the target vehicle according to the vehicle length and the vehicle wading height to obtain a viscous resistance correction amount.

[0156] S505, performing wave-making resistance analysis on the target vehicle according to the vehicle wading height and the vehicle driving speed, and obtaining a wave-making resistance correction amount.

[0157] S506, performing torque correction on the initial torque increase in the initial torque adjustment amount according to the viscous resistance correction amount and the wave-making resistance correction amount, to obtain a target torque increase.

[0158] S507, performing pitch angle correction on the target vehicle according to the pitch angle of the vehicle to obtain a first correction coefficient.

[0159] S508, performing tire slip correction on the target vehicle according to the tire slip rate and the mapping relationship between the tire slip rate and the torque variation, to obtain a second correction coefficient.

[0160] S509 , performing torque correction on the initial torque reduction amount in the initial torque adjustment amount according to the first correction coefficient and the second correction coefficient to obtain a target torque reduction amount.

[0161] S510: Adjust the initial output torque according to the target torque increase and the target torque decrease to obtain the target output torque.

[0162] The above vehicle torque determination method, when the water depth of the wading environment in which the target vehicle is located is greater than the depth threshold and the target vehicle is in a driving state, obtains the initial output torque of the target vehicle, and determines the initial torque increase and initial torque decrease corresponding to the target vehicle according to the environmental parameters, vehicle driving parameters and vehicle size parameters, and then adjusts the initial output torque according to the initial torque increase and initial torque decrease to obtain the target output torque. According to the above content, it can be seen that the initial torque increase and initial torque decrease in this application are obtained by analyzing the environmental parameters of the wading environment in which the target vehicle is located, as well as the vehicle size parameters and vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and initial torque decrease can ensure that the initial output torque of the target vehicle is adjusted to the output torque that meets the wading environment and the actual situation of the target vehicle, and ensure that after the initial output torque is adjusted according to the initial torque increase and initial torque decrease, the target output torque can more effectively ensure the driving experience of the target vehicle in the wading environment, and ensure the driving stability and driving controllability of the target vehicle in the wading section.

[0163] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0164] Based on the same inventive concept, the embodiment of the present application also provides a vehicle torque determination device for implementing the vehicle torque determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the vehicle torque determination device provided below can refer to the limitations of the vehicle torque determination method above, and will not be repeated here.

[0165] In one embodiment, Figure 6 As shown, a vehicle torque determination device is provided, comprising: an acquisition module 10, a first determination module 20, a second determination module 30 and an adjustment module 40, wherein:

[0166] An acquisition module 10 is used to acquire an initial output torque of the target vehicle when the water depth of the wading environment in which the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state;

[0167] A first determination module 20, for determining an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters;

[0168] A second determination module 30 is used to determine an initial torque reduction amount corresponding to the target vehicle according to the vehicle size parameter and the vehicle driving parameter;

[0169] The adjustment module 40 is used to adjust the initial output torque according to the initial torque increase and the initial torque decrease to obtain a target output torque.

[0170] In one embodiment, torque correction is performed on the initial torque increase and the initial torque decrease to obtain a target torque increase and a target torque decrease;

[0171] The initial output torque is adjusted according to the target torque increase amount and the target torque decrease amount to obtain the target output torque.

[0172] In one embodiment, a viscous resistance analysis is performed on the target vehicle according to the vehicle size parameters and the vehicle driving parameters to obtain a viscous resistance correction amount;

[0173] Perform wave-making resistance analysis on the target vehicle according to the vehicle driving parameters to obtain the wave-making resistance correction value;

[0174] The initial torque increase is corrected according to the viscous resistance correction amount and the wave-making resistance correction amount to obtain the target torque increase amount.

[0175] In one embodiment, the pitch angle of the target vehicle is corrected according to the pitch angle of the vehicle to obtain a first correction coefficient;

[0176] The initial torque reduction amount is subjected to torque correction according to the first correction coefficient to obtain a target torque reduction amount.

[0177] In one embodiment, according to the tire slip rate and the mapping relationship between the tire slip rate and the torque variation, the tire slip rate of the target vehicle is corrected to obtain a second correction coefficient;

[0178] The initial torque reduction amount is subjected to torque correction according to the first correction coefficient and the second correction coefficient to obtain a target torque reduction amount.

[0179] In one embodiment, obtaining the opening and closing degree of the accelerator pedal of the target vehicle and the current driving mode corresponding to the target vehicle;

[0180] The initial output torque of the target vehicle is determined according to the current driving mode, the degree of opening and closing of the accelerator pedal and the vehicle driving parameters.

[0181] In one embodiment, when the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the range extender of the target vehicle is started, determining the wading water pressure of the wading environment where the target vehicle is located;

[0182] According to the wading water pressure, the power generation speed and power generation torque of the range extender are adjusted so that the target exhaust pressure of the range extender is greater than the wading water pressure.

[0183] In one embodiment, the initial water pressure is determined based on the height of the outlet of the exhaust pipe of the target vehicle from the ground and the wading height of the vehicle;

[0184] The sum of the initial water pressure and the preset water pressure adjustment amount is used as the wading water pressure.

[0185] The above-mentioned vehicle torque determination device, when the water depth of the wading environment in which the target vehicle is located is greater than the depth threshold and the target vehicle is in a driving state, obtains the initial output torque of the target vehicle, and determines the initial torque increase and initial torque decrease corresponding to the target vehicle according to the environmental parameters, the vehicle driving parameters and the vehicle size parameters, and then adjusts the initial output torque according to the initial torque increase and the initial torque decrease to obtain the target output torque. According to the above content, it can be seen that the initial torque increase and the initial torque decrease in the present application are obtained by analyzing the environmental parameters of the wading environment in which the target vehicle is located, as well as the vehicle size parameters and the vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and the initial torque decrease can ensure that the initial output torque of the target vehicle is adjusted to the output torque that meets the wading environment and the actual situation of the target vehicle, and ensure that after the initial output torque is adjusted according to the initial torque increase and the initial torque decrease, the target output torque can more effectively ensure the driving experience of the target vehicle in the wading environment, and ensure the driving stability and driving controllability of the target vehicle in the wading section.

[0186] Each module in the above-mentioned vehicle torque determination device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0187] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle torque determination method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0188] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0189] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0190] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0191] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining vehicle torque, characterized in that: The method comprises: When the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state, obtaining an initial output torque of the target vehicle; Determining an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters; Determining an initial torque reduction amount corresponding to the target vehicle according to a vehicle size parameter and the vehicle driving parameter; The initial output torque is adjusted according to the initial torque increase amount and the initial torque decrease amount to obtain a target output torque.

2. The method according to claim 1, characterized in that The adjusting the initial output torque according to the initial torque increase and the initial torque decrease to obtain the target output torque includes: Performing torque correction on the initial torque increase and the initial torque decrease respectively to obtain a target torque increase and a target torque decrease; The initial output torque is adjusted according to the target torque increase amount and the target torque decrease amount to obtain a target output torque.

3. The method according to claim 2, characterized in that Performing torque correction on the initial torque increase to obtain a target torque increase includes: Performing a viscous resistance analysis on the target vehicle according to the vehicle size parameters and the vehicle driving parameters to obtain a viscous resistance correction amount; Performing wave-making resistance analysis on the target vehicle according to the vehicle driving parameters to obtain a wave-making resistance correction amount; The initial torque increase is subjected to torque correction according to the viscous resistance correction amount and the wave-making resistance correction amount to obtain a target torque increase amount.

4. The method according to claim 2, characterized in that: Performing torque correction on the initial torque reduction to obtain a target torque reduction includes: Performing pitch angle correction on the target vehicle according to the vehicle pitch angle to obtain a first correction coefficient; The initial torque reduction amount is subjected to torque correction according to the first correction coefficient to obtain a target torque reduction amount.

5. The method according to claim 4, characterized in that The step of performing torque correction on the initial torque reduction amount according to the first correction coefficient to obtain a target torque reduction amount includes: According to the tire slip rate and the mapping relationship between the tire slip rate and the torque variation, the tire slip rate of the target vehicle is corrected to obtain a second correction coefficient; The initial torque reduction amount is subjected to torque correction according to the first correction coefficient and the second correction coefficient to obtain a target torque reduction amount.

6. The method according to claim 1, characterized in that The obtaining of the initial output torque of the target vehicle comprises: Obtaining the opening and closing degree of the accelerator pedal of the target vehicle and the current driving mode corresponding to the target vehicle; The initial output torque of the target vehicle is determined according to the current driving mode, the accelerator pedal opening and closing degree, and the vehicle driving parameters.

7. The method according to claim 1, characterized in that The method further comprises: When the water depth of the wading environment where the target vehicle is located is greater than a depth threshold and the range extender of the target vehicle is started, determining the wading water pressure of the wading environment where the target vehicle is located; According to the wading water pressure, the power generation speed and the power generation torque of the range extender are adjusted so that the target exhaust pressure of the range extender is greater than the wading water pressure.

8. The method according to claim 7, characterized in that The determining of the wading water pressure of the wading environment in which the target vehicle is located includes: Determining the initial water pressure according to the height of the outlet of the exhaust pipe of the target vehicle from the ground and the wading height of the vehicle; The sum of the initial water pressure and the preset water pressure adjustment amount is used as the wading water pressure.

9. A vehicle torque determination device, characterized in that: The device comprises: An acquisition module, used for acquiring an initial output torque of the target vehicle when the water depth of the water environment in which the target vehicle is located is greater than a depth threshold and the target vehicle is in a driving state; A first determination module, used to determine an initial torque increase corresponding to the target vehicle according to environmental parameters and vehicle driving parameters; A second determination module, configured to determine an initial torque reduction amount corresponding to the target vehicle according to a vehicle size parameter and the vehicle driving parameter; The adjustment module is used to adjust the initial output torque according to the initial torque increase and the initial torque decrease to obtain a target output torque.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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