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

Abstract

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. The method comprises: obtaining the initial output torque of the target vehicle when the depth of water in 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; determining the initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters; determining the initial torque decrease corresponding to the target vehicle based on vehicle size parameters and vehicle driving parameters; adjusting the initial output torque based on the initial torque increase and the initial torque decrease to obtain a target output torque. The present application ensures that after the initial output torque is adjusted based on the target torque adjustment amount, 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.

Description

Technical Field

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

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

[0003] However, since flooded sections in different situations will bring different driving interferences to vehicles, thereby reducing the vehicle's driving stability and controllability, the vehicle's driving experience on flooded 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 controllability on flooded sections and improve the vehicle's driving experience on flooded sections to address 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 depth of water in 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] Determining an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters;

[0008] determining an initial torque reduction amount corresponding to the target vehicle according to vehicle size parameters and 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, adjusting the initial output torque according to the initial torque increase and the initial torque decrease to obtain the target output torque includes:

[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 and the target torque decrease to obtain the target output torque.

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

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

[0015] Perform wave-making resistance analysis on the target vehicle based on the vehicle's 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 the target torque reduction includes:

[0018] Performing pitch angle correction on the target vehicle according to the vehicle pitch angle 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 according to the first correction coefficient to obtain the target torque reduction includes:

[0021] According to 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 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 target vehicle's accelerator pedal opening and closing degree, as well as the target vehicle's corresponding current driving mode;

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

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

[0027] When the depth of the water in the wading environment where the target vehicle is located is greater than a depth threshold and the range extender of the target vehicle is activated, 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 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 vehicle's wading height;

[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 further provides a vehicle torque determination device. The device comprises:

[0033] an acquisition module, configured to acquire an initial output torque of the target vehicle when the depth of water in 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 determining module is used to determine an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters;

[0035] a second determining module, configured to determine an initial torque reduction amount corresponding to the target vehicle based on the vehicle size parameters and the vehicle driving parameters;

[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 a 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. When the processor executes the computer program, the following steps are performed:

[0038] When the depth of water in 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] Determining an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters;

[0040] determining an initial torque reduction amount corresponding to the target vehicle according to vehicle size parameters and 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 having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0043] When the depth of water in 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] Determining an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters;

[0045] determining an initial torque reduction amount corresponding to the target vehicle according to vehicle size parameters and 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 that, when executed by a processor, implements the following steps:

[0048] When the depth of water in 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] Determining an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters;

[0050] determining an initial torque reduction amount corresponding to the target vehicle according to vehicle size parameters and 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, apparatus, computer device, and storage medium, when a target vehicle is in a wading environment with a water depth greater than a depth threshold and the target vehicle is in a driving state, obtains the target vehicle's initial output torque and, based on environmental parameters, vehicle driving parameters, and vehicle size parameters, determines an initial torque increase and initial torque decrease corresponding to the target vehicle. The initial output torque is then adjusted based on the initial torque increase and initial torque decrease to obtain a target output torque. As can be seen from the above, the initial torque increase and initial torque decrease in this application are determined based on 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 ensure that the target vehicle's initial output torque is adjusted to an output torque that is consistent with the wading environment and the actual conditions of the target vehicle. This ensures that, after adjusting the initial output torque based on the initial torque increase and initial torque decrease, the target output torque can more effectively ensure the target vehicle's driving experience in the wading environment and maintain driving stability and controllability on wading sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A diagram illustrating an application environment 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. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this 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, vehicle driving parameters and 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, which is applied to Figure 1 The controller 102 in FIG. 1 is taken as an example to illustrate, including the following steps:

[0063] S201 , when the water depth of a wading environment in which a 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 the initial output torque of the target vehicle needs to be obtained, 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 it is necessary to obtain the initial output torque of the target vehicle, the current driving mode of the target vehicle, the degree of opening and closing of the accelerator pedal, and the vehicle speed can be input into the torque analysis model, and the output result of the torque analysis model can be obtained. The output result 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, etc., 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 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 depth of water in the water-related environment in which it is located is greater than a depth threshold, it may specifically include the following contents: detecting the depth of water in the water-related environment in which the target vehicle is located through a sensor, and then determining whether the depth of water in the water-related 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 water environment in which the vehicle is located, so as to obtain the water depth of the target vehicle.

[0071] Furthermore, when the depth of water in the wading environment where the target vehicle is located is greater than a depth threshold, an inquiry to the vehicle driver to start the wading mode may be initiated; 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 water environment where the target vehicle is located is greater than a depth threshold, a water 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. By substituting the water density, vehicle water resistance coefficient, vehicle frontal surface area and vehicle speed into the calculation formula, the initial torque increase can be obtained.

[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 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, vehicle size parameters may include: vehicle length and vehicle mass; vehicle driving parameters may also include: vehicle wading height, vehicle driving speed and additional torque requirement; among them, vehicle wading height is the actual measurement value of the wading environment in which the target vehicle is located; 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 : Adjust 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. The difference calculation result obtained is the target output torque.

[0087] The vehicle torque determination method, when a target vehicle is in a wading environment with a water depth greater than a depth threshold and the target vehicle is in a driving state, obtains the target vehicle's initial output torque and, based on environmental parameters, vehicle driving parameters, and vehicle size parameters, determines an initial torque increase and initial torque decrease corresponding to the target vehicle. The initial output torque is then adjusted based on the initial torque increase and initial torque decrease to obtain a target output torque. As can be seen from the foregoing, the initial torque increase and initial torque decrease in this application are determined based on the environmental parameters of the wading environment, as well as the vehicle size parameters and vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and initial torque decrease ensure that the target vehicle's initial output torque is adjusted to an output torque that is consistent with the wading environment and the actual conditions of the target vehicle. This ensures that, after adjusting the initial output torque based on the initial torque increase and initial torque decrease, the target output torque can more effectively maintain the target vehicle's driving experience in the wading environment and ensure driving stability and controllability on wading sections.

[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 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 a 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 based on vehicle size parameters and vehicle driving parameters to obtain a viscous resistance correction; performing a wave-making resistance analysis on the target vehicle based on the vehicle driving parameters to obtain a wave-making resistance correction; and performing a torque correction on the initial torque increase based on 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 driving 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 wading height; and L refers to the vehicle 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 perform viscous resistance analysis on the target vehicle based on the vehicle length and 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 according to the viscous resistance correction and the wave-making resistance correction to determine the target torque increase, 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 area; v refers to the vehicle's 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 the target torque reduction, the following 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 the target torque reduction.

[0103] Furthermore, in order to further improve the accuracy of determining the target torque reduction, when determining the target torque reduction, the tire slip rate can also be combined for correction. 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: according to 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 vehicle pitch angle 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] Here, k4 is the second correction factor, s is the tire slip rate, and λ is the calibration parameter, which maps tire slip rate to torque variation. For example, when λ is 0.15, every 1% increase in tire slip rate results in a 0.15% increase in output torque.

[0110] In summary, when 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, 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 : Adjust 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 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; further, 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 fall within 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 depth of water in 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 water environment in which the target vehicle is located, the following may be specifically included: determining the initial water pressure based on the height of the pipe outlet of the exhaust pipe of the target vehicle from the ground and the vehicle's wading height; and taking the sum of the initial water pressure and the preset water pressure adjustment amount as the 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 acceleration of gravity 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 calculation formula of the initial water pressure, 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 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.

[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 target vehicle's range extender can be determined in advance based on the SOC (State of Charge) of the target vehicle's power battery; specifically, a first threshold and a second threshold can be set in advance, where the second threshold is greater than the first threshold; if the SOC is less than the first threshold, the target vehicle's range extender is started; if the SOC is greater than the second threshold, the target vehicle's range extender 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 generating speed and generating 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 associated with the generating speed and generating torque of the range extender; therefore, an inequality formula for the generating speed and generating 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 based 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 setup: Install the target vehicle's engine on the test bench and connect the dynamometer, exhaust pressure sensor, and data acquisition system. Start the engine and allow it to warm up to normal operating temperature, typically around 80-90°C.

[0141] (2) Fixed generating torque and changing generating speed: A fixed torque value is set on the dynamometer, for example, at different operating points such as 20%, 40%, 60%, 80%, and 100% of the rated engine torque. Under each torque operating condition, the generating speed of the engine is gradually changed, starting from a lower generating speed (such as 1.2 times the idle speed) and gradually increasing to a higher generating speed (close to the rated engine speed) at a certain speed interval (such as 200 r / min). The engine is operated stably for a period of time (such as 30-60 seconds) at each speed point. After the various engine parameters are stabilized, the engine generating speed, generating torque, and exhaust pressure data at this time are recorded using the data acquisition system.

[0142] (3) Fixed generator speed, varying generator torque: Select several typical engine speed points, such as idle speed, 50%, 75%, and 100% of rated speed. At each speed, gradually vary the engine's generator torque using a dynamometer, starting with the minimum stable output torque and gradually increasing it to the maximum torque in certain torque increments (e.g., 10% of rated torque). Similarly, operate the engine 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's power generation speed as the horizontal axis and the exhaust pressure as the vertical axis, a scatter plot of the exhaust pressure changes with the speed under different power generation torques is drawn. The scatter plot can be used to visually observe the changes in the power generation torque conditions. Then, the polynomial function is fitted to obtain P 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 explanation: when the target vehicle triggers the wading mode and is in the locked state, an evasion route is obtained. According to the evasion route, the vehicle is driven to a high-altitude area.

[0146] Among them, the end point of the avoidance route is a high-altitude 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 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 automatically drives along a risk avoidance route through automatic driving, and then drives to a high-altitude area; when the target vehicle leaves the wading section, the wading mode is turned off.

[0149] During the process of the target vehicle automatically driving 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 water pressure of the water 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 water pressure, thereby preventing 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 depth of water in a wading environment in which 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 : Determine an initial torque increase corresponding to the target vehicle based on the water density, the vehicle's water resistance coefficient, the vehicle's frontal surface area, and the vehicle's driving speed.

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

[0155] S504 , performing a viscous resistance analysis on the target vehicle based on the vehicle length and the vehicle wading height to obtain a viscous resistance correction value.

[0156] S505 , performing a 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 vehicle pitch angle 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 , adjusting the initial output torque according to the target torque increase and the target torque decrease to obtain the target output torque.

[0162] The vehicle torque determination method, when a target vehicle is in a wading environment with a water depth greater than a depth threshold and the target vehicle is in a driving state, obtains the target vehicle's initial output torque and, based on environmental parameters, vehicle driving parameters, and vehicle size parameters, determines an initial torque increase and initial torque decrease corresponding to the target vehicle. The initial output torque is then adjusted based on the initial torque increase and initial torque decrease to obtain a target output torque. As can be seen from the foregoing, the initial torque increase and initial torque decrease in this application are determined based on the environmental parameters of the wading environment, as well as the vehicle size parameters and vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and initial torque decrease ensure that the target vehicle's initial output torque is adjusted to an output torque that is consistent with the wading environment and the actual conditions of the target vehicle. This ensures that, after adjusting the initial output torque based on the initial torque increase and initial torque decrease, the target output torque can more effectively maintain the target vehicle's driving experience in the wading environment and ensure driving stability and controllability on wading sections.

[0163] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0164] Based on the same inventive concept, embodiments of the present application further provide a vehicle torque determination device for implementing the aforementioned vehicle torque determination method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle torque determination device embodiments provided below can be found in the aforementioned limitations of the vehicle torque determination method and will not be further elaborated 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 for acquiring an initial output torque of the target vehicle when the depth of water in 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 is configured to determine an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters;

[0168] A second determination module 30 is configured to determine an initial torque reduction amount corresponding to the target vehicle based on the vehicle size parameters and the vehicle driving parameters;

[0169] The adjustment module 40 is configured 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 and the target torque decrease to obtain the target output torque.

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

[0173] Perform wave-making resistance analysis on the target vehicle based on the vehicle's 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, a pitch angle correction is performed on the target vehicle 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, based on 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, the accelerator pedal opening and closing degree of the target vehicle and the current driving mode corresponding to the target vehicle are obtained;

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

[0181] In one embodiment, when the depth of water in the wading environment in which the target vehicle is located is greater than a depth threshold and the range extender of the target vehicle is activated, determining the wading water pressure of the wading environment in which 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 vehicle torque determination device, when a target vehicle is in a wading environment with a water depth greater than a depth threshold and the target vehicle is in a driving state, obtains the target vehicle's initial output torque and, based on environmental parameters, vehicle driving parameters, and vehicle size parameters, determines an initial torque increase and initial torque decrease corresponding to the target vehicle. The device then adjusts the initial output torque based on the initial torque increase and initial torque decrease to obtain a target output torque. As can be seen from the foregoing, the initial torque increase and initial torque decrease in this application are determined based on the environmental parameters of the wading environment, as well as the vehicle size parameters and vehicle driving parameters of the target vehicle. Therefore, the initial torque increase and initial torque decrease ensure that the target vehicle's initial output torque is adjusted to an output torque that is consistent with the wading environment and the actual conditions of the target vehicle. This ensures that, after adjusting the initial output torque based on the initial torque increase and initial torque decrease, the target output torque can more effectively maintain the target vehicle's driving experience in the wading environment and ensure driving stability and controllability on wading sections.

[0186] Each module in the aforementioned vehicle torque determination device may be implemented in whole or in part via software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within a computer device in the form of hardware, or may be stored in a computer device memory in the form of software, so that the processor can call and execute the corresponding operations of 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, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via 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 internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless means, and the wireless means can be implemented via Wi-Fi, a mobile cellular network, NFC (near-field communication), or other technologies. When executed by the processor, the computer program implements a method for determining vehicle torque. The display unit of the computer device is used to form a visually visible image and 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 casing, 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 shown in the figure, or combine certain components, or have a different component arrangement.

[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 the relevant laws, regulations and standards of relevant countries and regions.

[0190] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 above-mentioned embodiments. In particular, any reference to memory, database, or other media 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), magnetic 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. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0191] The technical features of the above embodiments can 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 merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for determining vehicle torque, characterized in that: The method comprises: When the depth of water in 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; 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 and the target torque decrease to obtain a target output torque.

2. The method according to claim 1, 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 vehicle size parameters and vehicle driving parameters to obtain a viscous resistance correction value; Performing wave-making resistance analysis on the target vehicle according to vehicle driving parameters to obtain a wave-making resistance correction value; 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.

3. The method according to claim 1, 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.

4. The method according to claim 3, 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: Performing tire slip correction on the target vehicle according to the tire slip rate and a mapping relationship between the tire slip rate and the torque variation 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.

5. The method according to claim 1, wherein The obtaining of the initial output torque of the target vehicle includes: Obtaining the accelerator pedal opening and closing degree of the target vehicle and the current driving mode corresponding to the target vehicle; An initial output torque of the target vehicle is determined according to the current driving mode, the accelerator pedal opening and closing degree, and vehicle driving parameters.

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

7. The method according to claim 6, characterized in that Determining the wading water pressure of the wading environment in which the target vehicle is located includes: determining an initial water pressure based on a height of an exhaust pipe outlet of the target vehicle from the ground and a 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.

8. A vehicle torque determination device, characterized in that: The device comprises: an acquisition module, configured to acquire an initial output torque of the target vehicle when the depth of water in 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; A first determining module is configured to determine an initial torque increase corresponding to the target vehicle based on environmental parameters and vehicle driving parameters; a second determining 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 perform torque correction on the initial torque increase and the initial torque decrease respectively to obtain a target torque increase and a target torque decrease; and adjust the initial output torque according to the target torque increase and the target torque decrease to obtain a target output torque.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. 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 7 are implemented.

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