Torque control method, device, equipment and medium

Abstract

The embodiment of the invention provides a torque control method and device, equipment and a medium. The method comprises the steps that firstly, when a switching signal that a vehicle enters a constant-speed cruise mode from a self-adaptive cruise mode is detected, the speed deviation of the real-time vehicle speed of the vehicle relative to the target speed of the constant-speed cruise mode is obtained; then, if the speed deviation is larger than the preset speed deviation, according to the real-time speed and the target speed, the adjusting speed of adjusting the vehicle from the real-time torque to the maximum torque corresponding to the vehicle is determined; and finally, according to the adjusting speed, the vehicle is controlled to be adjusted from the real-time torque to the maximum torque. Through the method, the pause feeling of the vehicle during mode conversion is reduced, and the driving experience feeling is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle cruise control, and particularly relates to a torque control method, device, equipment and medium. Background Art

[0002] Among various assisted driving functions of vehicles, both Adaptive Cruise Control (ACC) and Cruise Control (CC) can effectively reduce the fatigue of drivers during long-term driving. However, during driving, when the ACC mode is switched to the CC mode, due to the different vehicle speeds corresponding to the two modes, the vehicle torque changes too much, which often affects the driving experience. Therefore, how to optimize the torque conversion from the ACC model to the CC model to improve driving comfort is a problem to be solved currently.

[0003] In the prior art, when the vehicle switches from the ACC mode to the CC mode, usually an acceleration reminder is displayed on the vehicle display screen, and then the vehicle outputs the maximum torque to reach the set cruise speed at the fastest speed and enters the cruise control.

[0004] However, the mode conversion method in the prior art cannot effectively avoid the sense of jerk caused by the excessive torque deviation for the driver, which affects the driving experience. Summary of the Invention

[0005] Embodiments of the present application provide a torque control method, device, equipment and medium, which are used to solve the problem that the mode conversion method in the prior art cannot effectively avoid the sense of jerk caused by the excessive torque deviation for the driver, which affects the driving experience.

[0006] In a first aspect, an embodiment of the present application provides a torque control method, including:

[0007] When a switching signal for the vehicle to enter the cruise control mode from the adaptive cruise mode is detected, obtain the speed deviation of the real-time vehicle speed of the vehicle relative to the target speed of the cruise control mode;

[0008] If the speed deviation is greater than a preset speed deviation, determine the adjustment rate for the vehicle to adjust from the real-time torque to the highest torque corresponding to the vehicle according to the real-time speed and the target speed;

[0009] Control the vehicle to adjust from the real-time torque to the highest torque according to the adjustment rate.

[0010] In a possible implementation manner, the determining the adjustment rate for the vehicle to adjust from the real-time torque to the highest torque corresponding to the vehicle according to the real-time speed and the target speed includes:

[0011] Determine the ratio of the target speed to the real-time vehicle speed;

[0012] According to the ratio, the maximum value of the adjustment rate, and the minimum value of the adjustment rate, determine the adjustment rate for the vehicle to be adjusted from the real-time torque to the highest torque corresponding to the vehicle.

[0013] In a possible implementation manner, the determining the adjustment rate for the vehicle to be adjusted from the real-time torque to the highest torque corresponding to the vehicle according to the ratio, the maximum value of the adjustment rate, and the minimum value of the adjustment rate includes:

[0014] Determine the adjustment rate difference between the maximum value of the adjustment rate and the minimum value of the adjustment rate;

[0015] According to the adjustment rate difference and the ratio, determine the product of the difference and the ratio;

[0016] Determine the sum of the product and the minimum value of the adjustment rate as the adjustment rate.

[0017] In a possible implementation manner, the controlling the vehicle to be adjusted from the real-time torque to the highest torque according to the adjustment rate includes:

[0018] Calculate the torque difference between the real-time torque of the vehicle and the highest torque corresponding to the vehicle;

[0019] Determine the product of the torque difference and the adjustment rate as the torque value to be adjusted;

[0020] Determine the sum of the real-time torque of the vehicle and the torque value to be adjusted as the target torque;

[0021] According to the target torque, control the vehicle to be adjusted from the real-time torque to the highest torque.

[0022] In a possible implementation manner, the torque control method further includes:

[0023] If the speed deviation is less than a preset speed deviation, determine the highest torque corresponding to the vehicle as the real-time torque.

[0024] In a possible implementation manner, before obtaining the speed deviation of the real-time vehicle speed of the vehicle relative to the target speed in the constant speed cruise mode, the torque control method further includes:

[0025] Obtain the accelerator pedal opening of the vehicle;

[0026] Determine that the accelerator pedal opening is less than a first preset value.

[0027] In a possible implementation manner, the torque control method further includes:

[0028] If the opening degree of the accelerator pedal is greater than a first preset value and less than a second preset value, then the product of the opening degree threshold of the accelerator pedal and the highest torque corresponding to the vehicle is determined as the target torque;

[0029] If the opening degree of the accelerator pedal is greater than the second preset value, then the highest torque corresponding to the vehicle is determined as the target torque.

[0030] In a second aspect, an embodiment of the present application provides a torque control device, including:

[0031] An acquisition module, when detecting a switching signal that the vehicle enters the constant speed cruise mode from the adaptive cruise mode, acquires the speed deviation of the real-time speed of the vehicle relative to the target speed of the constant speed cruise mode;

[0032] A determination module, configured to, if the speed deviation is greater than a preset speed deviation, determine an adjustment rate for adjusting the vehicle from the real-time torque to the highest torque corresponding to the vehicle according to the real-time speed and the target speed;

[0033] A control module, configured to control the vehicle to adjust from the real-time torque to the highest torque according to the adjustment rate.

[0034] In a possible implementation manner, the determination module is specifically configured to:

[0035] Determine the ratio of the target speed to the real-time vehicle speed;

[0036] According to the ratio, the maximum value of the adjustment rate, and the minimum value of the adjustment rate, determine the adjustment rate for adjusting the vehicle from the real-time torque to the highest torque corresponding to the vehicle.

[0037] In a possible implementation manner, the determination module is specifically configured to:

[0038] Determine the adjustment rate difference between the maximum value of the adjustment rate and the minimum value of the adjustment rate;

[0039] According to the adjustment rate difference and the ratio, determine the product of the difference and the ratio;

[0040] Determine the sum of the product and the minimum value of the adjustment rate as the adjustment rate.

[0041] In a possible implementation manner, the controlling the vehicle to adjust from the real-time torque to the highest torque according to the adjustment rate includes:

[0042] Calculate the torque difference between the real-time torque of the vehicle and the highest torque corresponding to the vehicle;

[0043] Determine the product of the torque difference and the adjustment rate as the torque value to be adjusted;

[0044] Determine the sum of the real-time torque of the vehicle and the torque value to be adjusted as the target torque;

[0045] Control the vehicle to adjust from the real-time torque to the maximum torque according to the target torque.

[0046] In a possible implementation manner, the determining module is further configured to:

[0047] If the speed deviation is less than a preset speed deviation, determine the maximum torque corresponding to the vehicle as the real-time torque.

[0048] In a possible implementation manner, the obtaining module is further configured to:

[0049] Obtain the opening degree of the accelerator pedal of the vehicle;

[0050] Determine that the opening degree of the accelerator pedal is less than a first preset value.

[0051] In a possible implementation manner, the determining module is further configured to:

[0052] If the opening degree of the accelerator pedal is greater than the first preset value and less than the second preset value, determine the product between the accelerator pedal opening degree threshold and the maximum torque corresponding to the vehicle as the target torque;

[0053] If the opening degree of the accelerator pedal is greater than the second preset value, determine the maximum torque corresponding to the vehicle as the target torque.

[0054] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0055] The memory stores computer execution instructions;

[0056] The processor executes the computer execution instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementation manners of the first aspect.

[0057] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored, and when the computer execution instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0058] The torque control method, device, equipment and medium provided in the embodiments of the present application first obtain the speed deviation of the vehicle's real-time speed relative to the target speed of the cruise control mode when a switching signal for the vehicle to enter the cruise control mode from the adaptive cruise mode is detected, thereby providing a quantitative indicator for subsequent torque adjustment; further, if the speed deviation is greater than the preset speed deviation, the adjustment rate of the vehicle from the real-time torque to the corresponding maximum torque of the vehicle is determined according to the real-time speed and the target speed. At this point, by adjusting the rate according to the controlled torque, the torque adjustment of the vehicle can be gradual, thereby avoiding vehicle setbacks (such as "pushing back feeling" or mechanical shock) caused by sudden torque changes, improving ride comfort, and also avoiding energy waste caused by continuous high torque output; finally, according to the adjustment rate, the vehicle is controlled to adjust from the real-time torque to the maximum torque, so that the vehicle smoothly enters the cruise control mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0060] Figure 1 Schematic diagram of the torque control method provided in the embodiment of the present application Figure 1 ;

[0061] Figure 2 Schematic diagram of the torque control method provided in the embodiment of the present application Figure 2 ;

[0062] Figure 3 A schematic diagram of the structure of a torque control device provided in an embodiment of the present application;

[0063] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0064] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0065] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0066] Among the various assisted driving functions of a vehicle, both Adaptive Cruise Control (ACC) and Cruise Control (CC) can effectively reduce the driver's fatigue during long - term driving. However, during driving, when the ACC mode switches to the CC mode, due to excessive torque changes in the vehicle, it often affects the driving experience. Therefore, how to optimize the conversion from the ACC mode to the CC mode to improve driving comfort is an issue to be solved currently.

[0067] In the prior art, when the vehicle switches from the ACC mode to the CC mode, it usually displays an acceleration reminder on the vehicle display screen, and then the vehicle outputs the maximum torque to reach the set cruise speed at the fastest speed and enters the cruise control.

[0068] However, although the prior - art mode - conversion method gives the driver an acceleration reminder through the vehicle display screen, enabling the driver to have a certain mental preparation, it still cannot effectively avoid the jerks caused by excessive torque deviation, which affects the driving experience.

[0069] Based on this, the present application proposes a torque control method. When the vehicle switches from the ACC mode to the CC mode, since there is a certain speed deviation between the two modes, if a direct conversion is carried out, the large torque change will cause the driver to feel jerks. Then, if the torque can be gradually increased so that it smoothly transitions to the torque corresponding to the CC mode instead of an instantaneous change, the impact can be greatly reduced, making the driver's experience during the vehicle - mode conversion more natural and smooth, achieving a "seamless" switch. Therefore, by detecting the speed deviation of the vehicle's real - time speed relative to the target speed of the cruise - control mode, the torque adjustment rate can be calculated to dynamically optimize the torque change, enabling the vehicle to reach the target speed within a reasonable time without generating a sudden power output, thereby improving the handling stability and driving smoothness.

[0070] The following uses specific embodiments to elaborate in detail on the technical solution of the present application and how the technical solution of the present application solves the above - mentioned technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0071] Figure 1 Schematic flow of the torque control method provided by the embodiments of the present application Figure 1 ; As Figure 1 shown, the method includes:

[0072] S101. When a switching signal indicating that the vehicle enters the constant speed cruise mode from the adaptive cruise mode is detected, obtain the speed deviation of the real-time vehicle speed relative to the target speed of the constant speed cruise mode.

[0073] Among them, the constant speed cruise mode is a cruise mode of constant speed driving. After setting the target speed, the vehicle will maintain this speed and will not adjust automatically. The adaptive cruise mode is a cruise mode that dynamically adjusts the speed based on the traffic flow. It can not only maintain the set speed, but also automatically accelerate or decelerate according to the situation of the vehicle ahead. Therefore, when the switching signal indicating that the vehicle enters the constant speed cruise mode from the adaptive cruise mode is generated, there is usually a certain speed deviation between the current vehicle speed and the target speed set in the constant speed cruise mode.

[0074] It should be noted that when the switching signal indicating that the vehicle enters the constant speed cruise mode from the adaptive cruise mode is generated, it is also necessary to determine whether the driver has the intention to quickly reach the target speed of the constant speed cruise mode, that is, whether the driver has the action of stepping on the accelerator pedal hard. Specifically:

[0075] First, obtain the opening degree of the vehicle's accelerator pedal; then, determine that the opening degree of the accelerator pedal is less than the first preset value.

[0076] Among them, the opening degree of the accelerator pedal can be the throttle opening degree in a fuel vehicle or a new energy vehicle. The embodiments of the present application do not limit the vehicle type; the preset value can be an empirical value or obtained through an acceleration experiment. The specific preset value can be selected according to the actual situation, and the embodiments of the present application do not make specific limitations here.

[0077] It should be understood that when the opening degree of the vehicle's accelerator pedal is obtained and it is determined that the opening degree of the accelerator pedal is less than the first preset value, it indicates that the driver's acceleration intention is not strong. Therefore, the torque change can be dynamically optimized to make the vehicle smoothly adjust the torque, and finally control the vehicle to enter the constant speed cruise mode.

[0078] In another possible implementation manner, when the opening degree of the vehicle's accelerator pedal is obtained and it is determined that the opening degree of the accelerator pedal is greater than the first preset value and less than the second preset value, the product of the accelerator pedal opening degree threshold and the maximum torque corresponding to the vehicle is determined as the target torque; if the opening degree of the accelerator pedal is greater than the second preset value, the maximum torque corresponding to the vehicle is determined as the target torque.

[0079] It should be understood that when the accelerator pedal opening of the vehicle is obtained and it is determined that the accelerator pedal opening is greater than the first preset value and less than the second preset value, it indicates that the driver has an intention to accelerate, but the acceleration demand is relatively mild. Therefore, the product of the accelerator pedal opening threshold and the maximum torque corresponding to the vehicle can be determined as the target torque. If the accelerator pedal opening is greater than the second preset value, it indicates that the driver has a strong intention to accelerate and expects to quickly enter the cruise control mode, then the maximum torque corresponding to the vehicle is determined as the target torque.

[0080] It can be understood that the driver's acceleration intention can be obtained through the opening of the accelerator pedal, so as to execute different acceleration strategies, provide more accurate power response, avoid energy waste, reduce the discomfort of the driver during driving, and bring a more intelligent acceleration control experience.

[0081] S102. If the speed deviation is greater than the preset speed deviation, then according to the real-time speed and the target speed, determine the adjustment rate for the vehicle to adjust from the real-time torque to the maximum torque corresponding to the vehicle.

[0082] It should be understood that if the speed deviation is greater than the preset speed deviation, it indicates that a reasonable torque adjustment rate needs to be set to ensure that the power change is neither too fast nor too slow, and to ensure the smoothness of the vehicle.

[0083] In another achievable way, if the speed deviation is less than the preset speed deviation, then the maximum torque corresponding to the vehicle is determined as the real-time torque.

[0084] It should be understood that if the speed deviation is less than the preset speed deviation, it indicates that the current speed of the vehicle is already close to the target speed. If progressive adjustment is still used, it may cause the vehicle response to slow down, delay the time to reach the target speed, and affect the acceleration efficiency. Therefore, the maximum torque can be directly used to make the vehicle quickly enter a stable cruise state and improve the driving smoothness.

[0085] S103. According to the adjustment rate, control the vehicle to adjust from the real-time torque to the maximum torque.

[0086] It can be understood that when the speed deviation is large, by gradually adjusting the torque according to the adjustment rate, the driving smoothness can be optimized to prevent sudden power changes from affecting the experience.

[0087] The torque control method, device, equipment and medium provided by the embodiments of the present application, first, when detecting a switching signal that the vehicle enters the constant speed cruise mode from the adaptive cruise mode, obtain the speed deviation of the vehicle's real-time speed relative to the target speed of the constant speed cruise mode, so as to provide a quantitative index for subsequent torque adjustment; further, if the speed deviation is greater than the preset speed deviation, determine the adjustment rate of the vehicle from the real-time torque to the highest torque corresponding to the vehicle according to the real-time speed and the target speed. Thus, by controlling the torque adjustment rate, the torque adjustment of the vehicle can be gradual, thereby avoiding vehicle jerks (such as "push-back feeling" or mechanical shock) caused by torque mutation, improving the riding comfort, and at the same time avoiding energy waste caused by continuous high torque output; finally, according to the adjustment rate, control the vehicle to adjust from the real-time torque to the highest torque, so that the vehicle smoothly enters the constant speed cruise mode.

[0088] Figure 2 Schematic flow of the torque control method provided by the embodiments of the present application Figure 2 ; As Figure 2 shown, on the basis of the Figure 1 embodiment, the process of determining the adjustment rate is described in detail. The method includes:

[0089] S201. Determine the ratio of the target speed to the real-time vehicle speed.

[0090] For example, if the target speed of the set constant speed cruise mode is 90 kilometers per hour (km / h) and the real-time vehicle speed of the vehicle is 45 km / h, then the ratio can be obtained as 0.5.

[0091] S202. Determine the adjustment rate of the vehicle from the real-time torque to the highest torque corresponding to the vehicle according to the ratio, the maximum value of the adjustment rate, and the minimum value of the adjustment rate.

[0092] Among them, the maximum value of the adjustment rate is to ensure that the acceleration response is fast enough; the minimum value of the adjustment rate is to avoid power mutation affecting the driving smoothness; and the maximum value of the adjustment rate and the minimum value of the adjustment rate can be determined according to specific situations, and the embodiments of the present application do not make specific limitations on the values here.

[0093] In an implementable manner, it is possible to first determine the adjustment rate difference between the maximum value of the adjustment rate and the minimum value of the adjustment rate; then, according to the adjustment rate difference and the ratio, determine the product of the difference and the ratio; finally, determine the sum between the product and the minimum value of the adjustment rate as the adjustment rate.

[0094] The specific adjustment rate formula is:

[0095]

[0096] Among them, k is the adjustment rate; k max is the maximum value of the adjustment rate; k min is the minimum value of the adjustment rate; V curr is the real-time vehicle speed; V cc is the target vehicle speed.

[0097] It should be understood that by calculating the adjustment rate in a linear manner, it can ensure that the power change is neither too fast nor too slow, improving the driving experience.

[0098] Optionally, in order to enable the vehicle to cope with more complex driving scenarios, an embodiment of the present application also introduces a non-linear method for determining the adjustment rate. The specific calculation formula is:

[0099]

[0100] Among them, k is the adjustment rate; k max is the maximum value of the adjustment rate; k min is the minimum value of the adjustment rate; V curr is the real-time vehicle speed; V cc is the target vehicle speed; is the adjustment coefficient.

[0101] Furthermore, after determining the adjustment rate of the vehicle torque, the current real-time torque of the vehicle can be calculated according to the adjustment rate, so that the real-time torque of the vehicle is adjusted to the maximum torque, completing the conversion from the adaptive cruise mode to the constant speed cruise mode.

[0102] In one achievable way, first, calculate the torque difference between the real-time torque of the vehicle and the maximum torque corresponding to the vehicle; then, determine the product of the torque difference and the adjustment rate as the torque value to be adjusted; then, determine the sum of the real-time torque of the vehicle and the torque value to be adjusted as the target torque; finally, control the vehicle to adjust from the real-time torque to the maximum torque according to the target torque.

[0103] Specifically, the calculation formula of the target torque can be expressed as:

[0104]

[0105] Among them, T d is the torque value to be adjusted; T max is the maximum torque corresponding to the vehicle; T curr is the real-time torque of the vehicle; k is the adjustment rate.

[0106] It can be understood that by controlling the torque adjustment rate, the driver can feel a smooth acceleration process similar to manual throttle control, improving the trust and satisfaction with the vehicle cruise function.

[0107] Figure 3Schematic structural diagram of the torque control device provided by an embodiment of the present application; as Figure 3 shown, the torque control device 30 includes:

[0108] An acquisition module 301, which, when detecting a switching signal for the vehicle to enter the constant speed cruise mode from the adaptive cruise mode, acquires the speed deviation of the real-time vehicle speed relative to the target speed in the constant speed cruise mode;

[0109] A determination module 302, configured to, if the speed deviation is greater than a preset speed deviation, determine the adjustment rate for the vehicle to adjust from the real-time torque to the highest torque corresponding to the vehicle according to the real-time speed and the target speed;

[0110] A control module 303, configured to control the vehicle to adjust from the real-time torque to the highest torque according to the adjustment rate.

[0111] In a possible implementation manner, the determination module 302 is specifically configured to:

[0112] Determine the ratio of the target speed to the real-time vehicle speed;

[0113] Determine the adjustment rate for the vehicle to adjust from the real-time torque to the highest torque corresponding to the vehicle according to the ratio, the maximum value of the adjustment rate, and the minimum value of the adjustment rate.

[0114] In a possible implementation manner, the determination module 302 is specifically configured to:

[0115] Determine the adjustment rate difference between the maximum value of the adjustment rate and the minimum value of the adjustment rate;

[0116] According to the adjustment rate difference and the ratio, determine the product of the difference and the ratio;

[0117] Determine the sum of the product and the minimum value of the adjustment rate as the adjustment rate.

[0118] In a possible implementation manner, the control module 303 includes:

[0119] Calculate the torque difference between the real-time torque of the vehicle and the highest torque corresponding to the vehicle;

[0120] Determine the torque value to be adjusted as the product of the torque difference and the adjustment rate;

[0121] Determine the target torque as the sum of the real-time torque of the vehicle and the torque value to be adjusted;

[0122] Control the vehicle to adjust from the real-time torque to the highest torque according to the target torque.

[0123] In a possible implementation manner, the determination module 302 is further configured to:

[0124] If the speed deviation is less than a preset speed deviation, the maximum torque corresponding to the vehicle is determined as the real-time torque.

[0125] In a possible implementation manner, the obtaining module 301 is further configured to:

[0126] Obtain the opening degree of the accelerator pedal of the vehicle;

[0127] Determine that the opening degree of the accelerator pedal is less than a first preset value.

[0128] In a possible implementation manner, the determining module 302 is further configured to:

[0129] If the opening degree of the accelerator pedal is greater than the first preset value and less than the second preset value, the product between the accelerator pedal opening degree threshold and the maximum torque corresponding to the vehicle is determined as the target torque;

[0130] If the opening degree of the accelerator pedal is greater than the second preset value, the maximum torque corresponding to the vehicle is determined as the target torque.

[0131] The torque control device provided by the embodiments of the present application can execute the method provided by the above method embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here in this embodiment.

[0132] Figure 4 It is a schematic structural diagram of an electronic device provided by the embodiments of the present application. As Figure 4 shown, the electronic device 40 provided by this embodiment includes: at least one processor 401 and a memory 402. Optionally, the device 40 further includes a communication component 403. Among them, the processor 401, the memory 402, and the communication component 403 are connected through a bus 404.

[0133] In a specific implementation process, at least one processor 401 executes the computer execution instructions stored in the memory 402, so that at least one processor 401 executes the above method.

[0134] The specific implementation process of the processor 401 can refer to the above method embodiments, and its implementation principle and technical effects are similar, which will not be elaborated here in this embodiment.

[0135] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU for short), or other general-purpose processors, digital signal processors (DSP for short), application specific integrated circuits (ASIC for short), etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.

[0136] The memory may include a random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0137] The bus may be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0138] This application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the above method is implemented.

[0139] The above-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic disk or an optical disk. The readable storage medium can be any available medium accessible by a general or special computer.

[0140] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in a device.

[0141] The division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the couplings or direct couplings or communication connections shown or discussed between each other can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0142] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] Furthermore, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0144] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present invention. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical discs that can store program codes.

[0145] Those of ordinary skill in the art will understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0146] Finally, it should be noted that: after considering the specification and practicing the invention disclosed herein, those skilled in the art will readily conceive of other embodiments of the present invention. The present invention is intended to cover any variations, uses, or adaptations of the present invention, which follow the general principles of the present invention and include known common knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A torque control method, characterized in that: include: When a switching signal for the vehicle to enter a cruise control mode from an adaptive cruise mode is detected, obtaining a speed deviation of the real-time vehicle speed of the vehicle relative to a target speed of the cruise control mode; If the speed deviation is greater than a preset speed deviation, determining an adjustment rate of the vehicle from the real-time torque to the maximum torque corresponding to the vehicle according to the real-time speed and the target speed; According to the adjustment rate, the vehicle is controlled to adjust the real-time torque to the maximum torque.

2. The torque control method according to claim 1, characterized in that: The step of determining, according to the real-time speed and the target speed, an adjustment rate of the vehicle from the real-time torque to the maximum torque corresponding to the vehicle includes: Determining a ratio of the target speed to the real-time vehicle speed; The adjustment rate of the vehicle from the real-time torque to the maximum torque corresponding to the vehicle is determined according to the ratio, the maximum value of the adjustment rate and the minimum value of the adjustment rate.

3. The torque control method according to claim 2, characterized in that: The determining, based on the ratio, the maximum value of the adjustment rate, and the minimum value of the adjustment rate, of the adjustment rate of the vehicle from the real-time torque to the maximum torque corresponding to the vehicle includes: determining an adjustment rate difference between the maximum adjustment rate and the minimum adjustment rate; Determining, according to the adjustment rate difference and the ratio, a product of the difference and the ratio; The sum of the product and the minimum value of the adjustment rate is determined as the adjustment rate.

4. The torque control method according to any one of claims 1 to 3, characterized in that: According to the adjustment rate, controlling the vehicle to adjust the real-time torque to the maximum torque includes: Calculate the torque difference between the real-time torque of the vehicle and the maximum torque corresponding to the vehicle; The product of the torque difference and the adjustment rate is determined as the torque value to be adjusted; The sum of the real-time torque of the vehicle and the torque value to be adjusted is determined as the target torque; According to the target torque, the vehicle is controlled to adjust from the real-time torque to the maximum torque.

5. The torque control method according to any one of claims 1 to 3, characterized in that: The torque control method further comprises: If the speed deviation is less than the preset speed deviation, the maximum torque corresponding to the vehicle is determined as the real-time torque.

6. The torque control method according to any one of claims 1 to 3, characterized in that: Before obtaining the speed deviation of the real-time vehicle speed relative to the target speed of the cruise control mode, the torque control method further includes: Obtaining an accelerator pedal opening of the vehicle; It is determined that the accelerator pedal opening is less than a first preset value.

7. The torque control method according to claim 6, characterized in that: The torque control method further comprises: If the accelerator pedal opening is greater than a first preset value and less than a second preset value, the product of the accelerator pedal opening threshold and the maximum torque corresponding to the vehicle is determined as the target torque; If the accelerator pedal opening is greater than a second preset value, the maximum torque corresponding to the vehicle is determined as the target torque.

8. A torque control device, characterized in that: include: an acquisition module, which, when detecting a switching signal for the vehicle to enter a fixed-speed cruise mode from an adaptive cruise mode, acquires a speed deviation of the real-time vehicle speed of the vehicle relative to a target speed of the fixed-speed cruise mode; a determination module, configured to determine, if the speed deviation is greater than a preset speed deviation, an adjustment rate of adjusting the vehicle from the real-time torque to the maximum torque corresponding to the vehicle according to the real-time speed and the target speed; The control module is used for controlling the vehicle to adjust the real-time torque to the maximum torque according to the adjustment rate.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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