Vehicle control method and device, commercial vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a commercial vehicle and a storage medium. The vehicle control method comprises the steps that a driver demand is obtained; searching a calibration relationship according to the driver demand to obtain a target wheel end torque, wherein the calibration relationship is a mapping relationship between the driver demand and the wheel end torque; and according to the target wheel end torque, driving source demand torque meeting the driver demand is obtained so as to control a driving source. According to the method, the wheel end torque can serve as a driver demand analysis target, adjustment of control parameters is simplified, the driving source demand torque is obtained based on the target wheel end torque, and the consistency and universality of the control effect are effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular, to a vehicle control method, a vehicle control device, a commercial vehicle, and a non-volatile readable storage medium. Background Art

[0002] In the related art, the vehicle controller is responsible for parsing the driver's driving intention and controlling the vehicle drive system to provide power output for the vehicle. The existing calculation method is determined according to the drive system parameters. When the drive system is replaced, the input parameters need to be changed again. For different vehicle models and different configurations, due to inconsistent parameter settings, the vehicle control effect (i.e., vehicle performance) is different, and the software parameter calibration needs to be rematched, which is cumbersome and cannot ensure the consistency and universality of the control effect between different systems. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, an object of the present invention is to provide a vehicle control method, which can use the wheel-end torque as the target for parsing the driver's demand, simplify the adjustment of control parameters, and obtain the drive source demand torque based on the target wheel-end torque, effectively ensuring the consistency and universality of the control effect.

[0004] A second object of the present invention is to provide a vehicle control device.

[0005] A third object of the present invention is to provide a commercial vehicle.

[0006] A fourth object of the present invention is to provide a non-volatile readable storage medium.

[0007] To solve the above problems, an embodiment of the first aspect of the present invention provides a vehicle control method, including: obtaining the driver's demand; finding a calibration relationship according to the driver's demand to obtain a target wheel-end torque, where the calibration relationship is a mapping relationship between the driver's demand and the wheel-end torque; obtaining a drive source demand torque that meets the driver's demand according to the target wheel-end torque to control the drive source.

[0008] According to the vehicle control method of the embodiment of the present invention, after obtaining the driver's demand, a calibration relationship is found according to the driver's demand to obtain a target wheel-end torque, and a drive source demand torque that meets the driver's demand is calculated through the target wheel-end torque; the wheel-end torque is used as the target for parsing the driver's demand, simplifying the adjustment of control parameters, and obtaining the drive source demand torque based on the target wheel-end torque, effectively ensuring the consistency and universality of the control effect.

[0009] In some embodiments, the driver's demand is represented by the opening degree of the accelerator pedal, and the calibration relationship is a mapping relationship between the opening degree of the accelerator pedal and the wheel-end torque.

[0010] In some embodiments, the wheel-end torque in the calibration relationship is stored as the driving source torque converted according to the current driving system parameters of the vehicle.

[0011] In some embodiments, finding the calibration relationship according to the driver demand to obtain the target wheel-end torque includes: querying the calibration relationship according to the driver demand to obtain the target driving source torque; converting the target driving source torque into the target wheel-end torque according to the current driving system parameters of the vehicle.

[0012] In some embodiments, obtaining the driving source demand torque that meets the driver demand according to the target wheel-end torque includes: when the current driving system parameters of the vehicle remain unchanged, converting the target wheel-end torque according to the current driving system parameters of the vehicle to obtain the driving source torque that meets the driver demand; or, when the current driving system parameters of the vehicle change, converting the target wheel-end torque according to the changed driving system parameters of the vehicle to obtain the driving source torque that meets the driver demand.

[0013] In some embodiments, the vehicle control method further includes: when the current driving system parameters of the vehicle change, updating the driving source torque in the stored calibration relationship according to the changed driving system parameters of the vehicle.

[0014] In some embodiments, the wheel-end torque and the driving source torque satisfy the following formula: Wheel-end torque = Driving source torque × Driving system parameter × η t ×η f ; Wherein, the driving system parameter = Transmission ratio × Reducer ratio, η t is the transmission efficiency, η f is the reducer efficiency.

[0015] An embodiment of the second aspect of the present invention provides a vehicle control device, including: at least one processor; a memory communicatively connected to the at least one processor; a computer program stored in the memory and executable by the at least one processor, and when the at least one processor executes the computer program, the vehicle control method described in the above embodiment is implemented.

[0016] According to the vehicle control device of the embodiment of the present invention, the corresponding vehicle control program can be stored in the memory. When implementing the vehicle control method, the processor runs the program in the memory, and obtains the driving source demand torque based on the target wheel-end torque, effectively ensuring the consistency and universality of the control effect, and reducing the excessive occupation of the storage space of the control device by increasing the torque conversion relationship.

[0017] An embodiment of the third aspect of the present invention provides a commercial vehicle, including the vehicle control device and the drive system described in the above embodiments, and the vehicle control device is connected to the drive system.

[0018] For the commercial vehicle according to the embodiment of the present invention, after the commercial vehicle control device obtains the driver's demand, it searches for the calibration relationship according to the driver's demand to obtain the target wheel-end torque, calculates the required torque of the drive source that meets the driver's demand through the target wheel-end torque, and the drive system controls the drive source to output the required torque of the drive source, making the wheel-end torque the target for parsing the driver's demand, simplifying the adjustment of control parameters, and obtaining the required torque of the drive source based on the target wheel-end torque, effectively ensuring the consistency and generality of the control effect.

[0019] An embodiment of the fourth aspect of the present invention provides a non-volatile readable storage medium, on which a computer program is stored, and when the computer program is executed, the vehicle control method described in the above embodiments is implemented.

[0020] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0021] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where: Figure 1 is a flowchart of a vehicle control method according to an embodiment of the present invention; Figure 2 is a flowchart of calculating the torque of the drive source according to an embodiment of the present invention; Figure 3 is a structural block diagram of a vehicle control device according to an embodiment of the present invention; Figure 4 is a structural block diagram of a commercial vehicle according to an embodiment of the present invention.

[0022] Reference Signs: Commercial vehicle 200; Vehicle control device 100; Drive system 201; Processor 101; Memory 102. Detailed Description of the Embodiments

[0023] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0024] In the first aspect of the present invention, an embodiment provides a vehicle control method. This method can use the wheel-end torque as the target for driver demand analysis, simplify the adjustment of control parameters, and obtain the drive source demand torque based on the target wheel-end torque, effectively ensuring the consistency and universality of the control effect.

[0025] The following refers to Figure 1 Describe a vehicle control method according to an embodiment of the first aspect of the present invention, as Figure 1 shown, this method at least includes steps S1 to S3.

[0026] Step S1, obtain the driver's demand.

[0027] Specifically, when obtaining the driver's demand, analyze the driver's operation intention and judge the current state of the vehicle. Collect the opening or position information of the accelerator pedal through the accelerator pedal position sensor and convert it into an electrical signal. Determine the driver's demand for vehicle acceleration through the electrical signal collected and sent by the accelerator pedal position sensor. At the same time, obtain the vehicle speed information, brake pedal state, gear state, etc. of the current vehicle; analyze and judge the collected information to ensure that there is no abnormality or error in the collected information.

[0028] Step S2, find the calibration relationship according to the driver's demand to obtain the target wheel-end torque.

[0029] Among them, the calibration relationship is the mapping relationship between the driver's demand and the wheel-end torque.

[0030] Specifically, the target wheel-end torque can be understood as the torque required for the current vehicle wheels to make the vehicle drive smoothly. According to the driver's demand, such as the accelerator pedal position, accurately control the target wheel-end torque of the vehicle, so as to form a corresponding relationship between the driver's input and the vehicle wheel-end torque output, that is, different accelerator pedal depths correspond to different wheel-end torques; calibrate the mapping relationship between the accelerator pedal position and the wheel-end torque, and store the analyzed mapping relationship in the form of a table or a mapping diagram for conveniently obtaining the target wheel-end torque in real time according to the accelerator pedal position. According to the mapping relationship between the driver's demand and the wheel-end torque, the vehicle meets the driver's demand under different driving conditions, making the vehicle drive stably and improving comfort; after the mapping relationship between the driver's demand and the wheel-end torque is calibrated, the vehicle reads the accelerator pedal position in real time during driving and obtains the target wheel-end torque according to the found calibration relationship.

[0031] Step S3, obtain the drive source demand torque that meets the driver's demand according to the target wheel-end torque to control the drive source.

[0032] Specifically, the driving source required torque can be understood as the torque required by the vehicle driving source to meet the vehicle target wheel-end torque. After determining the vehicle target wheel-end torque, the driving source required torque that meets the driver's demand is obtained through calculation. The driving source can be an electric motor or an engine; the driving source torque refers to the torque generated by the driving source, which can drive the vehicle forward, and the wheel-end torque refers to the torque transmitted from the driving source to the wheels through the transmission device (such as a transmission and a drive shaft). The driving source torque and the wheel-end torque have important impacts on the vehicle driving performance, but their forms and functions are different. The driving source torque is the torque directly generated by the driving source and transmitted to the wheels, which directly affects the vehicle's acceleration and driving ability, while the wheel-end torque is restricted and adjusted by the transmission device (such as a transmission, a drive shaft, and a differential), affecting the vehicle's traction and driving smoothness; after determining the vehicle target wheel-end torque, the driving source required torque that meets the driver's demand is calculated, and the driving source is controlled to operate and output the driving source required torque to make the vehicle drive stably.

[0033] According to the vehicle control method of the embodiment of the present invention, after obtaining the driver's demand, the target wheel-end torque is obtained by looking up the calibration relationship according to the driver's demand, and the driving source required torque that meets the driver's demand is obtained through calculation of the target wheel-end torque; the wheel-end torque is used as the target for parsing the driver's demand, simplifying the adjustment of control parameters, and obtaining the driving source required torque based on the target wheel-end torque, effectively ensuring the consistency and universality of the control effect.

[0034] In some embodiments, the driver's demand is represented by the opening degree of the accelerator pedal, and the calibration relationship is the mapping relationship between the opening degree of the accelerator pedal and the wheel-end torque.

[0035] Specifically, the driver's acceleration demand is usually represented by the opening degree of the accelerator pedal, that is, the accelerator pedal position. The opening degree of the accelerator pedal is a percentage value, ranging from 0% (fully released) to 100% (fully depressed). In order to convert the driver's acceleration demand into the actual power output of the vehicle, that is, the vehicle wheel-end torque, a calibration relationship is needed to define the mapping between the opening degree of the accelerator pedal and the wheel-end torque; the mapping relationship between the opening degree of the accelerator pedal and the wheel-end torque is established through experiments and data analysis. The corresponding relationship between the opening degree of the accelerator pedal and the wheel-end torque is tested and recorded, and the data is recorded in the calibration relationship table for quickly obtaining the wheel-end torque in real-time control; during the vehicle driving process, the opening degree of the accelerator pedal is obtained in real-time, and the corresponding target wheel-end torque is found according to the calibration relationship.

[0036] In some embodiments, the wheel-end torque in the calibration relationship is stored as the driving source torque converted by the current driving system parameters of the vehicle.

[0037] Specifically, according to the opening degree of the accelerator pedal, the corresponding target wheel-end torque is found in the calibration relation table. In order to obtain the required torque of the drive source, the target wheel-end torque is converted into the required torque of the drive source through calculation, and the drive source torque is stored in the control device. By adding a torque conversion relation in the calculation module, the excessive occupation of the storage space of the control device is reduced. The torque conversion relation is stored in the calculation module, and only the drive source torque is stored in the control device, taking into account the simplification of the parameter calculation method of the vehicle control device while reducing the excessive occupation of the storage space of the control device.

[0038] For example, since the design scheme of the present invention uses the wheel-end torque parameter as the target, the wheel-end torque data of commercial vehicles is relatively large (usually above 10,000 Nm), so it occupies a large amount of memory in the control device. Similarly, according to the torque conversion relation, the data stored in the control device is stored as the drive source torque (usually 500 - 2500 Nm). After importing the target wheel-end torque, when calculating inside the control device, using the drive source torque for calculation can reduce the memory occupation.

[0039] In some embodiments, finding the calibration relation according to the driver's demand to obtain the target wheel-end torque includes: querying the calibration relation according to the driver's demand to obtain the target drive source torque; converting the target drive source torque into the target wheel-end torque with the current drive system parameters of the vehicle.

[0040] Specifically, since the wheel-end torque in the calibration relation is stored as the drive source torque converted with the current drive system parameters of the vehicle, therefore, after querying the calibration relation according to the driver's demand to obtain the target drive source torque, and obtaining the target drive source torque and the current drive system parameters of the vehicle, the target wheel-end torque is calculated through the torque conversion relation in the calculation module.

[0041] In some embodiments, obtaining the required torque of the drive source that meets the driver's demand according to the target wheel-end torque includes: When the current drive system parameters of the vehicle remain unchanged, converting the target wheel-end torque with the current drive system parameters of the vehicle to obtain the drive source torque that meets the driver's demand; or, when the current drive system parameters of the vehicle change, converting the target wheel-end torque with the changed drive system parameters of the vehicle to obtain the drive source torque that meets the driver's demand.

[0042] Specifically, with the current diversification of vehicle configurations, different vehicle models are matched to different usage scenarios of commercial vehicle customers. When the gear ratio of the transmission or the gear ratio of the reducer changes, the driving performance of the vehicle will change. Therefore, it is necessary to readjust the calibration parameters according to the drivability of the vehicle to achieve the purpose of comfort. Every time the gear ratio of the transmission or the gear ratio of the reducer is changed, readjustment and calibration are required. Therefore, the vehicle performance cannot be unified and is highly subjective. For a certain vehicle model, with the wheel-end torque as the target, after the calibration parameters are adjusted and finalized, this target wheel-end torque is solidified and unified. When the configuration of this vehicle model changes, there is no need for re-calibration. With this calibration parameter, the drive source torque can be obtained through the torque conversion relationship, and there is no need for actual parameter adjustment. The drive source torque can be adjusted adaptively.

[0043] When the current drive system parameters of the vehicle remain unchanged, in the calculation module, the target wheel-end torque is converted according to the current drive system parameters of the vehicle through the torque conversion relationship to obtain the drive source torque that meets the driver's requirements, and calibration is performed, which is convenient for finding the calibration relationship according to the driver's requirements to obtain the target wheel-end torque.

[0044] When the current drive system parameters of the vehicle change, since the target wheel-end torque is solidified and unified, in the calculation module, the target wheel-end torque is converted according to the changed drive system parameters of the vehicle to obtain the drive source torque that meets the driver's requirements, without re-calibration, and the drive source torque can be adjusted adaptively.

[0045] In some embodiments, the vehicle control method further includes: when the current drive system parameters of the vehicle change, updating the drive source torque in the stored calibration relationship according to the changed drive system parameters of the vehicle.

[0046] Specifically, when the current drive system parameters of the vehicle change, since the target wheel-end torque is solidified and unified, in the calculation module, the target wheel-end torque is converted according to the changed drive system parameters of the vehicle to obtain the drive source torque that meets the driver's requirements, and the drive source torque in the stored calibration relationship is updated according to the changed drive system parameters of the vehicle. After the update, the target drive source torque obtained by querying the calibration relationship according to the driver's requirements is the newly updated drive source torque.

[0047] In some embodiments, the wheel-end torque and the drive source torque satisfy the following formula: Wheel-end torque = Drive source torque × Drive system parameter × η t ×η f ; where the drive system parameter = Transmission gear ratio × Reducer gear ratio, and η t is the transmission efficiency, and η f is the reducer efficiency.

[0048] Specifically, the torque conversion relationship is stored in the calculation module, reducing the excessive occupation of the storage space of the control device. When it is necessary to calculate the wheel-end torque or the drive source torque, it is calculated through the torque conversion relationship in the calculation module. Only the drive source torque is stored in the control device, taking into account simplifying the parameter calculation method of the vehicle control device while reducing the excessive occupation of the storage space of the control device.

[0049] For example, after parsing the driver's driving intention and associating it with the wheel-end torque, during the calculation process of the wheel-end torque, due to the large data type, it seriously occupies the internal storage space of the control device. Therefore, the present invention aims to propose a method for calculating the wheel-end torque, and at the same time adding the torque conversion relationship during the transmission process of the internal control module, which can reduce the occupation of memory data, avoid storage waste, and the calculation method based on the wheel-end torque can effectively ensure the consistency and universality of the control effect, and at the same time can simplify the work process after the drive system is changed.

[0050] The following refers to Figure 2 to illustrate the steps of calculating the drive source torque in the embodiments of the present invention, and the specific content is as follows.

[0051] Step S4, driver demand collection and analysis.

[0052] Specifically, the driver demand collection information includes collecting the accelerator pedal opening, brake pedal opening, function switch state, drive motor parameters, transmission parameters, and other parameters, such as gear state, etc.; analyzing the collected information to ensure that there are no abnormalities or errors in the collected information.

[0053] Step S5, each torque calculation module of the vehicle controller.

[0054] Specifically, the collected information is sent to the calculation module, and the drive source torque is calculated through the torque conversion relationship in the calculation module. Only the drive source torque is stored in the control device, taking into account simplifying the parameter calculation method of the vehicle control device while reducing the excessive occupation of the storage space of the control device.

[0055] Step S6, calculate the drive source required torque according to the torque transmission path (according to the reduction gear and transmission gear ratio).

[0056] Specifically, according to the formula: wheel-end torque = drive source torque × drive system parameters × η t ×η f ; calculate the drive source required torque.

[0057] Step S7, send the final calculation result to the torque arbitration module.

[0058] Specifically, the Torque Demand Arbitration Module (TDA) is a key component in the vehicle power control system. It is responsible for processing torque requests from different control units or sensors and arbitrating based on preset priorities and rules. Through arbitration, the torque arbitration module can ensure that at any given moment, only one torque request is selected and transmitted to the actuator (such as the engine or motor) to achieve precise control of the vehicle's power output.

[0059] Step S8: The torque arbitration module issues an actual drive source torque command according to the torque transmission path.

[0060] Specifically, the finally calculated drive source demand torque is sent to the torque arbitration module for arbitration. When the drive source demand torque meets the precise control of the vehicle's power output, the torque arbitration module issues an actual drive source torque command according to the torque transmission path, controls the drive source to operate, and outputs the drive source demand torque to make the vehicle drive stably.

[0061] The second aspect embodiment of the present invention provides a vehicle control device, as Figure 3 shown, the vehicle control device 100 includes: at least one processor 101 and a memory 102.

[0062] Among them, the vehicle control device 100 can be a vehicle controller. At least one processor 101 is communicatively connected to the memory 102. A computer program executable by at least one processor 101 is stored in the memory 102. When at least one processor 101 executes the computer program, the vehicle control method is implemented.

[0063] According to the vehicle control device of the embodiment of the present invention, the corresponding vehicle control program can be stored in the memory. When implementing the vehicle control method, the processor runs the program in the memory, obtains the drive source demand torque based on the target wheel-end torque, effectively ensures the consistency and generality of the control effect, and reduces the excessive occupation of the control device storage space by increasing the torque conversion relationship.

[0064] The third aspect embodiment of the present invention provides a commercial vehicle, as Figure 4 shown, the commercial vehicle 200 includes: a vehicle control device 100 and a drive system 201.

[0065] Among them, the vehicle control device 100 is connected to the drive system 201.

[0066] According to the commercial vehicle of the embodiment of the present invention, after the commercial vehicle control device obtains the driver's demand, it searches for the calibration relationship according to the driver's demand to obtain the target wheel-end torque, calculates the drive source demand torque that meets the driver's demand through the target wheel-end torque, and the drive system controls the drive source to output the drive source demand torque, making the wheel-end torque the target for parsing the driver's demand, simplifying the adjustment of control parameters, and obtaining the drive source demand torque based on the target wheel-end torque, effectively ensuring the consistency and versatility of the control effect.

[0067] An embodiment of the fourth aspect of the present invention provides a non-volatile readable storage medium, on which a computer program is stored, and the vehicle control method implemented when the computer program is executed.

[0068] In the description of this specification, any process or method description shown in the flowchart or described in other ways herein can be understood to represent a module, segment, or part of code including one or more executable instructions for implementing a customized logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0069] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as an ordered list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0070] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following technologies well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), and the like.

[0071] Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0072] In addition, each functional unit in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0073] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, or the like. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0074] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, substrates, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0075] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: include: Obtain driver requirements; searching a calibration relationship according to the driver's demand to obtain a target wheel-end torque, wherein the calibration relationship is a mapping relationship between the driver's demand and the wheel-end torque; A driving source required torque that meets the driver's demand is obtained according to the target wheel end torque to control the driving source.

2. The vehicle control method according to claim 1, characterized in that: The driver demand is represented by the opening and closing degree of the accelerator pedal, and the calibration relationship is a mapping relationship between the opening and closing degree of the accelerator pedal and the wheel-end torque.

3. The vehicle control method according to claim 1 or 2, characterized in that: The wheel end torque in the calibration relationship is stored as a driving source torque converted from the current driving system parameters of the vehicle.

4. The vehicle control method according to claim 3, characterized in that: Finding a calibration relationship according to the driver's demand to obtain a target wheel end torque includes: querying the calibration relationship according to the driver's demand to obtain a target driving source torque; The target driving source torque is converted into the target wheel end torque according to the current driving system parameters of the vehicle.

5. The vehicle control method according to claim 4, characterized in that: Obtaining a driving source required torque that meets the driver's demand according to the target wheel end torque includes: When the current drive system parameters of the vehicle do not change, converting the target wheel end torque with the current drive system parameters of the vehicle to obtain the drive source torque that meets the driver's demand; Alternatively, when the current drive system parameters of the vehicle change, the target wheel end torque is converted with the changed drive system parameters of the vehicle to obtain the drive source torque that meets the driver's demand.

6. The vehicle control method according to claim 5, characterized in that: The vehicle control method further includes: When the current driving system parameters of the vehicle change, the driving source torque in the stored calibration relationship is updated with the changed driving system parameters of the vehicle.

7. The vehicle control method according to claim 3, characterized in that: The wheel end torque and the driving source torque satisfy the following formula: Wheel end torque = drive source torque × drive system parameter × η t ×η f ; Wherein, the drive system parameter = gearbox transmission ratio × reducer transmission ratio, η t is the gearbox efficiency, η f is the reducer efficiency.

8. A vehicle control device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and when the at least one processor executes the computer program, the vehicle control method according to any one of claims 1 to 7 is implemented.

9. A commercial vehicle, characterized in that: It comprises the vehicle control device and the drive system as claimed in claim 8, wherein the vehicle control device is connected to the drive system.

10. A non-volatile readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the vehicle control method according to any one of claims 1 to 7 is implemented.

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