Control method and device for vehicle torque under crosswind condition, medium and equipment

Abstract

The invention provides a control method and device for vehicle torque under the crosswind condition, a medium and equipment. The control method comprises the steps that state parameters and environment parameters of a target vehicle in the running process are obtained; based on the state parameters and the environment parameters, the maximum longitudinal moment of the target vehicle is calculated; on the basis of the state parameters, the required longitudinal force of the target vehicle is calculated; calculating a target longitudinal moment of the target vehicle based on the maximum longitudinal moment and the required longitudinal force; in the running process of a target vehicle, state parameters and environment parameters of a device are collected in real time, the maximum longitudinal moment capable of being output when the target vehicle does not sideslip is calculated under the crosswind condition, the required longitudinal force of the target vehicle is calculated, the maximum longitudinal moment and the required longitudinal force are synthesized to obtain the target longitudinal moment of the target vehicle, and the target longitudinal moment is calculated. The sideslip of the target vehicle is avoided, the deviation interference degree of crosswind on the target vehicle is reduced, and the driving safety and the driving stability of the target vehicle are improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicle torque control, and particularly relates to a method, device, medium and equipment for controlling vehicle torque under crosswind conditions. Background Art

[0002] When a vehicle is driving and suddenly encounters a crosswind or other lateral disturbances, the vehicle may deviate from the direction expected by the driver or produce an offset. Especially when the crosswind is relatively strong, the lateral force of the vehicle is large. At this time, if the longitudinal driving force is too small, it is easy to cause the resultant force of the vehicle to deviate from the longitudinal direction, and the vehicle tracking ability is poor, resulting in the vehicle deviating from the expected trajectory (such as deviating from the lane). If the longitudinal driving force is too large, it is easy to cause the wheel force to exceed the friction limit, resulting in side slip. Therefore, a method for controlling vehicle torque under crosswind conditions is needed to avoid vehicle side slip and reduce the deviation amount of the vehicle. Summary of the Invention

[0003] To solve the above technical problems, this application is proposed. Embodiments of this application provide a method, device, medium and equipment for controlling vehicle torque under crosswind conditions.

[0004] According to one aspect of this application, a method for controlling vehicle torque under crosswind conditions is provided, including: obtaining the state parameters and environmental parameters of a target vehicle during operation; wherein, the state parameters include the vehicle static parameters and operation dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; based on the state parameters and the environmental parameters, calculating the maximum longitudinal torque of the target vehicle; wherein, the maximum longitudinal torque represents the maximum torque along the driving direction that the target vehicle can output without side slip during operation; based on the state parameters, calculating the required longitudinal force of the target vehicle; based on the maximum longitudinal torque and the required longitudinal force, calculating the target longitudinal torque of the target vehicle.

[0005] In one embodiment, the calculating the maximum longitudinal torque of the target vehicle based on the state parameters and the environmental parameters includes: calculating the maximum longitudinal force of the target vehicle based on the state parameters and the environmental parameters; wherein, the maximum longitudinal force represents the maximum driving force along the driving direction that the target vehicle can output without side slip during operation; based on the wheel rolling radius, mechanical efficiency of the target vehicle and the maximum longitudinal force, calculating the maximum longitudinal torque.

[0006] In one embodiment, calculating the maximum longitudinal force of the target vehicle based on the state parameters and the environmental parameters includes: calculating the maximum lateral force of the target vehicle based on the state parameters and the environmental parameters; calculating the maximum longitudinal force based on the road adhesion coefficient, the vehicle mass of the target vehicle, and the maximum lateral force.

[0007] In one embodiment, the state parameters include the vehicle mass and the lateral acceleration of the target vehicle; wherein, calculating the maximum lateral force of the target vehicle based on the state parameters and the environmental parameters includes: calculating the lateral acting force of the crosswind on the target vehicle based on the state parameters and the environmental parameters; calculating the lateral driving force of the target vehicle based on the vehicle mass and the lateral acceleration of the target vehicle; calculating the maximum lateral force based on the lateral acting force and the lateral driving force.

[0008] In one embodiment, calculating the required longitudinal force of the target vehicle based on the state parameters includes: calculating the compensation force of the target vehicle under crosswind conditions based on the state parameters; calculating the required longitudinal force based on the compensation force and the desired driving force of the target vehicle.

[0009] In one embodiment, the state parameters include the yaw rate and the lane departure amount of the target vehicle; wherein, calculating the compensation force of the target vehicle under crosswind conditions based on the state parameters includes: calculating the compensation force based on the yaw rate and the lane departure amount.

[0010] In one embodiment, calculating the target longitudinal moment of the target vehicle based on the maximum longitudinal moment and the required longitudinal force includes: calculating the required longitudinal moment of the target vehicle based on the wheel rolling radius, the mechanical efficiency, and the required longitudinal force of the target vehicle; selecting the minimum value of the maximum longitudinal moment and the required longitudinal moment as the target longitudinal moment.

[0011] According to another aspect of the present application, there is provided a control device for vehicle torque under crosswind conditions, including: a vehicle parameter acquisition module, configured to acquire the state parameters and environmental parameters of a target vehicle during operation; wherein, the state parameters include the vehicle static parameters and running dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; a maximum longitudinal torque calculation module, configured to calculate the maximum longitudinal torque of the target vehicle based on the state parameters and the environmental parameters; wherein, the maximum longitudinal torque represents the maximum torque along the driving direction that the target vehicle can output without generating side slip during operation; a required longitudinal force calculation module, configured to calculate the required longitudinal force of the target vehicle based on the state parameters; a target longitudinal torque calculation module, configured to calculate the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force.

[0012] According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing any of the above methods.

[0013] According to another aspect of the present application, there is provided an electronic device, including: a processor; a memory for storing executable instructions of the processor; the processor is configured to execute any of the above methods.

[0014] A control method, device, medium and equipment for vehicle torque under crosswind conditions provided by the present application, by acquiring the state parameters and environmental parameters of a target vehicle during operation; wherein, the state parameters include the vehicle static parameters and running dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; calculating the maximum longitudinal torque of the target vehicle based on the state parameters and the environmental parameters; wherein, the maximum longitudinal torque represents the maximum torque along the driving direction that the target vehicle can output without generating side slip during operation; calculating the required longitudinal force of the target vehicle based on the state parameters; calculating the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force; collecting the state parameters and environmental parameters of the target vehicle in real time during operation, calculating the maximum longitudinal torque that the target vehicle can output without generating side slip under crosswind conditions, and calculating the required longitudinal force of the target vehicle, and obtaining the target longitudinal torque of the target vehicle by integrating the maximum longitudinal torque and the required longitudinal force, so as to avoid side slip of the target vehicle and reduce the deviation interference degree of the crosswind on the target vehicle, and improve the driving safety and driving stability of the target vehicle. Description of the Drawings

[0015] The above and other objects, features, and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a schematic flowchart of a method for controlling vehicle torque under crosswind conditions provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a schematic structural diagram of a device for controlling vehicle torque under crosswind conditions provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application. Detailed Description of the Specific Embodiment

[0019] Next, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0020] Figure 1 It is a schematic flowchart of a method for controlling vehicle torque under crosswind conditions provided by an exemplary embodiment of the present application. As Figure 1 shown, the method for controlling vehicle torque under crosswind conditions includes the following steps: Step 110: Obtain the state parameters and environmental parameters of the target vehicle during operation.

[0021] Among them, the state parameters include the vehicle's static parameters and running dynamic parameters during the operation of the target vehicle, and the environmental parameters include the crosswind parameters during the operation of the target vehicle. The present application collects the state parameters and environmental parameters of the target vehicle in real time during its operation to determine whether the target vehicle is under crosswind conditions and the state parameters under crosswind conditions, so as to more accurately control the output torque of the target vehicle.

[0022] Step 120: Calculate the maximum longitudinal torque of the target vehicle based on the state parameters and environmental parameters.

[0023] Among them, the maximum longitudinal torque represents the maximum torque in the driving direction that the target vehicle can output without skidding during operation. When it is determined that the target vehicle is under crosswind conditions in this application, the maximum longitudinal torque of the target vehicle is calculated based on the state parameters and environmental parameters of the target vehicle, so as to determine the maximum torque in the driving direction that the target vehicle can output without skidding under the current crosswind conditions and operating state, that is, to determine the upper limit value of the longitudinal torque that satisfies the safety of the target vehicle.

[0024] Step 130: Calculate the required longitudinal force of the target vehicle based on the state parameters.

[0025] In this application, the required longitudinal force of the target vehicle is further calculated according to the state parameters of the target vehicle, that is, the longitudinal required force to meet the driving requirements of the target vehicle under the current operating state is obtained.

[0026] Step 140: Calculate the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force.

[0027] After calculating the maximum longitudinal torque and the required longitudinal force, this application combines the maximum longitudinal torque and the required longitudinal force to calculate the target longitudinal torque of the target vehicle, and tries to meet the driving requirements on the premise of ensuring the driving safety and stability of the target vehicle.

[0028] A method for controlling the torque of a vehicle under crosswind conditions provided by this application includes obtaining the state parameters and environmental parameters of the target vehicle during operation; among them, the state parameters include the vehicle static parameters and operation dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; calculating the maximum longitudinal torque of the target vehicle based on the state parameters and environmental parameters; among them, the maximum longitudinal torque represents the maximum torque in the driving direction that the target vehicle can output without skidding during operation; calculating the required longitudinal force of the target vehicle based on the state parameters; calculating the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force; collecting the state parameters and environmental parameters of the target vehicle in real time during the operation of the target vehicle, calculating the maximum longitudinal torque that the target vehicle can output without skidding under crosswind conditions, and calculating the required longitudinal force of the target vehicle, and obtaining the target longitudinal torque of the target vehicle by integrating the maximum longitudinal torque and the required longitudinal force, so as to avoid the skidding of the target vehicle and reduce the deviation interference degree of the crosswind on the target vehicle, and improve the driving safety and stability of the target vehicle.

[0029] In one embodiment, the specific implementation of the above step 120 may be: calculating the maximum longitudinal force of the target vehicle based on the state parameters and environmental parameters; wherein, the maximum longitudinal force represents the maximum driving force in the driving direction that the target vehicle can output without skidding during operation; calculating the maximum longitudinal torque based on the wheel rolling radius, mechanical efficiency, and maximum longitudinal force of the target vehicle.

[0030] This application calculates the maximum longitudinal force at which the target vehicle does not skid under the current crosswind condition and operating state based on the state parameters and environmental parameters of the target vehicle, and calculates the maximum longitudinal torque of the target vehicle in combination with the wheel rolling radius and mechanical efficiency of the target vehicle. Among them, the calculation formula for the maximum longitudinal torque is as follows: ; Wherein, is the maximum longitudinal torque, is the maximum longitudinal force, is the wheel rolling radius, is the mechanical efficiency.

[0031] In one embodiment, the specific implementation of the above step 120 may be: calculating the maximum lateral force of the target vehicle based on the state parameters and environmental parameters; calculating the maximum longitudinal force based on the road surface adhesion coefficient, vehicle mass, and maximum lateral force of the target vehicle.

[0032] This application calculates the maximum lateral force of the target vehicle under the current crosswind condition and operating state based on the state parameters and environmental parameters of the target vehicle, and calculates the maximum longitudinal force of the target vehicle in combination with the road surface adhesion coefficient and vehicle mass of the target vehicle. Among them, the calculation formula for the maximum longitudinal force is as follows: ; Wherein, is the road surface adhesion coefficient of the target vehicle, is the vehicle mass of the target vehicle, is the gravitational acceleration, is the maximum lateral force.

[0033] In one embodiment, the state parameters include the vehicle mass and lateral acceleration of the target vehicle; wherein, the specific implementation of the above step 120 may be: calculating the lateral acting force of the crosswind on the target vehicle based on the state parameters and environmental parameters; calculating the lateral driving force of the target vehicle based on the vehicle mass and lateral acceleration of the target vehicle; calculating the maximum lateral force based on the lateral acting force and lateral driving force.

[0034] This application calculates the lateral force exerted by a crosswind on a target vehicle based on the state parameters and environmental parameters of the target vehicle. At the same time, it calculates the lateral driving force of the target vehicle based on the vehicle mass and lateral acceleration of the target vehicle, and calculates the maximum lateral force by combining the lateral force and the lateral driving force. Among them, the calculation formula for the lateral force exerted by a crosswind on the target vehicle is as follows: ; Among them, is the lateral force, is the air density, is the lateral wind resistance coefficient of the target vehicle (for example, set to 0.8 - 1.2), A is the frontal area (determined according to the static parameters of the whole vehicle of the target vehicle), is the wind speed (obtained from the weather forecast), is the angle between the crosswind direction and the longitudinal axis of the target vehicle (obtained from the weather forecast).

[0035] The calculation formula for the maximum lateral force is as follows: ; Among them, is the lateral acceleration of the target vehicle (measured by an acceleration sensor).

[0036] In one embodiment, the specific implementation manner of the above step 130 may be: based on the state parameters, calculate the compensation force of the target vehicle under crosswind conditions; based on the compensation force and the desired driving force of the target vehicle, calculate the required longitudinal force.

[0037] When this application determines that the target vehicle is under crosswind conditions, it calculates the compensation force of the target vehicle under crosswind conditions according to the state parameters of the target vehicle, and calculates the required longitudinal force of the target vehicle in combination with the desired driving force of the target vehicle. Among them, the calculation formula for the required longitudinal force is as follows: ; Among them, is the required longitudinal force, is the desired driving force, is the compensation force.

[0038] In one embodiment, the state parameters include the yaw rate and lane departure amount of the target vehicle; among them, the specific implementation manner of the above step 130 may be: based on the yaw rate and lane departure amount, calculate the compensation force.

[0039] This application calculates the compensation force of the target vehicle under crosswind conditions according to the yaw rate and lane departure amount of the target vehicle. Among them, the calculation formula for the compensation force is as follows: ; Among them, is the yaw rate of the target vehicle, is the lane departure of the target vehicle, is the yaw rate compensation gain coefficient (which can be determined by real-time matching calibration), is the lane departure compensation gain coefficient (which can be determined by real-time matching calibration).

[0040] In one embodiment, the calculation formula of the desired driving force is as follows: ; where, is the desired acceleration of the driver (obtained by looking up the table according to the depth of the accelerator pedal and the vehicle speed).

[0041] In one embodiment, the specific implementation manner of the above step 140 may be: based on the wheel rolling radius, mechanical efficiency, and required longitudinal force of the target vehicle, calculate the required longitudinal torque of the target vehicle; select the minimum value of the maximum longitudinal torque and the required longitudinal torque as the target longitudinal torque.

[0042] This application calculates the required longitudinal torque of the target vehicle according to the wheel rolling radius, mechanical efficiency, and required longitudinal force of the target vehicle, and selects the minimum value of the maximum longitudinal torque and the required longitudinal torque as the target longitudinal torque. Among them, the calculation formula of the required longitudinal torque is as follows: ; where, is the required longitudinal torque.

[0043] The target longitudinal torque is: .

[0044] Figure 2 is a schematic structural diagram of a vehicle torque control device under crosswind conditions provided by an exemplary embodiment of this application. As Figure 2 shown, the vehicle torque control device 20 under crosswind conditions includes: a vehicle parameter acquisition module 21, configured to acquire the state parameters and environmental parameters of the target vehicle during operation; among them, the state parameters include the vehicle static parameters and operation dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; a maximum longitudinal torque calculation module 22, configured to calculate the maximum longitudinal torque of the target vehicle based on the state parameters and environmental parameters; among them, the maximum longitudinal torque represents the maximum torque along the driving direction that the target vehicle can output without skidding during operation; a required longitudinal force calculation module 23, configured to calculate the required longitudinal force of the target vehicle based on the state parameters; a target longitudinal torque calculation module 24, configured to calculate the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force.

[0045] A control device for vehicle torque under crosswind conditions provided by this application obtains the state parameters and environmental parameters of the target vehicle during operation through the vehicle parameter acquisition module 21; among them, the state parameters include the vehicle static parameters and operation dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; the maximum longitudinal torque calculation module 22 calculates the maximum longitudinal torque of the target vehicle based on the state parameters and environmental parameters; among them, the maximum longitudinal torque represents the maximum torque in the driving direction that the target vehicle can output without side slip during operation; the required longitudinal force calculation module 23 calculates the required longitudinal force of the target vehicle based on the state parameters; the target longitudinal torque calculation module 24 calculates the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force; during the operation of the target vehicle, the state parameters and environmental parameters are collected in real time, the maximum longitudinal torque that the target vehicle can output without side slip is calculated under crosswind conditions, and the required longitudinal force of the target vehicle is calculated. The maximum longitudinal torque and the required longitudinal force are combined to obtain the target longitudinal torque of the target vehicle, so as to avoid side slip of the target vehicle and reduce the deviation interference degree of the crosswind on the target vehicle, and improve the driving safety and driving stability of the target vehicle.

[0046] In one embodiment, the above-mentioned maximum longitudinal torque calculation module 22 can be further configured to: calculate the maximum longitudinal force of the target vehicle based on the state parameters and environmental parameters; among them, the maximum longitudinal force represents the maximum driving force in the driving direction that the target vehicle can output without side slip during operation; calculate the maximum longitudinal torque based on the wheel rolling radius, mechanical efficiency and maximum longitudinal force of the target vehicle.

[0047] In one embodiment, the above-mentioned maximum longitudinal torque calculation module 22 can be further configured to: calculate the maximum lateral force of the target vehicle based on the state parameters and environmental parameters; calculate the maximum longitudinal force based on the road surface adhesion coefficient, vehicle mass and maximum lateral force of the target vehicle.

[0048] In one embodiment, the state parameters include the vehicle mass and lateral acceleration of the target vehicle; among them, the above-mentioned maximum longitudinal torque calculation module 22 can be further configured to: calculate the lateral acting force of the crosswind on the target vehicle based on the state parameters and environmental parameters; calculate the lateral driving force of the target vehicle based on the vehicle mass and lateral acceleration of the target vehicle; calculate the maximum lateral force based on the lateral acting force and the lateral driving force.

[0049] In one embodiment, the above-mentioned required longitudinal force calculation module 23 can be further configured to: calculate the compensation force of the target vehicle under crosswind conditions based on the state parameters; calculate the required longitudinal force based on the compensation force and the desired driving force of the target vehicle.

[0050] In one embodiment, the state parameters include the yaw rate and the lane departure amount of the target vehicle; wherein, the above-mentioned required longitudinal force calculation module 23 can be further configured to: calculate a compensation force based on the yaw rate and the lane departure amount.

[0051] In one embodiment, the above-mentioned target longitudinal torque calculation module 24 can be further configured to: calculate the required longitudinal torque of the target vehicle based on the wheel rolling radius, mechanical efficiency and required longitudinal force of the target vehicle; select the minimum value of the maximum longitudinal torque and the required longitudinal torque as the target longitudinal torque.

[0052] Next, refer to Figure 3 to describe the electronic device according to an embodiment of the present application. The electronic device can be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device can communicate with the first device and the second device to receive the input signals collected from them.

[0053] Figure 3 The block diagram of the electronic device according to an embodiment of the present application is illustrated.

[0054] As Figure 3 shown, the electronic device 10 includes one or more processors 11 and a memory 12.

[0055] The processor 11 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 10 to perform desired functions.

[0056] The memory 12 can include one or more computer program products, and the computer program products can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory can include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory can include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions can be stored on the computer-readable storage medium, and the processor 11 can run the program instructions to implement the methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components can also be stored in the computer-readable storage medium.

[0057] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0058] When the electronic device is a stand-alone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0059] In addition, the input device 13 can also include, for example, a keyboard, a mouse, and so on.

[0060] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, and so on.

[0061] Of course, for simplicity, Figure 3 only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, and so on are omitted. In addition, according to specific application scenarios, the electronic device 10 can also include any other appropriate components.

[0062] In addition to the above methods and devices, an embodiment of the present application can also be a computer program product, which includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the methods according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0063] The computer program product can be written in any combination of one or more programming languages for programming code to perform the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0064] In addition, an embodiment of the present application can also be a computer-readable storage medium, on which computer program instructions are stored that, when run by a processor, cause the processor to execute the steps in the methods according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0065] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0066] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and easy-to-understand purposes, rather than limitations, and the above details do not limit the present application to necessarily adopt the above specific details to implement.

[0067] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0068] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0069] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but to the broadest scope consistent with the principles and novel features disclosed herein.

[0070] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the present application to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A method for controlling the torque of a vehicle under crosswind conditions, characterized in that, Including: Obtain the state parameters and environmental parameters of the target vehicle during operation; wherein, the state parameters include the vehicle static parameters and running dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; Based on the state parameters and the environmental parameters, calculate the maximum longitudinal torque of the target vehicle; wherein, the maximum longitudinal torque represents the maximum torque in the driving direction that the target vehicle can output without skidding during operation; Based on the state parameters, calculate the required longitudinal force of the target vehicle; Based on the maximum longitudinal torque and the required longitudinal force, calculate the target longitudinal torque of the target vehicle.

2. The method for controlling the torque of a vehicle under crosswind conditions according to claim 1, characterized in that, The calculating the maximum longitudinal torque of the target vehicle based on the state parameters and the environmental parameters includes: Based on the state parameters and the environmental parameters, calculate the maximum longitudinal force of the target vehicle; wherein, the maximum longitudinal force represents the maximum driving force in the driving direction that the target vehicle can output without skidding during operation; Based on the wheel rolling radius, mechanical efficiency of the target vehicle and the maximum longitudinal force, calculate the maximum longitudinal torque.

3. The method for controlling the torque of a vehicle under crosswind conditions according to claim 2, characterized in that, The calculating the maximum longitudinal force of the target vehicle based on the state parameters and the environmental parameters includes: Based on the state parameters and the environmental parameters, calculate the maximum lateral force of the target vehicle; Based on the road surface adhesion coefficient, vehicle mass of the target vehicle and the maximum lateral force, calculate the maximum longitudinal force.

4. The method for controlling the vehicle torque under crosswind conditions according to claim 3, characterized in that, The state parameters include the vehicle mass and lateral acceleration of the target vehicle; wherein, the calculating the maximum lateral force of the target vehicle based on the state parameters and the environmental parameters includes: Based on the state parameters and the environmental parameters, calculate the lateral acting force of the crosswind on the target vehicle; Based on the vehicle mass and lateral acceleration of the target vehicle, calculate the lateral driving force of the target vehicle; Based on the lateral acting force and the lateral driving force, calculate the maximum lateral force.

5. The control method of vehicle torque under crosswind conditions according to claim 1, characterized in that, The calculating the required longitudinal force of the target vehicle based on the state parameters includes: Based on the state parameters, calculate the compensation force of the target vehicle under crosswind conditions; Based on the compensation force and the desired driving force of the target vehicle, calculate the required longitudinal force.

6. The method for controlling the torque of a vehicle under crosswind conditions according to claim 5, wherein The state parameters include the yaw rate and lane departure amount of the target vehicle; wherein, the calculating the compensation force of the target vehicle under crosswind conditions based on the state parameters includes: Based on the yaw rate and the lane departure amount, calculate the compensation force.

7. The method for controlling the vehicle torque under crosswind conditions according to claim 1, wherein The calculating the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force includes: Based on the wheel rolling radius, mechanical efficiency of the target vehicle and the required longitudinal force, calculate the required longitudinal torque of the target vehicle; Select the minimum value of the maximum longitudinal torque and the required longitudinal torque as the target longitudinal torque.

8. A control device for vehicle torque under crosswind conditions, characterized in that, Including: A vehicle parameter acquisition module for acquiring the state parameters and environmental parameters of a target vehicle during operation; wherein, the state parameters include the vehicle static parameters and running dynamic parameters of the target vehicle during operation, and the environmental parameters include the crosswind parameters of the target vehicle during operation; A maximum longitudinal torque calculation module for calculating the maximum longitudinal torque of the target vehicle based on the state parameters and the environmental parameters; wherein, the maximum longitudinal torque represents the maximum torque in the driving direction that the target vehicle can output without generating side slip during operation; A required longitudinal force calculation module for calculating the required longitudinal force of the target vehicle based on the state parameters; A target longitudinal torque calculation module for calculating the target longitudinal torque of the target vehicle based on the maximum longitudinal torque and the required longitudinal force.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for executing the method according to any one of claims 1-7 above.

10. An electronic device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 1-7 above.

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