Torque control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a torque control method and device, electronic equipment and a storage medium, and relates to the technical field of intelligent control. Target demand torque needed when a vehicle is in an intelligent driving mode is determined, and based on the target demand torque, the target virtual pedal opening degree corresponding to the target demand torque is determined; based on the target virtual pedal opening degree, the target demand torque and a torque response slope table used when the vehicle is in the non-intelligent driving mode, the target torque response slope is determined, the torque response slope table is used for representing torque response slopes corresponding to multiple sets of working parameters respectively, and one set of working parameters comprise the pedal opening degree and the demand torque; the torque response slope is used for representing the torque change amplitude per unit time, determining the target torque response slope, and adjusting the torque output by the vehicle to the target demand torque based on the target torque response slope, so that the convenience of torque control can be improved.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and more specifically, to a torque control method, device, electronic device, and storage medium. Background Art

[0002] In some vehicles, an intelligent driving mode is configured. The intelligent driving mode, also known as the autonomous driving mode or driverless mode, refers to the function that the vehicle realizes partial or full autonomous driving by integrating advanced sensors, algorithms, control systems, and artificial intelligence technologies. In addition, the driver can also switch to the manual driving mode to drive the vehicle independently.

[0003] In the related art, during the driving process of the vehicle, there is a situation where the vehicle torque needs to be adjusted. At this time, it is necessary to obtain the torque response slope from the torque response slope table, and then adjust the vehicle torque according to the torque response slope.

[0004] However, the torque response slope tables corresponding to the intelligent driving mode and the manual driving mode need to be calibrated separately, resulting in very inconvenient torque control. Summary of the Invention

[0005] The embodiments of this application propose a torque control method, device, electronic device, and storage medium, which can reuse the torque response slope table of the manual driving mode when the vehicle is in the intelligent driving mode, thereby improving the convenience of torque control.

[0006] In a first aspect, the embodiments of this application propose a torque control method, including:

[0007] Determine the target required torque when the vehicle is in the intelligent driving mode; based on the target required torque, determine the target virtual pedal opening corresponding to the target required torque; based on the target virtual pedal opening, the target required torque, and the torque response slope table used when the vehicle is in the non-intelligent driving mode, determine the target torque response slope, where the torque response table is used to represent the torque response slope corresponding to each set of working parameters, a set of working parameters includes a pedal opening and a required torque, and the torque response slope is used to represent the torque change amplitude per unit time; based on the target torque response slope, adjust the torque output by the vehicle to the target required torque.

[0008] In this embodiment, by determining the target required torque when the vehicle is in the intelligent driving mode, based on the target required torque, determining the target virtual pedal opening corresponding to the target required torque, and calling the torque response slope table used when the vehicle is in the non-intelligent driving mode, the torque response table is used to represent the torque response slopes corresponding to multiple sets of working parameters, and a set of working parameters includes a pedal opening and a required torque, and the torque response slope is used to represent the torque change amplitude per unit time. Based on the target virtual pedal opening, the target required torque, and the torque response slope table, determining the target torque response slope, and based on the target torque response slope, adjusting the torque output by the vehicle to the target required torque. In this way, even when there is no pedal opening parameter in the intelligent driving mode, the target virtual pedal opening can be calculated. Then, using the target virtual pedal opening, the target required torque, and the torque response slope table used in the non-intelligent driving mode, the target torque response slope is determined, and further the torque output by the vehicle is adjusted to the target required torque. It can be seen from this that even when there is no pedal opening in the intelligent driving mode, the torque response slope table used in the non-intelligent driving mode can be reused, so it is not necessary to separately calibrate the torque response slope table used in the intelligent driving mode, and thus the convenience of torque control can be improved. Moreover, since the torque response slope table used in the non-intelligent driving mode can be reused in the intelligent driving mode, by retaining the torque response slope table used in the non-intelligent driving mode without the torque response slope table corresponding to the intelligent driving mode, the storage resources required to store the torque response slope table can also be reduced, and thus the storage resources required for torque control can be reduced.

[0009] In a possible implementation manner, based on the target required torque, determining the target virtual pedal opening corresponding to the target required torque includes:

[0010] Determining the torque ratio between the target required torque and the maximum torque corresponding to the intelligent driving mode; determining the target virtual pedal opening corresponding to the target required torque based on the torque ratio, where the target virtual pedal opening is linearly and positively correlated with the torque ratio.

[0011] In this embodiment, determining the torque ratio between the target required torque and the maximum torque corresponding to the intelligent driving mode; determining the target virtual pedal opening corresponding to the target required torque based on the torque ratio. In this way, the maximum torque corresponding to the intelligent driving mode can be used, and thus the utilization rate of the torque response slope table can be improved.

[0012] In a possible implementation manner, based on the target torque response slope, adjusting the torque output by the vehicle to the target required torque includes:

[0013] Modify the target torque response slope to obtain the modified target torque response slope; adjust the torque output by the vehicle to the target demand torque according to the modified target torque response slope.

[0014] In this embodiment, by modifying the target torque response slope to obtain the modified target torque response slope; adjusting the torque output by the vehicle to the target demand torque according to the modified target torque response slope. Since the target torque response slope is modified and then the torque output by the vehicle is adjusted to the target demand torque according to the modified target torque response slope, the accuracy of torque control can be improved.

[0015] In a possible implementation, modifying the target torque response slope to obtain the modified target torque response slope includes:

[0016] Obtain a torque correction coefficient; use the torque correction coefficient to modify the target torque response slope to obtain the product result between the torque correction coefficient and the target torque response slope, and determine the product result as the modified target torque response slope.

[0017] In this embodiment, by obtaining a torque correction coefficient; using the torque correction coefficient to modify the target torque response slope to obtain the product result between the torque correction coefficient and the target torque response slope, and determining the product result as the modified target torque response slope. Since the product result between the torque correction coefficient and the target torque response slope is used as the modified target torque response slope, the target torque response slope can be linearly adjusted, and the accuracy of modifying the target torque response slope can be improved.

[0018] In a possible implementation, obtaining the torque correction coefficient includes:

[0019] Determine the target driving scenario when the vehicle is in the intelligent driving mode; based on the target driving scenario, determine the torque correction coefficient corresponding to the target driving scenario.

[0020] In this embodiment, by determining the target driving scenario when the vehicle is in the intelligent driving mode; based on the target driving scenario, determining the torque correction coefficient corresponding to the target driving scenario. In this way, the accuracy of the determined torque correction coefficient can be improved, and then the accuracy of modifying the target torque response coefficient can be improved, which is beneficial to improving the accuracy of torque control and the driver's experience.

[0021] In a possible implementation, based on the target driving scenario, determining the torque correction coefficient corresponding to the target driving scenario includes:

[0022] In response to the target driving scenario being an acceleration scenario or a deceleration scenario within a preset time period, determine that the torque correction coefficient corresponding to the acceleration scenario or the deceleration scenario is the first torque correction coefficient; in response to the target driving scenario being a scenario of alternating acceleration and deceleration within a preset time period, determine that the torque correction coefficient corresponding to the scenario of alternating acceleration and deceleration is the second torque correction coefficient, where the second torque correction coefficient is less than the first torque correction coefficient.

[0023] In this embodiment, if the target driving scenario is a single acceleration scenario or a deceleration scenario, such as a starting acceleration or an overtaking lane change scenario, the torque correction coefficient corresponding to the acceleration scenario can be determined as the larger first torque correction coefficient. In this way, the corrected target torque response coefficient is also larger, enabling the vehicle to have sufficient acceleration torque or braking torque. In addition, if the target driving scenario is a scenario of alternating acceleration and deceleration within a preset time period, such as when the vehicle is in a congested following cruise condition, the corresponding torque correction coefficient is determined as the smaller second torque correction coefficient. In this way, the corrected target torque response coefficient is smaller, and the acceleration or deceleration of the vehicle is smoother, thereby improving the driver experience.

[0024] In a possible implementation manner, based on the target virtual pedal opening, the target required torque, and the torque response slope table, determining the target torque response slope includes:

[0025] If the pedal opening in one set of working parameters in the target torque response slope table is consistent with the target virtual pedal opening, and the required torque in one set of working parameters is consistent with the target required torque, then determine the torque response slope corresponding to one set of working parameters as the target torque response slope; if the pedal opening in any set of working parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of working parameters is inconsistent with the target required torque, then perform fitting based on the torque response slopes corresponding to the multiple sets of working parameters represented by the torque response table to obtain the target torque response slope.

[0026] In this embodiment, if the pedal opening in one set of working parameters in the target torque response slope table is consistent with the target virtual pedal opening, and the required torque in one set of working parameters is consistent with the target required torque, it indicates that the torque response slope corresponding to this one set of working parameters is exactly the torque response slope corresponding to the current working condition of the vehicle. Therefore, the torque response slope corresponding to this one set of working parameters can be used as the target torque response slope. If the pedal opening in any set of working parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of working parameters is inconsistent with the target required torque, it indicates that the torque response slope corresponding to any set of working parameters is not the torque response slope corresponding to the current working condition of the vehicle. Therefore, it is necessary to perform fitting based on the torque response slopes corresponding to the multiple sets of working parameters represented by the torque response table to obtain the target torque response slope.

[0027] In a second aspect, an embodiment of the present application provides a torque control device, including:

[0028] A required torque determination module, configured to determine the target required torque when the vehicle is in the intelligent driving mode; a virtual pedal opening determination module, configured to determine the target virtual pedal opening corresponding to the target required torque based on the target required torque; a torque response slope determination module, configured to determine the target torque response slope based on the target virtual pedal opening, the target required torque, and the torque response slope table used when the vehicle is in the non-intelligent driving mode, where the torque response table is used to represent the torque response slopes corresponding to multiple sets of working parameters, one set of working parameters includes a pedal opening and a required torque, and the torque response slope is used to represent the torque change amplitude per unit time; a torque control module, configured to adjust the torque output by the vehicle to the target required torque based on the target torque response slope.

[0029] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where: the memory is used to store a computer program; the processor is configured to execute the program stored on the memory to implement the above method.

[0030] In a fourth aspect, a computer-readable storage medium provided by the present application stores a computer program, and when the computer program is executed by a processor, the above method is implemented. Description of the Drawings

[0031] Figure 1 It is a schematic flowchart of a torque control method provided by an embodiment of the present application;

[0032] Figure 2 It is a schematic flowchart of another torque control method provided by an embodiment of the present application;

[0033] Figure 3 Schematic structural diagram of a torque control device provided by an embodiment of the present application;

[0034] Figure 4 Structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0035] In order to make the technical problems, technical solutions and beneficial effects solved by the present application clearer and more understandable, the present application will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] In the related art, during the driving process of a vehicle, there is a situation where it is necessary to adjust the torque of the vehicle. At this time, it is necessary to obtain the torque response slope from the torque response slope table, and then adjust the vehicle torque according to the torque response slope.

[0037] When the intelligent driving function is not activated, that is, when the driver is driving the vehicle, the vehicle control unit (VCU) can calibrate the required torque according to the current vehicle speed and the accelerator pedal opening, and further calibrate the torque response slope according to the required torque and the accelerator pedal opening. After the intelligent driving function is activated, the intelligent driving system combines the target cruise vehicle speed set by the driver and the information of the front obstacles sensed by sensors such as cameras and radars, and calculates the required driving target torque of the vehicle in real time and sends it to the vehicle control unit. Since the torque is calculated by the intelligent driving controller after entering the intelligent driving mode and there is no accelerator pedal opening value, it is necessary to separately calibrate the relationship table between the required torque and the response slope, and this calibration work is time-consuming and laborious, resulting in very inconvenient torque control.

[0038] In view of this, the embodiments of the present application provide a torque control method, device, electronic device and storage medium, which can reuse the torque response slope table in the human driving mode when the vehicle is in the intelligent driving mode, thereby improving the convenience of torque control.

[0039] Please refer to Figure 1 , Figure 1 Schematic flow chart of a torque control method provided by an embodiment of the present application. As Figure 1 shown, the method can be executed by an electronic device, and the electronic device can be, for example, a vehicle. As Figure 1 shown, the method may include:

[0040] S110. Determine the target required torque when the vehicle is in the intelligent driving mode.

[0041] Among them, the target required torque may refer to the torque required by a vehicle in the intelligent driving mode. That is to say, when the vehicle is in the intelligent driving mode, it is expected to adjust the torque to the target required torque. For example, adjust the torque from the current torque to the target required torque. Among them, the intelligent driving mode can be divided into 6 levels (L0 - L5). L0 - L2: Driving assistance (the driver monitors the whole process), such as Adaptive Cruise Control (ACC), Lane Keeping Assist (LKA), etc. L3: Conditional automated driving (the system takes the lead, and the driver needs to take over in case of an emergency). L4 - L5: Highly to fully automated driving (no driver intervention).

[0042] It should be noted that the target cruise speed set by the driver can be obtained in real time; and the information of the obstacles ahead sensed by sensors such as cameras and radars; and then the target required torque is calculated based on the target cruise speed and the information of the obstacles ahead. The target cruise speed is the constant driving speed that the driver expects the vehicle to maintain, usually set by the driver through the vehicle's control interface (such as the cruise control button or touch screen). If the current speed is lower than the target cruise speed, torque needs to be increased to accelerate. If the current speed is higher than the target cruise speed, torque needs to be reduced to decelerate. If there are obstacles ahead (such as the vehicle ahead decelerates), the target required torque needs to be adjusted according to the safe distance and relative speed. For example, if the vehicle ahead suddenly decelerates, the system needs to calculate the torque required for deceleration to avoid collision. The calculation of the target required torque is usually based on the vehicle's dynamic model and control strategy. A simple model may only consider the speed difference and acceleration requirements, while a complex model will also consider factors such as vehicle mass, road conditions, air resistance, etc., which are not specifically limited here.

[0043] S120. Based on the target required torque, determine the target virtual pedal opening corresponding to the target required torque.

[0044] Among them, the pedal opening refers to the angle or distance that the pedal moves from the initial position (fully released state) to the current position when the driver operates the accelerator pedal (throttle pedal) or the brake pedal, usually expressed as a percentage. It reflects the driver's demand for the vehicle's power output or braking force. In this embodiment, the pedal opening can be the accelerator pedal opening or the brake (also known as deceleration) pedal opening. It should be understood that since the driver may not need to operate the pedal when in the intelligent driving mode, the pedal may be in the initial position at this time, and the target virtual pedal opening in this embodiment is a calculated pedal opening, and this target virtual pedal opening can be used to determine the torque response slope.

[0045] S130. Determine a target torque response slope based on the target virtual pedal opening, the target required torque, and a torque response slope table used when the vehicle is in a non-intelligent driving mode. The torque response table is used to represent the torque response slopes corresponding to multiple sets of operating parameters. One set of operating parameters includes a pedal opening and a required torque. The torque response slope is used to represent the torque change amplitude per unit time.

[0046] Among them, the non-intelligent driving mode can also be referred to as the human driving mode. In this embodiment, the torque response table may include the torque response slopes corresponding to the respective operating parameters among multiple sets of operating parameters. Exemplarily, it may be that the response torque slope 1 corresponds to the pedal opening 1 and the required torque 1, the response torque slope 1 corresponds to the pedal opening 1 and the required torque 2, the response torque slope 3 corresponds to the pedal opening 2 and the required torque 1, and the response torque slope 4 corresponds to the pedal opening 2 and the required torque 2. That is to say, the influencing factors of the torque response slope at least include the pedal opening and the required torque.

[0047] Among them, the target torque response slope may be the determined torque response slope. In this embodiment, the target torque response slope may be found from the torque response slope table based on the target virtual pedal opening and the target required torque, or calculated from the torque response slope table based on the target virtual pedal opening and the target required torque, which is related to the pedal opening and the required torque recorded in the torque response slope table, and is not limited here.

[0048] S140. Adjust the torque output by the vehicle to the target required torque based on the target torque response slope.

[0049] In this embodiment, it may be based on the target torque response slope to adjust the torque output by the vehicle from the current torque to the target required torque.

[0050] In this embodiment, by determining the target required torque when the vehicle is in the intelligent driving mode, based on the target required torque, determining the target virtual pedal opening corresponding to the target required torque, and invoking the torque response slope table used when the vehicle is in the non-intelligent driving mode, the torque response table is used to represent the torque response slopes corresponding to multiple sets of working parameters, and a set of working parameters includes a pedal opening and a required torque, and the torque response slope is used to represent the torque change amplitude per unit time. Based on the target virtual pedal opening, the target required torque, and the torque response slope table, determining the target torque response slope, and based on the target torque response slope, adjusting the torque output by the vehicle to the target required torque. In this way, even when there is no pedal opening parameter in the intelligent driving mode, the target virtual pedal opening can be calculated. Then, using the target virtual pedal opening, the target required torque, and the torque response slope table used in the non-intelligent driving mode, determining the target torque response slope, and further adjusting the torque output by the vehicle to the target required torque. It can be seen from this that even when there is no pedal opening in the intelligent driving mode, the torque response slope table used in the non-intelligent driving mode can be reused, so it is not necessary to separately calibrate the torque response slope table used in the intelligent driving mode, thereby improving the convenience of torque control. Moreover, since the torque response slope table used in the non-intelligent driving mode can be reused in the intelligent driving mode, by retaining the torque response slope table used in the non-intelligent driving mode instead of the torque response slope table corresponding to the intelligent driving mode, the storage resources required to store the torque response slope table can also be reduced, thereby reducing the storage resources required for torque control.

[0051] Next, an exemplary description will be given of how to determine the target virtual pedal opening.

[0052] In a possible implementation manner, determining the target virtual pedal opening corresponding to the target required torque based on the target required torque includes:

[0053] Determining the torque ratio between the target required torque and the maximum torque corresponding to the intelligent driving mode; determining the target virtual pedal opening corresponding to the target required torque based on the torque ratio, where the target virtual pedal opening is linearly positively correlated with the torque ratio.

[0054] Among them, the maximum torque corresponding to the intelligent driving mode can be less than or equal to the maximum torque that the vehicle can provide, and the maximum torque corresponding to the intelligent driving mode can be set as needed, and there is no limitation here. Linear positive correlation means that there is a positive and linear relationship between two variables, that is, when one variable increases, the other variable also increases accordingly, and this increasing trend is represented as an upward straight line in the coordinate system. In this embodiment, when the torque ratio increases, the target virtual pedal opening also increases.

[0055] Exemplarily, virtual pedal opening = intelligent driving demand torque / maximum torque required for intelligent driving function × 100%.

[0056] It should be noted that the calculated virtual pedal opening can be used as the target virtual pedal opening, or the target virtual pedal opening can be obtained by multiplying the calculated virtual pedal opening by a coefficient, which is not limited here.

[0057] In this embodiment, the torque ratio between the target demand torque and the maximum torque corresponding to the intelligent driving mode is determined; based on the torque ratio, the target virtual pedal opening corresponding to the target demand torque is determined. In this way, the maximum torque corresponding to the intelligent driving mode can be utilized, and thus, the utilization rate of the torque response slope table can be improved.

[0058] In a possible implementation manner, adjusting the torque output by the vehicle to the target demand torque based on the target torque response slope includes:

[0059] Correcting the target torque response slope to obtain a corrected target torque response slope; adjusting the torque output by the vehicle to the target demand torque according to the corrected target torque response slope.

[0060] It should be noted that in this embodiment, the corrected target torque response slope can be less than the target torque response slope before correction, or the corrected target torque response slope can be greater than the target torque response slope before correction, which is related to the correction method and is not limited here.

[0061] In this embodiment, by correcting the target torque response slope to obtain a corrected target torque response slope; adjusting the torque output by the vehicle to the target demand torque according to the corrected target torque response slope. Since the target torque response slope is corrected and then the torque output by the vehicle is adjusted to the target demand torque according to the corrected target torque response slope, in this way, the accuracy of torque control can be improved.

[0062] In another possible implementation manner, the torque output by the vehicle can also be adjusted to the target demand torque according to the target torque response slope, in this way, the efficiency of torque control can be improved.

[0063] In a possible implementation manner, correcting the target torque response slope to obtain a corrected target torque response slope includes:

[0064] Obtaining a torque correction coefficient; correcting the target torque response slope by using the torque correction coefficient to obtain the product result between the torque correction coefficient and the target torque response slope, and determining the product result as the corrected target torque response slope.

[0065] Exemplarily, assuming the torque correction coefficient is K, the product result between the torque correction coefficient and the target torque response slope can be, for example: Corrected target torque response slope = Target torque response slope * K. Wherein, K can be a value other than 1.

[0066] In this embodiment, the torque correction coefficient can be obtained; the target torque response slope is corrected by using the torque correction coefficient to obtain the product result between the torque correction coefficient and the target torque response slope, and the product result is determined as the corrected target torque response slope. Since the product result between the torque correction coefficient and the target torque response slope is used as the corrected target torque response slope, the target torque response slope can be linearly adjusted, improving the accuracy of the correction of the target torque response slope.

[0067] In another possible implementation, it can also be to correct the target torque response slope according to a preset torque response slope adjustment amplitude. For example, increase or decrease the preset torque response slope adjustment amplitude on the basis of the target torque response slope, so as to obtain the corrected target torque response slope. In this way, the computing power resources required for correcting the target torque response slope can be reduced.

[0068] In a possible implementation, obtaining the torque correction coefficient includes:

[0069] Determine the target driving scenario when the vehicle is in the intelligent driving mode; based on the target driving scenario, determine the torque correction coefficient corresponding to the target driving scenario.

[0070] Wherein, the target driving scenario can be the driving scenario when the vehicle is in the intelligent driving mode. The driving scenario can be the sum of various environments and conditions faced during driving, including road conditions, traffic conditions, weather conditions, and other aspects.

[0071] In this embodiment, by determining the target driving scenario when the vehicle is in the intelligent driving mode; based on the target driving scenario, determining the torque correction coefficient corresponding to the target driving scenario, in this way, the accuracy of the determined torque correction coefficient can be improved, and further the correction accuracy of the target torque response coefficient can be improved, which is beneficial to improving the accuracy of torque control and the driver's experience.

[0072] In a possible implementation, based on the target driving scenario, determining the torque correction coefficient corresponding to the target driving scenario includes:

[0073] In response to the target driving scenario being an acceleration scenario or a deceleration scenario within a preset time period, determine that the torque correction coefficient corresponding to the acceleration scenario or the deceleration scenario is the first torque correction coefficient; in response to the target driving scenario being a scenario with alternating acceleration and deceleration within a preset time period, determine that the torque correction coefficient corresponding to the scenario with alternating acceleration and deceleration is the second torque correction coefficient, where the second torque correction coefficient is less than the first torque correction coefficient.

[0074] Among them, the second torque correction coefficient can be a coefficient less than 1, and the first torque correction coefficient can be a coefficient greater than 1.

[0075] In this embodiment, if the target driving scenario is a single acceleration scenario or deceleration scenario, such as a starting acceleration or overtaking lane change scenario, it can be determined that the torque correction coefficient corresponding to the acceleration scenario is a larger first torque correction coefficient. In this way, the corrected target torque response coefficient is also larger, which can enable the vehicle to have sufficient acceleration torque or braking torque. In addition, if the target driving scenario is a scenario with alternating acceleration and deceleration within a preset time period, such as when the vehicle is in a congested following cruise condition, determine that the corresponding torque correction coefficient is a smaller second torque correction coefficient. In this way, the corrected target torque response coefficient is smaller, and the acceleration or deceleration of the vehicle is smoother, thereby improving the driver experience.

[0076] In a possible implementation manner, based on the target virtual pedal opening, the target required torque, and the torque response slope table, determining the target torque response slope includes:

[0077] If the pedal opening in one set of working parameters in the target torque response slope table is consistent with the target virtual pedal opening, and the required torque in one set of working parameters is consistent with the target required torque, then determine the torque response slope corresponding to one set of working parameters as the target torque response slope; if the pedal opening in any set of working parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of working parameters is inconsistent with the target required torque, then perform fitting based on the torque response slopes corresponding to the multiple sets of working parameters represented by the torque response table to obtain the target torque response slope.

[0078] In this embodiment, if the pedal opening in one set of working parameters in the target torque response slope table is the same as the target virtual pedal opening, and the required torque in one set of working parameters is the same as the target required torque, it indicates that the torque response slope corresponding to this one set of working parameters is exactly the torque response slope corresponding to the current vehicle condition. Therefore, the torque response slope corresponding to this one set of working parameters can be used as the target torque response slope. If the pedal opening in any set of working parameters in the target torque response slope table is not the same as the target virtual pedal opening, or the required torque in any set of working parameters is not the same as the target required torque, it indicates that the torque response slope corresponding to any set of working parameters is not the torque response slope corresponding to the current vehicle condition. Therefore, it is necessary to perform fitting based on the torque response slopes corresponding to the multiple sets of working parameters represented by the torque response table to obtain the target torque response slope.

[0079] In a possible implementation manner, the way of difference calculation can be, for example, to obtain at least two sets of fitting working parameters from the multiple sets of working parameters. Among them, the two required torques in the at least two sets of fitting working parameters are the required torques closest to the target required torque, and the two pedal openings in the at least two sets of fitting working parameters are the pedal openings closest to the target virtual pedal opening. Then, perform fitting based on the torque response slopes corresponding to the at least two sets of fitting working parameters respectively to obtain the target torque response slope. Optionally, the average value of the torque response slopes corresponding to the two sets of fitting working parameters can be calculated or the difference can be calculated to obtain the target torque response slope.

[0080] Exemplarily, assume that the multiple sets of working parameters include the torque response slope 1 corresponding to the pedal opening of 10% and the required torque of 100N, the torque response slope 2 corresponding to the pedal opening of 20% and the required torque of 100N, the torque response slope 3 corresponding to the pedal opening of 30% and the required torque of 100N, the torque response slope 4 corresponding to the pedal opening of 10% and the required torque of 200N, the torque response slope 5 corresponding to the pedal opening of 20% and the required torque of 200N, the torque response slope 6 corresponding to the pedal opening of 20% and the required torque of 300N, the torque response slope 7 corresponding to the pedal opening of 30% and the required torque of 100N, the torque response slope 8 corresponding to the pedal opening of 30% and the required torque of 200N, and the torque response slope 9 corresponding to the pedal opening of 30% and the required torque of 300N. If the target virtual pedal opening is 25% and the target required torque is 100, then obtain the torque response slope 2 and the torque response slope 3 for fitting; if the target virtual pedal opening is 25% and the target required torque is 150, then obtain the torque response slope 2, the torque response slope 3, the torque response slope 5, and the torque response slope 8 for fitting.

[0081] In this embodiment, if the pedal opening in a set of working parameters in the target torque response slope table is consistent with the target virtual pedal opening, and the required torque in a set of working parameters is consistent with the target required torque, then the torque response slope corresponding to the set of working parameters is determined as the target torque response slope; if the pedal opening in any set of working parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of working parameters is inconsistent with the target required torque, then a fit is performed based on the torque response slopes corresponding to the multiple sets of working parameters represented by the torque response table to obtain the target torque response slope. Since it is when the pedal opening in any set of working parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of working parameters is inconsistent with the target required torque, then a fit is performed based on the torque response slopes corresponding to the multiple sets of working parameters represented by the torque response table to obtain the target torque response slope, this can improve the accuracy of the obtained target torque response slope, and thus improve the accuracy of torque control.

[0082] In another possible implementation, the torque response slope corresponding to one of the working parameters can also be used as the target torque response slope. For example, the torque response slope corresponding to the required torque closest to the target required torque and the pedal opening closest to the target virtual pedal opening is used as the target torque response slope. In this way, the efficiency of the target torque response slope can be improved, and thus the efficiency of torque control can be improved.

[0083] For ease of understanding, the following embodiments illustrate the torque control of this application embodiment by reusing the torque response slope table and using a correction coefficient.

[0084] Please refer to Figure 2 , Figure 2 which is a schematic flow chart of another torque control method provided by the embodiment of this application. As Figure 2 shown, the method may include:

[0085] S210. The intelligent driving system obtains vehicle operation data in real time.

[0086] Among them, the vehicle operation data in this embodiment can be, for example, the target cruise speed set by the driver; and the information of the front obstacle sensed by sensors such as cameras and radars, etc., which is not limited here. The intelligent driving system can be a system that controls the vehicle after the vehicle enters the intelligent driving mode.

[0087] S220. The intelligent driving system calculates the target required torque based on the vehicle operation data.

[0088] Among them, the method of calculating the target required torque based on the vehicle operation data can refer to the description of the above embodiment and will not be elaborated here.

[0089] S230. The vehicle controller calculates the target virtual pedal opening degree.

[0090] Among them, the vehicle controller and the processor equipped with the intelligent driving system can be different processors. The method for calculating the target virtual pedal opening degree can refer to the description of the above embodiments and will not be elaborated here.

[0091] S240. The vehicle controller obtains the target torque response slope by querying the torque response slope table.

[0092] Among them, the method for obtaining the target torque response slope by querying the torque response slope table can refer to the description of the above embodiments and will not be elaborated here.

[0093] S250. The intelligent driving system outputs the torque correction coefficient K.

[0094] Among them, the determination method of the torque correction coefficient K can refer to the description of the above embodiments and will not be elaborated here.

[0095] S260. The vehicle controller corrects the target torque response slope by using the torque correction coefficient K, and executes the target demand torque by using the corrected target torque response slope.

[0096] Among them, the method of correcting the target torque response slope by using the torque correction coefficient K and executing the target demand torque by using the corrected target torque response slope can refer to the description of the above embodiments.

[0097] Exemplarily, in this embodiment, the target cruise speed set by the driver is obtained in real time; the information of the front obstacle sensed by sensors such as cameras and radars; the intelligent driving system calculates the target demand torque and sends it to the vehicle controller VCU; the vehicle controller VCU calculates the target virtual accelerator pedal opening degree; the vehicle controller VCU combines the demand torque and the virtual accelerator pedal opening degree to query the torque response slope table to obtain the current torque response slope value (target torque response slope), and the intelligent driving system judges the current acceleration intention based on the scenario and outputs the corresponding K coefficient to correct the torque response slope; the vehicle controller VCU multiplies the torque response slope obtained by looking up the table by the correction coefficient K and finally executes the torque request of the intelligent driving system.

[0098] In this embodiment, the intelligent driving system obtains vehicle operation data in real time. The intelligent driving system calculates the target required torque based on the vehicle operation data. The vehicle control unit calculates the target virtual pedal opening. The vehicle control unit obtains the target torque response slope by querying the torque response slope table. The intelligent driving system outputs a torque correction coefficient K. The vehicle control unit uses the torque correction coefficient K to correct the target torque response slope and executes the target required torque using the corrected target torque response slope. In this way, the control of torque can be achieved through the cooperation of the intelligent driving system and the vehicle control unit. Compared with achieving torque control only through the vehicle control unit or the intelligent driving system, the computing resources required for the intelligent driving system and the vehicle control unit to achieve torque control can be reduced.

[0099] In another possible implementation, torque control can also be achieved through the vehicle control unit or the intelligent driving system, which can reduce the number of controllers or processors required to achieve torque control.

[0100] Generally speaking, the intelligent driving system obtains vehicle information in real time, calculates the driving target torque required by the host vehicle, and sends it to the vehicle control unit VCU; the vehicle control unit VCU calculates the corresponding virtual acceleration pedal opening according to the target torque; the vehicle control unit VCU obtains the torque response slope by looking up the table based on the virtual acceleration pedal opening and the required torque; the intelligent driving system judges the acceleration intention according to the scenario and selects the corresponding torque correction coefficient K; the VCU multiplies the torque response slope obtained by looking up the table by the K coefficient and executes the final torque command. The control method provided by the present invention can reuse the torque response slope table in the human driving mode, simplify the calibration work of the torque response of the intelligent driving cruise function, and at the same time introduce a correction coefficient based on scenario judgment to optimize the vehicle acceleration characteristics.

[0101] In the embodiment of the present application, by introducing the virtual acceleration pedal opening and combining with the required torque input by the intelligent driving system, the VCU can reuse the required torque-acceleration pedal opening-torque response slope table calibrated in the human driving mode, simplifying the calibration work of the intelligent driving torque response slope. The general calculation method of the virtual acceleration pedal opening is: virtual acceleration pedal opening = intelligent driving required torque / maximum torque that the vehicle can provide × 100%.

[0102] When the intelligent driving function is turned on, the scenario with the greatest demand for power response is generally lane-changing and overtaking. In this scenario, the intelligent driving demand torque generally cannot reach the maximum torque that the vehicle can provide, usually below 80% of the vehicle's maximum torque, and the corresponding virtual accelerator pedal opening is also below 80%. To make full use of the torque response slope table calibrated in the human driving mode, the virtual accelerator pedal opening can be further optimized. The virtual accelerator pedal opening = intelligent driving demand torque / maximum torque required for the intelligent driving function × 100%. By optimizing the calculation method of the virtual accelerator pedal opening, when the intelligent driving function is turned on, the virtual accelerator pedal opening can reach 100%, making full use of the torque response slope table that has been calibrated for human driving.

[0103] For different scenarios, the vehicle has different acceleration characteristics. The present invention ensures that the vehicle's acceleration response meets the scenario requirements by introducing a torque correction coefficient K. When the intelligent driving function is turned on and faster acceleration response is required during vehicle starting and accelerating or overtaking and lane-changing, a K coefficient greater than 1 can be calibrated to improve the acceleration response. When the vehicle is in a congested following and cruising condition, too fast torque response will cause discomfort in the vehicle's jerks, and a K coefficient less than 1 can be calibrated to make the vehicle accelerate more smoothly.

[0104] Next, an exemplary description will be given of the device embodiment of this embodiment.

[0105] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of a torque control device provided by an embodiment of the present application. As Figure 3 shown, the device can be applied to an electronic device. The device may include a demand torque determination module 310, a virtual pedal opening determination module 320, a torque response slope determination module 330, and a torque control module 340, where:

[0106] The demand torque determination module 310 is configured to determine the target demand torque required when the vehicle is in the intelligent driving mode; the virtual pedal opening determination module 320 is configured to determine the target virtual pedal opening corresponding to the target demand torque based on the target demand torque; the torque response slope determination module 330 is configured to determine the target torque response slope based on the target virtual pedal opening, the target demand torque, and the torque response slope table used when the vehicle is in the non-intelligent driving mode. The torque response table is used to represent the torque response slopes corresponding to multiple sets of working parameters. A set of working parameters includes the pedal opening and the demand torque, and the torque response slope is used to represent the torque change amplitude per unit time, and determine the target torque response slope; the torque control module 340 is configured to adjust the torque output by the vehicle to the target demand torque based on the target torque response slope.

[0107] In a possible implementation, when the virtual pedal opening determination module 320 determines the target virtual pedal opening corresponding to the target required torque, it can be used for:

[0108] Determine the torque ratio between the target required torque and the maximum torque corresponding to the intelligent driving mode; determine the target virtual pedal opening corresponding to the target required torque based on the torque ratio, where the target virtual pedal opening is linearly positively correlated with the torque ratio.

[0109] In a possible implementation, when the torque control module 340 adjusts the torque output by the vehicle to the target required torque based on the target torque response slope, it can be used for:

[0110] Correct the target torque response slope to obtain the corrected target torque response slope; adjust the torque output by the vehicle to the target required torque according to the corrected target torque response slope.

[0111] In a possible implementation, when the torque control module 340 corrects the target torque response slope to obtain the corrected target torque response slope, it can be used for:

[0112] Obtain a torque correction coefficient; correct the target torque response slope using the torque correction coefficient to obtain the product result between the torque correction coefficient and the target torque response slope, and determine the product result as the corrected target torque response slope.

[0113] In a possible implementation, when the torque control module 340 obtains the torque correction coefficient, it can be used for including:

[0114] Determine the target driving scenario when the vehicle is in the intelligent driving mode; determine the torque correction coefficient corresponding to the target driving scenario based on the target driving scenario.

[0115] In a possible implementation, when the torque control module 340 determines the torque correction coefficient corresponding to the target driving scenario based on the target driving scenario, it can be used for:

[0116] In response to the target driving scenario being an acceleration scenario or a deceleration scenario within a preset time period, determine that the torque correction coefficient corresponding to the acceleration scenario or the deceleration scenario is the first torque correction coefficient; in response to the target driving scenario being a scenario with alternating acceleration and deceleration within a preset time period, determine that the torque correction coefficient corresponding to the scenario with alternating acceleration and deceleration is the second torque correction coefficient, where the second torque correction coefficient is less than the first torque correction coefficient.

[0117] In a possible implementation, when the torque response slope determination module 330 determines the target torque response slope based on the target virtual pedal opening, the target required torque, and the torque response slope table, it can be used for:

[0118] If the pedal opening in one set of operating parameters in the target torque response slope table is consistent with the target virtual pedal opening, and the required torque in one set of operating parameters is consistent with the target required torque, then the torque response slope corresponding to one set of operating parameters is determined as the target torque response slope; if the pedal opening in any set of operating parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of operating parameters is inconsistent with the target required torque, then a fit is performed based on the torque response slopes corresponding to the multiple sets of operating parameters represented by the torque response table to obtain the target torque response slope.

[0119] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. In several embodiments provided in the present application, the coupling between modules can be electrical. Additionally, in each embodiment of the present application, each functional module can be integrated in one processing module, or each module can exist physically alone, or two or more modules can be integrated in one module. The above-integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0120] The embodiments of the present application further provide an electronic device 40. Please refer to Figure 4 , which includes a processor 410 and a memory 420. Among them, the memory 410 is used to store a computer program; the processor 420 is used to execute the program stored on the memory 410 to implement the torque control method introduced in any embodiment of the present application.

[0121] The embodiments of the present application further provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the torque control method introduced in any embodiment of the present application.

[0122] In the present application, "a plurality of" means two or more.

[0123] In the present application, unless otherwise clearly defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0124] The terms "first", "second", "third", "fourth", etc. (if any) in this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0125] The term "and / or" in this application is merely a description of the relationship between related objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this application generally indicates that the related objects before and after are in an "or" relationship.

[0126] If there is no special indication, all steps of this application can be carried out in sequence or randomly. For example, the method includes steps A and B, indicating that the method may include steps A and B carried out in sequence, or may also include steps B and A carried out in sequence. For example, it is mentioned that the method may further include step C, indicating that step C can be added to the method in any order. For example, the method may include steps A, B, and C, or may also include steps A, C, and B, or may include steps C, A, and B, etc.

[0127] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A torque control method, characterized in that, including: Determine the target required torque when the vehicle is in the intelligent driving mode; Based on the target required torque, determine the target virtual pedal opening corresponding to the target required torque; Based on the target virtual pedal opening, the target required torque, and the torque response slope table used when the vehicle is in the non-intelligent driving mode, determine the target torque response slope. The torque response table is used to represent the torque response slopes corresponding to multiple sets of working parameters. One set of the working parameters includes the pedal opening and the required torque, and the torque response slope is used to represent the torque change amplitude per unit time; Based on the target torque response slope, adjust the torque output by the vehicle to the target required torque.

2. The method according to claim 1, characterized in that The determining the target virtual pedal opening corresponding to the target required torque based on the target required torque includes: Determine the torque ratio between the target required torque and the maximum torque corresponding to the intelligent driving mode; Based on the torque ratio, determine the target virtual pedal opening corresponding to the target required torque, where the target virtual pedal opening is linearly and positively correlated with the torque ratio.

3. The method according to claim 1, characterized in that The adjusting the torque output by the vehicle to the target required torque based on the target torque response slope includes: Correct the target torque response slope to obtain a corrected target torque response slope; According to the corrected target torque response slope, adjust the torque output by the vehicle to the target required torque.

4. The method according to claim 3, wherein The correcting the target torque response slope to obtain a corrected target torque response slope includes: Obtain a torque correction coefficient; Use the torque correction coefficient to correct the target torque response slope to obtain the product result between the torque correction coefficient and the target torque response slope, and determine the product result as the corrected target torque response slope.

5. The method according to claim 4, wherein The obtaining the torque correction coefficient includes: Determine the target driving scenario when the vehicle is in the intelligent driving mode; Based on the target driving scenario, determine the torque correction coefficient corresponding to the target driving scenario.

6. The method according to claim 5, characterized in that The determining the torque correction coefficient corresponding to the target driving scenario based on the target driving scenario includes: In response to the target driving scenario being an acceleration scenario or a deceleration scenario within a preset time period, determine the torque correction coefficient corresponding to the acceleration scenario or the deceleration scenario as the first torque correction coefficient; In response to the target driving scenario being a scenario of alternating acceleration and deceleration within a preset time period, determine the torque correction coefficient corresponding to the alternating acceleration and deceleration scenario as the second torque correction coefficient, where the second torque correction coefficient is less than the first torque correction coefficient.

7. The method according to any one of claims 1-6, characterized in that, The determining the target torque response slope based on the target virtual pedal opening, the target required torque, and the torque response slope table includes: If the pedal opening in one set of the working parameters in the target torque response slope table is the same as the target virtual pedal opening, and the required torque in the one set of the working parameters is the same as the target required torque, then determine the torque response slope corresponding to the one set of the working parameters as the target torque response slope; If the pedal opening in any set of operating parameters in the target torque response slope table is inconsistent with the target virtual pedal opening, or the required torque in any set of operating parameters is inconsistent with the target required torque, then fitting is performed based on the torque response slopes corresponding to the respective sets of operating parameters represented by the torque response table to obtain a target torque response slope.

8. A torque control device, characterized in that, Including: A required torque determination module, configured to determine a target required torque required when the vehicle is in an intelligent driving mode; A virtual pedal opening determination module, configured to determine a target virtual pedal opening corresponding to the target required torque based on the target required torque; A torque response slope determination module, configured to determine a target torque response slope based on the target virtual pedal opening, the target required torque, and a torque response slope table used when the vehicle is in a non-intelligent driving mode, where the torque response table is used to represent the torque response slopes corresponding to respective sets of operating parameters, and one set of the operating parameters includes a pedal opening and a required torque, and the torque response slope is used to represent the torque change amplitude per unit time; A torque control module, configured to adjust the torque output by the vehicle to the target required torque based on the target torque response slope.

9. An electronic device, characterized in that, Including a processor and a memory, where: The memory is used to store a computer program; The processor is configured to execute the program stored on the memory to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method according to any one of claims 1-7 is implemented.

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