Control method, control device, program product, medium and apparatus

Abstract

The present disclosure provides a control method, a control device, a program product, a medium and an equipment. The control method comprises the following steps: constructing a fluctuation characteristic model of a front wheel passing through an uneven road surface, the fluctuation characteristic comprising a front wheel speed fluctuation, identifying a road surface characteristic of the uneven road surface based on the fluctuation characteristic model and recording a passing time through the road surface characteristic; calculating a time when a rear wheel of a vehicle reaches the road surface characteristic; and adjusting a driving torque of the wheel when the rear wheel passes through the uneven road surface. The present disclosure improves the driving experience of the rear wheel of the vehicle when passing through the uneven road surface in a cost-effective manner.

Description

Technical Field

[0001] This disclosure relates to the field of automotive powertrain control technology, and more specifically, to a control method, control device, program product, medium, and equipment. Background Technology

[0002] This section aims to provide background information relevant to understanding the various techniques described herein. As the title of this section implies, this is a discussion of related techniques that should in no way imply that they are necessarily prior art. Therefore, it should be understood that any statement in this section should be read in this context, rather than as an admission of any prior art.

[0003] During the operation of new energy vehicles, uneven road surfaces such as speed bumps are common obstacles. Vehicles can use suspension to reduce vertical acceleration fluctuations, but there are few effective ways to suppress longitudinal acceleration vibrations. Traditional rear-wheel drive torque control methods (such as Damping) often adjust torque based on feedback signals only after the rear wheels have actually passed over uneven road surfaces and experienced vibrations and impacts. Summary of the Invention

[0004] The purpose of this disclosure is to improve the driving experience of the rear wheels of a vehicle when traversing uneven road surfaces in a cost-effective manner.

[0005] Furthermore, the purpose of this disclosure is to solve or at least alleviate one or more problems existing in the prior art.

[0006] This disclosure addresses the aforementioned problems by providing a control method, control device, program product, medium, and equipment. Specifically, according to one aspect of this disclosure, the following is provided: A method for controlling the driving torque of a vehicle wheel, wherein the control method includes the following steps: A wave characteristic model is constructed when the front wheel travels over an uneven road surface. The wave characteristics include the front wheel speed fluctuation. Based on the wave characteristic model, the road surface characteristics of the uneven road surface are identified and the time of passing through the road surface characteristics is recorded; Calculate the time when the vehicle's rear wheels reach the road surface feature; Adjust the drive torque on the rear wheel when the rear wheel passes over the uneven road surface.

[0007] Optionally, according to one embodiment of the present disclosure, the adjustment of the driving torque of the wheel includes: in response to the difference in fluctuation characteristics between the left front wheel and the right front wheel of the vehicle exceeding a difference threshold, the time difference of fluctuation characteristics exceeding a time difference threshold, and / or the vehicle steering angle exceeding a steering angle threshold, reducing the degree of adjustment of the driving torque of the wheel.

[0008] Optionally, according to one embodiment of the present disclosure, the control method includes: after the rear wheels pass over the uneven road surface, in response to fluctuations in the rear wheel speed or fluctuations in the longitudinal acceleration of the vehicle exceeding a fluctuation threshold, optimizing the fluctuation characteristic model and correcting the adjusted drive torque.

[0009] Optionally, according to one embodiment of this disclosure, the time when the rear wheel arrives at the road surface feature includes: calculating the time when the rear wheel of the vehicle arrives at the road surface feature based on the front and rear wheel track, the vehicle's driving speed, and the time of passage.

[0010] Optionally, according to one embodiment of this disclosure, the construction of the front wheel fluctuation characteristic model includes: collecting the wheel speeds of the left and right front wheels of the vehicle, the speed of the front drive motor, the lateral, longitudinal, and vertical accelerations of the vehicle, the drive torques of the front and rear drive axles, and / or the suspension height, and constructing the fluctuation characteristic model.

[0011] Optionally, according to one embodiment of this disclosure, the control method includes: executing the control method in response to the distance between the vehicle and an uneven road surface recorded in a cloud-based road surface database being less than a distance threshold.

[0012] Optionally, according to one embodiment of this disclosure, adjusting the driving torque of the wheel includes: adjusting the driving torque of the wheel based on the fluctuation characteristic model, combined with the vehicle dynamics model and the driving torque control model.

[0013] Optionally, according to one embodiment of this disclosure, the adjustment of the driving torque of the wheel includes: adjusting the driving torque of the wheel based on the vehicle's driving speed, steering angle, longitudinal deceleration fluctuation, driving torque when the rear wheel enters the uneven road surface, rear tire pressure and / or basic vehicle parameters.

[0014] Optionally, according to one embodiment of this disclosure, the uneven road surface includes an uphill section and a downhill section, and the adjustment of the driving torque of the wheel includes: increasing the driving torque when the rear wheel passes through the uphill section, and decreasing the driving torque when the rear wheel passes through the downhill section; and / or The adjustment of the driving torque of the wheel includes: in response to the vehicle being a front-wheel drive vehicle, the driving torque is applied to the front drive axle of the vehicle; in response to the vehicle being a rear-wheel drive vehicle, the driving torque is applied to the rear drive axle of the vehicle; in response to the vehicle being a four-wheel drive vehicle, the driving torque is applied to either the front drive axle or the rear drive axle of the vehicle.

[0015] According to another aspect of this disclosure, a control device for the driving torque of a vehicle wheel is provided, wherein the control device is used to execute any of the above-described control methods, and the control device includes: The modeling module constructs a model of the fluctuation characteristics of the front wheels when they travel over uneven road surfaces. These fluctuation characteristics include fluctuations in front wheel speed. The identification module, based on the wave feature model, identifies the road surface features of the uneven road surface and records the time of passing through the road surface features; A calculation module that calculates the moment when the vehicle's rear wheels reach the road surface feature; A control module that adjusts the drive torque on the wheels when the rear wheels pass over the uneven road surface.

[0016] According to another aspect of this disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed, implements any of the control methods described above.

[0017] According to another aspect of this disclosure, a computer-readable storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements any of the above-described control methods.

[0018] According to another aspect of this disclosure, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements any of the above-described control methods. Attached Figure Description

[0019] Referring to the accompanying drawings, the above and other features of this disclosure will become apparent, wherein, Figure 1 A flowchart illustrating a control method according to the present disclosure is shown; Figure 2 A schematic block diagram of a control device according to the present disclosure is shown; Figure 3 A comparison of drive torque before and after intervention according to a control method of the present disclosure is shown. Detailed Implementation

[0020] It is readily understood that, based on the technical solutions of this disclosure, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this disclosure. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solutions of this disclosure and should not be considered as the entirety of this disclosure or as limitations or restrictions on the technical solutions of this disclosure.

[0021] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used for descriptive and distinguishing purposes only and should not be construed as indicating or implying the relative importance of the corresponding components.

[0022] Figure 1 A flowchart illustrating a control method according to this disclosure is shown.

[0023] This disclosure relates to a method for controlling the driving torque of a vehicle wheel, wherein the control method includes the following steps: S1: Construct a wave characteristic model of the front wheels when passing over an uneven road surface, wherein the wave characteristics include the front wheel speed fluctuation. S2: Based on the wave characteristic model, identify the road surface characteristics of the uneven road surface and record the time of passing through the road surface characteristics; S3: Calculate the time when the vehicle's rear wheels reach the road surface feature; S4: When the rear wheel passes over the uneven road surface, adjust the drive torque on the wheel.

[0024] Therefore, this control method utilizes the front wheels of the vehicle as the primary detection element when the vehicle traverses uneven road surfaces. It extracts road surface features by utilizing the undulations of the front wheels, thus improving resource utilization and exhibiting high adaptability and compatibility. Furthermore, it can economically and promptly apply adjustments to the drive torque to the vehicle wheels, enabling the rear wheels to provide a better driving experience when traversing uneven surfaces, such as better adaptation to road conditions and reduced longitudinal vibration and impact. Here, the front wheel rotational speed (referred to as wheel speed) is equivalent to the front wheel angular velocity.

[0025] It should be noted that this article mainly uses the adjustment of the driving torque of the rear wheels as an example for explanation. However, the same or similar operation method can also be applied to the adjustment of the driving torque of the front wheels.

[0026] Traditional rear-wheel drive torque control methods (such as Damping) exhibit significant lag in their feedback control mode, failing to effectively mitigate the bumps and impacts experienced by the rear wheels when traversing uneven road surfaces, thus reducing ride comfort. Furthermore, inappropriate torque output can also affect vehicle power performance and driving stability; for example, if the drive torque is not adjusted promptly when going over speed bumps, problems such as vehicle jerking and wheel slippage may occur.

[0027] In comparison, this method, which utilizes front-wheel performance to calculate wheel intervention torque, is more timely and accurate than passive adjustment methods (such as damping). It can optimize longitudinal acceleration fluctuations when the vehicle traverses uneven surfaces such as speed bumps to a greater extent, thus improving the driving experience. Furthermore, rear-wheel traversal of uneven surfaces can include, for example, the moment of approaching an uneven surface. It should be noted that the wheel drive torque obtained by this method is also treated as peak torque; that is, when applying drive torque, it rises from 0 to peak torque and then returns to 0 to achieve a smooth driving experience.

[0028] This control method can be understood as a type of feedforward control. Specifically, the uneven road surface includes uphill and downhill sections, and the adjustment of the driving torque of the wheels includes: S41: increasing the driving torque when the rear wheel passes through the uphill section, and decreasing the driving torque when the rear wheel passes through the downhill section.

[0029] Specifically, when the vehicle begins to contact the uphill surface (such as just driving over a speed bump), the torque is increased appropriately to counteract the additional resistance torque from the uphill slope. When the wheels are at the top of the slope (such as when the tires are directly above the speed bump), the torque output begins to decrease to avoid the gravitational component along the slope from providing the vehicle with additional acceleration torque, until the vehicle leaves the speed bump.

[0030] This strategy of actively adjusting wheel drive torque offers more timely and accurate control compared to traditional methods, and can optimize longitudinal (i.e., driving direction and longitudinal-rear direction) acceleration fluctuations of vehicles when traversing uneven road surfaces to a greater extent. Uneven road surfaces include, for example, speed bumps, potholes, and other road terrains with uphill and downhill sections.

[0031] In this regard, the time when the rear wheels reach the uneven road surface or road features, such as the start and end times of reaching the uphill section and the start and end times of reaching the downhill section, can be calculated from the corresponding arrival times of the front wheels.

[0032] The adjustment of the rear wheel drive torque includes: S42: in response to the vehicle being a front-wheel drive vehicle, the drive torque acts on the vehicle's front drive axle; in response to the vehicle being a rear-wheel drive vehicle, the drive torque acts on the vehicle's rear drive axle; in response to the vehicle being a four-wheel drive vehicle, the drive torque acts on either the vehicle's front drive axle or the vehicle's rear drive axle. In this way, when drive torque is applied, there is no need to specifically switch drive axles, the response is delay-free, there is no mechanical loss, and the timely execution of the control method is ensured. This also demonstrates that this control method is applicable to vehicles of various drive types.

[0033] It is feasible to adjust the driving torque of the wheel, including: S43: in response to the difference in fluctuation characteristics between the left front wheel and the right front wheel of the vehicle exceeding a difference threshold (e.g., set between 3% and 10%), the fluctuation characteristic time difference exceeding a time difference threshold (e.g., set within the range of 20 to 50 ms), and / or the vehicle steering angle exceeding a steering angle threshold (e.g., set within the range of 5° to 15°), reducing the degree of adjustment of the driving torque of the wheel.

[0034] This technical solution takes into account that the driving torque of the wheels will act on both wheels at the same time. If the force on the two wheels is too different, the vehicle on the side with weaker force may slip or exhibit other unexpected behaviors. Therefore, the rear wheel driving torque control will take into account the fluctuations of the front wheels on both sides, such as the synchronicity of the speed fluctuations. The fluctuation characteristics (such as the fluctuation amplitude) and timing (such as the fluctuation duration and start and end times) should not deviate too much. At the same time, it will also take into account the steering angle at this time. When the steering angle is large, the above strategy will be suppressed to maintain the stable steering characteristics of the vehicle in the curve.

[0035] Among these, the difference in fluctuation characteristics between the left and right front wheels exceeds a threshold, for example, when the road surface features of the left and right wheels are asymmetrical (one wheel drives over a pothole, water accumulation, or gravel on the road). The time difference in fluctuation characteristics exceeds a threshold, for example, when the vehicle travels diagonally over an uneven road surface, or when the uneven road surface is not perpendicular to the direction of travel. The vehicle steering angle exceeds a threshold, for example, when the vehicle is turning. Therefore, this technical solution thoughtfully considers the handling of wheel drive torque under different operating conditions, optimizing the fluctuation amplitude of the vehicle's longitudinal acceleration while also ensuring the vehicle's driving stability and safety on complex road surfaces and under dynamic conditions.

[0036] In some embodiments of this disclosure, the control method includes: S5: after the rear wheels pass over the uneven road surface, in response to fluctuations in the rear wheel speed or fluctuations in the longitudinal acceleration of the vehicle exceeding a fluctuation threshold, optimizing the fluctuation characteristic model and correcting the adjusted drive torque.

[0037] Therefore, this disclosure records the actual longitudinal acceleration fluctuation or rear wheel speed fluctuation of the vehicle when the rear wheels pass over uneven road surfaces. When a large fluctuation is detected, the control parameters are adjusted when subsequent vehicles pass over the uneven road surface to achieve better results. Simultaneously, the relevant data can be uploaded to the cloud for information sharing, facilitating subsequent on-demand access and adjustment. This technical solution improves the matching degree between the control method and the actual vehicle conditions (because different vehicles have different tire pressures and loads, resulting in different responses to uneven road surfaces). Furthermore, this technical solution upgrades open-loop feedforward control to closed-loop learning control, enabling continuous optimization and updates.

[0038] The fluctuation threshold of the longitudinal acceleration of the vehicle can be calibrated in the peak-to-peak range of 0.03g to 0.1g, and the reference range of the fluctuation threshold of the rear wheel speed of the vehicle is, for example, 2rpm to 10rpm.

[0039] In addition to using rear wheel speed fluctuations or vehicle longitudinal acceleration fluctuations as verification indicators, alternatively, data from relevant rear wheel sensors (such as acceleration sensors and displacement sensors) can be collected after the rear wheels have traversed an uneven road surface. This data is then compared with the actual performance based on front wheel predictions to evaluate the effectiveness of feedforward control in suppressing longitudinal acceleration fluctuations. If the actual vibration or impact is significant, and the deviation from the predicted results exceeds a set threshold, the system will send an adjustment signal to the central processing unit. The central processing unit will then optimize the front wheel fluctuation characteristic analysis model and the wheel drive torque control model, update relevant parameters and algorithms, and upload these parameters to a cloud-based road surface database. This allows for timely adjustments to these parameters when subsequent vehicles pass through the same road section, improving the accuracy and effectiveness of subsequent control.

[0040] Specifically, the accelerometer is used to sense the vehicle's longitudinal acceleration, and the displacement sensor is used to sense the suspension height. The vehicle's longitudinal acceleration can reflect impact, and the suspension height can reflect vibration.

[0041] In terms of optimizing the wave characteristic model, for example, adjusting the signal filtering window parameters, that is, adjusting the bandpass filter cutoff frequency or sliding window size of the digital signal processing algorithm, such as widening the sampling window accordingly, so as to capture the peaks and troughs more completely; correcting the mapping relationship between the characteristic amplitude and the road geometry, for example, increasing the weight of the wheel speed fluctuation amplitude for the road height of the uneven road surface, so that when such fluctuation is encountered again, the control method will consider the road surface to be higher and require stronger torque intervention.

[0042] In terms of correcting the adjusted drive torque, for example, the intervention force of the drive torque can be appropriately increased or decreased, such as by increasing it by 25%.

[0043] It is feasible to determine the time when the rear wheel reaches the road surface feature, including: S31: Calculate the time when the rear wheel of the vehicle reaches the road surface feature based on the front and rear wheel wheelbase, the vehicle's driving speed, and the time of passage, such as the starting time when the front wheel passes through the uneven road surface.

[0044] The calculation formula is: t = L / v + t0, where t is the moment the rear wheels reach the uneven surface, L is the wheelbase between the front and rear wheels, v is the current vehicle speed, and t0 is the moment the front wheels begin to pass over the uneven surface. This calculation provides an accurate time reference for the feedforward control of the wheel drive torque.

[0045] If necessary, the end time of the front wheels passing over the uneven surface can also be taken into account. However, considering that uneven surfaces are usually speed bumps, and speed bumps are national standard parts, such as having a fixed width of 35cm, the start and end times of the rear wheels going over the speed bump can be calculated by using the width and the start time.

[0046] Another feasible method is to construct a front wheel undulation feature model, including: S11: collecting the wheel speeds of the left and right front wheels of the vehicle, the speed of the front drive motor, the lateral, longitudinal, and vertical accelerations of the vehicle, the drive torque of the front and rear drive axles, and / or the suspension height, and constructing the undulation feature model.

[0047] Specifically, the vehicle's central processing unit receives high-frequency data collected by sensors and uses digital signal processing algorithms to analyze data such as acceleration. By integrating data from multiple sensors, it constructs the road characteristics of the front wheels passing over uneven surfaces, identifying the type (such as speed bumps, potholes, etc.), dimensions (height, width, etc.) of the uneven surfaces, and the forces acting on the vehicle when passing over them.

[0048] Wheel speed reflects the road surface slip ratio; vehicle acceleration reflects the vehicle impact; and suspension height reflects the suspension compression degree. Therefore, by integrating these three parameters, this control method can accurately distinguish the causes of vehicle body impacts and improve the accuracy of identifying uneven road surfaces.

[0049] In addition, the motor speed is responsible for triggering the identification of uneven road surfaces; the front and rear axle drive torques are used to calculate the current driving resistance and road slope. When calculating the target compensation torque for the rear wheels, the original slope resistance or wind resistance can be eliminated, making the absolute value calculation of the compensation torque more accurate and avoiding over- or under-compensation.

[0050] Regarding the forces acting on a vehicle when it passes over a speed bump, this can be used, for example, to validate a ripple model when the front wheels travel over an uneven road surface. Different speed bump heights correspond to different ranges of longitudinal impact forces. If the speed bump height calculated by the ripple model differs significantly from the speed bump height calculated by the vehicle under stress, the parameters of the ripple model or the algorithm corresponding to the road surface characteristics should be adjusted.

[0051] The control method may further include: S0: in response to the distance between the vehicle and the uneven road surface recorded in the cloud road database being less than a distance threshold, the control method is executed.

[0052] This method reduces the false recognition rate and avoids situations where front wheel undulations are caused by other road conditions that are not part of the uneven road surfaces targeted by this control method, such as driving over gravel. Therefore, the overall accuracy and reliability of the control method are improved.

[0053] Alternatively, the adjustment of the driving torque of the wheel includes: S44: adjusting the driving torque of the wheel based on the fluctuation characteristic model, combined with the vehicle dynamics model and the driving torque control model.

[0054] For example, when the front wheels drive over an uneven road surface, a fluctuation feature model is obtained based on the working condition characteristics such as the fluctuation of the front wheel speed. For example, the fluctuation feature model includes the amplitude of wheel speed fluctuation, the duration of fluctuation, the time difference of fluctuation between the left and right wheels, and the slope of wheel speed fluctuation. Among them, the amplitude and slope of the fluctuation can be used to determine the height and steepness of the uneven road surface; the duration of fluctuation can be used to determine the type of uneven road surface; and the time difference of fluctuation can be used to determine the left and right symmetry of the road surface.

[0055] Therefore, based on the wave characteristic model, the uneven road surface is output, such as the upslope angle θup of the upslope surface of the speed bump, the downslope angle θdown of the downslope surface, and the width W of the speed bump.

[0056] During the uphill phase, the increased driving torque ΔTadd = estimated vehicle mass m × gravitational acceleration g × tire rolling radius r × sin(θup); during the downhill phase, the decreased driving torque ΔTsub = estimated vehicle mass m × gravitational acceleration g × tire rolling radius r × sin(|θdown|).

[0057] The drive torque control model is used to improve the reliability or smoothness of the control method. For example, when going uphill, if the driver is accelerating rapidly, the model may reduce the compensation torque to prevent the total torque from exceeding the tire adhesion limit; if the vehicle speed remains stable, it will not intervene. Furthermore, the drive torque control model takes into account the current road surface adhesion coefficient and calculates the maximum allowable drive torque Tmax = road surface adhesion coefficient μ × rear axle load mrear × gravitational acceleration g × tire rolling radius r.

[0058] For example, the drive torque control model is used to regulate the adjustment rate or slope of the wheel drive torque, preventing the drive torque from increasing or decreasing too quickly. The torque change slope is, for example, limited to 5000 Nm / s.

[0059] Alternatively, the adjustment of the driving torque of the wheel includes: S441: adjusting the driving torque of the wheel based on the vehicle's driving speed, steering angle, longitudinal deceleration fluctuation, driving torque when the rear wheel enters the uneven road surface, rear tire pressure and / or basic vehicle parameters.

[0060] Specifically, vehicle speed is categorized into low and high speeds. At low speeds (<10km / h), the vehicle's kinetic energy is low, and the drag torque has a more significant impact, so the adjustment force can be appropriately increased. At high speeds (>40km / h), considering that high kinetic energy means the drag has a smaller impact on the vehicle's longitudinal ride comfort, the adjustment force can be appropriately reduced. The steering angle is used to determine the adjustment force of the wheel drive torque. For example, when the steering angle is less than or equal to 5 degrees, no intervention is made; when the steering angle is greater than 5 degrees but less than 15 degrees, the adjustment force is reduced; when the steering angle is greater than or equal to 15 degrees, the drive torque is not adjusted. Longitudinal deceleration fluctuations are used in the calculation of drive torque. If the drive torque is already high when the rear wheels enter the uneven road surface, the upper limit of the drive torque adjustment force is actively limited to prevent slippage. If the rear tire pressure is low, the adjustment force can be appropriately increased; if the rear tire pressure is high, the upper limit of the drive torque adjustment force can be limited. Basic vehicle parameters, such as vehicle mass and tire rolling radius, provide the constants and boundaries required for the calculation.

[0061] An example execution process is as follows: The front wheel detected the speed bump, with a longitudinal deceleration fluctuation of Δax = 1.5 m / s. 2 Vehicle basic parameters: Vehicle weight m = 2000kg, tire rolling radius r = 0.35m. Current driving conditions: Driving speed v = 25km / h, steering angle δ = 3°, driving torque T0 when the rear wheels engage = 60Nm, rear tire pressure Prear = 2.5 bar or standard tire pressure.

[0062] The basic peak compensation torque ΔTbase = m⋅Δax⋅r = 2000×1.5×0.35 = 1050 Nm.

[0063] At a vehicle speed of 25 km / h, which is considered low to medium speed, the adjustment force should be increased appropriately, for example, the correction coefficient Kv = 1.1, that is, ΔTcorr = 1050 × 1.1 = 1155 Nm.

[0064] Tire pressure is normal; no further adjustments are needed. Steering angle is low; no further adjustments are needed.

[0065] The adjusted drive torque Tfinal = T0 + ΔTcorr = 60 + 1155 = 1215 Nm.

[0066] Assuming the maximum adhesion torque of the rear wheel is Tmax = 1800 Nm, the adjusted drive torque of 1215 Nm obtained from the above calculation is less than Tmax. After verification, it can be output. For example, the central processing unit sends this torque requirement to the PEU, such as the drive motor controller. The motor controller adjusts the torque output of the drive motor in real time, so that the rear wheel can better adapt to the road conditions when passing through uneven road surfaces, reducing the longitudinal vibration and impact of the vehicle.

[0067] Figure 2 A schematic block diagram of a control device according to the present disclosure is shown.

[0068] This disclosure also relates to a vehicle wheel drive torque control device 100, wherein the control device is used to execute any of the above-described control methods, and the control device includes: Modeling module 1 constructs a wave characteristic model of the front wheels when they travel over uneven road surfaces. The wave characteristics include front wheel speed fluctuations. The identification module 2, based on the wave feature model, identifies the road surface features of the uneven road surface and records the time of passing through the road surface features; Calculation module 3 calculates the moment when the rear wheels of the vehicle reach the road surface feature; Control module 4 adjusts the drive torque on the wheels when the rear wheels pass over the uneven road surface.

[0069] Therefore, the control device disclosed herein can inherit various implementation methods and corresponding technical effects of the control method, which will not be elaborated here.

[0070] This disclosure also relates to: a computer program product comprising a computer program, wherein the computer program, when executed, implements any of the above-described control methods; a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements any of the above-described control methods; and a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements any of the above-described control methods.

[0071] Those skilled in the art will understand that all or part of the processes in the suspension control method of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which includes, but is not limited to, program code for executing the suspension control method described above. For ease of explanation, only the parts relevant to this application are shown. The computer program code can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable storage medium can include any entity or device capable of carrying the computer program code, a medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory, a random access memory, an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content contained in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0072] The relevant user personal information that may be involved in the various embodiments of this application is processed in strict accordance with the requirements of laws and regulations, following the principles of legality, legitimacy, and necessity, based on the reasonable purpose of the business scenario, and includes personal information that users actively provide or that is generated as a result of using the product / service, as well as personal information obtained with user authorization.

[0073] The personal information of users processed by the applicant will vary depending on the specific product / service scenario and will be based on the specific scenario in which the user uses the product / service. This may involve the user's account information, device information, driving information, vehicle information, or other related information. The applicant will treat the user's personal information and its processing with a high degree of diligence.

[0074] The applicant attaches great importance to the security of users' personal information and has taken reasonable and feasible security protection measures that comply with industry standards to protect users' information and prevent unauthorized access, disclosure, use, modification, damage or loss of personal information.

[0075] Figure 3 The diagram shows a comparison of drive torque before and after intervention using a control method according to this disclosure. The horizontal axis represents time.

[0076] Figure 3 Taking an uneven road surface as an example of a speed bump, the situation before intervention refers to the condition of the front wheels, and the situation after intervention refers to the condition of the rear wheels. Figure 3The left half of the diagram shows two light gray sections, representing the characteristic lines of the front wheels going over and under speed bumps, respectively. The green dashed line represents the original target torque or original torque request, the red dotted line in the middle represents the front wheel speed, and the lower blue dotted line represents the vehicle's longitudinal acceleration. This shows that when the front wheels go over or under speed bumps, the original target torque is not adjusted, resulting in significant fluctuations in front wheel speed and the vehicle's longitudinal acceleration.

[0077] Figure 3 The right half of the diagram illustrates the situation of rear wheels encountering speed bumps. Two light gray areas represent the characteristic lines of the rear wheels encountering speed bumps above and below. The green dashed line represents the original target torque or original torque request, while the solid red line undulating around the dashed line represents the target torque after intervention or the compensated torque request. The red dotted-line curve in the middle represents the rear wheel speed, and the lower blue dotted-line curve represents the vehicle's longitudinal acceleration. As can be seen, after adjusting the rear wheel drive torque using this control method, the rear wheel speed and vehicle longitudinal acceleration remain relatively stable during and around speed bumps, significantly improving the driving experience.

[0078] It should be understood that all the above preferred embodiments are exemplary and not restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of this disclosure should be within the legal protection scope of this disclosure.

Claims

1. A method for controlling the driving torque of vehicle wheels, characterized in that, The control method includes the following steps: A wave characteristic model is constructed when the front wheel travels over an uneven road surface. The wave characteristics include the front wheel speed fluctuation. Based on the wave characteristic model, the road surface characteristics of the uneven road surface are identified and the time of passing through the road surface characteristics is recorded; Calculate the time when the vehicle's rear wheels reach the road surface feature; Adjust the drive torque on the rear wheel when the rear wheel passes over the uneven road surface.

2. The control method according to claim 1, characterized in that, The adjustment of the driving torque of the wheel includes: in response to the difference in fluctuation characteristics between the left front wheel and the right front wheel of the vehicle exceeding a difference threshold, the time difference of fluctuation characteristics exceeding a time difference threshold, and / or the vehicle steering angle exceeding a steering angle threshold, reducing the degree of adjustment of the driving torque of the wheel.

3. The control method according to claim 1, characterized in that, The control method includes: after the rear wheels pass over the uneven road surface, in response to fluctuations in the rear wheel speed or fluctuations in the longitudinal acceleration of the vehicle exceeding a fluctuation threshold, optimizing the fluctuation characteristic model and correcting the adjusted drive torque.

4. The control method according to claim 1, characterized in that, The time when the rear wheels arrive at the road surface feature includes: calculating the time when the rear wheels of the vehicle arrive at the road surface feature based on the front and rear wheelbases, the vehicle's speed, and the time of passage.

5. The control method according to claim 1, characterized in that, The construction of the front wheel undulation feature model includes: collecting the wheel speeds of the left and right front wheels of the vehicle, the speed of the front drive motor, the lateral, longitudinal, and vertical accelerations of the vehicle, the drive torques of the front and rear drive axles, and / or the suspension height, and constructing the undulation feature model.

6. The control method according to claim 1, characterized in that, The control method includes: executing the control method in response to the distance between the vehicle and the uneven road surface recorded in the cloud road surface database being less than a distance threshold.

7. The control method according to claim 1, characterized in that, The adjustment of the driving torque of the wheel includes: adjusting the driving torque of the wheel based on the fluctuation characteristic model, combined with the vehicle dynamics model and the driving torque control model.

8. The control method according to claim 7, characterized in that, The adjustment of the driving torque of the wheel includes: adjusting the driving torque of the wheel based on the vehicle's driving speed, steering angle, longitudinal deceleration fluctuation, driving torque when the rear wheel enters the uneven road surface, rear tire pressure and / or basic vehicle parameters.

9. The control method according to claim 1, characterized in that, The uneven road surface includes uphill and downhill sections. The adjustment of the wheel's driving torque includes: increasing the driving torque when the rear wheel passes through the uphill section, and decreasing the driving torque when the rear wheel passes through the downhill section; and / or The adjustment of the driving torque of the wheel includes: in response to the vehicle being a front-wheel drive vehicle, the driving torque is applied to the front drive axle of the vehicle; in response to the vehicle being a rear-wheel drive vehicle, the driving torque is applied to the rear drive axle of the vehicle; in response to the vehicle being a four-wheel drive vehicle, the driving torque is applied to either the front drive axle or the rear drive axle of the vehicle.

10. A control device for the driving torque of vehicle wheels, characterized in that, The control device is used to execute the control method according to any one of claims 1 to 9, the control device comprising: The modeling module constructs a model of the fluctuation characteristics of the front wheels when they travel over uneven road surfaces. These fluctuation characteristics include fluctuations in front wheel speed. The identification module, based on the wave feature model, identifies the road surface features of the uneven road surface and records the time of passing through the road surface features; A calculation module that calculates the moment when the vehicle's rear wheels reach the road surface feature; A control module that adjusts the drive torque on the wheels when the rear wheels pass over the uneven road surface.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed, it implements the control method according to any one of claims 1 to 9.

12. A computer-readable storage medium on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the control method according to any one of claims 1 to 9.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method according to any one of claims 1 to 9.

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