Torque control method and apparatus, storage medium, controller, and vehicle

Abstract

A torque control method and apparatus, a storage medium, a controller, and a vehicle. The torque control method comprises: in response to a steering assistance function being activated, acquiring braking torque applied by the steering assistance function to the vehicle and accelerator pedal opening; and performing driving torque compensation on the vehicle on the basis of the braking torque and the accelerator pedal opening, and controlling the vehicle to generate target driving torque after compensation. The problem of vehicle steering interruption or steering speed decrease caused by the braking torque applied by a steering assistance function can be solved, thereby improving user experience.

Description

Torque control method and device, storage medium, controller and vehicle TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a torque control method and device, a storage medium, a controller and a vehicle. BACKGROUND

[0002] With the rapid development of the automobile industry, in order to improve the convenience of vehicle use, various types of driving assistance functions have emerged. Among them, the steering assistance function is one of the driving assistance functions, and the steering assistance function is mainly designed to reduce the turning radius of the vehicle during turning.

[0003] In related technologies, the steering assistance function applies a braking torque to the inner wheels of the vehicle, so that the inner wheels and the outer wheels of the vehicle have different slip rates, thereby reducing the turning radius of the vehicle. However, in some steering scenarios, applying a braking torque to the inner wheels can cause the vehicle speed to decrease or the vehicle to be stopped by braking, causing the vehicle to be unable to complete the steering or to smoothly steer at the predetermined speed, which greatly affects the user's driving experience. SUMMARY

[0004] Therefore, the present application provides a torque control method and device, a storage medium, a vehicle controller and a vehicle. By using the torque control method, when the vehicle is steering based on the steering assistance function, the driving torque compensation can be performed on the vehicle according to the braking torque applied to the vehicle by the steering assistance function and the accelerator pedal opening, which can solve the problem of vehicle steering stop or steering speed reduction caused by the braking torque applied by the steering assistance function, and improve the user's experience.

[0005] In one aspect, the present application provides a torque control method, comprising:

[0006] In response to the steering assistance function entering an activated state, obtaining a braking torque applied to the vehicle by the steering assistance function and an accelerator pedal opening;

[0007] Based on the braking torque and the accelerator pedal opening, performing driving torque compensation on the vehicle, and controlling the vehicle to generate a target driving torque after compensation.

[0008] Further, in some embodiments, the driving torque compensation based on the braking torque and the accelerator pedal opening, and the control of the vehicle to generate a target driving torque after compensation, comprises:

[0009] Based on the accelerator pedal opening and the braking torque, performing driving torque compensation on the vehicle, and controlling the vehicle to generate a target driving torque that is not less than the braking torque.

[0010] Further, in some embodiments, the controlling the vehicle to generate a target drive torque that is not less than the brake torque based on the accelerator pedal opening comprises:

[0011] controlling the vehicle to generate a target drive torque that is greater than the brake torque when the accelerator pedal opening is an initial accelerator pedal opening corresponding to an activation of the steering assist function;

[0012] controlling the target drive torque to linearly increase with the accelerator pedal opening when the accelerator pedal opening gradually increases from the initial accelerator pedal opening.

[0013] Further, in some embodiments, the controlling the vehicle to generate a target drive torque that is not less than the brake torque based on the accelerator pedal opening comprises:

[0014] controlling the vehicle to generate a target drive torque that is greater than the brake torque when the accelerator pedal opening is an initial accelerator pedal opening corresponding to an activation of the steering assist function;

[0015] controlling the target drive torque to linearly decrease with the accelerator pedal opening when the accelerator pedal opening gradually increases from the initial accelerator pedal opening to a first preset opening, the target drive torque at the first preset opening being less than the brake torque;

[0016] controlling the target drive torque to linearly increase with the accelerator pedal opening when the accelerator pedal opening gradually increases from the first preset opening.

[0017] Further, in some embodiments, the controlling the vehicle to generate a target drive torque that is greater than the brake torque when the accelerator pedal opening is an initial accelerator pedal opening corresponding to an activation of the steering assist function comprises:

[0018] determining an initial drive torque corresponding to the initial accelerator pedal opening;

[0019] controlling the vehicle to generate a target drive torque whose torque is a sum of the brake torque and the initial drive torque based on the brake torque compensating the initial drive torque.

[0020] Further, in some embodiments, the controlling the vehicle to generate a target drive torque that is not less than the brake torque based on the accelerator pedal opening comprises:

[0021] Based on the second preset opening degree and the braking torque adjustment, the torque change rate corresponding to the driving torque when the accelerator pedal opening degree is in the range of 0 to the second preset opening degree is adjusted so that when the accelerator pedal opening degree increases from 0 to the second preset opening degree, the target driving torque increases to the same magnitude as the braking torque. The second preset opening degree is a preset accelerator pedal opening degree.

[0022] As the accelerator pedal opening gradually increases from the second preset opening, the target driving torque increases linearly with the increase of the accelerator pedal opening according to the initial torque change rate, where the initial torque change rate is the torque change rate during normal vehicle operation.

[0023] On the other hand, the present invention provides a torque control device, comprising:

[0024] The information acquisition module is used to acquire the braking torque and accelerator pedal opening applied to the vehicle by the steering assist function in response to the steering assist function entering the activated state.

[0025] The torque generation module is used to compensate the vehicle for driving torque based on the braking torque and the accelerator pedal opening, and to control the vehicle to generate the compensated target driving torque.

[0026] On the other hand, the present invention provides a storage medium storing a computer program adapted to be loaded by a processor and to execute the steps of the above-described method.

[0027] On the other hand, the present invention also provides a vehicle controller, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the steps of the method described above.

[0028] On the other hand, the present invention also provides a vehicle including the torque control device or vehicle controller described above.

[0029] According to the torque control method provided by the present invention, during vehicle steering, in response to the steering assist function entering an activated state, the braking torque and accelerator pedal opening applied to the vehicle by the steering assist function are acquired, and the driving torque of the vehicle is compensated based on the braking torque and accelerator pedal opening. The vehicle is controlled to generate the compensated target driving torque. By performing torque compensation, the problem of vehicle steering stopping or steering speed decreasing due to the braking torque applied by the steering assist function can be solved, thereby improving the user experience.

[0030] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of the present invention, nor is it intended to restrict the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0031] FIG. 1 is a flowchart of a torque control method according to an embodiment of the present application;

[0032] FIG. 2 is a diagram showing a relationship between a drive torque and an accelerator pedal opening degree according to an embodiment of the present application;

[0033] FIG. 3 is a diagram showing a relationship between a drive torque and an accelerator pedal opening degree according to an embodiment of the present application;

[0034] FIG. 4 is a diagram showing a relationship between a drive torque and an accelerator pedal opening degree according to an embodiment of the present application;

[0035] FIG. 5 is a diagram showing a structure of a torque control device according to an embodiment of the present application;

[0036] FIG. 6 is a diagram showing a structure of a vehicle controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below with reference to the embodiments thereof and the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of the present application.

[0038] In the description of one or more embodiments of the present application, the term “comprising” and similar terms are to be understood as open-ended, i.e., “including but not limited to”. The term “based on” is to be understood as “based at least in part on”. The term “one embodiment” or “the embodiment” is to be understood as “at least one embodiment”. The terms “a first”, “a second” etc. can refer to different or identical objects. Other explicit or implicit definitions can also be included below.

[0039] In the related art, the turning assist function is to apply a braking torque to the inboard wheels of a vehicle to increase the slip ratio of the inboard wheels of the vehicle, so as to reduce the turning radius of the vehicle. However, in some turning scenarios, if the braking torque applied to the vehicle by the turning assist function is greater than the drive torque of the vehicle, the turning speed of the vehicle will be reduced or the vehicle will be stopped by braking, which affects the driving experience of the driver.

[0040] Based on this, the application provides a torque control method for applying a vehicle to turn based on a steering assistance function, in the process of turning the vehicle, in response to the steering assistance function entering an active state, the braking torque applied to the vehicle by the steering assistance function and the accelerator pedal opening degree are obtained, so that the driving torque of the vehicle is compensated based on the braking torque and the accelerator pedal opening degree, the target driving torque of the vehicle after compensation is controlled, and through torque compensation, the problem that the vehicle stops turning or the turning speed is reduced due to the braking torque applied by the steering assistance function can be solved, and the user experience is improved.

[0041] Please refer to Fig. 1, which is a flowchart of a torque control method provided by an embodiment of the application. The following will be described in detail with respect to the flowchart shown in Fig. 1. The torque control method can specifically include the following steps:

[0042] Step S102, in response to the steering assistance function entering an active state, the braking torque applied to the vehicle by the steering assistance function and the accelerator pedal opening degree are obtained;

[0043] For a vehicle configured with a steering assistance function, in the process of turning the vehicle, the vehicle can activate the steering assistance function according to the driver's instruction or automatically by monitoring the surrounding environment.

[0044] In the embodiment of the application, in the process of turning the vehicle, after the vehicle steering assistance function is activated, the braking torque applied to the inner side wheels of the vehicle based on the steering assistance function and the real-time accelerator pedal opening degree information are obtained.

[0045] The steering assistance function is used to apply a braking torque to the inner side wheels of the vehicle during the turning of the vehicle. The steering assistance function can achieve the effect of reducing the turning radius of the vehicle.

[0046] The accelerator pedal is a device for controlling the power output of the vehicle. The driver can control the power output of the vehicle by changing the stroke opening degree of the accelerator pedal. The accelerator pedal opening degree can be obtained by detecting the position of the accelerator pedal in real time through a sensor.

[0047] Step S104, the driving torque of the vehicle is compensated based on the braking torque and the accelerator pedal opening degree, and the target driving torque of the vehicle after compensation is controlled.

[0048] In the embodiment of the application, after the steering assistance function is activated, the braking torque corresponding to the steering assistance function and the real-time accelerator pedal opening degree are obtained, so that the driving torque of the vehicle is compensated according to the braking torque and the accelerator pedal opening degree, and then the vehicle is driven according to the target driving torque after compensation, so as to solve the problem that the vehicle stops turning or the turning speed is reduced due to the braking torque applied by the steering assistance function, and improve the driving experience of the user.

[0049] In one embodiment, in step S104, the vehicle is compensated for driving torque based on the braking torque and the accelerator pedal opening, and the vehicle is controlled to generate a compensated target driving torque. Specifically, the vehicle is compensated for driving torque based on the accelerator pedal opening and the braking torque, and the vehicle is controlled to generate a target driving torque that is not less than the braking torque.

[0050] That is, after the vehicle activates the steering assistance function, the target driving torque generated by the vehicle is not less than the braking torque applied by the steering assistance function, so as to avoid the situation that the driving torque of the vehicle is less than the braking torque during steering, thereby avoiding the situation that the speed of the vehicle is reduced or the vehicle is stopped during steering, and improving the driving experience.

[0051] In one embodiment, in step S104, the vehicle is compensated for driving torque based on the braking torque and the accelerator pedal opening, and the vehicle is controlled to generate a compensated target driving torque. Specifically, the vehicle is compensated for driving torque based on the accelerator pedal opening and the braking torque, and the vehicle is controlled to generate a target driving torque that is not less than the braking torque.

[0052] It should be noted that the driving torque output by the vehicle changes with the change of the accelerator pedal opening, and the torque change rate refers to the ratio of the driving torque change amount to the accelerator pedal opening change amount. The greater the torque change rate, the greater the driving torque change amount with the change of the accelerator pedal opening, and the more obvious the driving torque change.

[0053] It can be understood that during the vehicle steering based on the steering assistance function, there can be a situation that the braking torque is too large. In this case, if the driver wants to increase the turning speed, he needs to step on the accelerator pedal deeply to obtain a larger accelerator pedal opening, so that the vehicle can output a driving torque sufficient to offset the braking torque according to the larger accelerator pedal opening. In the present embodiment, by adjusting the torque change rate of the driving torque with the change of the accelerator pedal opening according to the braking torque, the vehicle can be controlled to output a larger driving torque based on the adjusted torque change rate with a smaller change of the accelerator pedal opening, so that the driver does not need to change the deep stepping action on the accelerator pedal to control the vehicle to output a target driving torque sufficient to offset the braking torque, thereby improving the driving experience of the driver.

[0054] In one embodiment, in response to the steering assist function entering an active state, the braking torque exerted on the vehicle by the steering assist function and the accelerator pedal opening degree are obtained, so that the vehicle is driven torque compensated based on the accelerator pedal opening degree and the braking torque, and the vehicle is controlled to generate a target driving torque that is not less than the braking torque. Specifically, the vehicle is driven torque compensated based on the accelerator pedal opening degree and the braking torque, and the vehicle is controlled to generate a target driving torque that is not less than the braking torque, which can be:

[0055] When the accelerator pedal opening degree is an initial accelerator pedal opening degree, the vehicle is controlled to generate a target driving torque that is greater than the braking torque, and the initial accelerator pedal opening degree is the accelerator pedal opening degree corresponding to the activation of the steering assist function. When the accelerator pedal opening degree gradually increases from the initial accelerator pedal opening degree, the target driving torque linearly increases with the increase of the accelerator pedal opening degree.

[0056] That is, during steering, when the accelerator pedal opening degree is the initial accelerator pedal opening degree, the vehicle is controlled to generate a target driving torque that is greater than the braking torque. As the driver steps on the accelerator pedal, the target driving torque linearly increases with the increase of the accelerator pedal opening degree, so that the vehicle driving torque is always higher than the braking torque in the case that the brake pedal is not stepped on during steering, to solve the problem that the vehicle stops or the steering speed decreases due to the braking torque exerted by the steering assist function, and to improve the user driving experience.

[0057] Specifically, referring to FIG. 2, which is a schematic diagram of the driving torque varying with the accelerator pedal opening degree provided by an embodiment of the present application. As shown in FIG. 2, the vertical coordinate Torque is the torque variable, the horizontal coordinate Accelerate pedal stroke is the accelerator pedal opening degree variable, L1 is the target driving torque change curve, L2 is the braking torque change curve, T1 is the target driving torque corresponding to the accelerator pedal opening degree of 0, and T0 is the braking torque. FIG. 2 takes the initial accelerator pedal opening degree as 0 for example. As can be seen, when the accelerator pedal opening degree is 0, the target driving torque is greater than the braking torque, and then the target driving torque increases with the increase of the accelerator pedal opening degree, and the target driving torque is always greater than the braking torque.

[0058] Optionally, when the accelerator pedal opening degree is the initial accelerator pedal opening degree, the vehicle is controlled to generate a target driving torque that is greater than the braking torque, and the torque size of the target driving torque can be the sum of the vehicle idle speed torque and the braking torque.

[0059] The idle speed torque refers to the torque output by the vehicle when the accelerator pedal opening degree is 0 in the normal driving process.

[0060] Further, when the accelerator pedal opening degree is the initial accelerator pedal opening degree, an initial driving torque corresponding to the initial accelerator pedal opening degree is determined, the initial driving torque is compensated based on the braking torque, and the vehicle is controlled to generate a target driving torque with a magnitude being a sum of the braking torque and the initial driving torque.

[0061] It should be noted that when the steering assistance function is activated, the initial accelerator pedal opening degree can be 0 or an opening degree greater than 0. When the initial accelerator pedal opening degree is not 0, to avoid the vehicle slowing down due to the braking torque, a compensation torque with a magnitude of the braking torque is added to the current initial driving torque of the vehicle, so that the vehicle generates a target driving torque with a magnitude being a sum of the braking torque and the initial driving torque, thereby reducing the influence of the braking torque on the driver when the steering assistance function is activated, and achieving a non-susceptible access of the steering assistance function.

[0062] It should be noted that in one or more embodiments of the present application, the braking torque applied by the steering assistance function can be a variable braking torque. When the braking torque changes, the target driving torque determined based on the braking torque also changes accordingly. In the case where the accelerator pedal opening degree does not change, the difference between the target driving torque and the braking torque is maintained constant to ensure the stability of the vehicle speed.

[0063] In one embodiment, in response to the steering assistance function entering an activated state, the braking torque applied by the steering assistance function to the vehicle and the accelerator pedal opening degree are obtained, so that the vehicle is compensated for driving torque based on the braking torque and the accelerator pedal opening degree, and the vehicle is controlled to generate a compensated target driving torque. Specifically, the vehicle is compensated for driving torque based on the braking torque and the accelerator pedal opening degree, and the vehicle is controlled to generate a compensated target driving torque, which can be:

[0064] When the accelerator pedal opening degree is an initial accelerator pedal opening degree, the vehicle is controlled to generate a target driving torque greater than the braking torque. The initial accelerator pedal opening degree is an accelerator pedal opening degree corresponding to the activation of the steering assistance function. When the accelerator pedal opening degree gradually increases from the initial accelerator pedal opening degree to a first preset opening degree, the target driving torque linearly decreases as the accelerator pedal opening degree increases. When the accelerator pedal opening degree is at the first preset opening degree, the driving torque is less than the target braking torque. When the accelerator pedal opening degree gradually increases from the first preset opening degree, the target driving torque linearly increases as the accelerator pedal opening degree increases.

[0065] In the turning process, when the accelerator pedal opening degree is the initial accelerator pedal opening degree, the target driving torque of the vehicle is greater than the braking torque, when the accelerator pedal opening degree gradually increases from the initial accelerator pedal opening degree to the first preset opening degree, the target driving torque gradually decreases until it is less than the braking torque, and then gradually increases when the accelerator pedal opening degree continues to increase from the first preset opening degree. That is, the vehicle driving torque gradually decreases and then gradually increases with the increase of the accelerator pedal opening degree.

[0066] It should be noted that, in the vehicle turning process, since the initial driving torque corresponding to the initial accelerator pedal opening degree is greater than the braking torque, the vehicle will accelerate during the turning process, and there may be a situation that the driver needs to reduce the speed when the turning speed is high. The turning assist function is usually set to automatically exit when the braking signal is detected to ensure good NVH performance, so if the speed is reduced by the brake pedal when the turning speed is high, the turning assist function will automatically exit. In this embodiment, the speed is reduced by stepping on the accelerator pedal to change the accelerator pedal opening degree. In the change range of the initial accelerator pedal opening degree to the first preset opening degree, the vehicle driving torque decreases with the increase of the accelerator pedal opening degree, and the vehicle turning speed gradually decreases when the target driving torque is less than the braking torque, so the driver can realize the vehicle turning speed reduction without stepping on the brake pedal.

[0067] Specifically, referring to FIG. 3, it is a schematic diagram of the driving torque changing with the accelerator pedal opening degree provided by the embodiment of the application. As shown in FIG. 3, the vertical coordinate Torque is the torque variable, the horizontal coordinate Accelerate pedal stroke is the accelerator pedal opening degree variable, L3 is the target driving torque change curve, L2 is the braking torque change curve, T1 is the target driving torque corresponding to the accelerator pedal opening degree of 0, T0 is the braking torque, and 30% is the first preset opening degree. FIG. 3 takes the initial accelerator pedal opening degree as 0. As can be seen, when the accelerator pedal opening degree is 0, the target driving torque of the vehicle is greater than the braking torque, and then the target driving torque decreases with the increase of the accelerator pedal opening degree until the accelerator pedal opening degree increases to 30% and the target driving torque decreases to less than the braking torque. In the accelerator pedal opening degree change interval of 0-30%, the target driving torque can be gradually reduced to less than the braking torque by stepping on the accelerator pedal to realize the vehicle speed reduction, and then the target driving torque continuously increases with the increase of the accelerator pedal opening degree from 30%.

[0068] Further, in an embodiment, when the acceleration pedal opening degree gradually increases from the initial pedal opening degree, the target driving torque output by the vehicle is maintained unchanged during the period that the pedal opening degree increases from the initial pedal opening degree to a first preset opening degree, and the braking torque is linearly increased with the continuous increase of the pedal opening degree, so that when the acceleration pedal opening degree increases to the first preset opening degree, the target driving torque output by the vehicle is smaller than the braking torque; when the acceleration pedal opening degree gradually increases from the first preset opening degree, the driving torque is linearly increased with the increase of the acceleration pedal opening degree.

[0069] Further, in an embodiment, when the acceleration pedal opening degree gradually increases from the initial pedal opening degree, the target driving torque output by the vehicle is maintained unchanged during the period that the pedal opening degree increases from the initial pedal opening degree to a first preset opening degree, and the braking torque is linearly increased with the continuous increase of the pedal opening degree, so that when the acceleration pedal opening degree increases to the first preset opening degree, the target driving torque output by the vehicle is smaller than the braking torque; when the acceleration pedal opening degree gradually increases from the first preset opening degree, the driving torque is linearly increased with the increase of the acceleration pedal opening degree.

[0070] In the embodiment, the increase of the braking torque not only can realize the function of controlling the vehicle to decelerate by stepping on the acceleration pedal, but also can further reduce the turning radius of the vehicle.

[0071] In an embodiment, in response to the steering assistance function entering an activated state, the braking torque applied to the vehicle by the steering assistance function and the acceleration pedal opening degree are obtained, so that the driving torque compensation is performed on the vehicle based on the braking torque and the acceleration pedal opening degree, and the vehicle generates the compensated target driving torque. Specifically, the driving torque compensation performed on the vehicle based on the braking torque and the acceleration pedal opening degree, and the vehicle generating the compensated target driving torque can be as follows:

[0072] The torque change rate corresponding to the driving torque when the acceleration pedal opening degree is located in the interval of 0 to the second preset opening degree is adjusted based on the second preset opening degree and the braking torque, so that when the acceleration pedal opening degree increases from 0 to the second preset opening degree, the target driving torque increases to the same size as the braking torque, and the second preset opening degree is a preset acceleration pedal opening degree; when the acceleration pedal opening degree gradually increases from the second preset opening degree, the target driving torque linearly increases with the increase of the acceleration pedal opening degree at an initial torque change rate, and the initial torque change rate is the torque change rate in the normal driving process of the vehicle.

[0073] It can be understood that in the vehicle steering process based on the steering assistance function, there can be a case of excessive braking torque. In this case, if the driver wants to increase the turning speed, he needs to step on the accelerator pedal deeper to obtain a larger accelerator pedal opening, so that the vehicle can output a driving torque sufficient to offset the braking torque according to the larger accelerator pedal opening. By adjusting the torque change rate of the driving torque with the accelerator pedal opening according to the size of the braking torque, based on the adjusted torque change rate, a smaller accelerator pedal opening change can control the vehicle to output a larger driving torque, so that the driver does not need to make a deeper stepping action on the accelerator pedal to control the vehicle to output a target driving torque sufficient to offset the braking torque, improving the driver's driving experience.

[0074] In this embodiment, a second preset opening corresponding to the accelerator pedal is pre-set, and the second preset opening is used to output a target driving torque equal to the size of the braking torque when the accelerator pedal opening reaches the second preset opening. That is, no matter how large the braking torque is, when the accelerator pedal opening reaches the second preset opening, the vehicle can output a target driving torque equal to the size of the braking torque, so that the driver does not need to make a deeper stepping action on the accelerator pedal to control the vehicle to output a target driving torque sufficient to offset the braking torque, improving the driver's driving experience. When the accelerator pedal opening continues to increase from the second preset opening, the torque change rate of the vehicle remains the torque change rate in the normal driving process of the vehicle, avoiding the vehicle out of control caused by the too high torque change rate of the vehicle.

[0075] Optionally, when the accelerator pedal opening continues to increase from the second preset opening, the torque change rate of the vehicle can be adjusted according to the actual demand.

[0076] Specifically, refer to FIG. 5, which is a schematic diagram of driving torque changing with accelerator pedal stroke according to an embodiment of the present application. As shown in FIG. 5, the vertical coordinate Torque is a variable of driving torque, the horizontal coordinate Accelerate pedal stroke is a variable of accelerator pedal stroke, L4 is a curve of driving torque changing, L2 is a curve of braking torque changing, the target driving torque corresponding to the accelerator pedal stroke of 0 is 0, T0 is the braking torque, and 15% is the second preset degree. It can be seen that the rate of change of vehicle torque when the accelerator pedal stroke is in the range of 0-15% is higher than the rate of change of torque when the accelerator pedal stroke is in the range of 15%-100%. When the accelerator pedal stroke is in the range of 0-15%, the driving torque of the vehicle can rapidly increase with the change of the accelerator pedal stroke to offset the braking torque of the vehicle, so the driver does not need to make a deep pedal action, and then the driving torque of the vehicle increases with the change of the accelerator pedal stroke according to the normal rate of change. When the accelerator pedal stroke is in the range of 0-15%, the driving torque is less than the braking torque, and the vehicle decelerates; when the accelerator pedal stroke is in the range of 15%-100%, the driving torque is greater than the braking torque, and the vehicle accelerates.

[0077] It should be noted that the torque control method proposed in one or more embodiments of the present application can be implemented by a torque control device provided in an intelligent integrated braking system. The torque control device obtains the activation state of the steering assist function, the accelerator pedal stroke, and the braking torque information applied to the inner wheel, determines the target driving torque of the vehicle according to the real-time accelerator pedal stroke and the braking torque applied to the inner wheel when the steering assist function is activated, and executes the torque control method described above, and sends the target driving torque to the vehicle controller to control the driving vehicle according to the target driving torque.

[0078] It should be noted that the torque control method proposed in one or more embodiments of the present application can be implemented by a torque control device provided in an intelligent integrated braking system. The torque control device obtains the activation state of the steering assist function, the accelerator pedal stroke, and the braking torque information applied to the inner wheel, determines the target driving torque of the vehicle according to the real-time accelerator pedal stroke and the braking torque applied to the inner wheel when the steering assist function is activated, and executes the torque control method described above, and sends the target driving torque to the vehicle controller to control the driving vehicle according to the target driving torque.

[0079] Please refer to FIG. 5, which is a structural schematic diagram of a torque control device according to an embodiment of the present application. As shown in FIG. 5, the torque control device 1 can be implemented as all or part of the vehicle controller through software, hardware, or a combination of both. According to some embodiments, the torque control device 1 includes an information acquisition module 11 and a torque generation module 12, and specifically includes:

[0080] The information acquisition module 11 is configured to obtain the braking torque applied to the vehicle by the steering assist function and the accelerator pedal stroke in response to the steering assist function entering an activated state.

[0081] The torque generation module 12 is configured to perform driving torque compensation on the vehicle based on the brake torque and the accelerator pedal opening, and control the vehicle to generate a target driving torque after compensation.

[0082] Optionally, the torque generation module 12 is specifically configured to:

[0083] perform driving torque compensation on the vehicle based on the brake torque and the accelerator pedal opening, and control the vehicle to generate a target driving torque that is not less than the brake torque.

[0084] Optionally, when performing the driving torque compensation on the vehicle based on the brake torque and the accelerator pedal opening, and controlling the vehicle to generate a target driving torque that is not less than the brake torque, the torque generation module 12 is specifically configured to:

[0085] when the accelerator pedal opening is an initial accelerator pedal opening, control the vehicle to generate a target driving torque that is greater than the brake torque, the initial accelerator pedal opening being an accelerator pedal opening corresponding to activation of the steering assist function;

[0086] when the accelerator pedal opening gradually increases from the initial accelerator pedal opening, the target driving torque linearly increases with the accelerator pedal opening.

[0087] Optionally, the torque generation module 12 is specifically configured to:

[0088] when the accelerator pedal opening is an initial accelerator pedal opening, control the vehicle to generate a target driving torque that is greater than the brake torque, the initial accelerator pedal opening being an accelerator pedal opening corresponding to activation of the steering assist function;

[0089] when the accelerator pedal opening gradually increases from the initial accelerator pedal opening to a first preset opening, the target driving torque linearly decreases with the accelerator pedal opening, and the target driving torque when the accelerator pedal opening is at the first preset opening is less than the brake torque;

[0090] when the accelerator pedal opening gradually increases from the first preset opening, the target driving torque linearly increases with the accelerator pedal opening.

[0091] Optionally, when performing the control of the vehicle to generate a target driving torque that is greater than the brake torque when the accelerator pedal opening is an initial accelerator pedal opening, the torque generation module 12 is specifically configured to:

[0092] determine an initial driving torque corresponding to the initial accelerator pedal opening;

[0093] The vehicle is controlled to generate a target driving torque with a magnitude being a sum of the braking torque and the initial driving torque based on the braking torque compensating the initial driving torque.

[0094] Optionally, the torque generation module 12 is specifically configured to:

[0095] The driving torque corresponding to the torque change rate is adjusted based on a second preset accelerator pedal opening and the braking torque, so that the target driving torque increases to the same magnitude as the braking torque when the accelerator pedal opening increases from 0 to the second preset accelerator pedal opening, the second preset accelerator pedal opening being a preset accelerator pedal opening.

[0096] When the accelerator pedal opening gradually increases from the second preset accelerator pedal opening, the target driving torque linearly increases with the accelerator pedal opening according to an initial torque change rate, the initial torque change rate being a torque change rate in a normal driving process of the vehicle.

[0097] The device embodiment corresponds to the method embodiment, and specific descriptions can be referred to the descriptions in the method embodiment part, which will not be repeated here. The device embodiment is based on the corresponding method embodiment and has the same technical effects as the corresponding method embodiment. Specific descriptions can be referred to the corresponding method embodiment.

[0098] The application further provides a storage medium, which can store a plurality of instructions, the instructions being suitable for being loaded and executed by a processor to perform the torque control method in each of the above embodiments. Specific execution processes can be referred to the specific descriptions in each of the above embodiments, which will not be repeated here.

[0099] The application further provides a computer program product, which stores at least one instruction, the at least one instruction being loaded and executed by the processor to perform the torque control method in each of the above embodiments. Specific execution processes can be referred to the specific descriptions in each of the above embodiments, which will not be repeated here.

[0100] In one embodiment, the application further provides a structural schematic diagram of a vehicle controller shown in FIG. 6. As shown in FIG. 6, at the hardware level, the vehicle controller includes a processor 21, an internal bus 22, a network interface 23, a memory 24, a non-volatile memory 25, and of course, other hardware required by other services. The vehicle controller can be arranged in a vehicle, and the processor 21 reads the corresponding computer program from the non-volatile memory 25 into the memory and then runs to implement the torque control method described above.

[0101] Optionally, the vehicle controller can be a domain controller.

[0102] In one embodiment, the present application also provides a vehicle that can include the torque control device or the vehicle controller as described above to perform the torque control method to improve the driving experience of a user when the vehicle is turning.

[0103] Finally, each of the embodiments of the present application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments focuses on the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments.

[0104] The above description is merely illustrative of the embodiments of the present application, and is not intended to limit the present application. The present application can be variously changed and modified by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A torque control method, comprising: in response to a steering assist function entering an active state, obtaining a braking torque exerted on a vehicle by the steering assist function and an accelerator pedal opening degree; based on the braking torque and the accelerator pedal opening degree, performing drive torque compensation on the vehicle, and controlling the vehicle to generate a compensated target drive torque. 2.The method of claim 1, wherein the based on the braking torque and the accelerator pedal opening degree, performing drive torque compensation on the vehicle, and controlling the vehicle to generate a compensated target drive torque, comprises: based on the accelerator pedal opening degree and the braking torque, performing drive torque compensation on the vehicle, and controlling the vehicle to generate a target drive torque that is not less than the braking torque. 3.The method of claim 2, wherein the based on the accelerator pedal opening degree, controlling the vehicle to generate a target drive torque that is not less than the braking torque, comprises: when the accelerator pedal opening degree is an initial accelerator pedal opening degree corresponding to the steering assist function being activated, controlling the vehicle to generate a target drive torque that is greater than the braking torque; and when the accelerator pedal opening degree gradually increases from the initial accelerator pedal opening degree, the target drive torque linearly increases with the accelerator pedal opening degree. 4.The method of claim 1, wherein the based on the braking torque and the accelerator pedal opening degree, performing drive torque compensation on the vehicle, and controlling the vehicle to generate a compensated target drive torque, comprises: when the accelerator pedal opening degree is an initial accelerator pedal opening degree corresponding to the steering assist function being activated, controlling the vehicle to generate a target drive torque that is greater than the braking torque; and when the accelerator pedal opening degree gradually increases from the initial accelerator pedal opening degree to a first preset opening degree, the target drive torque linearly decreases with the accelerator pedal opening degree, and the target drive torque when the accelerator pedal opening degree is at the first preset opening degree is less than the braking torque; and when the accelerator pedal opening degree gradually increases from the first preset opening degree, the target drive torque linearly increases with the accelerator pedal opening degree. 5.The method of any one of claims 3 or 4, wherein the when the accelerator pedal opening degree is an initial accelerator pedal opening degree, controlling the vehicle to generate a target drive torque that is greater than the braking torque, comprises: determining an initial drive torque corresponding to the initial accelerator pedal opening degree; and based on the braking torque, performing torque compensation on the initial drive torque, and controlling the vehicle to generate a target drive torque with a torque value being a sum of the braking torque and the initial drive torque. 6.The method of claim 1, wherein the based on the braking torque and the accelerator pedal opening degree, performing drive torque compensation on the vehicle, and controlling the vehicle to generate a compensated target drive torque, comprises: The second preset opening degree is a preset accelerator pedal opening degree. When the accelerator pedal opening degree gradually increases from the second preset opening degree, the target driving torque linearly increases with the accelerator pedal opening degree according to an initial torque change rate, and the initial torque change rate is a torque change rate in a normal driving process of the vehicle. 7.A torque control device, comprising: an information acquisition module configured to acquire a braking torque applied to a vehicle by a steering assist function and an accelerator pedal opening degree in response to the steering assist function entering an active state; a torque generation module configured to compensate the vehicle for driving torque based on the braking torque and the accelerator pedal opening degree, and control the vehicle to generate a compensated target driving torque. 8.A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 6.

9. A vehicle controller comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to implement the steps of the method of any one of claims 1 to 6. 10.A vehicle comprising the torque control device of claim 7 or the vehicle controller of claim 9.

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