CN115716477A - Driving mode switching method and device, electronic equipment and storage medium - Google Patents
Driving mode switching method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a driving mode switching method, a driving mode switching device, electronic equipment and a storage medium, wherein the method comprises the following steps: generating a standard database, wherein the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes; acquiring current automobile road condition parameters; acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to multiple working conditions in the standard database; determining a next driving mode in the multiple working conditions according to the similarity; switching to the next driving mode. By implementing the above embodiment, automatic switching of the driving modes can be realized.
Description
Technical Field
The application relates to the technical field of new energy automobiles, in particular to a driving mode switching method and device, electronic equipment and a storage medium.
Background
At present, switching of the driving mode of the whole vehicle is mainly selected on the basis of AVNT by a driver, and the switching without AVNT/AV configuration is realized by I-Pedal long press. Therefore, the driving mode cannot be automatically switched according to the specific driving condition. Considering that the accelerator pedal outputs different torques MAP under different driving modes, if the driving mode selected by the driver is not matched with the corresponding driving working condition, the dynamic property and the economical efficiency of the whole vehicle are obviously influenced.
Disclosure of Invention
In order to solve the above problems, an object of the embodiments of the present application is to provide a driving mode switching method, device, electronic device, and storage medium, which can implement automatic switching of driving modes.
The embodiment of the application provides a driving mode switching method, which comprises the following steps:
generating a standard database, wherein the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes;
acquiring current automobile road condition parameters;
acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to multiple working conditions in the standard database;
determining the current next driving mode in the multiple working conditions according to the similarity;
switching to the next driving mode.
In the implementation process, different historical form parameters are used for generating a standard database, the data in the standard database belong to various working conditions, and each working condition corresponds to different historical form parameters and driving modes. Determining current automobile road condition parameters in the driving process of an automobile, and acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to various working conditions in the standard database because a driver can determine a corresponding driving mode based on own judgment when the same road condition or similar road conditions are met; determining a current driving mode in the multiple working conditions according to the similarity; switching to the driving mode. Based on the embodiment, the automatic switching of the driving modes can be realized, the problem of inaccuracy caused by manual determination of the driving modes based on road conditions is solved, and the dynamic property and the economical efficiency of the whole vehicle are improved.
Further, the criteria database includes: a first characteristic vector corresponding to each working condition;
the step of generating a criteria database comprises:
acquiring a plurality of historical road condition parameters;
generating a plurality of first feature vectors corresponding to the plurality of historical road condition parameters;
and clustering the plurality of first characteristic vectors by using a clustering analysis algorithm to obtain the first characteristic vector corresponding to each working condition.
In the implementation process, the plurality of historical parameters are used for generating the first characteristic vectors, the historical parameters can be abstracted, and the similarity between different characteristic vectors can be quickly and accurately acquired by using a clustering analysis algorithm, so that the first characteristic vectors can be classified and clustered, and finally, each working condition corresponds to different first characteristic vectors.
Further, the step of obtaining the similarity between the current vehicle road condition parameter and the historical road condition parameters corresponding to the multiple working conditions in the standard database includes:
generating a second feature vector of the current automobile road condition parameter;
and calculating Euclidean distances between the second feature vector and the first feature vector corresponding to each working condition, wherein the similarity is the Euclidean distance.
In the implementation process, the second characteristic vector of the current automobile road condition parameter can be abstracted, the Euclidean distance can measure the difference between the two characteristic vectors, and the Euclidean distance is used as the similarity, so that the current switching driving mode can be accurately and quickly determined.
Further, the step of switching to the next driving mode includes:
acquiring the duration of the current driving mode;
switching to the next driving mode when the duration is greater than a minimum time.
In the implementation process, the minimum time is set for avoiding the condition identification frequency from being switched too fast, and the driving mode is switched only when the minimum time is exceeded.
In a second aspect, an embodiment of the present application provides a driving mode switching apparatus, including:
the system comprises a database generation module, a driving mode generation module and a driving mode generation module, wherein the database generation module is used for generating a standard database, the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes;
the parameter acquisition module is used for acquiring current automobile road condition parameters;
the similarity acquisition module is used for acquiring the similarity between the current automobile road condition parameters and the historical road condition parameters corresponding to the multiple working conditions in the standard database;
the determining module is used for determining the current driving mode in the multiple working conditions according to the similarity;
the switching module switches to the driving mode.
In the implementation process, different historical form parameters are used for generating a standard database, the data in the standard database belong to various working conditions, and each working condition corresponds to different historical form parameters and driving modes. Determining current automobile road condition parameters in the driving process of an automobile, and acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to various working conditions in the standard database because a driver can determine a corresponding driving mode based on own judgment when the same road condition or similar road conditions are met; determining a current driving mode in the multiple working conditions according to the similarity; switching to the driving mode. Based on the above embodiment, the automatic switching of the driving modes can be realized, the problem of inaccuracy caused by manual determination of the driving modes based on road conditions is solved, and the dynamic property and the economical efficiency of the whole vehicle are improved.
Further, the criteria database includes: a first characteristic vector corresponding to each working condition; the database generation module is also used for acquiring a plurality of historical road condition parameters;
generating a plurality of first feature vectors corresponding to the plurality of historical road condition parameters;
and clustering the plurality of first characteristic vectors by using a clustering analysis algorithm to obtain the first characteristic vector corresponding to each working condition.
In the implementation process, the plurality of historical parameters are used for generating the first feature vectors, the historical parameters can be abstracted, and the similarity between different feature vectors can be quickly and accurately acquired by using a clustering analysis algorithm, so that the first feature vectors can be classified and clustered, and the first feature vectors corresponding to each working condition are finally obtained.
Further, the determining module is further configured to generate a second feature vector of the current vehicle road condition parameter;
and calculating Euclidean distances between the second feature vector and the first feature vector corresponding to each working condition, wherein the similarity is the Euclidean distance.
In the implementation process, the second characteristic vector of the current automobile road condition parameter can be abstracted, the Euclidean distance can measure the difference between the two characteristic vectors, and the Euclidean distance is taken as the similarity, so that the current switching driving mode can be accurately and quickly determined.
Further, the switching module is further configured to obtain a duration of the current driving mode;
and judging whether to switch to the driving mode according to the duration of the current driving mode.
In the implementation process, the minimum time is set for avoiding the condition identification frequency from being switched too fast, and the driving mode is switched only when the minimum time is exceeded.
In a third aspect, an electronic device provided in an embodiment of the present application includes: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having instructions stored thereon, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the above-described technology disclosed herein.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a driving mode switching method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a driving mode switching device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, an embodiment of the present application provides a driving mode switching method, including:
s1: generating a standard database, wherein the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes;
s2: acquiring current automobile road condition parameters;
s3: acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to various working conditions in a standard database;
s4: determining the current next driving mode in various working conditions according to the similarity;
s5: switching to the next driving mode.
In the implementation process, different historical form parameters are used for generating a standard database, the data in the standard database belong to various working conditions, and each working condition corresponds to different historical form parameters and driving modes. Determining current automobile road condition parameters in the driving process of an automobile, and acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to various working conditions in the standard database because a driver can determine a corresponding driving mode based on own judgment when the same road condition or similar road conditions are met; determining a current driving mode in the multiple working conditions according to the similarity; switching to the driving mode. Based on the above embodiment, the automatic switching of the driving modes can be realized, the problem of inaccuracy caused by manual determination of the driving modes based on road conditions is solved, and the dynamic property and the economical efficiency of the whole vehicle are improved.
Further, the embodiment of the present application provides various automobile driving parameters, including:
maximum vehicle speed: v. of max ：v max = max (v); average vehicle speed v ave ：
Wherein t represents the running time step length(s) of the whole vehicle; Δ t represents the entire vehicleSampling time(s) in the line process, and taking 120s; average running vehicle speed v dri ：
Wherein t' represents the running time(s) when the vehicle speed is greater than 0 during the running process of the whole vehicle. Total speed time ratio t idle ：
Average acceleration a ave ：
In the formula a acc A value (m/s) representing when the acceleration of the entire vehicle is greater than 0 2 )；t acc Indicating the vehicle acceleration time(s). Average deceleration d ave ：
In the formula a dcc A value (m/s) when the acceleration of the whole vehicle is less than 0 2 )，t dcc Representing the deceleration time(s) and the acceleration standard deviation a of the whole vehicle dev ：
In the formula E (a) acc 2 ) The expression is the expected value of the square of the acceleration, (E (a) acc )) 2 Represents the square of the acceleration expectation; standard deviation d of deceleration dev ：
In the formula E (a) dcc 2 ) The expression is the desired value of the deceleration squared, (E (a) dcc )) 2 Represents the desired square of deceleration; maximum acceleration a max ：a max = max (a), maximum deceleration d max ＝|min(a)|。
Further, the criteria database includes: a first characteristic vector corresponding to each working condition; s1 comprises the following steps:
acquiring a plurality of historical road condition parameters;
generating a plurality of first feature vectors corresponding to the plurality of historical road condition parameters;
and clustering the plurality of first characteristic vectors by using a clustering analysis algorithm to obtain the first characteristic vector corresponding to each working condition.
In the implementation process, the plurality of historical parameters are used for generating the first characteristic vectors, the historical parameters can be abstracted, and the similarity between different characteristic vectors can be quickly and accurately acquired by using a clustering analysis algorithm, so that the first characteristic vectors can be clustered, and the first characteristic vectors corresponding to each working condition are finally obtained.
In one embodiment, prior to clustering, all parameters are normalized using the following formula:
in the formula x * Representing the normalized parameters; x represents a parameter to be normalized; x represents the average value of the parameter to be normalized; σ denotes the standard deviation of the parameter to be normalized.
Further, S3 includes:
generating a second feature vector of the current automobile road condition parameter;
and calculating the Euclidean distance between the second characteristic vector and the first characteristic vector corresponding to each working condition, wherein the similarity is the Euclidean distance.
Illustratively, 120s of travel condition segment information can be selected to be solved, and then the calculated data is fused into a database matrix for comparison.
In the formula x 11 ,x 12 ,…,x 1n Representing the characteristic parameter value obtained in the 120s information segment under the current driving condition; x is a radical of a fluorine atom mn And the n characteristic parameter value under the m-1 working condition is shown. The euclidean distance calculation formula can be expressed as:
and when new road condition parameters enter the matrix, standardizing the characteristic parameters of the same type by using a standardized function for generating a database.
In the implementation process, the second characteristic vector of the current automobile road condition parameter can be abstracted, the Euclidean distance can measure the difference between the two characteristic vectors, and the Euclidean distance is taken as the similarity, so that the current switching driving mode can be accurately and quickly determined.
Illustratively, the first type of working condition is defined as a city center working condition, and the corresponding driving working condition is defined as ECO +; the second type of working condition is defined as an urban working condition, and the corresponding driving working condition is defined as an ECO mode; the third type of working condition is defined as suburban working condition, and the corresponding driving working condition is defined as Normal mode; the fourth type of working condition is defined as a suburban working condition, and the corresponding driving mode is defined as a sport-mode; the fifth type of working condition is defined as a high-speed working condition, and the corresponding driving mode is defined as a sport mode.
Further, the step of switching to the next driving mode includes:
acquiring the duration of the current driving mode;
switching to the next driving mode when the duration is greater than a minimum time.
The minimum time maintenance can be calibrated according to specific experiments.
In the implementation process, the minimum time is set for avoiding the condition identification frequency from being switched too fast, and the driving mode is switched only when the minimum time is exceeded.
Example 2
Referring to fig. 2, an embodiment of the present application provides a driving mode switching apparatus, including:
the system comprises a database generation module 1, a driving mode generation module and a driving mode generation module, wherein the database generation module is used for generating a standard database, the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes;
the parameter acquisition module 2 is used for acquiring current automobile road condition parameters;
the similarity obtaining module 3 is used for obtaining the similarity between the current automobile road condition parameters and the historical road condition parameters corresponding to the multiple working conditions in the standard database;
the determining module 4 is used for determining the current driving mode in the multiple working conditions according to the similarity;
and the switching module 5 is used for switching to the driving mode.
In the implementation process, different historical form parameters are used for generating a standard database, the data in the standard database belong to various working conditions, and each working condition corresponds to different historical form parameters and driving modes. Determining current automobile road condition parameters in the driving process of an automobile, and acquiring the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to various working conditions in the standard database because a driver can determine a corresponding driving mode based on own judgment when the same road condition or similar road conditions are met; determining a current driving mode in the multiple working conditions according to the similarity; switching to the driving mode. Based on the above embodiment, the automatic switching of the driving modes can be realized, the problem of inaccuracy caused by manual determination of the driving modes based on road conditions is solved, and the dynamic property and the economical efficiency of the whole vehicle are improved.
Further, the criteria database includes: a first characteristic vector corresponding to each working condition; the database generation module is also used for acquiring a plurality of historical road condition parameters;
generating a plurality of first feature vectors corresponding to the plurality of historical road condition parameters;
and clustering the plurality of first characteristic vectors by using a clustering analysis algorithm to obtain the first characteristic vector corresponding to each working condition.
In the implementation process, the plurality of historical parameters are used for generating the first feature vectors, the historical parameters can be abstracted, and the similarity between different feature vectors can be rapidly and accurately acquired by using a cluster analysis algorithm, so that the first feature vectors can be classified, and the first feature vectors corresponding to each working condition are finally obtained.
Further, the determining module is further configured to generate a second feature vector of the current vehicle road condition parameter;
and calculating the Euclidean distance between the second characteristic vector and the first characteristic vector corresponding to each working condition, wherein the similarity is the Euclidean distance.
In the implementation process, the second characteristic vector of the current automobile road condition parameter can be abstracted, the Euclidean distance can measure the difference between the two characteristic vectors, and the Euclidean distance is used as the similarity, so that the current switching driving mode can be accurately and quickly determined.
Further, the switching module is further configured to obtain a duration of the current driving mode;
and judging whether to switch to the driving mode according to the duration of the current driving mode.
In the implementation process, the minimum time is set for avoiding the condition identification frequency from being switched too fast, and the driving mode is switched only when the minimum time is exceeded.
Fig. 3 shows a block diagram of an electronic device according to an embodiment of the present disclosure, where fig. 3 is a block diagram of the electronic device. The electronic device may include a processor 31, a communication interface 32, a memory 33, and at least one communication bus 34. Wherein the communication bus 34 is used for realizing direct connection communication of these components. In the embodiment of the present application, the communication interface 32 of the electronic device is used for performing signaling or data communication with other node devices. The processor 31 may be an integrated circuit chip having signal processing capabilities.
The Processor 31 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 31 may be any conventional processor or the like.
The Memory 33 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 33 stores computer readable instructions, and when the computer readable instructions are executed by the processor 31, the electronic device may perform the steps related to the method embodiments of fig. 1 to 2.
Optionally, the electronic device may further include a memory controller, an input output unit.
The memory 33, the memory controller, the processor 31, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses 34. The processor 31 is adapted to execute executable modules stored in the memory 33, such as software functional modules or computer programs comprised by the electronic device.
The input and output unit is used for providing a task for a user to create and start an optional time period or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 3 is merely illustrative and that the electronic device may include more or fewer components than shown in fig. 3 or may have a different configuration than shown in fig. 3. The components shown in fig. 3 may be implemented in hardware, software, or a combination thereof.
An embodiment of the present application further provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer, when the computer program is executed by a processor, the method in the method embodiment is implemented, and details are not repeated here to avoid repetition.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A driving mode switching method characterized by comprising:
generating a standard database, wherein the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes;
acquiring current automobile road condition parameters;
obtaining the similarity between the current automobile road condition parameters and historical road condition parameters corresponding to multiple working conditions in the standard database;
determining a next driving mode in the multiple working conditions according to the similarity;
switching to the next driving mode.
2. The driving mode switching method according to claim 1, wherein the criterion database includes: a first characteristic vector corresponding to each working condition;
the step of generating a criteria database comprises:
acquiring a plurality of historical road condition parameters;
generating a plurality of first feature vectors corresponding to the plurality of historical road condition parameters;
and classifying the plurality of first characteristic vectors by using a cluster analysis algorithm to obtain the first characteristic vector corresponding to each working condition.
3. The driving mode switching method according to claim 2, wherein the step of obtaining the similarity between the current vehicle road condition parameters and the historical road condition parameters corresponding to the multiple working conditions in the standard database comprises:
generating a second feature vector of the current automobile road condition parameter;
and calculating the Euclidean distance between the second characteristic vector and the first characteristic vector corresponding to each working condition, wherein the similarity is the Euclidean distance.
4. The driving mode switching method according to claim 3, wherein the step of switching to the next driving mode includes:
acquiring the duration of the current driving mode;
switching to the next driving mode when the duration is greater than a minimum time.
5. A driving mode switching apparatus characterized by comprising: the system comprises a database generation module, a driving mode generation module and a driving mode generation module, wherein the database generation module is used for generating a standard database, the standard database comprises a plurality of working conditions, and each working condition corresponds to different historical road condition parameters and driving modes;
the parameter acquisition module is used for acquiring current automobile road condition parameters;
the similarity acquisition module is used for acquiring the similarity between the current automobile road condition parameters and the historical road condition parameters corresponding to the multiple working conditions in the standard database;
the determining module is used for determining a next driving mode in the multiple working conditions according to the similarity;
and the switching module is used for switching to the next driving mode.
6. The driving mode switching apparatus according to claim 5, wherein the criterion database includes: a first characteristic vector corresponding to each working condition; the database generation module is also used for acquiring a plurality of historical road condition parameters;
generating a plurality of first feature vectors corresponding to the plurality of historical road condition parameters;
and classifying the plurality of first characteristic vectors by using a cluster analysis algorithm to obtain the first characteristic vector corresponding to each working condition.
7. The device of claim 6, wherein the determining module is further configured to generate a second feature vector of the current vehicle traffic parameter;
and calculating the Euclidean distance between the second characteristic vector and the first characteristic vector corresponding to each working condition, wherein the similarity is the Euclidean distance.
8. The driving mode switching device of claim 7, wherein the switching module is further configured to obtain a duration of a current driving mode;
switching to the next driving mode when the duration is greater than a minimum time.
9. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1-4 when executing the computer program.
10. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-4.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634193A (en) * | 2019-03-01 | 2020-09-08 | 广州汽车集团股份有限公司 | Torque direction judgment method and device, vehicle, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111634193A (en) * | 2019-03-01 | 2020-09-08 | 广州汽车集团股份有限公司 | Torque direction judgment method and device, vehicle, computer equipment and storage medium |
| CN111634193B (en) * | 2019-03-01 | 2024-05-14 | 广汽埃安新能源汽车有限公司 | Torque direction determination method, torque direction determination device, vehicle, computer device, and storage medium |
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