CN116588109A

CN116588109A - Vehicle driving torque control method and device, vehicle and electronic device

Info

Publication number: CN116588109A
Application number: CN202310771161.XA
Authority: CN
Inventors: 张立亮; 官浩; 郝占武
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2023-08-15

Abstract

The invention discloses a driving torque control method and device for a vehicle, the vehicle and an electronic device, and relates to the technical field of vehicles. Wherein the method comprises the following steps: acquiring first state information, second state information and third state information; acquiring acceleration information and weight information of the vehicle in response to the first state information conforming to a first preset condition and the second state information conforming to a second preset condition; determining a target torque based on the acceleration information and the weight information, and determining a target torque up rate based on the first state information; and controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting a third preset condition. The invention solves the technical problems of lower anti-interference performance, lower accuracy and lower comprehensiveness caused by judging whether the driving torque of the vehicle is enough or not through the vehicle information and releasing the EPB function through the preset gradient value in the related technology.

Description

Vehicle driving torque control method and device, vehicle and electronic device

Technical Field

The invention relates to the technical field of vehicles, in particular to a driving torque control method and device for a vehicle, the vehicle and an electronic device.

Background

With the popularization of electronic parking brake systems (Electronic Parking Brake, EPB), vehicles commonly apply a function of automatically releasing EPB by gear-out P to enhance driving experience. However, under a part of scenes, a situation that the vehicle slides down can occur, for example, a gear is changed from a gear P to a gear D, the EPB executes EPB release operation after receiving a gear shifting signal, and before the creep torque of the vehicle rises after the EPB release, the vehicle slides down, so that potential safety hazards are caused. Therefore, a driving torque control method for a vehicle is necessary.

At present, judging whether the driving torque of the vehicle is large enough or not according to the image shaking amplitude of a camera of the vehicle and the vibration signal of the vehicle, further confirming whether EPB can be released or not, judging whether the current gradient value of the vehicle is smaller than or equal to a preset gradient value or not according to the preset gradient value, and if so, judging whether the gear of the vehicle is switched to a forward gear or a reverse gear or not; if yes, the release parking is executed, but the method is greatly influenced by the vehicle state and the camera image judgment, so that misjudgment is most likely to be caused, the release time of the EPB cannot be accurately judged, and the automatic release EPB function can only be used in the determined small gradient range, so that the anti-interference performance is lower, the accuracy is lower and the comprehensiveness is lower.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the invention provides a driving torque control method and device for a vehicle, the vehicle and an electronic device, and at least solves the technical problems that in the related art, whether the driving torque of the vehicle is enough or not is judged through vehicle information, and an EPB function is released through a preset gradient value, so that the anti-interference performance is low, the accuracy is low and the comprehensiveness is low.

According to one embodiment of the present invention, there is provided a driving torque control method of a vehicle, including: acquiring first state information, second state information and third state information, wherein the first state information is used for representing the current safety state of a driver, the second state information is used for representing the working state of a vehicle, and the third state information is used for representing the operation information of the driver on the vehicle; responding to the first state information meeting a first preset condition and the second state information meeting a second preset condition, and acquiring acceleration information and weight information of the vehicle, wherein the first preset condition is used for indicating that a driver is in a safe driving state, the second preset condition is used for indicating that the vehicle works normally, and the acceleration information is acceleration information when the vehicle is in a parking gear; determining a target torque based on the acceleration information and the weight information, and determining a target torque up rate based on the first state information; and controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting a third preset condition, wherein the third preset condition is used for representing the operation of releasing the parking gear of the vehicle by the driver.

Optionally, the first status information includes at least: electronic parking brake system information, driver on-site state information, parking state information and gear information, wherein the driver on-site state information at least comprises one of the following: safety belt status information and door status information.

Optionally, the second state information includes at least: brake system status information, drive system status information, and shift mechanism status information of the vehicle.

Optionally, determining the target torque based on the acceleration information and the weight information includes: calculating a gradient value according to the acceleration information to obtain a current gradient value of the vehicle; and determining the target torque according to the weight information and the current gradient value.

Optionally, determining the target torque up rate based on the first state information includes: determining brake release time and a brake force reduction gradient value according to the electronic parking brake system information; the target torque up rate is determined based on the brake release time and the brake force reduction gradient value.

Optionally, the third status information includes at least one of: the driver brake pedal operation information and the driver shift lever operation information, and controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting the third preset condition includes: and controlling the driving torque of the vehicle based on the target torque and the target torque up-conversion rate in response to the brake pedal operation information conforming to a preset brake pedal operation and the shift handle operation information conforming to a preset shift handle operation, wherein the preset brake pedal operation is a driver's brake pedal depression operation, and the preset shift handle operation is a driver's parking gear switching operation.

Optionally, the method further comprises: acquiring running information of a vehicle, wherein the running information comprises a vehicle speed, an accelerator opening degree and a driving torque; and controlling the driving torque of the vehicle based on the target torque and the target torque up rate again in response to the running information meeting the fourth preset condition.

According to one embodiment of the present invention, there is also provided a driving torque control device of a vehicle including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring first state information, second state information and third state information, the first state information is used for indicating the current safety state of a driver, the second state information is used for indicating the working state of a vehicle, and the third state information is used for indicating the operation information of the driver on the vehicle; the second acquisition module is used for responding to the first state information meeting a first preset condition and the second state information meeting a second preset condition to acquire acceleration information and weight information of the vehicle, wherein the first preset condition is used for indicating that a driver is in a safe driving state, the second preset condition is used for indicating that the vehicle works normally, and the acceleration information is acceleration information when the vehicle is in a parking gear; the determining module is used for determining target torque based on the acceleration information and the weight information and determining target torque up rate based on the first state information; and the control module is used for responding to the third state information to meet a third preset condition and controlling the driving torque of the vehicle based on the target torque and the target torque up rate, wherein the third preset condition is used for indicating the operation of releasing the parking gear of the vehicle by a driver.

Optionally, the determining module is further configured to perform gradient value calculation according to the acceleration information, so as to obtain a current gradient value of the vehicle; and determining the target torque according to the weight information and the current gradient value.

Optionally, the determining module is further configured to determine a brake release time and a brake force reduction gradient value according to the electronic parking brake system information; the target torque up rate is determined based on the brake release time and the brake force reduction gradient value.

Optionally, the control module is further configured to control the driving torque of the vehicle based on the target torque and the target torque up-rate in response to the brake pedal operation information conforming to a preset brake pedal operation and the shift lever operation information conforming to a preset shift lever operation, wherein the preset brake pedal operation is a driver depression brake pedal operation, and the preset shift lever operation is a driver shift parking gear operation.

Optionally, the control module is further configured to obtain driving information of the vehicle, where the driving information includes a vehicle speed, an accelerator opening degree, and a driving torque; and controlling the driving torque of the vehicle based on the target torque and the target torque up rate again in response to the running information meeting the fourth preset condition.

According to one embodiment of the present application, there is also provided a vehicle for executing the driving torque control method of the vehicle in any one of the above.

According to one embodiment of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the driving torque control method of the vehicle in any one of the above when run on a computer or a processor.

According to one embodiment of the present application, there is also provided an electronic device including a memory in which a computer program is stored, and a processor configured to run the computer program to perform the driving torque control method of the vehicle in any one of the above.

In the embodiment of the application, the first state information, the second state information and the third state information are acquired, wherein the first state information is used for representing the current safety state of a driver, the second state information is used for representing the working state of the vehicle, the third state information is used for representing the operation information of the driver on the vehicle, and the first state information accords with a first preset condition and the second state information accords with a second preset condition in response to the first state information, so that the acceleration information and the weight information of the vehicle are acquired, the first preset condition is used for representing the driver in the safety driving state, the second preset condition is used for representing the normal operation of the vehicle, the acceleration information is the acceleration information of the vehicle in a parking gear, the target torque is determined based on the acceleration information and the weight information, the target torque increasing rate is determined based on the first state information, the third state information accords with the third preset condition, and the driving torque of the vehicle is controlled based on the target torque and the target torque increasing rate, wherein the third preset condition is used for representing the driver to release the parking gear operation of the vehicle, so that the driving torque can be increased according to the corresponding rate when the current gradient is released, the EPB is stable, the starting is released, the vehicle can be prevented from being carried out, the problem of the vehicle is completely due to the high-level and the relative problem is solved, and the vehicle is completely, and the vehicle can be completely released by the technology-dependent on the high-quality is completely-safe-running condition.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a flow chart of a method of controlling driving torque of a vehicle according to one embodiment of the application;

FIG. 2 is a flow chart of a method of controlling driving torque of a vehicle according to one embodiment of the present application;

fig. 3 is a block diagram of a driving torque control device of a vehicle according to one embodiment of the present application.

Detailed Description

For ease of understanding, a description of some of the concepts related to the embodiments of the application are given by way of example for reference.

The following is shown:

electronic parking brake system (Electronic Parking Brake, EPB): unlike conventional handbrakes, EPBs can control the actuation and release of a parking brake by buttons or switches. The EPB controls a motor or an actuator through an Electronic Control Unit (ECU) to cause a brake to apply or release a braking force, thereby realizing a parking brake function of the vehicle. The EPB has the functions of automatic parking, automatic release, hill start assistance and the like, and improves the convenience and safety of parking braking.

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to one embodiment of the present invention, there is provided an embodiment of a driving torque control method of a vehicle, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that herein.

The method embodiments may be performed in an electronic device, similar control device or system that includes a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It will be appreciated by those of ordinary skill in the art that the foregoing structural descriptions are merely illustrative and are not intended to limit the structure of the electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a different configuration than the above structural description.

The processor may include one or more processing units. For example: the processor may include a processing device of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a digital signal processing (digital signal processing, DSP) chip, a microprocessor (microcontroller unit, MCU), a programmable logic device (field-programmable gate array, FPGA), a neural network processor (neural-network processing unit, NPU), a tensor processor (tensor processing unit, TPU), an artificial intelligence (artificial intelligent, AI) type processor, or the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.

The memory may be used to store a computer program, for example, a computer program corresponding to a driving torque control method of a vehicle in an embodiment of the present invention, and the processor implements the driving torque control method of a vehicle by running the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory. In some examples, the memory may further include memory remotely located with respect to the processor, which may be connected to the electronic device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The communication device is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC) that can connect to other network devices through the base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet wirelessly.

Display devices may be, for example, touch screen type liquid crystal displays (liquid crystal display, LCDs) and touch displays (also referred to as "touch screens" or "touch display screens"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (graphical user interface, GUI) with which a user can interact with the GUI by touching finger contacts and/or gestures on the touch-sensitive surface, where the human-machine interaction functionality optionally includes the following interactions: executable instructions for performing the above-described human-machine interaction functions, such as creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving electronic mail, talking interfaces, playing digital video, playing digital music, and/or web browsing, are configured/stored in a computer program product or readable storage medium executable by one or more processors.

In this embodiment, there is provided a driving torque control method of a vehicle running on an electronic device, and fig. 1 is a flowchart of a driving torque control method of a vehicle according to one embodiment of the present invention, as shown in fig. 1, the flowchart includes the steps of:

Step S10, acquiring first state information, second state information and third state information;

the first state information is used for representing the current safety state of the driver, the second state information is used for representing the working state of the vehicle, and the third state information is used for representing the operation information of the driver on the vehicle.

The first status information is used to indicate the current safety status of the driver, for example, may be the current personal safety status of the driver in the vehicle, which is not limited in the embodiment of the present invention. The second status information is used to indicate the operating status of the vehicle, and may be, for example, the operating status of each system or mechanism in the vehicle, which is not limited in the embodiment of the present invention. The third state information is used to indicate operation information of the driver on the vehicle, for example, may be operation performed by the driver on each mechanical component in the vehicle, and the embodiment of the present invention is not limited.

This step can be understood as acquiring first state information for indicating the current safety state of the driver, second state information for indicating the operating state of the vehicle, and third state information for indicating the operation information of the driver on the vehicle.

Optionally, the current safety state of the driver may be obtained through a sensor in the vehicle, and the working state of the vehicle and the operation information of the driver on the vehicle may be obtained through the vehicle controller.

Step S11, acquiring acceleration information and weight information of the vehicle in response to the fact that the first state information accords with a first preset condition and the second state information accords with a second preset condition;

the first preset condition is used for indicating that a driver is in a safe driving state, the second preset condition is used for indicating that the vehicle works normally, and the acceleration information is acceleration information when the vehicle is in a parking gear.

It can be understood that when the first state information meets a first preset condition, that is, the current safety state of the driver is in a safe driving state, it indicates that the driver can ensure personal safety in the vehicle currently, and when the second state information meets a second preset condition, that is, the working state of the vehicle indicates that the vehicle works normally, each system or mechanism in the vehicle operates normally.

The step can be understood as that when the first state information accords with the first preset condition and the second state information accords with the second preset condition, namely, the current safety state of the driver is in a safe driving state and the working state of the vehicle indicates that the vehicle works normally, the driver can ensure personal safety in the vehicle currently, and each system or mechanism in the vehicle operates normally, and at the moment, the acceleration information and the weight information of the vehicle in a parking gear are acquired.

Step S12, determining a target torque based on the acceleration information and the weight information, and determining a target torque up rate based on the first state information;

the target torque can be understood as a required torque for ensuring that the vehicle does not slip when the vehicle is currently started, and the target torque up rate can be understood as a required torque up rate for ensuring that the vehicle does not slip when the vehicle is currently started. The step can be understood as determining a required torque for ensuring that the vehicle does not slip when the vehicle is currently started based on acceleration information and weight information of the vehicle when the vehicle is in a parking gear, and determining a required torque up rate for ensuring that the vehicle does not slip when the vehicle is currently started based on a current safety state of a driver.

And step S13, controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting a third preset condition.

The third preset condition is used for indicating that a driver performs operation of releasing the parking gear on the vehicle.

It is understood that when the third state information meets a third preset condition, that is, the operation information of the driver on the vehicle indicates that the driver releases the parking gear of the vehicle, the step may be understood as that when the third state information meets the third preset condition, that is, the operation information of the driver on the vehicle indicates that the driver releases the parking gear of the vehicle, the driving torque of the vehicle is controlled based on the target torque and the target torque up rate, so that the driving torque can be increased according to the current gradient at the corresponding rate to achieve smooth starting of the vehicle when the EPB is released, and avoid the phenomenon of sliding.

Through the steps, the first state information, the second state information and the third state information are obtained, wherein the first state information is used for representing the current safety state of a driver, the second state information is used for representing the working state of the vehicle, the third state information is used for representing the operation information of the driver on the vehicle, and the acceleration information and the weight information of the vehicle are obtained according to the first preset condition and the second state information is met, the first preset condition is used for representing the safe driving state of the driver, the second preset condition is used for representing the normal operation of the vehicle, the acceleration information is the acceleration information of the vehicle when the vehicle is in a parking gear, the target torque is determined based on the acceleration information and the weight information, the target torque increasing rate is determined based on the first state information, the third preset condition is used for representing the operation of the driver on the vehicle to release the parking gear, and accordingly the acceleration information and the weight information of the vehicle are increased according to the current speed, the acceleration information of the vehicle is enabled to be stable, the vehicle is released when the vehicle is in the parking gear, the relative torque is high, the vehicle is prevented from being carried out, the relative vehicle is prevented from being carried out by the vehicle, the relative vehicle is high-running performance is completely, the anti-slip performance is prevented from being achieved, the relative vehicle is improved, the anti-slip performance is improved, and the relative vehicle performance is completely is improved, and the technical performance is improved, and the problem is completely is prevented.

The electronic parking brake system information may be understood as indicating whether the electronic parking brake system function is on in the vehicle, that is, whether the parking brake release EPB function is on, and whether the EPB is currently in a clamped state, and embodiments of the present invention are not limited. The driver presence information includes at least one of: safety belt status information, which may be understood to indicate whether the driver is properly belted, and door status information, which may be understood to indicate whether the driver is safely closing the driver side door, are not limiting. The parking state information may be understood as indicating whether the vehicle is in a parking state, and embodiments of the present invention are not limited. Gear information may be understood as indicating whether the vehicle is in a park gear, and embodiments of the invention are not limited.

The brake system status information of the vehicle may be understood as indicating whether the brake system in the vehicle has no fault, is able to operate normally, for example, whether the brake system can achieve normal establishment of a service hydraulic braking force, and can perform normal EPB clamping and releasing functions, and embodiments of the present invention are not limited.

The driving system state information may be understood as indicating whether the driving system in the vehicle has no fault and can work normally, for example, whether the driving system can normally achieve establishment of the driving force moment, and the embodiment of the present invention is not limited.

The shift mechanism state information may be understood as information indicating whether the shift mechanism in the vehicle has no fault and can work normally, for example, the shift mechanism may normally implement shift of a gear and feedback the correct position of the current gear, which is not limited in the embodiment of the present invention.

Alternatively, in step S12, determining the target torque based on the acceleration information and the weight information may include performing the steps of:

step S120, calculating a gradient value according to the acceleration information to obtain a current gradient value of the vehicle;

this step may be understood as calculating a gradient value according to acceleration information of the vehicle in the parking position, for example, a lateral acceleration of the vehicle in the parking position, to obtain a description value of the gradient of the vehicle, i.e. a current gradient value.

Step S121, determining a target torque according to the weight information and the current gradient value.

The step can be understood as determining the required torque for ensuring that the vehicle does not slip when the vehicle is currently started according to the weight information of the vehicle, such as the whole vehicle mass of the vehicle and the description value of the current gradient of the vehicle.

Optionally, in step S12, determining the target torque up rate based on the first state information may include performing the steps of:

step S122, determining brake release time and a brake force reduction gradient value according to the electronic parking brake system information;

this step can be understood as determining a brake release time and a brake force reduction gradient value, i.e. determining a time of EPB release and a gradient value of brake force reduction during release, from the electronic parking brake system information.

Step S123, determining a target torque up rate according to the brake release time and the brake force reduction gradient value.

The step can be understood as determining the speed of driving torque up-torsion after the EPB is released according to the time of the EPB release and the gradient value of the braking force reduction in the release process, namely the speed of the driving torque up-torsion when the vehicle is started currently, wherein the speed of the driving torque up-torsion is required to ensure that the vehicle does not slide down when the vehicle is started currently.

Optionally, in step S13, the third state information includes at least one of: the driver brake pedal operation information and the driver shift lever operation information, in response to the third state information meeting the third preset condition, controlling the driving torque of the vehicle based on the target torque and the target torque up rate may include performing the steps of:

Step S130, controlling a driving torque of the vehicle based on the target torque and the target torque up rate in response to the brake pedal operation information conforming to the preset brake pedal operation and the shift lever operation information conforming to the preset shift lever operation.

The preset brake pedal operation is operated by a driver to press the brake pedal, and the preset gear shifting handle operation is operated by the driver to switch the parking gear.

It will be appreciated that when the brake pedal operation information corresponds to a preset brake pedal operation, it indicates that the driver is depressing the brake pedal, and when the shift lever operation information corresponds to a preset shift lever operation, it indicates that the driver is shifting the park range.

The step can be understood as controlling the driving torque of the vehicle based on the target torque and the target torque up-conversion rate when the brake pedal operation information conforms to the preset brake pedal operation and the shift handle operation information conforms to the preset shift handle operation, i.e. the brake pedal is depressed and the parking gear is shifted, i.e. the driving torque of the vehicle is controlled based on the required torque and the required torque up-conversion rate which ensure that the vehicle does not slip when the vehicle is currently started.

Optionally, in step S13, the method may further include the following steps:

step S131, acquiring running information of a vehicle;

The driving information comprises a vehicle speed, an accelerator opening degree and a driving torque;

it will be appreciated that after controlling the driving torque of the vehicle based on the target torque and the target torque up rate, it is necessary to detect the vehicle to determine whether the EPB release function of the vehicle is normally performed or not, so as to ensure that the vehicle does not slip.

This step may be understood as obtaining the vehicle speed, the accelerator opening degree, and the driving torque of the vehicle, or alternatively, may be obtained by a body sensor in the vehicle and a whole vehicle controller, which is not limited in the embodiment of the present invention.

In step S132, in response to the travel information meeting the fourth preset condition, the driving torque of the vehicle is controlled again based on the target torque and the target torque up rate.

The fourth preset condition may be understood as a condition for indicating that the EPB releasing function of the vehicle is not normally performed, and may alternatively include a vehicle speed threshold value, an accelerator opening degree threshold value, and a target torque, that is, when the vehicle speed is less than the vehicle speed threshold value, the accelerator opening degree is less than the accelerator opening degree threshold value, and the driving torque is less than the target torque, the driving torque of the vehicle is controlled again based on the target torque and the target torque up rate, which is not limited in the embodiment of the present invention.

Fig. 2 is a flowchart of a driving torque control method of a vehicle according to an embodiment of the present invention, as shown in fig. 2, and specifically illustrates the implementation of the above steps, and when the driving torque control method of a vehicle in fig. 2 is executed, firstly, the state of the driver is monitored, and it is determined whether the driver has turned on the function of releasing EPB by P: if the function is opened, the on-site state of the driver is confirmed, the EPB releasing process is guaranteed to be that the driver is in the driver position, the safety belt is tied, the vehicle door is in the closed state, and the EPB releasing vehicle is guaranteed to be started without safety risks. Meanwhile, whether the gear is in the P gear or not needs to be confirmed, the EPB is in a clamping state at present, the current parking state is confirmed, and if the driver state monitoring does not meet the function implementation conditions, the function of releasing the EPB by P is not performed.

And then, carrying out state confirmation on the execution systems involved in the EPB release process to ensure that each execution system cannot function faults. The establishment of normal running hydraulic braking force can be realized by confirming that the braking system cannot degrade, and the functions of normal EPB clamping and releasing can be executed; the establishment of driving force moment can be normally realized by confirming that the driving system cannot degrade; and (3) confirming that the whole vehicle gear shifting mechanism can normally realize gear conversion, feeding back the correct position of the current gear, and if the execution system does not meet the function implementation conditions, not performing the function of P releasing EPB.

If the driver state and the execution system have no problem, the read vehicle Ax signal, namely the acceleration signal, is used for carrying out current gradient calculation according to the Ax signal, then calculating the driving torque which ensures that the vehicle does not slide under the gradient according to the weight of the vehicle and the current gradient, and calculating the speed of driving torque rising torsion after the EPB is received and begins to be released according to the time of releasing the EPB and the gradient of braking force reduction in the releasing process. The process requires real vehicle calibration based on theoretical calculations to ultimately confirm the target torque and torque up rate of the powertrain.

At this time, if the driver steps on the brake pedal and manipulates the gear shifting handle to complete the gear shifting operation, when the system receives the signal change from P to D/R, that is, from the parking gear to the normal running/reverse gear, EPB is released, and the EPB state is released (releasing), after receiving the signal, an up-torsion request is sent to the power system, and the vehicle generates a driving torque, so that the vehicle is ensured not to slip during and after the release of EPB, and the process needs real vehicle calibration, and finally confirmation.

Finally, in the EPB releasing process, the function is withdrawn if the vehicle speed is higher than Xkph, the function is directly withdrawn if the accelerator opening of the driver is higher than the accelerator opening corresponding to the target driving torque, the function is withdrawn if the driving torque reaches the target torque, and the system is withdrawn after the EPB is completely released.

The method comprises the steps of monitoring the in-situ state of a driver, monitoring whether a side door of the driver is closed or not, whether the driver is fastened with a safety belt or not, judging the system state of a service braking system, a parking braking system, a driving system and a gear shifting mechanism, judging the gradient of the vehicle according to an Ax signal of the vehicle, judging the current gradient to overcome the sliding gradient according to the weight of the vehicle, judging the driving torque required by the current gradient, identifying a curve of the braking torque which exits in the EPB releasing process according to the time required by the EPB releasing process and the change corresponding to the EPB clamping force in the EPB releasing process, calculating the torque rising process of the driving torque according to the curve of the braking torque which exits in the EPB exiting process, and confirming the smoothness of the EPB releasing by the P of the real vehicle through real vehicle calibration. Therefore, the driving torque can be increased according to the current gradient, so that the vehicle can be stably started when the EPB is loosened, the phenomenon of sliding is avoided, the controllability of the vehicle is optimized, the technical effect of driving experience of the vehicle is improved, and the anti-interference performance is higher, the accuracy is higher and the comprehensiveness is higher.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.

The present embodiment also provides a driving torque control device for a vehicle, which is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

Fig. 3 is a block diagram of a driving torque control apparatus of a vehicle according to one embodiment of the present invention, as shown in fig. 3, exemplified by a driving torque control apparatus 300 of a vehicle, comprising: the first acquiring module 301, the first acquiring module 301 is configured to acquire first state information, second state information and third state information, where the first state information is used to represent a current safety state of a driver, the second state information is used to represent a working state of a vehicle, and the third state information is used to represent operation information of the driver on the vehicle; the second obtaining module 302 is configured to obtain acceleration information and weight information of the vehicle in response to the first state information meeting a first preset condition and the second state information meeting a second preset condition, where the first preset condition is used to indicate that the driver is in a safe driving state, the second preset condition is used to indicate that the vehicle is working normally, and the acceleration information is acceleration information when the vehicle is in a parking gear; a determining module 303, wherein the determining module 303 is configured to determine a target torque based on the acceleration information and the weight information, and determine a target torque up rate based on the first state information; the control module 304 is configured to control the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting a third preset condition, where the third preset condition is used to indicate an operation of releasing the parking gear of the vehicle by the driver.

Optionally, the determining module 303 is further configured to perform gradient value calculation according to the acceleration information, so as to obtain a current gradient value of the vehicle; and determining the target torque according to the weight information and the current gradient value.

Optionally, the determining module 303 is further configured to determine a brake release time and a brake force reduction gradient value according to the electronic parking brake system information; the target torque up rate is determined based on the brake release time and the brake force reduction gradient value.

Optionally, the control module 304 is further configured to control the driving torque of the vehicle based on the target torque and the target torque up-rate in response to the brake pedal operation information conforming to a preset brake pedal operation, which is a driver depression of the brake pedal operation, and the shift handle operation information conforming to a preset shift handle operation, which is a driver shift of the park gear operation.

Optionally, the control module 304 is further configured to obtain driving information of the vehicle, where the driving information includes a vehicle speed, an accelerator opening degree, and a driving torque; and controlling the driving torque of the vehicle based on the target torque and the target torque up rate again in response to the running information meeting the fourth preset condition. It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.

Embodiments of the present application also provide a vehicle for performing the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the above-described vehicle may be configured to store a computer program for executing the steps of:

step S1, acquiring first state information, second state information and third state information;

step S2, acquiring acceleration information and weight information of the vehicle in response to the fact that the first state information accords with a first preset condition and the second state information accords with a second preset condition;

step S3, determining a target torque based on the acceleration information and the weight information, and determining a target torque up rate based on the first state information;

And step S4, controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting a third preset condition, wherein the third preset condition is used for indicating the operation of releasing the parking gear of the vehicle by the driver.

Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run on a computer or processor.

Alternatively, in the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for performing the steps of:

Alternatively, in the present embodiment, the above-described computer-readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media in which a computer program can be stored.

An embodiment of the invention also provides an electronic device comprising a memory in which a computer program is stored and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Alternatively, in the present embodiment, the processor in the electronic device may be configured to execute the computer program to perform the steps of:

and step S4, controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information meeting a third preset condition.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments and optional implementations, and this embodiment is not described herein.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.

Claims

1. A driving torque control method of a vehicle, characterized by comprising:

acquiring first state information, second state information and third state information, wherein the first state information is used for representing the current safety state of a driver, the second state information is used for representing the working state of the vehicle, and the third state information is used for representing the operation information of the driver on the vehicle;

responding to the first state information meeting a first preset condition and the second state information meeting a second preset condition, and acquiring acceleration information and weight information of the vehicle, wherein the first preset condition is used for indicating that the driver is in a safe driving state, the second preset condition is used for indicating that the vehicle works normally, and the acceleration information is acceleration information when the vehicle is in a parking gear;

determining a target torque based on the acceleration information and the weight information, and determining a target torque up rate based on the first state information;

And controlling the driving torque of the vehicle based on the target torque and the target torque up-conversion rate in response to the third state information meeting a third preset condition, wherein the third preset condition is used for representing the operation of releasing the parking gear of the vehicle by the driver.

2. The method of claim 1, wherein the first status information comprises at least: electronic parking brake system information, driver on-site state information, parking state information and gear information, wherein the driver on-site state information at least comprises one of the following: safety belt status information and door status information.

3. The method according to claim 2, wherein the second status information comprises at least: brake system status information, drive system status information, and shift mechanism status information of the vehicle.

4. The method of claim 1, wherein the determining a target torque based on the acceleration information and the weight information comprises:

calculating a gradient value according to the acceleration information to obtain a current gradient value of the vehicle;

and determining target torque according to the weight information and the current gradient value.

5. The method of claim 2, wherein the determining a target torque up rate based on the first status information comprises:

determining brake release time and a brake force reduction gradient value according to the electronic parking brake system information;

and determining the target torque up rate according to the brake release time and the braking force reduction gradient value.

6. The method of claim 1, wherein the third status information comprises at least one of: and driver brake pedal operation information and driver shift lever operation information, said controlling the driving torque of the vehicle based on the target torque and the target torque up rate in response to the third state information conforming to a third preset condition, comprising:

and responding to the brake pedal operation information accords with a preset brake pedal operation and the gear shifting handle operation information accords with a preset gear shifting handle operation, and controlling the driving torque of the vehicle based on the target torque and the target torque up-converting speed, wherein the preset brake pedal operation is a brake pedal operation stepped on by a driver, and the preset gear shifting handle operation is a parking gear switching operation of the driver.

7. The method according to any one of claims 1-6, further comprising:

Acquiring running information of the vehicle, wherein the running information comprises a vehicle speed, an accelerator opening degree and the driving torque;

and controlling the driving torque of the vehicle based on the target torque and the target torque up-conversion rate again in response to the running information meeting a fourth preset condition.

8. A drive torque control device for a vehicle, comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring first state information, second state information and third state information, the first state information is used for indicating the current safety state of a driver, the second state information is used for indicating the working state of the vehicle, and the third state information is used for indicating the operation information of the driver on the vehicle;

the second acquisition module is used for responding to the first state information meeting a first preset condition and the second state information meeting a second preset condition to acquire acceleration information and weight information of the vehicle, wherein the first preset condition is used for indicating that the driver is in a safe driving state, the second preset condition is used for indicating that the vehicle normally works, and the acceleration information is acceleration information when the vehicle is in a parking gear;

A determination module for determining a target torque based on the acceleration information and the weight information, and a target torque up rate based on the first state information;

the control module is used for responding to the third state information to meet a third preset condition, and controlling the driving torque of the vehicle based on the target torque and the target torque up rate, wherein the third preset condition is used for representing the operation of releasing the parking gear of the vehicle by the driver.

9. A vehicle for performing the driving torque control method of the vehicle according to any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of controlling the driving torque of a vehicle as claimed in any one of the preceding claims 1 to 7.