CN-118597136-B - Vehicle torque adjustment method and device and electronic equipment

CN118597136BCN 118597136 BCN118597136 BCN 118597136BCN-118597136-B

Abstract

The invention discloses a vehicle torque adjusting method, a vehicle torque adjusting device and electronic equipment, and relates to the technical field of vehicles. The method includes the steps of obtaining running data of a vehicle, wherein the running data are used for representing a running state of the vehicle, determining target feedforward torque based on rear axle load, road surface attachment coefficient, correction coefficient and target longitudinal force of the vehicle in response to the running data meeting target conditions, determining target slip rate based on the target feedforward torque, wherein the target slip rate comprises a first slip rate of an inner rear wheel and a second slip rate of an outer rear wheel, and adjusting the slip rate of the vehicle based on the target slip rate to correspondingly adjust wheel torque based on adjustment of the slip rate. The invention solves the technical problems of slow response, complex control logic and low precision in the related technology.

Inventors

LU YUANJUN
CUI JINLONG
ZHAO YANG
ZHOU ZEHUI
CHEN ENYONG
WU AIBIN

Assignees

中国第一汽车股份有限公司

Dates

Publication Date: 20260508
Application Date: 20240620

Claims (12)

1.A vehicle torque adjustment method, characterized by comprising: Acquiring driving data of a vehicle, wherein the driving data is used for representing the driving state of the vehicle; Determining a first feed-forward torque of an inner rear wheel of the vehicle when the vehicle turns based on a rear axle load of the vehicle, a road surface attachment coefficient, a correction coefficient and a target longitudinal force in response to the running data satisfying a target condition, wherein the target condition is used for indicating that the vehicle is in a turning state and the wheel torque is adjustable, the correction coefficient is used for correcting axle load transfer generated when the vehicle turns, the correction coefficient is obtained according to a vehicle speed and a steering wheel angle, and the target longitudinal force is the longitudinal force of the inner rear wheel of the vehicle when the vehicle turns; giving a negative value to the first feedforward torque to obtain a second feedforward torque of the outside rear wheel when the vehicle turns; Applying a feed-forward torque to the inboard rear wheel based on the first feed-forward torque, and applying a feed-forward torque to the outboard rear wheel based on the second feed-forward torque; based on the vehicle speed after the feedforward torque is applied Preset vehicle speed The steering wheel angle And a second steering wheel angle Determining a target slip ratio, wherein the second steering wheel angle is a steering wheel maximum angle, the target slip ratio including a first slip ratio of the inboard rear wheel And a second slip ratio of the outboard rear wheel The first slip ratio is according to the formula =(1- ) ( ) Calculated, the second slip ratio is calculated according to the formula =(1- ) ( ) Calculating to obtain; Determining an inboard rear wheel slip ratio based on a first wheel speed of the inboard rear wheel and the vehicle speed, and determining an outboard rear wheel slip ratio based on a second wheel speed of the outboard rear wheel and the vehicle speed; adjusting the inboard rear wheel slip ratio based on the first slip ratio and the outboard rear wheel slip ratio based on the second slip ratio; the adjustment based on the slip ratio correspondingly adjusts the wheel torque.
2. The method of claim 1, wherein the travel data comprises first travel data and second travel data, and wherein the determining the first feed-forward torque based on a rear axle load, a road attachment coefficient, a correction coefficient, and a target longitudinal force of the vehicle in response to the travel data meeting a target condition comprises: determining a first driving state of the vehicle based on the first driving data, wherein the first driving data comprises driving data of the vehicle, a single-wheel driving capability value, gear data, electronic parking work data and activation data of an automatic parking auxiliary system; determining a second travel state of the vehicle based on the second travel data in response to the first travel state satisfying a first condition, wherein the second travel data includes enabling activation data of a turning radius adjustment mode of the vehicle, a vehicle speed, and a steering wheel angle; The first feed-forward torque is determined based on the rear axle load, the road surface attachment coefficient, the correction coefficient, and the target longitudinal force in response to the second running state satisfying a second condition.
3. The method of claim 2, wherein the determining a second travel state of the vehicle based on the second travel data in response to the first travel state satisfying a first condition comprises: And determining the second driving state based on the second driving data in response to the first driving state indicating that the vehicle is in a driving state, the single-wheel driving capability value is greater than a preset driving capability value, the gear is in a driving gear, the electronic parking is in an unlocking state, and the automatic parking auxiliary system is in an inactive state.
4. The method of claim 3, wherein the determining the first feed forward torque based on the rear axle load, the road surface adhesion coefficient, the correction coefficient, and the target longitudinal force in response to the second travel state satisfying a second condition comprises: And determining the first feed-forward torque based on the rear axle load, the road surface attachment coefficient, the correction coefficient, and the target longitudinal force in response to the second travel state indicating that the turn radius adjustment mode is enabled in an activated state, the vehicle speed is less than a preset vehicle speed, and the steering wheel angle is greater than a first steering wheel angle.
5. The method of claim 4, wherein the adjusting the inboard rear wheel slip ratio based on the first slip ratio and the adjusting the outboard rear wheel slip ratio based on the second slip ratio comprises: in response to the inboard rear wheel slip ratio being greater than the first slip ratio, determining a first difference between the inboard rear wheel slip ratio and the first slip ratio, and adjusting the inboard rear wheel slip ratio based on the first difference; Determining a second difference between the inboard rear wheel slip ratio and the first slip ratio in response to the inboard rear wheel slip ratio being less than the first slip ratio, and adjusting the inboard rear wheel slip ratio up based on the second difference; In response to the outboard rear wheel slip ratio being greater than the second slip ratio, determining a third difference of the outboard rear wheel slip ratio and the second slip ratio, and adjusting the outboard rear wheel slip ratio based on the third difference; and in response to the outboard rear wheel slip ratio being less than the second slip ratio, determining a fourth difference between the outboard rear wheel slip ratio and the second slip ratio, and adjusting the outboard rear wheel slip ratio up based on the fourth difference.
6. The method according to claim 1, wherein the method further comprises: and adjusting the wheel torque based on a preset adjustment magnitude and a torque reference table in response to the travel data not meeting the target condition or the yaw rate of the vehicle being greater than a preset yaw rate.
7. The method according to any one of claims 1-6, further comprising: And setting a target parameter in response to the driving data meeting a target condition, wherein the target parameter is used for preventing the intervention zone bit from shaking.
8. A vehicle torque adjustment device, characterized by comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring running data of a vehicle, and the running data are used for representing the running state of the vehicle; A first determination module configured to determine a first feedforward torque of an inner rear wheel of the vehicle when the vehicle turns based on a rear axle load of the vehicle, a road surface attachment coefficient, a correction coefficient, and a target longitudinal force in response to the running data satisfying a target condition, wherein the target condition is used to indicate that the vehicle is in a turning state and a wheel torque is adjustable, the correction coefficient is used to correct an axle load shift generated when the vehicle turns, the correction coefficient is obtained from a vehicle speed and a steering wheel angle, and the target longitudinal force is a longitudinal force of the inner rear wheel of the vehicle when the vehicle turns; A second determination module for applying a feedforward torque to the inner rear wheel based on the first feedforward torque and applying a feedforward torque to the outer rear wheel based on the second feedforward torque, after applying the feedforward torque, based on the vehicle speed Preset vehicle speed The steering wheel angle And a second steering wheel angle Determining a target slip ratio, wherein the second steering wheel angle is a steering wheel maximum angle, the target slip ratio including a first slip ratio of the inboard rear wheel And a second slip ratio of the outboard rear wheel The first slip ratio is according to the formula =(1- ) ( ) Calculated, the second slip ratio is calculated according to the formula =(1- ) ( ) Calculating to obtain; The device comprises an adjustment module, a first slip rate adjustment module, a second slip rate adjustment module and a wheel torque adjustment module, wherein the adjustment module is used for determining an inner rear wheel slip rate based on a first wheel speed of an inner rear wheel and the vehicle speed, determining an outer rear wheel slip rate based on a second wheel speed of an outer rear wheel and the vehicle speed, adjusting the inner rear wheel slip rate based on the first slip rate, adjusting the outer rear wheel slip rate based on the second slip rate, and correspondingly adjusting the wheel torque based on the adjustment of the slip rate.
9. A vehicle for performing the vehicle torque adjustment method according to any one of the preceding claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to perform the vehicle torque adjustment method according to any of the preceding claims 1 to 7 when run on a computer or processor.
11. 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 vehicle torque adjustment method as claimed in any of the preceding claims 1 to 7.
12. A computer program product comprising a computer program which, when executed by a processor, implements the vehicle torque adjustment method as claimed in any one of claims 1 to 7.

Description

Vehicle torque adjustment method and device and electronic equipment Technical Field The invention relates to the technical field of vehicles, in particular to a vehicle torque adjusting method, a vehicle torque adjusting device and electronic equipment. Background The vehicle is very important in the driving process, and through reducing the turning radius, the vehicle can avoid colliding with other vehicles or obstacles, and the vehicle can smoothly and efficiently turn, so that the driving efficiency is improved, meanwhile, the abrasion of the vehicle is reduced, the service life of the vehicle is prolonged, the vehicle is more stable, and the risks of rolling and out of control are reduced. Therefore, reducing the turning radius is important for improving the driving safety and efficiency. At present, a plurality of control strategies for reducing the turning radius are available, for example, the turning radius is reduced by changing the position of a rotation center through a rear wheel turning function, the slip rate of a front shaft and a rear shaft is controlled by using an implementation method of cross-country cruising and differential locking, so that a vehicle turns smaller, and the slip rate of a single wheel is controlled by four-motor torque vector control of distributed driving, so that the agile turning function is completed. However, in the prior art, the yaw rate is used as a target value to indirectly control the turning radius of the whole vehicle, and the yaw rate has the problems of slow response, complex control logic and limitation to the accuracy of a yaw rate sensor. In view of the above problems, no effective solution has been proposed at present. Disclosure of Invention The embodiment of the invention provides a vehicle torque adjusting method, a vehicle torque adjusting device and electronic equipment, which are used for at least solving the technical problems of slow response, complex control logic and low precision in the related technology. According to one embodiment of the invention, a vehicle torque adjustment method comprises the steps of obtaining running data of a vehicle, wherein the running data are used for representing a running state of the vehicle, determining a target feedforward torque based on a rear axle load of the vehicle, a road surface attachment coefficient, a correction coefficient and a target longitudinal force in response to the running data meeting target conditions, wherein the target conditions are used for representing the turning state of the vehicle, the wheel torque is adjustable, the correction coefficient is used for correcting axle load transfer generated when the vehicle turns, the target longitudinal force is longitudinal force of an inner rear wheel when the vehicle turns, the target feedforward torque comprises a first feedforward torque of the inner rear wheel and a second feedforward torque of an outer rear wheel when the vehicle turns, the first feedforward torque is opposite to the second feedforward torque in numerical value, determining a target slip ratio based on the target feedforward torque, wherein the target slip ratio comprises the first slip ratio of the inner rear wheel and the second slip ratio of the outer rear wheel, and adjusting the wheel torque based on the target slip ratio. Optionally, the driving data comprises first driving data and second driving data, the determining of the target feedforward torque based on the rear axle load, the road surface attachment coefficient, the correction coefficient and the target longitudinal force of the vehicle is performed in response to the driving data meeting target conditions, the determining of the first driving state of the vehicle based on the first driving data comprises driving data of the vehicle, single-wheel driving capability values, gear data, electronic parking working data and activation data of an automatic parking auxiliary system, the determining of the second driving state of the vehicle based on the second driving data is performed in response to the first driving state meeting the first conditions, the second driving data comprises enabling activation data of a turning radius adjustment mode of the vehicle, a vehicle speed and a steering wheel corner, and the determining of the target feedforward torque based on the rear axle load, the road surface attachment coefficient, the correction coefficient and the target longitudinal force is performed in response to the second driving state meeting the second conditions. Optionally, determining the second driving state of the vehicle based on the second driving data in response to the first driving state satisfying the first condition includes determining the second driving state based on the second driving data in response to the first driving state indicating that the vehicle is in a driving state, the single wheel driving capability value is greater than a preset driving capability value, the gear is in a dri