Motor torque control method and device for vehicle

Abstract

The application discloses a motor torque control method and device of a vehicle, wherein the method comprises the following steps: detecting an actual vehicle driving state of the vehicle; performing torque arbitration according to the actual vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of a driving motor of the vehicle in a torque switching process; and while controlling an output torque of the driving motor according to a torque request of the vehicle, processing a request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy to obtain a corresponding target torque of the driving motor in a zero-crossing interval, so that the output torque of the driving motor reaches a smooth condition. Thus, the problem that in the related art, in the process of torque distribution and execution, the driving motor is directly controlled to output based on the torque request, smoothness cannot be achieved, the vehicle is prone to obvious shaking due to the existence of a gap in a transmission system, and the driving experience of a user is affected, is solved.

Description

TECHNICAL FIELD

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

[0002] In recent years, new energy vehicles have developed rapidly with the support of national and local policies. However, with the wide application of new energy vehicles, users' demands for vehicle power and economy are increasing, which leads to the increasing of various functions and modes of new energy vehicles in the driving process, such as ABS (antilock brake system), ESC (Electronic Stability Controller) and cruise control mode.

[0003] Generally, when the user steps on or releases the accelerator quickly or adjusts the function and mode, the drive motor of the vehicle needs to switch the torque accordingly. However, in the related art, the vehicle directly controls the drive motor output based on the torque request in the process of torque distribution and execution, which cannot achieve smooth transition and is prone to cause the vehicle to shake obviously due to the gap in the transmission system, thereby affecting the driving feeling of the vehicle and reducing the driving experience of the user, which needs to be solved urgently.

[0004] CONTENT

[0005] The present application provides a motor torque control method and device for vehicle to solve the problem that in the related art, the vehicle directly controls the drive motor output based on the torque request in the process of torque distribution and execution, which cannot achieve smooth transition and is prone to cause the vehicle to shake obviously due to the gap in the transmission system, thereby affecting the driving feeling of the vehicle and reducing the driving experience of the user.

[0006] The first aspect of the present application provides a motor torque control method for vehicle, comprising the following steps: detecting the actual vehicle driving state of the vehicle; performing torque arbitration according to the actual vehicle driving state to obtain the torque loading strategy or torque unloading strategy of the drive motor of the vehicle in the torque switching process; and while controlling the output torque of the drive motor according to the torque request of the vehicle, processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy to obtain the target torque corresponding to the drive motor in the zero crossing interval, so that the output torque of the drive motor meets the smooth condition.

[0007] Optionally, in an embodiment of the present application, the actual vehicle driving state of the vehicle is detected by collecting the working state of ABS or ESC of the vehicle, the current gear, the voltage of the accelerator pedal and / or the actual fault type; and the actual vehicle driving state is matched according to the working state of ABS or ESC, the current gear, the voltage of the accelerator pedal and / or the actual fault type.

[0008] Optionally, in an embodiment of the present application, before the request torque corresponding to the torque request is processed by using the torque loading strategy or the torque unloading strategy, the torque loading strategy or the torque unloading strategy is generated according to the voltage of the accelerator pedal, the maximum allowable discharge power of the battery, the maximum torque of the motor and the part fault information of the vehicle.

[0009] Optionally, in an embodiment of the present application, the request torque corresponding to the torque request is processed by using the torque loading strategy or the torque unloading strategy, including: detecting the actual torque flag of the vehicle according to the current speed, the current torque and the request torque of the vehicle; if the actual torque flag is a torque loading flag, the torque loading strategy is generated; and if the actual torque flag is a torque unloading flag, the torque unloading strategy is generated.

[0010] Optionally, in an embodiment of the present application, the torque loading strategy is generated and the torque unloading strategy is generated, including: weakening the torque loading or unloading gradient when the output torque is at a zero-crossing point or a first preset torque state based on the current torque of the vehicle and a torque correction coefficient, and restoring the loading or unloading response for a second torque state.

[0011] Optionally, in an embodiment of the present application, before the output torque of the drive motor reaches the smooth condition, the method further includes: timing the correction trigger duration of the request torque; and stopping the correction action of the output torque when the correction trigger duration is greater than a preset threshold.

[0012] The second aspect embodiment of the present application provides a motor torque control device of a vehicle, including: a detection module configured to detect an actual vehicle driving state of the vehicle; a torque arbitration module configured to perform torque arbitration according to the actual vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of a drive motor of the vehicle in a torque switching process; and a control module configured to control the output torque of the drive motor according to a torque request of the vehicle while processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy to obtain a target torque corresponding to the drive motor in a zero-crossing interval, so that the output torque of the drive motor reaches a smooth condition.

[0013] Optionally, in an embodiment of the present application, the detection module comprises: a collection unit configured to collect a working state of an ABS or an ESC of the vehicle, a current gear, a throttle pedal voltage, and / or an actual fault type; and a matching unit configured to match the actual vehicle driving state according to the working state of the ABS or the ESC, the current gear, the throttle pedal voltage, and / or the actual fault type.

[0014] Optionally, in an embodiment of the present application, the device further comprises a generation module configured to generate the torque loading strategy or the torque unloading strategy according to a throttle pedal voltage of the vehicle, a maximum allowed discharge power of a battery, a maximum torque of a motor, and part failure information.

[0015] Optionally, in an embodiment of the present application, the control module comprises: a detection unit configured to detect an actual torque flag of the vehicle according to a current vehicle speed, a current torque, and a requested torque; and a generation unit configured to generate the torque loading strategy when the actual torque flag is a torque loading flag, and generate the torque unloading strategy when the actual torque flag is a torque unloading flag.

[0016] Optionally, in an embodiment of the present application, the generation unit comprises a control subunit configured to weaken a torque loading or unloading gradient when the output torque is at a zero-crossing point or a first preset torque state based on the current torque of the vehicle and a torque correction coefficient, and restore the loading or unloading response for a second torque state.

[0017] Optionally, in an embodiment of the present application, the device further comprises: a timing module configured to time a correction trigger duration of the requested torque; and a stopping module configured to stop the correction action of the output torque when the correction trigger duration is greater than a preset threshold.

[0018] An embodiment of the third aspect of the present application provides a vehicle controller for implementing the motor torque control device of the vehicle as described in the above embodiments.

[0019] An embodiment of the fourth aspect of the present application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motor torque control method of the vehicle as described in the above embodiments.

[0020] An embodiment of the fifth aspect of the present application provides a computer readable storage medium storing computer instructions, wherein the computer instructions are used to make the computer execute the motor torque control method of the vehicle as described in the above embodiments.

[0021] The embodiment of the application can perform torque arbitration according to the driving state of the whole vehicle, load or unload the requested torque, obtain the corresponding target torque of the driving motor in the zero-crossing interval, and then realize smooth switching of the driving motor torque, eliminate the jitter caused by the gap between the transmission systems, improve the response speed of the vehicle, and improve the driving experience of the user. Therefore, in the related art, the vehicle directly controls the driving motor output based on the torque request in the process of torque distribution and execution, cannot realize smooth transition, is prone to cause the vehicle to jitter obviously due to the gap between the transmission systems, and thus affects the driving feeling of the vehicle and reduces the driving experience of the user.

[0022] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0025] Figure 2 A D-gear torque arbitration flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0026] Figure 3 An R-gear torque arbitration flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0027] Figure 4 An N-gear torque arbitration flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0028] Figure 5 A torque arbitration flowchart of different driving modes of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0029] Figure 6 An energy recovery torque arbitration flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0030] Figure 7 A torque loading gradient selection flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0031] Figure 8 A torque unloading gradient selection flowchart of a motor torque control method of a vehicle according to an embodiment of the application is provided.

[0032] Figure 9 FIG. 1 is a structural schematic diagram of a motor torque control device of a vehicle according to an embodiment of the present application;

[0033] Figure 10 FIG. 2 is a structural schematic diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which like or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0035] The motor torque control method and device of a vehicle according to the embodiments of the present application are described below with reference to the accompanying drawings. In view of the problems in the related art mentioned above, the vehicle directly controls the driving motor output based on the torque request in the process of torque distribution and execution, which cannot achieve smooth transition and is prone to cause the vehicle to shake obviously due to the existence of the transmission gap, thereby affecting the driving feeling of the vehicle and reducing the driving experience of the user. The present application provides a motor torque control method of a vehicle, in which the torque arbitration can be performed according to the actual driving state of the vehicle to load or unload the requested torque, so as to obtain the corresponding target torque of the driving motor in the zero-crossing interval, thereby achieving smooth switching of the driving motor torque, eliminating the shaking caused by the transmission gap, improving the response speed of the vehicle, and being beneficial to improving the driving experience of the user. Thus, the problem in the related art that the vehicle directly controls the driving motor output based on the torque request in the process of torque distribution and execution, which cannot achieve smooth transition and is prone to cause the vehicle to shake obviously due to the existence of the transmission gap, thereby affecting the driving feeling of the vehicle and reducing the driving experience of the user is solved.

[0036] Specifically, Figure 1 FIG. 3 is a flowchart of a motor torque control method of a vehicle according to an embodiment of the present application.

[0037] As Figure 1 shown, the motor torque control method of the vehicle includes the following steps:

[0038] In step S101, the actual driving state of the vehicle is detected.

[0039] In actual implementation, the embodiment of the application can collect vehicle data through a VCU (Vehicle control unit, vehicle controller) to obtain an actual vehicle driving state of the vehicle, so that the application can arbitrate torque according to the actual vehicle driving state, thereby realizing smooth switching of the driving motor torque, eliminating the shaking caused by the gap between the drive trains, improving the response speed of the vehicle, and being beneficial to improving the driving experience of the user.

[0040] Optionally, in an embodiment of the application, detecting the actual vehicle driving state of the vehicle includes: collecting a working state of ABS or ESC of the vehicle, a current gear, a voltage of an accelerator pedal, and / or an actual fault type; and matching the actual vehicle driving state according to the working state of ABS or ESC, the current gear, the voltage of the accelerator pedal, and / or the actual fault type.

[0041] It can be understood that the embodiment of the application can collect vehicle data through a VCU, and the data can be a working state of ABS or ESC of the vehicle, a current gear, a voltage of an accelerator pedal, and / or an actual fault type. The application can match the actual vehicle driving state of the vehicle through the above-mentioned collected data. For example, when the ABS is in a working state, the actual vehicle driving state of the vehicle is an anti-slip braking state.

[0042] In step S102, torque arbitration is performed according to the actual vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of the driving motor of the vehicle in the torque switching process.

[0043] As a possible implementation, the embodiment of the application can reasonably arbitrate torque requests of D-gear driving mode, D-gear energy recovery, R-gear driving mode, N-gear mode, crawling, cruise, and throttle modules according to the actual vehicle driving state.

[0044] Specifically, as shown in Figure 2 , the D-gear torque arbitration logic can be as follows:

[0045] 1. Determine the current anti-slip system trigger flag. If it is in a triggered state, the VCU responds to the driving anti-slip module torque. If it is not triggered, proceed to the next step.

[0046] 2. Determine the current active speed limit trigger flag. If it is in a triggered state, the VCU responds to the active speed limit module torque. If it is not triggered, proceed to the next step.

[0047] 3. Determine the current hill start assist / steep descent assist trigger flag. If it is in a triggered state, the VCU responds to the hill start assist / steep descent assist torque. If it is not triggered, proceed to the next step.

[0048] 4. In the normal driving state of the vehicle, perform state detection:

[0049] a, judge the cruise function trigger flag, if it is a trigger state, obtain the module request torque, if it is not triggered, the current cruise module is zero torque;

[0050] b, judge the throttle opening request, if the throttle opening is zero, the throttle module is zero torque, if the throttle opening is not zero, obtain the throttle pedal module request torque;

[0051] c, judge the creep function trigger flag, if it is a trigger state, obtain the creep module request torque, if it is not triggered, the throttle module is zero torque;

[0052] The embodiment of the application can perform torque superposition processing on the obtained request torque, and further obtain the D-gear driving request torque.

[0053] As shown in the figure, the N-gear torque arbitration logic can be as follows: Figure 3

[0054] 1. According to whether the vehicle motor, battery, gear position is in a fault state, the electronic gear shifting mechanism state and whether the whole vehicle is in a READY state, judge the whole vehicle driving gear position;

[0055] 2. Detect whether the actual gear state is N-gear;

[0056] 3. If the actual gear is not N-gear, execute the D-gear or R-gear torque request, if the actual gear is N-gear, execute the zero torque request.

[0057] As shown in the figure, the R-gear torque arbitration logic can be as follows: Figure 4

[0058] 1. Judge the anti-slip system trigger flag, if it is a trigger state, the VCU responds to drive the anti-slip module torque, if it is not triggered, go to the next step of judgment;

[0059] 2. In the normal driving state of the vehicle, perform state detection:

[0060] a. Judge the throttle opening request, if the throttle opening is zero, the throttle module is zero torque, if the throttle opening is not zero, obtain the throttle pedal module request torque;

[0061] b. Judge the creep function trigger flag, if it is a trigger state, obtain the creep module request torque, if it is not triggered, the throttle module is zero torque;

[0062] The embodiment of the application can perform torque superposition processing on the obtained request torque, and further obtain the R-gear driving request torque.

[0063] As shown in the figure, the driving gear position arbitration logic can be as follows: Figure 5

[0064] ​​​1. Detecting the gear state of the electronic gear shifting mechanism;

[0065] 2. If it is N gear, performing N gear request torque;

[0066] 3. If it is R gear, performing R gear request torque;

[0067] 4. If it is D gear, judging whether the energy recovery gear is triggered, if it is triggered, obtaining energy recovery torque, if it is not triggered, obtaining D gear driving request torque.

[0068] As shown in the figure, the energy recovery arbitration logic can be as follows: Figure 6

[0069] 1. Judging whether the current vehicle state meets the energy recovery function triggering condition, the triggering condition including: the vehicle is in READY state, the electronic gear shifting mechanism is D gear, the motor and the battery do not have serious faults, ABS and ESC are not triggered, the vehicle speed is higher than a certain threshold, the accelerator pedal is released, the battery power is lower than a certain threshold, the cruise control is not triggered or the torque is negative torque and less than a certain threshold after being triggered;

[0070] 2. Judging whether the energy recovery function is triggered;

[0071] 3. If the energy recovery function is triggered, responding to the energy recovery gear and the vehicle speed request torque;

[0072] 4. If the energy recovery function is not triggered, exiting the energy recovery function.

[0073] It should be noted that the above threshold values can be adjusted by those skilled in the art according to actual conditions, which are not specifically limited here.

[0074] In step S103, while controlling the driving motor to output torque according to the torque request of the vehicle, the torque request corresponding request torque is processed by using the torque loading strategy or the torque unloading strategy to obtain the target torque corresponding to the driving motor in the zero-crossing interval, so that the output torque of the driving motor reaches the smooth condition.

[0075] In actual execution process, the embodiment of the present application can perform torque arbitration by VCU in actual vehicle driving state, and when the torque request is switched from negative torque to positive torque, the torque loading or unloading coefficient is used to smooth the request torque within a certain time, which ensures the power response and also avoids the vehicle from shaking due to the gap of the transmission system when the motor torque is in the zero-crossing interval.

[0076] It should be noted that the torque loading or unloading coefficient can be called by database, or can be set by those skilled in the art according to actual conditions, which is not specifically limited here.

[0077] ​Optionally, in an embodiment of the present application, before processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy, further comprising: generating the torque loading strategy or the torque unloading strategy according to the accelerator pedal voltage of the vehicle, the maximum allowable discharge power of the battery, the maximum torque of the motor, and part failure information.

[0078] Specifically, the embodiment of the present application can collect the accelerator pedal voltage, the maximum allowable discharge power of the battery, the maximum torque of the motor, and part failure information by the VCU, reasonably set the size of the request torque and the torque loading gradient in the full throttle state, preferentially ensure that the power system capacity is completely released, and then generate the torque loading strategy or the torque unloading strategy.

[0079] Optionally, in an embodiment of the present application, processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy comprises: detecting an actual torque flag of the vehicle according to the current speed of the vehicle, the current torque, and the request torque; if the actual torque flag is a torque loading flag, generating the torque loading strategy; and if the actual torque flag is a torque unloading flag, generating the torque unloading strategy.

[0080] Further, in the embodiment of the present application, the conditions under which the VCU requests the MCU to generate the torque loading strategy can be as follows:

[0081] 1. The power supply gear of the whole vehicle is in the READY state;

[0082] 2. The whole vehicle has no serious motor or battery failure;

[0083] 3. The electronic gear shifting mechanism is in the D gear or the R gear, and has no serious failure such as gear jamming or loss of communication;

[0084] 4. The actual torque of the whole vehicle in the last period is less than a certain threshold value of the request torque, wherein the threshold value can be selected according to the vehicle speed and the actual torque in the last period;

[0085] 5. In the torque loading state of energy recovery, in addition to the above conditions but not including the R gear state, the conditions of the vehicle speed being higher than a certain threshold value, the accelerator pedal being released, the ABS / ESC not being actuated, the battery power being lower than a certain threshold value, the cruise control not being triggered or the request torque being lower than a certain threshold value after being triggered, and the electronic gear shifting mechanism being in the D gear still need to be met.

[0086] The conditions under which the VCU requests the MCU to generate the torque unloading strategy can be as follows:

[0087] 1. During the execution of the motor torque, the power supply gear of the whole vehicle is not in the READY state;

[0088] 2. During the motor torque execution process, the motor, battery or gear position reports a serious fault;

[0089] 3. During the motor torque execution process, the driving gear is switched to N gear;

[0090] 4. The whole vehicle is ready and in D or R gear, and the actual torque in the last period is less than the request torque by a certain threshold, wherein the threshold can be selected according to the vehicle speed and the actual torque in the last period.

[0091] Optionally, in an embodiment of the present application, the torque loading strategy and the torque unloading strategy are generated, including: based on the current torque of the vehicle and the torque correction coefficient, weakening the torque loading or unloading gradient when the output torque is at zero or a first preset torque state, and restoring the loading or unloading response for the second torque state.

[0092] In actual execution, when the VCU requests the MCU to execute torque loading or unloading action, in order to avoid the problem of vehicle shaking caused by the gap between the transmission system, such as the gap between the two pairs of gear teeth of the reducer, the gap between the spline fitting of the transmission shaft and the output end of the reducer, and the gap between the spline fitting of the reducer and the output end of the motor. The embodiment of the present application can add a torque correction coefficient according to the current torque when processing the torque loading or unloading gradient, weaken the torque loading or unloading gradient when the torque is at zero or a first preset torque state, and restore the loading or unloading response for the second torque state.

[0093] It should be noted that the torque correction coefficient can be called from a database or set by a person skilled in the art according to the actual situation, which is not specifically limited here.

[0094] Optionally, in an embodiment of the present application, before the output torque of the driving motor reaches the smooth condition, it further includes: timing the correction trigger duration of the request torque; when the correction trigger duration is greater than a preset threshold, stopping the correction action of the output torque.

[0095] It can be understood that, in order to avoid torque response delay, the correction of the embodiment of the present application can only be used within a preset duration (such as 200 ms) after the loading or unloading flag is triggered, and the preset duration can be set by a person skilled in the art according to the actual situation, which is not specifically limited here.

[0096] Specifically, as shown in Figure 7 , the torque loading strategy flow is as follows:

[0097] 1. When the torque request-current torque is greater than a certain threshold, the torque loading flag is triggered;

[0098] 2. If the torque loading flag is not triggered, the current torque is maintained or torque unloading is executed to obtain the torque loading gradient;

[0099] 3. The torque loading flag is triggered, and it is determined whether the current torque is greater than or equal to zero;

[0100] 4. If the current torque is negative, it is determined that the current mode is energy recovery mode. The torque gradient is selected according to the current torque and vehicle speed to obtain the torque loading gradient.

[0101] 5. If the current torque is not negative, then determine whether the throttle opening is greater than 80%;

[0102] 6. If the throttle opening is greater than 80%, the pre-torque loading gradient is determined based on the torque requested by D-mode drive and the actual vehicle speed. The torque loading gradient is then executed by multiplying the pre-torque loading gradient by the torque coefficient within a preset time (e.g., 200ms) after the loading flag is triggered.

[0103] 7. If the throttle opening is less than or equal to 80%, the torque loading gradient is obtained by multiplying by the torque coefficient within a preset time (e.g., 200ms) after the loading flag is triggered.

[0104] like Figure 8 As shown, the torque unloading strategy process is as follows:

[0105] 1. When the requested torque - the current torque is less than a certain threshold, the torque unloading flag is triggered;

[0106] 2. If the torque unloading flag is not triggered, the torque unloading gradient is 0, and the torque unloading gradient is obtained.

[0107] 3. When the torque unloading flag is triggered, the pre-torque unloading gradient is determined based on the energy recovery request torque and the actual vehicle speed. The torque unloading gradient is then executed by multiplying the pre-torque unloading gradient by the torque coefficient within a preset time (e.g., 200ms) after the unloading flag is triggered.

[0108] In addition, in order to ensure the throttle performance of the vehicle and to ensure that the maximum capacity of the power system can be released, the embodiment of this application does not perform torque loading gradient correction when performing torque correction.

[0109] The vehicle motor torque control method proposed in this application can perform torque arbitration based on the overall vehicle driving state to load or unload the requested torque, thereby obtaining the target torque corresponding to the drive motor in the zero-crossing range. This achieves smooth switching of drive motor torque, eliminates vibrations that may be caused by transmission system backlash, improves vehicle response speed, and enhances the user's driving experience. Therefore, it solves the problem in related technologies where, during torque distribution and execution, the drive motor output is directly controlled based on torque requests, resulting in an inability to achieve a smooth transition and a high risk of significant vehicle vibrations due to transmission system backlash, thus affecting the driving feel and reducing the user's driving experience.

[0110] Secondly, the motor torque control device of the vehicle according to the embodiment of the application is described with reference to the drawings.

[0111] Figure 9 is a block schematic diagram of the motor torque control device of the vehicle according to the embodiment of the application.

[0112] As Figure 9 shown, the motor torque control device 10 of the vehicle includes a detection module 100, a torque arbitration module 200 and a control module 300.

[0113] Specifically, the detection module 100 is configured to detect an actual vehicle driving state of the vehicle.

[0114] The torque arbitration module 200 is configured to perform torque arbitration according to the actual vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of the drive motor of the vehicle in a torque switching process.

[0115] The control module 300 is configured to, while controlling the output torque of the drive motor according to a torque request of the vehicle, process a request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy, so as to obtain a target torque corresponding to the drive motor in a zero-crossing interval, so that the output torque of the drive motor meets a smooth condition.

[0116] Optionally, in an embodiment of the application, the detection module 100 includes a collection unit and a matching unit.

[0117] The collection unit is configured to collect a working state of ABS or ESC of the vehicle, a current gear, a voltage of an accelerator pedal and / or an actual fault type.

[0118] The matching unit is configured to match the actual vehicle driving state according to the working state of ABS or ESC of the vehicle, the current gear, the voltage of the accelerator pedal and / or the actual fault type.

[0119] Optionally, in an embodiment of the application, the device 10 further includes a generation module.

[0120] The generation module is configured to generate the torque loading strategy or the torque unloading strategy according to the voltage of the accelerator pedal of the vehicle, a maximum allowable discharge power of a battery, a maximum torque of the motor and part fault information.

[0121] Optionally, in an embodiment of the application, the control module 300 includes a detection unit and a generation unit.

[0122] The detection unit is configured to detect an actual torque flag of the vehicle according to a current vehicle speed, a current torque and a request torque of the vehicle.

[0123] The generating unit is configured to generate a torque loading strategy when the actual torque flag is the torque loading flag, and generate a torque unloading strategy when the actual torque flag is the torque unloading flag.

[0124] Optionally, in an embodiment of the present application, the generating unit comprises a control subunit.

[0125] The control subunit is configured to weaken the torque loading or unloading gradient when the output torque is at the zero-crossing point or the first preset torque state based on the current torque of the vehicle and the torque correction coefficient, and restore the loading or unloading response for the second torque state.

[0126] Optionally, in an embodiment of the present application, the device 10 further comprises a timing module and a stopping module.

[0127] The timing module is configured to time the correction trigger duration of the requested torque.

[0128] The stopping module is configured to stop the correction action of the output torque when the correction trigger duration is greater than a preset threshold.

[0129] It should be noted that the foregoing explanation and description of the embodiment of the motor torque control method of the vehicle also apply to the motor torque control device of the vehicle of this embodiment, which will not be described here.

[0130] The motor torque control device of the vehicle according to the embodiment of the present application can perform torque arbitration according to the driving state of the vehicle to load or unload the requested torque, so as to obtain the corresponding target torque of the driving motor in the zero-crossing interval, and further realize smooth switching of the driving motor torque, eliminate the possible jitter caused by the gap in the transmission system, and improve the response speed of the vehicle, which is conducive to improving the driving experience of the user. Thus, the problem in the related art that the vehicle directly controls the driving motor output based on the torque request in the process of torque distribution and execution, cannot realize smooth transition, is prone to cause obvious jitter of the vehicle due to the gap in the transmission system, and thus affects the driving feeling of the vehicle and reduces the driving experience of the user is solved.

[0131] The vehicle controller comprises the motor torque control device of the vehicle according to the above-mentioned embodiments. The vehicle controller can perform torque arbitration according to the driving state of the vehicle to load or unload the requested torque, so as to obtain the corresponding target torque of the driving motor in the zero-crossing interval, and further realize smooth switching of the driving motor torque, eliminate the possible jitter caused by the gap in the transmission system, and improve the response speed of the vehicle, which is conducive to improving the driving experience of the user. Thus, the problem in the related art that the vehicle directly controls the driving motor output based on the torque request in the process of torque distribution and execution, cannot realize smooth transition, is prone to cause obvious jitter of the vehicle due to the gap in the transmission system, and thus affects the driving feeling of the vehicle and reduces the driving experience of the user is solved.

[0132] Figure 10 A structural schematic diagram of a vehicle is provided for an embodiment of the present application. The vehicle can include:

[0133] The memory 1001, the processor 1002 and the computer program stored in the memory 1001 and executable on the processor 1002.

[0134] The processor 1002 implements the motor torque control method of the vehicle provided in the above embodiments when executing the program.

[0135] Further, the vehicle further includes:

[0136] The communication interface 1003 is used for communication between the memory 1001 and the processor 1002.

[0137] The memory 1001 is used to store the computer program executable on the processor 1002.

[0138] The memory 1001 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0139] If the memory 1001, the processor 1002 and the communication interface 1003 are independently implemented, the communication interface 1003, the memory 1001 and the processor 1002 can be connected to each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 10 Only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0140] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can complete communication between each other through an internal interface.

[0141] The processor 1002 can be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA), or other programmable logic device, or a combination of the above, configured to implement the embodiments of the present application.

[0142] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the motor torque control method of the vehicle.

[0143] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0144] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0145] Any process or method descriptions in flow charts or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing the specified logical functions or steps, and the preferred embodiments of the present application also include the possibility that the functions can be implemented by a plurality of separate program modules, or other separate elements of a program, as is apparent to those skilled in the art. The various processes or methods described in the present application can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing the specified logical functions or steps, and the preferred embodiments of the present application also include the possibility that the functions can be implemented by a plurality of separate program modules, or other separate elements of a program, as is apparent to those skilled in the art.

[0146] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of executable instructions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing. The computer-readable medium can include, but is not limited to, the following: an electronic connection (an electronic device with one or N wires), a portable computer diskette (a magnetic device), a RAM (random access memory), a ROM (read-only memory), an EPROM (erasable programmable ROM) or a Flash memory, an optical fiber, and a portable CD ROM. In addition, the computer-readable medium can even be paper or other suitable medium upon which the program is printed, as the program can be electronically captured, for example, via the optical scanner of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0147] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware and in another embodiment, any of the following technologies, known in the art, or their combinations can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0148] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the programs are executed, one or a combination of the steps of the method embodiments is included.

[0149] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0150] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A motor torque control method of a vehicle, characterized by, The method comprises the following steps: detecting an actual vehicle driving state of a vehicle; performing torque arbitration according to the actual vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of a drive motor of the vehicle in a torque switching process; and processing a request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy while controlling the output torque of the drive motor according to the torque request of the vehicle, so as to obtain a target torque corresponding to the drive motor in a zero-crossing interval, so that the output torque of the drive motor reaches a smooth condition; before processing the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy, the method further comprises: generating the torque loading strategy or the torque unloading strategy according to an accelerator pedal voltage of the vehicle, a maximum allowable discharge power of a battery, a maximum torque of the motor, and part failure information; the processing of the request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy comprises: detecting an actual torque flag of the vehicle according to a current speed, a current torque and a request torque of the vehicle; if the actual torque flag is a torque loading flag, generating the torque loading strategy; if the actual torque flag is a torque unloading flag, generating the torque unloading strategy; the generation of the torque loading strategy and the generation of the torque unloading strategy comprise: based on the current torque of the vehicle and a torque correction coefficient, weakening a torque loading or unloading gradient when the output torque is at a zero-crossing point or a first preset torque state, and restoring the loading or unloading response for a second torque state; the detection of the actual vehicle driving state of the vehicle comprises: collecting a working state of an anti-lock braking system (ABS) or an electronic stability control system (ESC) of the vehicle, a current gear, an accelerator pedal voltage and / or an actual fault type; matching the actual vehicle driving state according to the working state of the ABS or the ESC, the current gear, the accelerator pedal voltage and / or the actual fault type; before making the output torque of the drive motor reach the smooth condition, the method further comprises: timing a correction trigger duration of the request torque; when the correction trigger duration is greater than a preset threshold, stopping the correction action of the output torque.

2. A motor torque control device of a vehicle characterized by comprising: The method comprises: a detection module configured to detect an actual vehicle driving state of a vehicle; a torque arbitration module configured to perform torque arbitration according to the actual vehicle driving state to obtain a torque loading strategy or a torque unloading strategy of a drive motor of the vehicle in a torque switching process; and a control module configured to process a request torque corresponding to the torque request by using the torque loading strategy or the torque unloading strategy while controlling the output torque of the drive motor according to the torque request of the vehicle, so as to obtain a target torque corresponding to the drive motor in a zero-crossing interval, so that the output torque of the drive motor reaches a smooth condition; The device further comprises a generation module configured to generate the torque loading strategy or the torque unloading strategy according to an accelerator pedal voltage of the vehicle, a maximum allowed discharge power of a battery, a maximum torque of a motor, and part failure information. The control module comprises a detection unit configured to detect an actual torque flag of the vehicle according to a current vehicle speed, a current torque and a requested torque of the vehicle; and a generation unit configured to generate the torque loading strategy when the actual torque flag is a torque loading flag, and generate the torque unloading strategy when the actual torque flag is a torque unloading flag. The generation unit comprises a control subunit configured to weaken a torque loading or unloading gradient when the output torque is at a zero-crossing point or a first preset torque state based on the current torque of the vehicle and a torque correction coefficient, and restore the loading or unloading response for a second torque state. The detection module comprises an acquisition unit configured to acquire a working state of an ABS or an ESC of the vehicle, a current gear, an accelerator pedal voltage and / or an actual fault type; and a matching unit configured to match the actual vehicle driving state according to the working state of the ABS or the ESC, the current gear, the accelerator pedal voltage and / or the actual fault type. The device further comprises a timing module configured to time a correction trigger duration of the requested torque; and a stopping module configured to stop a correction action of the output torque when the correction trigger duration is greater than a preset threshold.

3. A vehicle control unit, characterized by, The device comprises: The motor torque control device of the vehicle according to claim 2.

4. A vehicle characterized by comprising: The device comprises: A memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motor torque control method of the vehicle according to claim 1.

5. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the motor torque control method of the vehicle according to claim 1.

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