A torque zero-crossing control method, device and vehicle for a DHT hybrid mechanical rack

Abstract

The embodiments of the present application relate to the field of automobile technology, and more specifically, to a torque zero-crossing control method, device and vehicle for a DHT hybrid mechanical frame. When the vehicle starts, the action execution duration and torque variation amplitude of the standard zero-crossing action are first determined. When the vehicle is in EV mode or series mode, the first zero-crossing intention parameter is obtained, the deviation of the execution time of the first zero-crossing action is determined, and then the starting time and the ending time of the zero-crossing action are adjusted without increasing the duration of the zero-crossing period; when the vehicle is in direct drive mode, the second zero-crossing intention parameter of the vehicle is obtained, the deviation of the execution torque of the first zero-crossing action is determined, and the starting torque and the ending torque of the zero-crossing action are adjusted without changing the torque variation amplitude of the zero-crossing action. The above method is used to achieve the completion of the zero-crossing action without changing the action execution duration and the torque variation amplitude of the zero-crossing action, thereby improving the torque response speed.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automobile technology, and more specifically, to a torque zero-crossing control method, device and vehicle for a DHT hybrid mechanical frame. Background Art

[0002] For pure electric vehicles, their power transmission path is generally through gear transmission. Due to the limited gear processing cost and process, as well as the problem of gear structure, there is a gap between the gear teeth. The electric vehicle has torsional vibration dampers, clutches and other power buffer devices on the power transmission path, which causes the motor to continuously switch from providing positive torque to providing negative torque during the operation of the electric vehicle. For the gears on the power transmission path, the change in the torque drive direction causes the meshing surfaces of the two meshing gears to continuously change. Since the torque transmission is relatively direct and rapid, when the gear gap is slightly larger, meshing shock will occur during the change of the torque drive direction.

[0003] In the prior art, in order to solve the problem of gear impact, the motor torque gradient is often slowed down during the zero-crossing stage, and the duration of the zero-crossing period is increased. Such an open-loop calibration method will cause the vehicle's torque response to be too slow.

[0004] Application Contents

[0005] The embodiments of the present application provide a method, device and vehicle for controlling the torque zero crossing of a DHT hybrid mechanical frame, aiming to solve the problem of slow torque response of the vehicle.

[0006] A first aspect of an embodiment of the present application provides a torque zero-crossing control method, the method comprising:

[0007] Determine the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition, and obtain the driving mode of the vehicle;

[0008] When it is detected that the vehicle is in the EV mode or the series mode, obtaining a first zero-crossing intention parameter of the vehicle, and adjusting the start time and the end time of the zero-crossing action according to the first zero-crossing intention parameter and the execution duration of the action;

[0009] When it is detected that the vehicle is in the direct drive mode, a second zero-crossing intention parameter of the vehicle is acquired, and the starting torque and the ending torque of the zero-crossing action are adjusted according to the zero-crossing intention parameter and the torque variation amplitude.

[0010] Optionally, determining the action execution duration and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition includes:

[0011] The vehicle acceleration and motor speed are acquired in real time to form a fluctuation curve diagram when the vehicle performs a standard zero-crossing action, and the action execution duration of the standard zero-crossing action is determined according to the curve diagram.

[0012] Optionally, obtaining a first zero-crossing intention parameter of the vehicle, and adjusting the start time and the end time of the first zero-crossing action according to the first zero-crossing intention parameter and the action execution duration, comprises:

[0013] Determining a time offset and a time offset direction of the first zero-crossing action according to the first zero-crossing intention parameter and the fluctuation curve diagram;

[0014] Without changing the execution duration of the action, the start time and the end time of the first zero-crossing action are synchronously adjusted, wherein the adjustment direction of the start time and the end time of the first zero-crossing action is determined according to the moment offset direction, and the adjustment size of the start time and the end time of the first zero-crossing action is determined according to the moment offset.

[0015] Optionally, determining the action execution duration and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition includes:

[0016] The vehicle component state is acquired to obtain the vehicle power change demand, and the torque change amplitude is determined according to the vehicle power change demand, wherein the component state includes any one or more of an accelerator pedal, a vehicle speed, and a brake switch.

[0017] Optionally, obtaining a second zero-crossing intention parameter of the vehicle, and adjusting a starting torque and an ending torque of the second zero-crossing action according to the second zero-crossing intention parameter and the torque variation amplitude, comprises:

[0018] Obtaining a torque compensation amount of the second zero-crossing action according to a torque parameter of the engine flywheel, and determining a time offset direction of the zero-crossing action according to the vehicle zero-crossing intention parameter and the fluctuation curve diagram;

[0019] Without changing the torque variation amplitude, the starting torque and the ending torque of the second zero-crossing action are synchronously adjusted, wherein the adjustment direction of the starting torque and the ending torque of the second zero-crossing action is determined according to the moment offset direction, and the adjustment size of the starting torque and the ending torque of the second zero-crossing action is determined according to the torque compensation amount.

[0020] A second aspect of an embodiment of the present application provides a control device, the device comprising:

[0021] A determination module, which determines the execution time of the standard zero-crossing action of the vehicle and the torque change amplitude according to the vehicle working condition, and obtains the driving mode of the vehicle;

[0022] a first adjustment module, configured to obtain a first zero-crossing intention parameter of the vehicle when detecting that the vehicle is in an EV mode or a series mode, and adjust a start time and an end time of the zero-crossing action according to the first zero-crossing intention parameter and the execution duration of the action;

[0023] The second adjustment module is used to obtain a second zero-crossing intention parameter of the vehicle when it is detected that the vehicle is in a direct drive mode, and adjust the starting torque and the ending torque of the zero-crossing action according to the zero-crossing intention parameter and the torque change amplitude.

[0024] A third aspect of an embodiment of the present application provides an electronic device, including:

[0025] Memory for storing computer programs;

[0026] The processor is used to execute the computer program stored in the memory to implement the above method.

[0027] A third aspect of an embodiment of the present application provides a vehicle, including a control device, wherein the control device is used to implement the above method.

[0028] Beneficial effects:

[0029] The present application provides a torque zero-crossing control method, device and vehicle for a DHT hybrid mechanical frame. When the vehicle is started, firstly, the relevant information of the vehicle when the vehicle crosses zero is obtained according to the vehicle working condition, and the standard zero-crossing action information of the vehicle is determined, including the action execution time and torque change amplitude of the standard zero-crossing action. Then, the driving mode of the vehicle is determined. When the vehicle is in the electric drive mode, that is, the EV mode or the series mode, after obtaining the first zero-crossing intention of the vehicle, the parameters of the first zero-crossing intention are obtained, and the deviation of the execution time compared with the standard zero-crossing action is determined, and then the implementation period of the entire zero-crossing action is adjusted as a whole, that is, the starting time and the ending time of the zero-crossing action are adjusted, and there is no need to increase the zero-crossing period; when the vehicle is in the direct drive mode, the second zero-crossing intention parameter of the vehicle is obtained. Since the engine flywheel participates in the zero-crossing action in the direct drive mode, the torque gradient is adjusted, that is, the starting torque and the ending torque of the zero-crossing action are adjusted, so as to avoid changing the torque change amplitude of the zero-crossing action. Through the above method, dynamic adaptive adjustment of the current zero-crossing action is achieved when crossing zero, and the zero-crossing action is completed without changing the action execution time and torque change amplitude of the zero-crossing action, thereby improving the torque response speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 It is a flowchart of a zero-crossing control method proposed in one embodiment of the present application;

[0032] Figure 2 is a flow chart of a control method in an electric drive mode proposed in an embodiment of the present application;

[0033] Figure 3 is a flow chart of a control method in a direct drive mode proposed in an embodiment of the present application;

[0034] Figure 4 It is a module schematic diagram of a control device proposed in an embodiment of the present application.

[0035] Explanation of the reference numerals: 4, control device; 401, determination module; 402, first adjustment module; 403, second adjustment module. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] For pure electric vehicles, their power transmission path is generally through gear transmission. Due to the limited gear processing cost and process, as well as the problem of gear structure, there is a gap between the gear teeth. The electric vehicle has torsional vibration dampers, clutches and other power buffer devices on the power transmission path, which causes the motor to continuously switch from providing positive torque to providing negative torque during the operation of the electric vehicle. For the gears on the power transmission path, the change in the torque drive direction causes the meshing surfaces of the two meshing gears to continuously change. Since the torque transmission is relatively direct and rapid, when the gear gap is slightly larger, meshing shock will occur during the change of the torque drive direction.

[0038] In the related technology, in order to ensure the robustness of the calibration data and cover the clearance dispersion caused by mass production and wear, when performing the zero-crossing action, when the vehicle is in EV mode or series mode, the execution time of the zero-crossing action is relaxed to cover the deviation caused by the entire zero-crossing action; when the vehicle is in direct drive mode, the torque gradient of the entire zero-crossing process is slowed down to compensate for the torque intervened in the direct drive mode. However, such an open-loop calibration method will cause the vehicle's torque response to be too slow.

[0039] In view of this, the present application embodiment proposes a torque zero-crossing control method, referring to Figure 1 , control methods include:

[0040] S1, determining the execution time and torque change amplitude of the vehicle's standard zero-crossing action according to the vehicle's operating conditions, and obtaining the vehicle's driving mode;

[0041] Since the mechanical system clearance has dispersion in mass production, resulting in the clearance between gears being large and small, and the mechanical system wears during use, causing the drive system clearance to increase, the clearance of different vehicles is different, and thus the standard zero-crossing actions of different vehicles are also different. Therefore, according to the vehicle working condition, the standard zero-crossing action suitable for the current vehicle is first obtained, including the action execution time and torque change amplitude when performing the standard zero-crossing action, where the action execution time is the length of time to execute the entire zero-crossing action, and the torque change amplitude is the change in torque during the entire zero-crossing action. After the acquisition is completed, it is used as the adjustment standard for adjusting the subsequent zero-crossing action.

[0042] When the standard zero-crossing action is determined, the current driving mode of the vehicle is obtained, so that the subsequent zero-crossing actions are adjusted according to different vehicle driving modes.

[0043] S2, when it is detected that the vehicle is in the EV mode or the series mode, obtaining a first zero-crossing intention parameter of the vehicle, and adjusting the start time and the end time of the zero-crossing action according to the first zero-crossing intention parameter and the action execution duration;

[0044] When the vehicle is in EV mode or series mode, that is, electric drive mode, the engine flywheel is not involved, so it is easy to produce timing deviation when executing the zero-crossing action, that is, the time point of entering the zero-crossing action is prone to error.

[0045] First, the first zero-crossing intention parameter of the vehicle is obtained. In the present embodiment, the first zero-crossing intention parameter includes the moment of entering the first zero-crossing action and the first zero-crossing action torque. Before executing the first zero-crossing action, the moment of entering the first zero-crossing action is compared with the moment of entering the standard zero-crossing action, so as to obtain the deviation of the first zero-crossing action. Then, the first zero-crossing action to be executed is offset as a whole, including synchronously offsetting the start time and the end time of the first zero-crossing action in the same direction, so as to achieve the completion of the zero-crossing action without extending the execution time of the zero-crossing action, thereby improving the torque response speed.

[0046] S3, when it is detected that the vehicle is in the direct drive mode, obtaining a second zero-crossing intention parameter of the vehicle, and adjusting the starting torque and the ending torque of the zero-crossing action according to the zero-crossing intention parameter and the torque variation amplitude.

[0047] When the vehicle is in direct drive mode, the torque at the flywheel end of the engine participates in the vehicle action, which causes an impact on the torque of the zero-crossing action.

[0048] In order to compensate for the torque involved in the zero-crossing action, the second zero-crossing intention parameters of the vehicle are firstly obtained, including the moment of entering the second zero-crossing action and the torque compensation value required for the second zero-crossing action. The offset direction of the second zero-crossing action is obtained by the moment of entering the second zero-crossing action. Then, the torque value of the entire second zero-crossing action is synchronously offset as a whole according to the torque compensation value without changing the torque change amplitude, thereby achieving the completion of the zero-crossing action without slowing down the torque gradient of the zero-crossing action, thereby improving the torque response speed.

[0049] The present application provides a torque zero-crossing control method for a DHT hybrid mechanical frame. When the vehicle is started, first, the relevant information when the vehicle crosses zero is obtained according to the vehicle working condition, and the standard zero-crossing action information of the vehicle is determined, including the action execution time and torque change amplitude of the standard zero-crossing action. Then, the driving mode of the vehicle is determined. When the vehicle is in the electric drive mode, that is, the EV mode or the series mode, after obtaining the first zero-crossing intention of the vehicle, the parameters of the first zero-crossing intention are obtained, and the deviation of the execution time compared with the standard zero-crossing action is determined, and then the implementation period of the entire zero-crossing action is adjusted as a whole, that is, the starting time and the ending time of the zero-crossing action are adjusted, without increasing the zero-crossing period; when the vehicle is in the direct drive mode, the second zero-crossing intention parameter of the vehicle is obtained. Since the engine flywheel participates in the zero-crossing action in the direct drive mode, the torque gradient is adjusted, that is, the starting torque and the ending torque of the zero-crossing action are adjusted, so as to avoid changing the torque change amplitude of the zero-crossing action. Through the above method, dynamic adaptive adjustment of the current zero-crossing action is achieved when crossing zero, and the zero-crossing action is completed without changing the action execution time and torque change amplitude of the zero-crossing action, thereby improving the torque response speed.

[0050] In some embodiments, determining the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition includes:

[0051] The vehicle acceleration and motor speed are acquired in real time to form a fluctuation curve when the vehicle performs a standard zero-crossing action, and the execution time of the standard zero-crossing action is determined based on the curve.

[0052] The vehicle acceleration reflects the smoothness of the vehicle, and the motor speed fluctuation reflects the system clearance. According to the changes in vehicle acceleration and motor speed when the vehicle performs zero-crossing action, the time during the action execution is used as the X-axis in the coordinate system to form a curve graph of the changes in vehicle acceleration and motor speed when the zero-crossing action is performed, determine the standard zero-crossing action, and obtain the action execution duration and torque change amplitude of the zero-crossing action based on the curve graph.

[0053] In this embodiment, the first zero-crossing intention parameter of the vehicle is obtained, and the start time and the end time of the first zero-crossing action are adjusted according to the first zero-crossing intention parameter and the action execution duration. Figure 2 ,include:

[0054] S21, determining a time offset and a time offset direction of a first zero-crossing action according to the first zero-crossing intention parameter and the fluctuation curve diagram;

[0055] When the parameters of the first zero-crossing action intention are obtained, the vehicle acceleration and motor speed before the first zero-crossing action are obtained, and a curve graph about the changes in vehicle acceleration and motor speed before the first zero-crossing action is formed. The curve graph of the first zero-crossing action is horizontally compared with the curve graph of the standard zero-crossing action to obtain the moment offset and moment offset direction of the first zero-crossing action entry moment and the standard zero-crossing action entry moment.

[0056] S22, without changing the execution duration of the action, synchronously adjust the start time and the end time of the first zero-crossing action, wherein the adjustment direction of the start time and the end time of the first zero-crossing action is determined according to the time offset direction, and the adjustment size of the start time and the end time of the first zero-crossing action is determined according to the time offset amount.

[0057] The starting moment and the ending moment of the first zero-crossing action are synchronously offset to one side of the moment offset direction by the amount of the moment offset, that is, the starting moment and the ending moment are synchronously increased or decreased, so that the entire first zero-crossing action window is horizontally translated, wherein the window is the interval of the zero-crossing action in the curve graph, and the width of the window is the execution duration of the zero-crossing action. By synchronously increasing or decreasing the starting moment and the ending moment, the window is translated without changing its width, thereby achieving the completion of the zero-crossing action without widening the execution duration of the zero-crossing action, thereby improving the torque response speed.

[0058] In some embodiments, determining the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition includes:

[0059] The vehicle component status is acquired to obtain the vehicle power change demand, and the torque change amplitude is determined according to the vehicle power change demand, wherein the component status includes any one or more of the accelerator pedal, the vehicle speed, and the brake switch.

[0060] When the vehicle accelerates, decelerates or shifts gears, the torque executed when performing the zero-crossing action is different because the gears that are operated during the action are different. Therefore, by detecting and determining the state of the vehicle components, the vehicle components include any one or more of the accelerator pedal, vehicle speed, and brake switch. In other embodiments, the vehicle components may also include the gear lever, clutch switch, etc. Different vehicle power change requirements are obtained according to the state of the vehicle components, thereby obtaining the torque change amplitude of the zero-crossing action under different conditions.

[0061] Wherein, the second zero-crossing intention parameter of the vehicle is obtained, and the starting torque and the ending torque of the second zero-crossing action are adjusted according to the second zero-crossing intention parameter and the torque change amplitude, referring to Figure 3 ,include:

[0062] S31, obtaining a torque compensation amount of the second zero-crossing action according to the torque parameter of the engine flywheel, and determining a time offset direction of the zero-crossing action according to the vehicle zero-crossing intention parameter and the fluctuation curve diagram;

[0063] When the parameters of the second zero-crossing action intention are obtained, the torque compensation amount required to cope with the intervention torque in the direct drive state is obtained according to the engine information; at the same time, according to the vehicle acceleration and motor speed before the second zero-crossing action is performed, a curve graph about the changes in vehicle acceleration and motor speed before the second zero-crossing action is formed, and the curve graph of the second zero-crossing action is horizontally compared with the curve graph of the standard zero-crossing action to obtain the moment offset direction of the second zero-crossing action entry moment and the standard zero-crossing action entry moment.

[0064] S32, synchronously adjusting the starting torque and the ending torque of the second zero-crossing action without changing the torque variation amplitude, wherein the adjustment direction of the starting torque and the ending torque of the second zero-crossing action is determined according to the moment offset direction, and the adjustment size of the starting torque and the ending torque of the second zero-crossing action is determined according to the torque compensation amount.

[0065] According to the momentary offset direction, the offset direction when the zero-crossing action occurs can be obtained, and then the torque stage when the first zero-crossing action occurs compared to the standard zero-crossing action torque can be determined when executing the torque, and then the torque compensation direction of the compensation torque can be determined, and then according to the torque compensation amount and the torque compensation direction obtained according to the momentary offset direction, that is, the torque in the entire second zero-crossing action process is synchronously increased or decreased, and the torque of the entire second zero-crossing action is offset as a whole, so that the entire second zero-crossing action window is longitudinally translated, wherein the window is the interval of the zero-crossing action in the curve graph, and the height of the window is the torque change interval of the zero-crossing action. By synchronously increasing or decreasing the torque in the entire second zero-crossing action process, the window is translated without changing its height, thereby completing the zero-crossing action on the basis of the torque gradient of the zero-crossing action without slowing down, thereby improving the torque response speed.

[0066] Based on the same inventive concept, the present application also provides a control device 4, which includes:

[0067] The determination module 401 is used to determine the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle working condition, and obtain the driving mode of the vehicle;

[0068] A first adjustment module 402 is used to obtain a first zero-crossing intention parameter of the vehicle when it is detected that the vehicle is in the EV mode or the series mode, and adjust the start time and the end time of the zero-crossing action according to the first zero-crossing intention parameter and the action execution duration;

[0069] The second adjustment module 403 is used to obtain a second zero-crossing intention parameter of the vehicle when it is detected that the vehicle is in the direct drive mode, and adjust the starting torque and the ending torque of the zero-crossing action according to the zero-crossing intention parameter and the torque variation amplitude.

[0070] The determination module 401 is further configured to perform the following steps:

[0071] The vehicle acceleration and motor speed are acquired in real time to form a fluctuation curve when the vehicle performs a standard zero-crossing action, and the execution time of the standard zero-crossing action is determined according to the curve;

[0072] The vehicle component status is acquired to obtain the vehicle power change demand, and the torque change amplitude is determined according to the vehicle power change demand, wherein the component status includes any one or more of the accelerator pedal, the vehicle speed, and the brake switch.

[0073] The first adjustment module 402 is further configured to perform the following steps:

[0074] S21, determining a time offset and a time offset direction of a first zero-crossing action according to the first zero-crossing intention parameter and the fluctuation curve diagram;

[0075] S22, without changing the execution duration of the action, synchronously adjust the start time and the end time of the first zero-crossing action, wherein the adjustment direction of the start time and the end time of the first zero-crossing action is determined according to the time offset direction, and the adjustment size of the start time and the end time of the first zero-crossing action is determined according to the time offset amount.

[0076] The second adjustment module 403 is further configured to perform the following steps:

[0077] S31, obtaining a torque compensation amount of the second zero-crossing action according to the torque parameter of the engine flywheel, and determining a time offset direction of the zero-crossing action according to the vehicle zero-crossing intention parameter and the fluctuation curve diagram;

[0078] S32, synchronously adjusting the starting torque and the ending torque of the second zero-crossing action without changing the torque variation amplitude, wherein the adjustment direction of the starting torque and the ending torque of the second zero-crossing action is determined according to the moment offset direction, and the adjustment size of the starting torque and the ending torque of the second zero-crossing action is determined according to the torque compensation amount.

[0079] The present application also provides an electronic device, the electronic device comprising:

[0080] Memory for storing computer programs;

[0081] The processor is used to execute the computer program stored in the memory to implement the above method.

[0082] Based on the same inventive concept, the present application also provides a vehicle, including a control device, which is used to implement the above method.

[0083] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0084] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0086] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0088] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0089] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0090] The pedal control system and the automobile including the system provided by the present application are introduced in detail above. The principles and implementation methods of the present application are explained in this article using specific examples. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0091] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0092] It should also be noted that, in this article, the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations, nor can they be understood as indicating or implying relative importance. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. Without more restrictions, an element defined by the phrase "comprising a ..." does not exclude the existence of other identical elements in the process, method, article or terminal device comprising the element.

[0093] The technical solution provided by the present application is described in detail above. The principle and implementation method of the present application are described in this article using specific examples. The description of the above embodiments is only used to help understand the present application, and the content of this specification should not be understood as limiting the present application. At the same time, for those of ordinary skill in the art, according to the present application, there will be different forms of changes in the specific implementation methods and application scopes. It is not necessary and impossible to list all the implementation methods here, and the obvious changes or modifications derived therefrom are still within the scope of protection of the present application.

Claims

1. A torque zero-crossing control method, characterized in that: The method comprises: Determine the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition, and obtain the driving mode of the vehicle; When it is detected that the vehicle is in the EV mode or the series mode, obtaining a first zero-crossing intention parameter of the vehicle, and adjusting the start time and the end time of the zero-crossing action according to the first zero-crossing intention parameter and the execution duration of the action; When it is detected that the vehicle is in the direct drive mode, obtaining a second zero-crossing intention parameter of the vehicle, and adjusting the starting torque and the ending torque of the zero-crossing action according to the second zero-crossing intention parameter and the torque variation amplitude; When the vehicle is in the direct drive mode, the torque at the flywheel end of the engine participates in the movement of the vehicle.

2. The zero-crossing control method according to claim 1, characterized in that: Determining the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition includes: The vehicle acceleration and motor speed are acquired in real time to form a fluctuation curve diagram when the vehicle performs a standard zero-crossing action, and the action execution duration of the standard zero-crossing action is determined according to the curve diagram.

3. The zero-crossing control method according to claim 2, characterized in that: Acquiring a first zero-crossing intention parameter of the vehicle, and adjusting a start time and an end time of the first zero-crossing action according to the first zero-crossing intention parameter and the action execution duration, including: Determining a time offset and a time offset direction of the first zero-crossing action according to the first zero-crossing intention parameter and the fluctuation curve diagram; Without changing the execution duration of the action, the start time and the end time of the first zero-crossing action are synchronously adjusted, wherein the adjustment direction of the start time and the end time of the first zero-crossing action is determined according to the moment offset direction, and the adjustment size of the start time and the end time of the first zero-crossing action is determined according to the moment offset.

4. The zero-crossing control method according to claim 2, characterized in that: Determining the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition includes: The vehicle component state is acquired to obtain the vehicle power change demand, and the torque change amplitude is determined according to the vehicle power change demand, wherein the component state includes any one or more of an accelerator pedal, a vehicle speed, and a brake switch.

5. The zero-crossing control method according to claim 4, characterized in that: Acquiring a second zero-crossing intention parameter of the vehicle, and adjusting a starting torque and an ending torque of the second zero-crossing action according to the second zero-crossing intention parameter and the torque change amplitude, including: Obtaining a torque compensation amount of the second zero-crossing action according to a torque parameter of the engine flywheel, and determining a time offset direction of the zero-crossing action according to the vehicle zero-crossing intention parameter and the fluctuation curve diagram; Without changing the torque variation amplitude, the starting torque and the ending torque of the second zero-crossing action are synchronously adjusted, wherein the adjustment direction of the starting torque and the ending torque of the second zero-crossing action is determined according to the moment offset direction, and the adjustment size of the starting torque and the ending torque of the second zero-crossing action is determined according to the torque compensation amount.

6. A control device, characterized in that: The control device comprises: A determination module (401) determines the execution time and torque change amplitude of the standard zero-crossing action of the vehicle according to the vehicle operating condition, and obtains the driving mode of the vehicle; A first adjustment module (402) is used to obtain a first zero-crossing intention parameter of the vehicle when it is detected that the vehicle is in an EV mode or a series mode, and adjust the start time and the end time of the zero-crossing action according to the first zero-crossing intention parameter and the action execution duration; A second adjustment module (403) is used to obtain a second zero-crossing intention parameter of the vehicle when it is detected that the vehicle is in a direct drive mode, and adjust the starting torque and the ending torque of the zero-crossing action according to the second zero-crossing intention parameter and the torque change amplitude; When the vehicle is in the direct drive mode, the torque at the flywheel end of the engine participates in the movement of the vehicle.

7. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute a computer program stored in the memory to implement the zero-crossing control method according to any one of claims 1 to 5.

8. A vehicle, characterized in that: It comprises a control device, and the control device is used to implement the zero-crossing control method described in any one of claims 1-5.

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