Vehicles and their torque control methods and systems

Abstract

This invention discloses a vehicle and its torque control method and system. The method includes: acquiring vehicle data of a hybrid vehicle; determining, based on the vehicle data, whether the hybrid vehicle is in a rapid acceleration state; responding to the hybrid vehicle being in a rapid acceleration state, determining the driving demand torque and engine external characteristic torque corresponding to the vehicle data; and controlling the first output torque of the engine and the second output torque of the electric motor of the hybrid vehicle based on the driving demand torque and engine external characteristic torque. This invention solves the technical problems of poor vehicle driving control and poor vehicle power and economy in related technologies during rapid acceleration of hybrid vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a vehicle and a torque control method and system thereof. Background Technology

[0002] Hybrid vehicles have two power sources: an engine and an electric motor. If the torque between the engine and the motor cannot be effectively distributed, it will affect the vehicle's performance and fuel economy. Related technologies mainly consider the needs of the powertrain input shaft, controlling the distribution of torque increase and decrease based on target commands to ensure that the actual torque of the input shaft matches the target torque. However, under rapid acceleration, the vehicle's driving control, performance, and fuel economy are relatively poor.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a vehicle and its torque control method and system to at least solve the technical problems of poor vehicle driving control and poor vehicle power and economy in related technologies during rapid acceleration of hybrid vehicles.

[0005] According to one aspect of the present invention, a vehicle torque control method is provided, comprising: acquiring vehicle data of a hybrid vehicle; determining, based on the vehicle data, whether the hybrid vehicle is in a rapid acceleration state; in response to the hybrid vehicle being in a rapid acceleration state, determining the driving demand torque and engine external characteristic torque corresponding to the vehicle data; and controlling, based on the driving demand torque and engine external characteristic torque, a first output torque of the hybrid vehicle's engine and a second output torque of the electric motor.

[0006] Optionally, determining whether a hybrid vehicle is in a rapid acceleration state based on vehicle data includes: determining, based on vehicle data, the driving demand torque, the rate of change of the accelerator pedal, the discharge power of the motor, the limiting state of the motor torque, the overall vehicle driving mode, the battery charge, and the hybrid mode, wherein the limiting state is used to characterize whether the motor torque is limited; determining whether the hybrid vehicle has a rapid acceleration demand based on the driving demand torque, the rate of change of the accelerator pedal, the discharge power, the limiting state, the overall vehicle driving mode, and the battery charge; determining that the hybrid vehicle is in a rapid acceleration state in response to the existence of a rapid acceleration demand and the hybrid mode being a rapid acceleration mode; and determining that the hybrid vehicle is not in a rapid acceleration state in response to the absence of a rapid acceleration demand or the hybrid mode not being a rapid acceleration mode.

[0007] Optionally, determining whether a hybrid vehicle has a rapid acceleration demand based on driving demand torque, rate of change, discharge power, restricted state, vehicle driving mode, and battery charge includes: determining whether the driving demand torque is greater than a torque threshold or whether the rate of change is greater than a preset rate of change, wherein the torque threshold is determined based on the engine external characteristic torque and a first offset; determining whether the discharge power is greater than a power threshold; determining whether the restricted state is motor torque limitation; determining whether the vehicle driving mode is economy mode; determining whether the battery charge is greater than a charge threshold; in response to the driving demand torque being greater than the torque threshold or the rate of change being greater than a preset rate of change, and the discharge power being greater than the power threshold, and the restricted state being motor torque not limitation, and the vehicle driving mode not being economy mode, and the battery charge being greater than the charge threshold, determining that the hybrid vehicle has a rapid acceleration demand; in response to the driving demand torque being less than the torque threshold and the rate of change being less than a preset rate of change, or the discharge power being less than the difference between the power threshold and the second offset, or the restricted state being motor torque limitation, or the vehicle driving mode being economy mode, or the battery charge being less than the difference between the charge threshold and the third offset, determining that the hybrid vehicle does not have a rapid acceleration demand.

[0008] Optionally, controlling the first output torque of the engine and the second output torque of the electric motor of the hybrid vehicle based on the driving demand torque and the engine external characteristic torque includes: determining the first output torque and the second output torque based on the driving demand torque and the engine external characteristic torque; determining the first slope of the first output torque and the second slope of the engine external characteristic torque; controlling the first slope based on the first threshold corresponding to the first slope, and controlling the second slope based on the second threshold corresponding to the second slope.

[0009] Optionally, determining the first output torque and the second output torque based on the driving demand torque and the engine external characteristic torque includes: in response to the driving demand torque being less than or equal to the engine external characteristic torque, determining the first output torque as the driving demand torque, and the second output torque as the difference between the driving demand torque and the target torque, wherein the target torque is the difference between the engine's combustion torque and the loss torque; in response to the driving demand torque being greater than the engine external characteristic torque, determining the first output torque as the engine external characteristic torque, and the second output torque as the difference between the driving demand torque and the engine external characteristic torque.

[0010] Optionally, adjusting the first slope based on the first threshold corresponding to the first slope includes: controlling the first slope to be less than the first threshold in response to the first slope being greater than or equal to the first preset value; and controlling the first slope to be greater than the first threshold in response to the first slope being less than the first preset value.

[0011] Optionally, adjusting the second slope based on the second threshold corresponding to the second slope includes: controlling the second slope to be less than the second threshold in response to the second slope being greater than or equal to the second preset value; and controlling the second slope to be greater than the second threshold in response to the second slope being less than the second preset value.

[0012] Optionally, in response to the hybrid vehicle being in a state of rapid acceleration, the first operating mode of the engine and the second operating mode of the electric motor are controlled as torque control mode, and the fuel injection mode of the engine and the clutch state are in an enabled state.

[0013] According to another aspect of the present invention, a vehicle torque control system is also provided, comprising: a data acquisition device for acquiring vehicle data of a hybrid vehicle; a state determination device for determining, based on the vehicle data, whether the hybrid vehicle is in a rapid acceleration state; a torque determination device for determining, in response to the hybrid vehicle being in a rapid acceleration state, the driving demand torque and engine external characteristic torque corresponding to the vehicle data; and a torque control device for controlling, based on the driving demand torque and engine external characteristic torque, a first output torque of the engine and a second output torque of the electric motor of the hybrid vehicle.

[0014] Optionally, the state determination device includes: a rapid acceleration demand determination module, used to determine the driving demand torque, the rate of change of the accelerator pedal, the discharge power of the motor, the limiting state of the motor torque, the overall vehicle driving mode, and the battery charge based on vehicle data, and to determine whether the hybrid vehicle has a rapid acceleration demand based on the driving demand torque, the rate of change of the accelerator pedal, the discharge power, the limiting state, the overall vehicle driving mode, and the battery charge, wherein the limiting state is used to characterize whether the motor torque is limited; a rapid acceleration mode determination module, used to determine the hybrid mode based on vehicle data, and to determine whether the hybrid mode is a rapid acceleration mode; and a state determination module, used to determine that the hybrid vehicle is in a rapid acceleration state in response to the existence of a rapid acceleration demand in the hybrid vehicle and the hybrid mode being a rapid acceleration mode; and to determine that the hybrid vehicle is not in a rapid acceleration state in response to the absence of a rapid acceleration demand in the hybrid vehicle or the hybrid mode not being a rapid acceleration mode.

[0015] Optionally, the torque control device includes: a torque distribution module for determining a first output torque and a second output torque based on driving demand torque and engine external characteristic torque; and a post-processing module for determining a first slope of the first output torque and a second slope of the engine external characteristic torque, controlling the first slope based on a first threshold corresponding to the first slope, and controlling the second slope based on a second threshold corresponding to the second slope.

[0016] According to another aspect of the present invention, a vehicle is also provided, including: the vehicle torque control system described above.

[0017] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute any of the vehicle torque control methods in the above embodiments.

[0018] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the vehicle torque control method of any one of the above embodiments.

[0019] In this embodiment of the invention, after acquiring vehicle data of the hybrid vehicle, it can be determined whether the hybrid vehicle is in a rapid acceleration state based on the vehicle data. Further, in response to the hybrid vehicle being in a rapid acceleration state, the driving demand torque and engine external characteristic torque corresponding to the vehicle data are determined. Further, based on the driving demand torque and engine external characteristic torque, the first output torque of the hybrid vehicle's engine and the second output torque of the electric motor are controlled. It is noteworthy that when the hybrid vehicle is in a rapid acceleration state, torque distribution within different operating load zones is fully considered. By controlling the first output torque of the hybrid vehicle's engine and the second output torque of the electric motor through the driving demand torque and engine external characteristic torque, the purpose of effectively and rationally controlling torque distribution in rapid acceleration mode is achieved. This improves vehicle driving smoothness, ensures balanced energy use, and solves the technical problems of poor vehicle driving control, vehicle power, and fuel economy in related technologies during rapid acceleration. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a flowchart of a vehicle torque control method according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of an optional driving torque requirement less than ENG-CUR according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of an optional driving torque requirement greater than ENG-CUR according to an embodiment of the present invention;

[0024] Figure 4 This is a flowchart of torque distribution control in an optional hybrid vehicle rapid acceleration mode according to an embodiment of the present invention;

[0025] Figure 5 This is a flowchart of another torque distribution control in an optional hybrid vehicle rapid acceleration mode according to an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of a vehicle torque control system according to an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of an optional rapid acceleration mode torque distribution control system according to an embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of an optional rapid acceleration mode determination module according to an embodiment of the present invention;

[0029] Figure 9 This is a schematic diagram illustrating an optional power torque distribution mode determination according to an embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of an optional parameter control setting module according to an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of an optional post-processing calculation module according to an embodiment of the present invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Since hybrid vehicles have multiple operating modes, including pure electric drive, combined drive, and power source-only drive, each operating mode requires torque distribution between the two power sources, the engine and the motor. However, there are few torque distribution schemes for rapid acceleration, making it impossible to accurately and effectively distribute torque during rapid acceleration.

[0035] To address the aforementioned issues, this invention provides a scheme for torque distribution control in hybrid vehicles during rapid acceleration. Based on the operating characteristics of hybrid vehicles, it fully considers torque distribution in different load ranges, enabling more effective and reasonable control of torque distribution during rapid acceleration, thereby improving driving smoothness and ensuring balanced energy utilization of the vehicle.

[0036] Example 1

[0037] According to an embodiment of the present invention, a method for controlling vehicle torque is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0038] Figure 1 This is a flowchart of a vehicle torque control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0039] Step S102: Obtain vehicle data for the hybrid vehicle;

[0040] The aforementioned hybrid vehicles can be vehicles whose drive system is composed of two or more individual drive systems that can operate simultaneously. They mainly obtain power transmission from electric motors and engines. Their power system is mainly composed of assemblies such as engines, drive motors, power battery packs, gearboxes, and transmission mechanisms. There are also controllers corresponding to each assembly, specifically including engine controller (EMS), vehicle controller (HCU), motor controller (MCU), battery management system (BMS), and transmission control unit (TCU).

[0041] The aforementioned vehicle data can be data perceived by sensors and the vehicle itself during the operation of a hybrid vehicle, including but not limited to: vehicle speed, driving range, accelerator pedal opening, gear information, motor discharge power, vehicle driving mode, motor torque data, hybrid mode, and high-voltage battery SOC (State of Charge, remaining charge).

[0042] In one alternative embodiment, during vehicle operation, the hybrid vehicle data acquisition system can use data acquisition cards with PCI (Peripheral Component Interconnect) and PXI (PCI extensions for Instrumentation) buses to acquire vehicle data.

[0043] Step S104: Based on vehicle data, determine whether the hybrid vehicle is in a state of rapid acceleration.

[0044] The aforementioned rapid acceleration state can refer to the state in which a vehicle's speed increases rapidly in a short period of time.

[0045] In one optional embodiment, it can first be determined through vehicle data whether the driver or the hybrid vehicle has a need for rapid acceleration. If it is determined that the driver or the hybrid vehicle has a need for rapid acceleration, it can then be further determined through vehicle data whether the hybrid vehicle itself is capable of rapid acceleration. If the hybrid vehicle itself is capable of rapid acceleration, it can be determined that the hybrid vehicle is in a rapid acceleration state; otherwise, if it is determined that the driver or the hybrid vehicle does not have a need for rapid acceleration, or the hybrid vehicle itself is unable to perform rapid acceleration, it is determined that the hybrid vehicle is not in a rapid acceleration state.

[0046] Step S106: In response to the hybrid vehicle being in a state of rapid acceleration, determine the driving demand torque and engine external characteristic torque corresponding to the vehicle data.

[0047] The aforementioned driving torque requirement can be determined based on vehicle data such as accelerator pedal opening, vehicle speed, and gear information; the engine external characteristic torque can be the engine's maximum external characteristic torque, which refers to the maximum torque output from the crankshaft end when the engine is running at the current speed, defined as ENG-CUR.

[0048] In one optional embodiment, after determining that the hybrid vehicle is handling a rapid acceleration state, the HCU can comprehensively calculate the driving torque demand based on vehicle data such as the driver's gear shifting operation, accelerator pedal opening, brake pedal opening, and vehicle speed. The theoretical external characteristic torque of the engine can be obtained by looking up a table by engine speed. The maximum torque of the engine at the current speed can be obtained by subtracting the engine loss torque sent by the EMS from the theoretical external characteristic torque of the engine.

[0049] Step S108: Based on the driving demand torque and the engine external characteristic torque, control the first output torque of the hybrid vehicle's engine and the second output torque of the electric motor.

[0050] The first output torque mentioned above can be the torque output from the crankshaft end of the engine, and the second output torque can be the output torque of the electric motor.

[0051] In one alternative embodiment, the driving demand torque and the engine's maximum external characteristic torque can be compared, and the results can be categorized as follows: Figure 2 and Figure 3 The torque distribution control flow is shown below, where solid triangles represent the torque demanded by the driver, and solid circles represent the engine's initial output torque. For example... Figure 2 As shown, when the driving torque demand is less than or equal to the engine's maximum external characteristic torque (ENG-CUR), the second output torque of the electric motor can compensate for the engine's first output torque, enabling rapid acceleration or overtaking. In this case, the first output torque can be the driving torque demand, and the second output torque can be the difference between the driver's required torque and the engine's net torque. Figure 3 As shown, when the driver's required torque is greater than the engine's maximum external characteristic torque (ENG-CUR), the second output torque of the motor can be superimposed on the engine's maximum external characteristic torque to achieve rapid acceleration or overtaking. In this case, the first output torque can be the engine's maximum external characteristic torque, and the second output torque can be the difference between the driver's required torque and the engine's maximum external characteristic torque.

[0052] The solution provided by the above embodiments of the present invention allows for the acquisition of vehicle data of a hybrid vehicle, followed by determination of whether the hybrid vehicle is in a rapid acceleration state. Further, in response to the hybrid vehicle being in a rapid acceleration state, the driving demand torque and engine external characteristic torque corresponding to the vehicle data are determined. Based on the driving demand torque and engine external characteristic torque, the first output torque of the hybrid vehicle's engine and the second output torque of the electric motor are controlled. It is noteworthy that, in the rapid acceleration state of the hybrid vehicle, torque distribution within different operating load zones is fully considered. By controlling the first output torque of the hybrid vehicle's engine and the second output torque of the electric motor through the driving demand torque and engine external characteristic torque, the purpose of effectively controlling the torque distribution in rapid acceleration mode is achieved. This improves vehicle driving smoothness and ensures balanced energy use, thereby solving the technical problems of poor vehicle driving control, vehicle power, and fuel economy in related technologies.

[0053] In the above embodiments of the present invention, determining whether a hybrid vehicle is in a rapid acceleration state based on vehicle data includes: determining, based on vehicle data, the driving demand torque, the rate of change of the accelerator pedal, the discharge power of the motor, the limiting state of the motor torque, the overall vehicle driving mode, the battery charge, and the hybrid mode, wherein the limiting state is used to characterize whether the motor torque is limited; determining whether the hybrid vehicle has a rapid acceleration demand based on the driving demand torque, the rate of change, the discharge power, the limiting state, the overall vehicle driving mode, and the battery charge; determining that the hybrid vehicle is in a rapid acceleration state in response to the existence of a rapid acceleration demand and the hybrid mode being a rapid acceleration mode; and determining that the hybrid vehicle is not in a rapid acceleration state in response to the absence of a rapid acceleration demand or the hybrid mode not being a rapid acceleration mode.

[0054] The aforementioned rate of change of the accelerator pedal can be the change in the accelerator pedal opening over a certain period of time; the discharge power can be the maximum continuous discharge power of the motor; the limited state can be the state corresponding to whether the motor torque is limited; the vehicle driving mode can be any of the following modes: economy mode, non-economy mode, and normal default mode, but not limited to these; the vehicle driving mode can be the mode determined by the driver operating the hybrid vehicle; the battery charge can be the current charge of the hybrid vehicle battery; the hybrid mode can be any of the following modes: idle mode, engine drive mode, electric motor drive mode, combined drive mode, and rapid acceleration mode, but not limited to these.

[0055] In one optional embodiment, the MCU can send two signals to the HCU via the CAN (Controller Area Network): maximum continuous discharge power of the motor and a motor torque limitation fault. The BMS can send the high-voltage battery SOC signal to the HCU via the CAN network. The HCU can internally identify the vehicle status and generate signals to determine the required torque and accelerator pedal change rate. The BCM or navigation and entertainment system can send the vehicle driving mode to the HCU, where the HCU acts as the core controller of the hybrid vehicle.

[0056] Furthermore, based on the driving demand torque, rate of change, discharge power, restricted state, vehicle driving mode, and battery charge, determining whether a hybrid vehicle has a rapid acceleration demand includes: determining whether the driving demand torque is greater than a torque threshold or whether the rate of change is greater than a preset rate of change, wherein the torque threshold is determined based on the engine external characteristic torque and a first offset; determining whether the discharge power is greater than a power threshold; determining whether the restricted state is motor torque limitation; determining whether the vehicle driving mode is economy mode; determining whether the battery charge is greater than a charge threshold; in response to the driving demand torque being greater than the torque threshold or the rate of change being greater than a preset rate of change, and the discharge power being greater than the power threshold, and the restricted state being motor torque not limitation, and the vehicle driving mode not being economy mode, and the battery charge being greater than the charge threshold, determining that the hybrid vehicle has a rapid acceleration demand; in response to the driving demand torque being less than the torque threshold and the rate of change being less than a preset rate of change, or the discharge power being less than the difference between the power threshold and the second offset, or the restricted state being motor torque limitation, or the vehicle driving mode being economy mode, or the battery charge being less than the difference between the charge threshold and the third offset, determining that the hybrid vehicle does not have a rapid acceleration demand.

[0057] The aforementioned torque threshold can be a critical value of the set driving torque demand. Considering the fluctuation of driving torque demand, it can be determined based on the torque threshold, the engine's external characteristic torque, and a first offset. This first offset can be a manually set offset, for example, 20 Nm, but not limited to this. The power threshold can be a critical value of the discharge power set in the rapid acceleration mode; the battery power threshold can be a critical value of the battery SOC set in the rapid acceleration mode. The second and third offsets can also be manually set offsets, and this invention does not specifically limit them.

[0058] In one optional embodiment, a hybrid vehicle is determined to have a rapid acceleration demand when all of the following conditions are met, and the rapid acceleration mode flag is set to 1: the required driving torque is greater than the engine's maximum external characteristic torque plus a first offset, or the rate of change of the driver's accelerator pedal is greater than the rapid acceleration mode performance parameter setting; the maximum continuous discharge power of the motor is greater than the rapid acceleration mode discharge power limit; the motor torque limitation fault is 0 (0 indicates that the motor torque is not limited, and 1 indicates that the motor torque is limited); the vehicle driving mode is non-economy mode; and the high-voltage battery SOC value is greater than the SOC value set for the rapid acceleration mode. Conversely, a hybrid vehicle is determined not to have a rapid acceleration demand when any of the following conditions are met, and the rapid acceleration mode flag is set to 0: the required driving torque is less than the engine's maximum external characteristic torque minus a second offset, or the rate of change of the driver's accelerator pedal is less than the rapid acceleration mode performance parameter setting; the maximum continuous discharge power of the motor is less than the rapid acceleration mode discharge power limit minus a certain offset value; the motor torque limitation fault is 1; the vehicle driving mode is economy mode; and the high-voltage battery SOC value is less than the SOC value set for the rapid acceleration mode minus a third offset.

[0059] In the above embodiments of the present invention, controlling the first output torque of the engine and the second output torque of the electric motor of a hybrid vehicle based on the driving demand torque and the engine external characteristic torque includes: determining the first output torque and the second output torque based on the driving demand torque and the engine external characteristic torque; determining the first slope of the first output torque and the second slope of the engine external characteristic torque; controlling the first slope based on the first threshold corresponding to the first slope, and controlling the second slope based on the second threshold corresponding to the second slope.

[0060] The first slope mentioned above can be an upward slope, and the second slope can be a downward slope. Different first and second thresholds can be set for slopes with different torques.

[0061] Furthermore, determining the first output torque and the second output torque based on the driving demand torque and the engine external characteristic torque includes: in response to the driving demand torque being less than or equal to the engine external characteristic torque, determining the first output torque as the driving demand torque, and the second output torque as the difference between the driving demand torque and the target torque, wherein the target torque is the difference between the engine's combustion torque and the loss torque; in response to the driving demand torque being greater than the engine external characteristic torque, determining the first output torque as the engine external characteristic torque, and the second output torque as the difference between the driving demand torque and the engine external characteristic torque.

[0062] In one alternative embodiment, such as Figure 4As shown, after determining that the hybrid vehicle is in a rapid acceleration state, that is, the rapid acceleration mode flag bit = 1, first judge that the driver demand torque value is less than or equal to ENG-CUR, that is, in the lower region of this curve; control the engine output torque = the driver demand torque; calculate the engine net torque = engine combustion - engine torque loss; control the motor output torque = the driver demand torque - the engine net torque; finally, process the change slopes of the engine output torque and the motor output torque to avoid the situation of jumps in the torque distribution output result. In another optional embodiment, as Figure 5 shown, after determining that the hybrid vehicle is in a rapid acceleration state, that is, the rapid acceleration mode flag bit = 1, first judge that the driver demand torque value is greater than ENG-CUR, that is, in the upper region of this curve; control the engine output torque = the maximum external characteristic torque of the engine; control the motor output torque = the driver demand torque - the maximum external characteristic torque of the engine; finally, process the change slopes of the engine output torque and the motor output torque to avoid the situation of jumps in the torque distribution output result.

[0063] Optionally, adjusting the first slope based on the first threshold corresponding to the first slope includes: in response to the first slope being greater than or equal to the first preset value, controlling the first slope to be less than the first threshold; in response to the first slope being less than the first preset value, controlling the first slope to be greater than the first threshold.

[0064] The above first preset value can be a slope threshold set artificially for distinguishing whether the first slope rises or falls.

[0065] Optionally, adjusting the second slope based on the second threshold corresponding to the second slope includes: in response to the second slope being greater than or equal to the second preset value, controlling the second slope to be less than the second threshold; in response to the second slope being less than the second preset value, controlling the second slope to be greater than the second threshold.

[0066] The above second preset value can be a slope threshold set artificially for distinguishing whether the second slope rises or falls.

[0067] In an optional embodiment, in order to meet the driver's torque demand, during the process of controlling the torque distribution output of the power source, in order to avoid the torque of the engine and the motor from rising and falling too fast, it is necessary to limit their change slopes. Specifically as follows: the engine torque rising slope value < E1, where E1 is the positive maximum value; the engine torque falling slope value > E2, where E2 is the negative minimum value, |E1| > |E2|; the motor positive torque rising slope value < M1, where M1 is the positive maximum value; the motor negative torque rising slope value < M2, where M1 > M2; the motor torque falling slope value > M3, where M3 is the negative minimum value, |M1| > |M2| > |M3|.

[0068] In the above embodiments of the present invention, in response to the hybrid vehicle being in a state of rapid acceleration, the first operating mode of the engine and the second operating mode of the electric motor are controlled as torque control mode, and the fuel injection mode of the engine and the clutch state are in an enabled state.

[0069] In one optional embodiment, the first operating mode can be the engine mode sent by the MCU to the HCU via the CAN network, and the second operating mode and engine injection mode can be the motor mode and injection mode sent by the EMS to the HCU via the CAN network. When the hybrid mode is the rapid acceleration mode, the control modes for each assembly are as follows: motor mode = torque control; engine mode = torque control; engine injection mode = enabled (enabled means that the fuel injection control command for the engine remains effective); clutch status = enabled (enabled means that the clutch opening and closing control command remains effective).

[0070] Through the above scheme, the present invention provides a torque distribution control method for rapid acceleration mode of hybrid vehicles. By considering the rapid acceleration mode state, power torque distribution mode, and power source parameter control, the torque distribution control method for rapid acceleration mode of the power system is designed. Based on the post-processing calculation module, it ensures that the torque output of the engine and motor does not jump, and realizes accurate calculation and effective control of the torque distribution output of multiple power sources.

[0071] Example 2

[0072] According to an embodiment of the present invention, a vehicle torque control system is provided. The system can execute the vehicle torque control method in the above embodiments. The specific implementation method and preferred application scenarios are the same as those in the above embodiments, and will not be described in detail here.

[0073] Figure 6 This is a schematic diagram of a vehicle torque control system according to an embodiment of the present invention, as shown below. Figure 6 As shown, the vehicle torque control system includes the following components: a data acquisition device 60, a status judgment device 62, a torque determination device 64, and a torque control device 66.

[0074] The system includes a data acquisition device 60 for acquiring vehicle data of the hybrid vehicle; a state determination device 62 for determining whether the hybrid vehicle is in a rapid acceleration state based on the vehicle data; a torque determination device 64 for determining the driving demand torque and engine external characteristic torque corresponding to the vehicle data in response to the hybrid vehicle being in a rapid acceleration state; and a torque control device 66 for controlling the first output torque of the engine and the second output torque of the electric motor of the hybrid vehicle based on the driving demand torque and engine external characteristic torque.

[0075] In the above embodiments of the present invention, the state determination device includes: a rapid acceleration demand determination module, used to determine, based on vehicle data, driving demand torque, accelerator pedal change rate, motor discharge power, motor torque limitation state, vehicle driving mode, and battery charge, and to determine whether the hybrid vehicle has a rapid acceleration demand based on the driving demand torque, change rate, discharge power, limitation state, vehicle driving mode, and battery charge, wherein the limitation state is used to characterize whether the motor torque is limited; a rapid acceleration mode determination module, used to determine the hybrid mode based on vehicle data, and to determine whether the hybrid mode is a rapid acceleration mode; and a state determination module, used to determine that the hybrid vehicle is in a rapid acceleration state in response to the presence of a rapid acceleration demand in the hybrid vehicle and the hybrid mode being a rapid acceleration mode; and to determine that the hybrid vehicle is not in a rapid acceleration state in response to the absence of a rapid acceleration demand in the hybrid vehicle or the hybrid mode not being a rapid acceleration mode.

[0076] Optionally, the rapid acceleration demand determination module is also used to determine, based on vehicle data, the driving demand torque, the rate of change of the accelerator pedal, the discharge power of the motor, the limiting state of the motor torque, the overall vehicle driving mode, the battery charge, and the hybrid mode, wherein the limiting state is used to characterize whether the motor torque is limited; based on the driving demand torque, the rate of change, the discharge power, the limiting state, the overall vehicle driving mode, and the battery charge, determine whether the hybrid vehicle has a rapid acceleration demand; in response to the hybrid vehicle having a rapid acceleration demand and the hybrid mode being a rapid acceleration mode, determine that the hybrid vehicle is in a rapid acceleration state; in response to the hybrid vehicle not having a rapid acceleration demand, or the hybrid mode not being a rapid acceleration mode, determine that the hybrid vehicle is not in a rapid acceleration state.

[0077] Optionally, the rapid acceleration demand judgment module is further used to determine whether the driving demand torque is greater than a torque threshold, or whether the rate of change is greater than a preset rate of change, wherein the torque threshold is determined based on the engine external characteristic torque and a first offset; determine whether the discharge power is greater than a power threshold; determine whether the restricted state is motor torque limitation; determine whether the vehicle driving mode is economy mode; determine whether the battery charge is greater than a charge threshold; in response to the driving demand torque being greater than the torque threshold or the rate of change being greater than a preset rate of change, and the discharge power being greater than the power threshold, and the restricted state being motor torque not limitation, and the vehicle driving mode not being economy mode, and the battery charge being greater than the charge threshold, the module determines that the hybrid vehicle has a rapid acceleration demand; in response to the driving demand torque being less than the torque threshold and the rate of change being less than a preset rate of change, or the discharge power being less than the difference between the power threshold and the second offset, or the restricted state being motor torque limitation, or the vehicle driving mode being economy mode, or the battery charge being less than the difference between the charge threshold and the third offset, the module determines that the hybrid vehicle does not have a rapid acceleration demand.

[0078] Optionally, the torque control device includes: a torque distribution module for determining a first output torque and a second output torque based on driving demand torque and engine external characteristic torque; and a post-processing module for determining a first slope of the first output torque and a second slope of the engine external characteristic torque, controlling the first slope based on a first threshold corresponding to the first slope, and controlling the second slope based on a second threshold corresponding to the second slope.

[0079] Optionally, the torque distribution module is further configured to determine a first output torque and a second output torque based on the driving demand torque and the engine external characteristic torque; determine a first slope of the first output torque and a second slope of the engine external characteristic torque; control the first slope based on a first threshold corresponding to the first slope, and control the second slope based on a second threshold corresponding to the second slope.

[0080] Optionally, the torque distribution module is further configured to, in response to a driving demand torque being less than or equal to the engine external characteristic torque, determine a first output torque as the driving demand torque and a second output torque as the difference between the driving demand torque and a target torque, wherein the target torque is the difference between the engine's combustion torque and loss torque; and in response to a driving demand torque being greater than the engine external characteristic torque, determine a first output torque as the engine external characteristic torque and a second output torque as the difference between the driving demand torque and the engine external characteristic torque.

[0081] Optionally, the post-processing module is further configured to control the first slope to be less than the first threshold in response to the first slope being greater than or equal to the first preset value; and to control the first slope to be greater than the first threshold in response to the first slope being less than the first preset value.

[0082] Optionally, the post-processing module is further configured to control the second slope to be less than the second threshold in response to the second slope being greater than or equal to the second preset value; and to control the second slope to be greater than the second threshold in response to the second slope being less than the second preset value.

[0083] Optionally, the system further includes a parameter setting module for controlling the first operating mode of the engine and the second operating mode of the electric motor to torque control mode in response to the hybrid vehicle being in a state of rapid acceleration, and setting the engine's fuel injection mode and clutch status to an enabled state.

[0084] In one alternative embodiment, such as Figure 7 As shown, the system may include five control modules, namely: a rapid acceleration mode judgment module (i.e., the rapid acceleration demand judgment module mentioned above), a power torque distribution judgment module (i.e., the rapid acceleration mode judgment module mentioned above), a parameter control setting module (i.e., the parameter setting module mentioned above), a rapid acceleration mode torque distribution module (i.e., the torque distribution module mentioned above), and a post-processing calculation module (i.e., the post-processing module mentioned above).

[0085] As Figure 8 shown, when the driving demand torque, accelerator pedal change rate, maximum continuous discharge power of the motor, motor torque limitation fault, vehicle driving mode, and high-voltage battery SOC all meet certain conditions, the rapid acceleration mode flag output by the rapid acceleration mode judgment module = 1; when any one of the driving demand torque, accelerator pedal change rate, maximum continuous discharge power of the motor, motor torque limitation fault, vehicle driving mode, and high-voltage battery SOC meets certain conditions, the rapid acceleration mode flag output by the rapid acceleration mode judgment module = 0.

[0086] As Figure 9 shown, according to the characteristics of this hybrid configuration, the input signal of the power torque distribution judgment module is the specific mode of the hybrid mode, which can be any one of the following five: idle mode (hybrid mode signal value = 1), engine drive mode (hybrid mode signal value = 2), motor drive mode (hybrid mode signal value = 3), combined drive mode (hybrid mode signal value = 4), rapid acceleration mode (hybrid mode signal value = 5). When the power torque distribution judgment module determines that the hybrid mode is the rapid acceleration mode, the HCU should call the rapid acceleration mode torque distribution program.

[0087] As Figure 10 shown, when the hybrid mode is the rapid acceleration mode, the parameter control setting module controls the various assemblies as follows: the motor mode and the engine mode are equal to torque control, and the engine fuel injection mode and the clutch state are equal to the enabled state.

[0088] When the rapid acceleration mode torque distribution module has the rapid acceleration mode flag = 1, it obtains the engine torque external characteristic curve by looking up the engine speed table, then subtracts the engine torque loss sent by the EMS to obtain the engine maximum torque external characteristic curve at the current speed, and then performs torque distribution control according to the methods shown in Figure 3 and Figure 4 shown.

[0089] As Figure 11 shown, in order to meet the driver's torque demand, during the process of the post-processing calculation module controlling the output of the power source torque distribution, in order to avoid the engine and the motor's torque from rising and falling too fast, it is necessary to limit their change slopes. Specifically as follows: the engine torque rising slope value < E1, where E1 is the positive maximum value; the engine torque falling slope value > E2, where E2 is the negative minimum value, |E1| > |E2|; the motor positive torque rising slope value < M1, where M1 is the positive maximum value; the motor negative torque rising slope value < M2, where M1 > M2; the motor torque falling slope value > M3, where M3 is the negative minimum value, |M1| > |M2| > |M3|.

[0090] Embodiment 3

[0091] According to another aspect of the present invention, a vehicle is also provided, including: the vehicle torque control system described in the above embodiments.

[0092] Example 4

[0093] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute any of the vehicle torque control methods in the above embodiments.

[0094] Example 5

[0095] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the vehicle torque control method of any one of the above embodiments.

[0096] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0097] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0099] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0100] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0101] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0102] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle torque control method characterized by, The method comprises: acquiring vehicle data of a hybrid vehicle; determining whether the hybrid vehicle is in an aggressive acceleration state based on the vehicle data; in response to the hybrid vehicle being in the aggressive acceleration state, determining a driving demand torque and an engine external characteristic torque corresponding to the vehicle data; controlling a first output torque of the engine and a second output torque of an electric motor of the hybrid vehicle based on the driving demand torque and the engine external characteristic torque; adjusting the first output torque of the engine and the second output torque of the electric motor; wherein determining whether the hybrid vehicle is in the aggressive acceleration state based on the vehicle data comprises: determining the driving demand torque, a rate of change of a throttle pedal, a discharge power of the electric motor, a limited state of an electric motor torque, a vehicle driving mode, a battery power level and a hybrid mode based on the vehicle data, wherein the limited state is used to represent whether the electric motor torque is limited; in response to the driving demand torque being greater than a torque threshold value or the rate of change being greater than a preset rate of change, and the discharge power being greater than a power threshold value, and the limited state being that the electric motor torque is not limited, and the vehicle driving mode being other than an economic mode, and the battery power level being greater than a power threshold value, and the hybrid mode being an aggressive acceleration mode, determining that the hybrid vehicle is in the aggressive acceleration state, wherein the torque threshold value is determined based on the engine external characteristic torque and a first offset, the power threshold value is a critical value of the discharge power set in the aggressive acceleration mode, and the power threshold value is a critical value of the battery SOC set in the aggressive acceleration mode; wherein adjusting the first output torque of the engine and the second output torque of the electric motor comprises: controlling a change slope of the first output torque of the engine and a change slope of the second output torque of the electric motor, wherein the change slope of the first output torque of the engine comprises an engine torque rising slope value and an engine torque falling slope value, and the change slope of the second output torque of the electric motor comprises an electric motor positive torque rising slope value, an electric motor negative torque rising slope value and an electric motor torque falling slope value; the control of the change slope of the first output torque of the engine and the change slope of the second output torque of the electric motor satisfies the following conditions: in response to a first slope of the first output torque being greater than or equal to a first preset value, controlling the engine torque rising slope value to be <E1, wherein E1 is a positive maximum value; in response to the first slope being less than the first preset value, controlling the engine torque falling slope value to be >E2, wherein E2 is a negative minimum value, and |E1|>|E2|; in response to a second slope of the engine external characteristic torque being greater than or equal to a second preset value, controlling the electric motor positive torque rising slope value to be <M1, wherein M1 is a positive maximum value, and controlling the electric motor negative torque rising slope value to be <M2, wherein M1>M2; in response to the second slope being less than the second preset value, controlling the electric motor torque falling slope value to be >M3, wherein M3 is a negative minimum value, and |M1|>|M2|>|M3|.

2. The method of claim 1, wherein, determining whether the hybrid vehicle is in the rapid acceleration state based on the vehicle data further includes: determining whether the hybrid vehicle has a rapid acceleration demand based on the driving demand torque, the rate of change, the discharge power, the limited state, the vehicle driving mode, and the battery power level; determining that the hybrid vehicle is in the rapid acceleration state in response to the hybrid vehicle having the rapid acceleration demand and the hybrid mode being the rapid acceleration mode; determining that the hybrid vehicle is not in the rapid acceleration state in response to the hybrid vehicle not having the rapid acceleration demand or the hybrid mode not being the rapid acceleration mode.

3. The method of claim 2, wherein, determining whether the hybrid vehicle has a rapid acceleration demand based on the driving demand torque, the rate of change, the discharge power, the limited state, the vehicle driving mode, and the battery power level includes: determining whether the driving demand torque is greater than a torque threshold or the rate of change is greater than a preset rate of change, wherein the torque threshold is determined based on the engine external characteristic torque and a first offset; determining whether the discharge power is greater than a power threshold; determining whether the limited state is the motor torque limited; determining whether the vehicle driving mode is the economy mode; determining whether the battery power level is greater than a power level threshold; determining that the hybrid vehicle does not have the rapid acceleration demand in response to the driving demand torque being less than the torque threshold and the rate of change being less than the preset rate of change, or the discharge power being less than a difference between the power threshold and a second offset, or the limited state being the motor torque limited, or the vehicle driving mode being the economy mode, or the battery power level being less than a difference between the power level threshold and a third offset.

4. The method of claim 1, wherein, determining the first output torque and the second output torque based on the driving demand torque and the engine external characteristic torque includes: determining that the first output torque is the driving demand torque and the second output torque is a difference between the driving demand torque and a target torque in response to the driving demand torque being less than or equal to the engine external characteristic torque, wherein the target torque is a difference between a combustion torque and a loss torque of the engine; determining that the first output torque is the engine external characteristic torque and the second output torque is a difference between the driving demand torque and the engine external characteristic torque in response to the driving demand torque being greater than the engine external characteristic torque.

5. The method according to any one of claims 1 to 4, characterized in that, controlling the first operating mode of the engine and the second operating mode of the motor to be torque control modes and the injection mode of the engine and the clutch state to be enabled states in response to the hybrid vehicle being in the rapid acceleration state.

6. A vehicle torque control system characterized by, The method includes: acquiring vehicle data of a hybrid vehicle; determining whether the hybrid vehicle is in a rapid acceleration state based on the vehicle data; determining a driving demand torque and an engine external characteristic torque corresponding to the vehicle data in response to the hybrid vehicle being in the rapid acceleration state; A torque control device for controlling a first output torque of an engine and a second output torque of an electric motor of a hybrid vehicle based on a driving demand torque and an engine external characteristic torque; The torque control device is further configured to adjust the first output torque of the engine and the second output torque of the electric motor; The torque determination device is further configured to determine the driving demand torque, a rate of change of an accelerator pedal, a discharge power of the electric motor, a limited state of the electric motor torque, a vehicle driving mode, a battery power level, and a hybrid mode based on the vehicle data, wherein the limited state is used to represent whether the electric motor torque is limited; and determine that the hybrid vehicle is in the rapid acceleration state in response to the driving demand torque being greater than a torque threshold value or the rate of change being greater than a preset rate of change, and the discharge power being greater than a power threshold value, and the limited state being that the electric motor torque is not limited, and the vehicle driving mode being other than an economy mode, and the battery power level being greater than a power level threshold value, and the hybrid mode being a rapid acceleration mode; The torque control device is further configured to control a change slope of the first output torque of the engine and a change slope of the second output torque of the electric motor, wherein the change slope of the first output torque of the engine includes an engine torque rising slope value and an engine torque falling slope value, and the change slope of the second output torque of the electric motor includes a positive electric motor torque rising slope value, a negative electric motor torque rising slope value, and an electric motor torque falling slope value; The control of the change slope of the first output torque of the engine and the change slope of the second output torque of the electric motor satisfies the following conditions: the engine torque rising slope value < E1, wherein E1 is a positive maximum value; the engine torque falling slope value > E2, wherein E2 is a negative minimum value, and |E1| > |E2|; the positive electric motor torque rising slope value < M1, wherein M1 is a positive maximum value; the negative electric motor torque rising slope value < M2, wherein M1 > M2; and the electric motor torque falling slope value > M3, wherein M3 is a negative minimum value, and |M1| > |M2| > |M3|.

7. A vehicle characterized by comprising: Comprising: The vehicle torque control system of claim 6.

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