Method, device, storage medium, electronic device and vehicle for determining torque

Abstract

The present disclosure relates to a method, device, storage medium, electronic device, and vehicle for determining torque. The method includes: determining whether the absolute value of the torque needs to be increased based on the vehicle's demand torque in the current cycle and the output torque of the previous cycle; if the absolute value of the torque needs to be increased, determining the output torque of the current cycle based on a preset torque increase, the demand torque of the current cycle, and the output torque of the previous cycle; wherein the preset torque increase is used to limit the maximum increase in the demand torque. In this way, by limiting the torque increase during acceleration or braking through the preset torque increase, torque mutations can be avoided, thereby improving the driving experience. In addition, torque mutations near zero torque can be avoided, reducing gear losses.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control, and in particular, to a method, device, storage medium, electronic device, and vehicle for determining torque. Background Art

[0002] The required torque of a vehicle can vary significantly under different driving conditions, such as starting acceleration, braking deceleration, and driving uphill and downhill. In related technologies, if the required torque of a vehicle changes significantly, such as during acceleration or deceleration, the vehicle's output torque can suddenly change, causing sudden acceleration and braking, which reduces driving comfort. Summary of the Invention

[0003] In order to solve the above problems, the present disclosure provides a method, an apparatus, a storage medium, an electronic device, and a vehicle for determining torque.

[0004] In a first aspect, the present disclosure provides a method for determining torque, the method comprising:

[0005] determining whether the absolute value of the torque needs to be increased based on a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current cycle and the historical output torque is the output torque of the previous cycle;

[0006] When the absolute value of the torque needs to be increased, the output torque of the current cycle is determined according to a preset torque increase, the first required torque and the historical output torque; wherein the preset torque increase is used to limit the maximum increase of the output torque.

[0007] Optionally, determining the output torque of the current cycle according to the preset torque increase, the first required torque and the historical output torque includes:

[0008] filtering the historical torque smoothing growth amount according to the preset torque growth amount and the first filtering time constant to obtain a current torque smoothing growth amount; the historical torque smoothing growth amount is the torque smoothing growth amount of the previous cycle, the current torque smoothing growth amount is the torque smoothing growth amount of the current cycle, and the current torque smoothing growth amount is used to smooth the growth of the output torque;

[0009] The output torque of the current cycle is determined according to the current torque smoothing increase amount, the first required torque and the historical output torque.

[0010] Optionally, determining the output torque of the current cycle according to the current torque smoothing growth amount, the first required torque and the historical output torque includes:

[0011] determining a second required torque according to the current torque smoothing increase amount, the first required torque, and the historical output torque;

[0012] The historical output torque of the previous cycle is filtered according to the second required torque and the second filtering time constant to obtain the output torque of the current cycle.

[0013] Optionally, the method further includes:

[0014] In the case where the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the first required torque and the third filtering time constant to obtain the output torque of the current cycle.

[0015] Optionally, when the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the first required torque and the third filtering time constant to obtain the output torque of the current cycle, including: when either the first required torque or the historical output torque is a positive value and the other is a negative value, the first required torque is adjusted to a preset minimum torque, and it is determined that the absolute value of the torque needs to be reduced; when the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current cycle.

[0016] Optionally, when the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current cycle, including: when the absolute value of the torque needs to be reduced, obtaining the vehicle operating condition of the vehicle; if the vehicle operating condition is a preset operating condition, filtering the historical output torque of the previous cycle according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current cycle.

[0017] In a second aspect, the present disclosure provides a device for determining torque, the device comprising:

[0018] a torque state determination module, configured to determine whether the absolute value of the torque needs to be increased based on a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current cycle; and the historical output torque is the output torque of the previous cycle;

[0019] The output torque determination module is used to determine the output torque of the current cycle based on a preset torque increase, the first required torque and the historical output torque when the absolute value of the torque needs to be increased; wherein the preset torque increase is used to limit the maximum increase of the output torque.

[0020] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect of the present disclosure.

[0021] In a fourth aspect, the present disclosure provides an electronic device, comprising: a memory on which a computer program is stored; and a processor for executing the computer program in the memory to implement the steps of the method described in the first aspect of the present disclosure.

[0022] In a fifth aspect, the present disclosure provides a vehicle, comprising: the electronic device described in the fourth aspect of the present disclosure.

[0023] The above technical solution determines whether an absolute torque increase is needed based on the vehicle's current cycle's demand torque and the previous cycle's output torque. If a torque increase is needed, the output torque for the current cycle is determined based on a preset torque increase, the current cycle's demand torque, and the previous cycle's output torque. The preset torque increase is used to limit the maximum increase in demand torque. This preset torque increase limits torque growth during acceleration or braking, preventing sudden torque changes and improving the driving experience. It also prevents sudden torque changes near zero torque, reducing gear losses.

[0024] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0026] Figure 1 is a flow chart of a method for determining torque provided by an embodiment of the present disclosure;

[0027] Figure 2a is a schematic diagram of an output torque determined by a method for determining torque provided in an embodiment of the present disclosure;

[0028] Figure 2b is a schematic diagram of output torque determined according to a method for determining torque in the related art;

[0029] Figure 2c is a schematic diagram of an output torque determined by another method for determining torque provided in an embodiment of the present disclosure;

[0030] Figure 2d is a schematic diagram of an output torque determined according to another method for determining torque provided in an embodiment of the present disclosure;

[0031] Figure 3 1 is a schematic diagram of the logical structure of a device for determining torque provided by an embodiment of the present disclosure;

[0032] Figure 4 is a block diagram of an electronic device provided by an embodiment of the present disclosure;

[0033] Figure 5 It is a block diagram of a vehicle provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0034] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0035] It should be noted that, in the present disclosure, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order; terms such as "S101", "S102", "S201", "S202", etc. are used to distinguish steps, and do not necessarily mean that the method steps are performed in a specific order or sequential order; when the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0036] First, the application scenario of the present disclosure is explained. The present disclosure can be applied to the scenario of determining torque in vehicle control. In the related art, if the required torque of the vehicle changes significantly, for example, during acceleration or deceleration, the driver steps on the accelerator pedal or brake pedal hard, which will cause the output torque of the vehicle to suddenly change, causing the vehicle to brake suddenly, accelerate suddenly, etc., reducing driving comfort. In order to improve driving comfort, the required torque can be filtered by low-pass filtering to avoid sudden changes in output torque. However, although the conventional low-pass filtering method can alleviate the situation of torque mutation, there is still a sudden change in torque near zero torque. This will cause the output torque to be not smooth enough, affecting driving smoothness; on the other hand, it will also increase gear losses.

[0037] To address the aforementioned issues, the present disclosure provides a method, apparatus, storage medium, electronic device, and vehicle for determining torque. By presetting the torque increase, the maximum increase in output torque can be limited. This limits the maximum increase in torque during acceleration or braking, preventing sudden torque changes and improving ride comfort. Furthermore, this method can also prevent sudden torque changes near zero torque, reducing gear wear.

[0038] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0039] Figure 1 A method for determining torque provided by an embodiment of the present disclosure is as follows: Figure 1 As shown, the method includes:

[0040] S101 : Determine whether the absolute value of the torque needs to be increased based on a first required torque and a historical output torque of the vehicle.

[0041] The first required torque is the required torque of the current cycle; and the historical output torque is the output torque of the previous cycle.

[0042] For example, when the vehicle is in normal driving state, the first required torque and the historical output torque can both be positive values. If the first required torque is greater than the historical output torque, it can be determined that the absolute value of the torque needs to be increased; conversely, if the first required torque is less than the historical output torque, it can be determined that the absolute value of the torque needs to be reduced; if the two are equal, the torque can be kept unchanged.

[0043] When the vehicle is in a braking state, the first required torque and the historical output torque may both be negative values. Thus, if the first required torque is less than the historical output torque, it can be determined that the absolute value of the torque needs to be increased; conversely, if the first required torque is greater than the historical output torque, it can be determined that the absolute value of the torque needs to be reduced; similarly, if the two are equal, the torque can be kept unchanged.

[0044] When the vehicle is in the starting state, the historical output torque may be a preset minimum torque, such as zero torque, and the first required torque may be determined as a larger positive value according to the opening of the accelerator pedal. At this time, it may be determined that the absolute value of the torque needs to be increased.

[0045] It should be noted that during vehicle driving, the vehicle's first required torque and historical output torque can be periodically obtained. For example, in each cycle, the vehicle's first required torque can be determined based on one or more of the following information: the accelerator pedal opening, brake pedal opening, driving speed, steering angle, vehicle operating conditions (uphill, downhill, sandy, snowy, etc.), vehicle gear position, and vehicle driving mode, so as to achieve the purpose of changing the vehicle's driving speed according to driving requirements; then, the output torque of the current cycle can be further determined based on the first required torque. In this way, in the current cycle, the output torque determined in the previous cycle can be used as the historical output torque of the previous cycle. The initial historical output torque after the vehicle is powered on can be set to a preset minimum torque, such as 0 Nm or 1 Nm.

[0046] S102 : When the absolute value of the torque needs to be increased, the output torque of the current cycle is determined according to the preset torque increase amount, the first required torque, and the historical output torque.

[0047] The preset torque increase is used to limit the maximum increase of the output torque.

[0048] For example, the sum of the historical output torque and the preset torque increase can be calculated first. This sum is then compared with the first required torque, and the smaller of the two is determined as the output torque for the current cycle. In this way, the maximum increase in output torque is limited by the preset torque increase, ensuring that torque fluctuations in each cycle are not too drastic.

[0049] It should be noted that the period for sampling the first required torque and the historical output torque can be determined based on experience, and the period can be any value between 0.1 milliseconds and 1 second, for example, 1 millisecond, 5 milliseconds, or 10 milliseconds.

[0050] The preset torque increase can be any value between 5 and 500. Furthermore, the preset torque increase can be set based on the cycle. The longer the cycle, the larger the preset torque increase. For example, when the cycle is 1 millisecond, the preset torque increase can be set to 5; when the cycle is 10 milliseconds, the preset torque increase can be set to 50. Thus, the smaller the cycle, the smaller the preset torque increase, resulting in a smoother output torque and better driving comfort.

[0051] The above method determines whether an absolute torque increase is necessary based on the vehicle's current cycle's demand torque and the previous cycle's output torque. If a torque increase is necessary, the output torque for the current cycle is determined based on a preset torque increase, the current cycle's demand torque, and the previous cycle's output torque. The preset torque increase is used to limit the maximum increase in demand torque. This preset torque increase limits torque growth during acceleration or braking, preventing sudden torque changes and improving the driving experience. It also prevents sudden torque changes near zero torque, reducing gear wear.

[0052] In another embodiment of the present disclosure, the above-mentioned step S102 of determining the output torque of the current cycle according to the preset torque increase amount, the first required torque, and the historical output torque may include the following steps:

[0053] First, the historical torque smoothing growth amount is filtered according to the preset torque growth amount and a first filtering time constant to obtain the current torque smoothing growth amount.

[0054] Among them, the historical torque smooth growth amount is the torque smooth growth amount of the previous cycle, and the current torque smooth growth amount is the torque smooth growth amount of the current cycle; the current torque smooth growth amount is used to smooth the growth of the output torque, and the smooth growth of the output torque can be achieved by filtering the historical torque smooth growth amount in each cycle to avoid torque mutations.

[0055] For example, the current torque smoothing growth amount can be calculated using the following formula.

[0056] X1(t)=X1(t-1)+[X1(t-1)+A] / T1,

[0057] Wherein, X1(t) represents the current torque smoothing growth amount, X1(t-1) represents the historical torque smoothing growth amount, A represents the above-mentioned preset torque growth amount, and T1 represents the above-mentioned first filtering time constant.

[0058] The preset torque increase and the first filter time constant can be calibrated through vehicle testing or simulation. The preset torque increase can be any value between 5 and 500, and the first filter time constant can be any value between 0.1 and 0.9.

[0059] This method is used to optimize the low-pass filtering algorithm. By using the preset torque growth amount and the first filtering time constant, the historical torque smoothing growth amount is filtered using the above formula to calculate the current torque smoothing growth amount. Compared with directly setting the preset torque growth amount, a more reasonable current torque smoothing growth amount can be obtained through filtering processing, so that the output torque can be more reasonably restricted according to the current torque smoothing growth amount, further improving driving smoothness.

[0060] Then, the output torque of the current cycle is determined according to the current torque smoothing increase amount, the first required torque and the historical output torque.

[0061] In this step, the output torque can be determined in any of the following ways:

[0062] Method 1: First, calculate the sum of the historical output torque and the current torque smoothing increase. This sum is then compared with the first required torque, and the smaller of the two is determined as the output torque for the current cycle. This approach limits the maximum increase in output torque using the current torque smoothing increase, ensuring that torque fluctuations within each cycle are moderate.

[0063] Method 2: The second required torque can be determined based on the current torque smoothing growth amount, the first required torque and the historical output torque; and the historical output torque of the previous cycle is filtered according to the second required torque and the second filtering time constant to obtain the output torque of the current cycle.

[0064] The second required torque may be a required torque obtained by limiting the current torque smoothing increase based on the first required torque, that is, to prevent the current torque smoothing increase from exceeding the range of the first required torque. For example, the second required torque may be obtained by obtaining the sum of the current torque smoothing increase and the historical output torque; and using the smaller of the sum and the first required torque as the second required torque.

[0065] For example, the second required torque can be obtained by the following formula:

[0066] X2(t)=min(X1(t)+Y(t-1),X(t)),

[0067] Wherein, X2(t) represents the second required torque, X(t) represents the first required torque, X1(t) represents the current torque smoothing growth amount, and Y(t-1) represents the output torque of the previous cycle.

[0068] After determining the second required torque, the output torque of the previous cycle can be filtered using the following formula to obtain the output torque of the current cycle:

[0069] Y(t)=Y(t-1)+[X2(t)–Y(t-1)] / T2,

[0070] Wherein, Y(t) represents the output torque of the current cycle, Y(t-1) represents the output torque of the previous cycle, X2(t) represents the second required torque, and T2 represents the second filtering time constant.

[0071] Likewise, the second filtering time constant may also be calibrated through the above-mentioned vehicle test or simulation, and the second filtering time constant may also be any value between 0.1 and 0.9.

[0072] In this way, by adopting the above method and filtering twice, the obtained output torque can be further made smoother, avoiding sudden changes in the output torque, and further improving driving smoothness.

[0073] Furthermore, when the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the first required torque and the third filtering time constant to obtain the output torque of the current cycle.

[0074] For example, the output torque of the current cycle can be obtained by filtering the historical output torque of the previous cycle using the following formula:

[0075] Y(t)=Y(t-1)+[X(t)–Y(t-1)] / T3,

[0076] Wherein, Y(t) represents the output torque of the current cycle, Y(t-1) represents the historical output torque of the previous cycle, X(t) represents the first required torque, and T3 represents the third filtering time constant.

[0077] Similarly, the third filter time constant can also be calibrated through the above-mentioned vehicle test or simulation, and the third filter time constant can also be any value between 0.1 and 0.9. In addition, the third filter time constant and the above-mentioned second filter time constant can be equal or different.

[0078] It's important to note that reducing torque doesn't cause a sudden change in vehicle speed under most operating conditions. Therefore, in most cases, torque can be reduced directly to the desired torque without smoothing. However, in some scenarios, such as desert conditions and uphill driving, excessive torque reduction can cause the vehicle's speed to decrease too quickly, impacting ride smoothness. Therefore, when reducing the absolute value of torque is necessary, the aforementioned filtering method can be used to avoid sudden changes in torque, thereby improving ride smoothness.

[0079] Furthermore, in this step, if the absolute torque value needs to be reduced, the vehicle operating condition of the vehicle may be first obtained. If the vehicle operating condition is a preset operating condition, the historical output torque of the previous cycle is filtered based on the first required torque and a third filtering time constant to obtain the output torque of the current cycle. The preset operating condition may include an uphill operating condition and / or a sandy operating condition.

[0080] In another embodiment of the present disclosure, the method for determining whether the absolute value of the torque needs to be increased in step S101 may include any one of the following methods:

[0081] Method 1: When either the first required torque or the historical output torque is a positive value and the other is a negative value, the first required torque is adjusted to a preset minimum torque, and it is determined that the absolute value of the torque needs to be reduced.

[0082] The preset minimum torque may be a preset minimum value of the output torque, such as 0 Nm or 1 Nm, and may be determined according to the output power of the engine.

[0083] It should be noted that if the first demanded torque and the historical output torque are one positive and one negative, setting the first demanded torque to a preset minimum torque, such as zero torque, can first reduce the output torque to zero, and then gradually increase the absolute value of the torque from zero torque to reach the first demanded torque. This avoids sudden torque changes near zero torque, reduces gear losses, and improves driving smoothness.

[0084] Method 2: When the first demand torque and the historical output torque are both positive values, or when the first demand torque and the historical output torque are both negative values, if the absolute value of the first demand torque is greater than the absolute value of the historical output torque, it is determined that the absolute value of the torque needs to be increased; conversely, if the absolute value of the first demand torque is less than the absolute value of the historical output torque, it is determined that the absolute value of the torque needs to be reduced.

[0085] In this way, it is possible to determine whether the absolute value of the torque needs to be increased or decreased based on the different methods of the first required torque and the historical output torque, so as to adopt different filtering methods to obtain a smoother output torque and improve driving smoothness.

[0086] In another embodiment of the present disclosure, taking a sudden change in the required torque as an example, under the above-mentioned value of the preset torque increase, different output torques can be obtained according to the method in the embodiment of the present disclosure. For example,

[0087] Figure 2a is a schematic diagram of an output torque determined by a method for determining torque provided in an embodiment of the present disclosure, such as Figure 2aAs shown, in the algorithm for determining torque of this embodiment, the above-mentioned preset torque growth amount is 150, the above-mentioned first filter time constant is 0.2, and the above-mentioned second filter time constant and third filter time constant are both 0.15. The horizontal axis of the figure is time, in seconds; the vertical axis is output torque, in Newton meters. It can be seen from the figure that at the 2nd second, the first required torque suddenly changes from 0 to 4000 Nm. After a filtering is performed once according to the above-mentioned preset torque growth amount and the first filter time constant, and then a second filtering is performed according to the second filter time constant, the output torque can be smoothly adjusted from 0 to +4000 Nm within a certain period of time; thereafter, the first required torque and the output torque both maintain +4000 torque and continue to travel for a period of time; at the 5th second, the first required torque suddenly changes from +4000 Nm to -2000 Nm. At this time, the first required torque is first adjusted to the preset minimum torque, that is, 0 Nm, and then according to the above-mentioned third filter time constant The output torque is smoothly adjusted from +4000 Nm to 0 Nm by filtering according to the first filtering time constant. Then, since the first required torque input is still -2000 Nm, after a filtering is performed once according to the above-mentioned preset torque increase amount and the first filtering time constant, and then a second filtering is performed according to the second filtering time constant, the output torque can be smoothly adjusted from 0 to -2000 Nm within a certain period of time. Furthermore, at the 8th second, the first required torque suddenly changes from -2000 Nm to 0 Nm. At this time, filtering can be performed according to the above-mentioned third filtering time constant to smoothly adjust the output torque from -2000 Nm to 0 Nm.

[0088] from Figure 2a Looking at the entire graph, the output torque changes relatively smoothly without sudden changes, so it has better driving comfort.

[0089] Figure 2b is a schematic diagram of the output torque determined according to a method for determining torque in the related art, such as Figure 2b As shown, in this related technology, two low-pass filters are connected in series and then a ramp function is added near zero torque for processing. In the same scenario where the first required torque changes, the high complexity of the algorithm leads to low computational efficiency, and due to the ramp processing, there is a sudden change in the torque slope near zero torque, which affects the driving smoothness of the vehicle.

[0090] Figure 2c is a schematic diagram of the output torque determined by another method for determining torque provided in an embodiment of the present disclosure, such as Figure 2cAs shown in the figure, in the torque determination algorithm of this embodiment, the preset torque increase is set to 50, the first filter time constant is set to 0.2, and the second and third filter time constants are both set to 0.15. Under the same scenario of changes in the first required torque, the output torque changes smoothly without sudden changes, thus providing a smoother ride.

[0091] Figure 2d is a schematic diagram of the output torque determined by another method for determining torque provided in an embodiment of the present disclosure, such as Figure 2d As shown in the figure, in the torque determination algorithm of this embodiment, the preset torque increase is set to 500, the first filter time constant is set to 0.2, and the second and third filter time constants are both set to 0.15. Under the same scenario of changes in the first required torque, the output torque also changes smoothly without sudden changes, thus providing a smoother ride.

[0092] It can be seen that the greater the above-mentioned preset torque increase, the greater the increase in the absolute value of the torque per unit time. When the absolute value of the torque needs to be increased, the output torque can meet the requirements of the first demand torque more quickly, thereby improving the driving experience of the vehicle.

[0093] Figure 3 is a structural diagram of a device 300 for determining torque provided in an embodiment of the present disclosure, such as Figure 3 As shown, the device includes:

[0094] The torque state determination module 301 is used to determine whether the absolute value of the torque needs to be increased based on the first required torque of the vehicle in the current cycle and the historical output torque of the previous cycle;

[0095] The output torque determination module 302 is used to determine the output torque of the current cycle according to the preset torque increase, the first required torque and the historical output torque when the absolute value of the torque needs to be increased; wherein the preset torque increase is used to limit the maximum increase of the output torque.

[0096] Optionally, the output torque determination module 302 is used to filter the historical torque smoothing growth amount of the previous cycle according to the preset torque growth amount and the first filtering time constant to obtain the current torque smoothing growth amount of the current cycle; and determine the output torque of the current cycle according to the current torque smoothing growth amount, the first required torque and the historical output torque.

[0097] Optionally, the output torque determination module 302 is used to determine a second required torque based on the current torque smoothing growth amount, the first required torque and the historical output torque; and filter the historical output torque of the previous cycle based on the second required torque and a second filtering time constant to obtain the output torque of the current cycle.

[0098] Optionally, the output torque determination module 302 is configured to obtain a sum of the current torque smoothing increase amount and the historical output torque; and use the smaller value of the sum and the first required torque as the second required torque.

[0099] Optionally, the output torque determination module 302 is further configured to filter the historical output torque of the previous cycle according to the first required torque and a third filtering time constant to obtain the output torque of the current cycle when the absolute value of the torque needs to be reduced.

[0100] Optionally, the torque state determination module 301 is used to adjust the first required torque to a preset minimum torque and determine that the absolute value of the torque needs to be reduced when either the first required torque or the historical output torque is a positive value and the other is a negative value; or, when both the first required torque and the historical output torque are positive values, or both the first required torque and the historical output torque are negative values, if the absolute value of the first required torque is greater than the absolute value of the historical output torque, determine that the absolute value of the torque needs to be increased.

[0101] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0102] Figure 4 FIG. 4 is a block diagram of an electronic device 400 according to an exemplary embodiment. Figure 4 As shown, the electronic device 400 may include: a processor 401 , a memory 402 , and may further include one or more of a multimedia component 403 , an input / output (I / O) interface 404 , and a communication component 405 .

[0103] The processor 401 is used to control the overall operation of the electronic device 400 to complete all or part of the steps in the method for determining torque described above. The memory 402 is used to store various types of data to support the operation of the electronic device 400. Such data may include, for example, instructions for any application or method operating on the electronic device 400, as well as application-related data. The memory 402 may be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0104] In an exemplary embodiment, the electronic device 400 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-mentioned method for determining torque.

[0105] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When executed by a processor, the program instructions implement the steps of the above-described method for determining torque. For example, the computer-readable storage medium may be the aforementioned memory 402 including the program instructions. The program instructions may be executed by the processor 401 of the electronic device 400 to perform the above-described method for determining torque.

[0106] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has code portions for performing the above-mentioned method for determining torque when executed by the programmable device.

[0107] Figure 5 is a block diagram of a vehicle provided by an embodiment of the present disclosure, such as Figure 5 As shown, the vehicle may include: the above-mentioned electronic device 400.

[0108] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0109] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0110] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for determining torque, characterized in that The method comprises: determining whether the absolute value of the torque needs to be increased based on a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current cycle and the historical output torque is the output torque of the previous cycle; When the absolute value of the torque needs to be increased, the output torque of the current cycle is determined according to a preset torque increase amount, the first required torque, and the historical output torque; wherein the preset torque increase amount is used to limit the maximum increase amount of the output torque; The determining the output torque of the current cycle according to the preset torque increase, the first required torque, and the historical output torque includes: filtering the historical torque smoothing growth amount according to the preset torque growth amount and the first filtering time constant to obtain a current torque smoothing growth amount; the historical torque smoothing growth amount is the torque smoothing growth amount of the previous cycle, the current torque smoothing growth amount is the torque smoothing growth amount of the current cycle, and the current torque smoothing growth amount is used to smooth the growth of the output torque; The output torque of the current cycle is determined according to the current torque smoothing increase amount, the first required torque and the historical output torque.

2. The method according to claim 1, characterized in that The determining the output torque of the current cycle according to the current torque smoothing growth amount, the first required torque and the historical output torque includes: determining a second required torque according to the current torque smoothing increase amount, the first required torque, and the historical output torque; The historical output torque of the previous cycle is filtered according to the second required torque and the second filtering time constant to obtain the output torque of the current cycle.

3. The method according to claim 1, characterized in that The method further comprises: In the case where the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the first required torque and the third filtering time constant to obtain the output torque of the current cycle.

4. The method according to claim 3, characterized in that In the case where the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous cycle according to the first required torque and the third filtering time constant to obtain the output torque of the current cycle includes: When either one of the first required torque and the historical output torque is a positive value and the other is a negative value, adjusting the first required torque to a preset minimum torque and determining that the absolute value of the torque needs to be reduced; In the case where the absolute value of the torque needs to be reduced, the historical output torque of the previous cycle is filtered according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current cycle.

5. The method according to claim 4, characterized in that In the case where the absolute value of the torque needs to be reduced, filtering the historical output torque of the previous cycle according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current cycle includes: When the absolute value of the torque needs to be reduced, obtaining a vehicle operating condition of the vehicle; If the vehicle operating condition is the preset operating condition, the historical output torque of the previous cycle is filtered according to the adjusted first required torque and the third filtering time constant to obtain the output torque of the current cycle.

6. A device for determining torque, characterized in that The device comprises: a torque state determination module, configured to determine whether the absolute value of the torque needs to be increased based on a first required torque of the vehicle and a historical output torque, wherein the first required torque is the required torque of the current cycle; and the historical output torque is the output torque of the previous cycle; an output torque determination module, configured to determine the output torque of a current cycle based on a preset torque increase, the first required torque, and the historical output torque when an absolute torque increase is required; wherein the preset torque increase is used to limit a maximum increase in the output torque; The output torque determination module is further used to filter the historical torque smooth growth amount according to the preset torque growth amount and the first filtering time constant to obtain the current torque smooth growth amount; the historical torque smooth growth amount is the torque smooth growth amount of the previous cycle, the current torque smooth growth amount is the torque smooth growth amount of the current cycle, and the current torque smooth growth amount is used to smooth the growth of the output torque; the output torque of the current cycle is determined based on the current torque smooth growth amount, the first required torque and the historical output torque.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 5.

9. A vehicle, characterized in that: The vehicle comprises: The electronic device according to claim 5.

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