Torque control method and device for vehicle, controller and vehicle

Abstract

The application provides a torque control method and device of a vehicle, a controller and the vehicle. The method comprises the following steps: determining that the vehicle enters a torque compensation mode, controlling a brake pedal to release brake torque; acquiring front wheel speed and rear wheel speed of the vehicle in the torque compensation mode; and controlling output torque of an engine according to the front wheel speed and the rear wheel speed. The application acquires the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode, judges the state of the wheels, controls the output torque of the engine when the wheels are determined to slip, reduces torque fluctuation of a transmission system, and avoids the problem that the large torque fluctuation reduces the service life of components, so that the service life of the components is improved and the vehicle safety is improved.

Description

TECHNICAL FIELD

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

[0002] With the increasing demand for vehicle use, more and more four-wheel drive vehicles are equipped with automatic transmissions, and the application scenarios of four-wheel drive vehicles are becoming more and more rich. Many off-road enthusiasts will use vehicles for pulling test between vehicles to compare the power performance of vehicles.

[0003] However, when using vehicles for pulling, the transmission torque of the transmission system fluctuates greatly, and without controlling the torque, the service life of the components will be greatly reduced, thereby affecting the safety of vehicle use. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art.

[0005] To this end, a first object of the present application is to provide a torque control method for a vehicle, which obtains the front wheel speed and the rear wheel speed of the vehicle in a torque compensation mode, judges the state of the wheels, and controls the output torque of the engine when it is determined that the wheels are slipping, so as to reduce the torque fluctuation of the transmission system, avoid the problem that the large torque fluctuation reduces the service life of the components, and thus improve the service life of the components and the safety of vehicle use.

[0006] To this end, a second object of the present application is to provide a torque control device for a vehicle.

[0007] To this end, a third object of the present application is to provide a controller.

[0008] To this end, a fourth object of the present application is to provide a vehicle.

[0009] In order to achieve the above-mentioned objects, an embodiment of the first aspect of the present application provides a torque control method for a vehicle, which comprises: determining that the vehicle enters a torque compensation mode, and controlling the brake pedal to release the brake torque; obtaining the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode; and controlling the output torque of the engine according to the front wheel speed and the rear wheel speed.

[0010] According to the torque control method for a vehicle of the present application, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are obtained, the state of the wheels is judged, and the output torque of the engine is controlled when it is determined that the wheels are slipping, so as to reduce the torque fluctuation of the transmission system, avoid the problem that the large torque fluctuation reduces the service life of the components, and thus improve the service life of the components and the safety of vehicle use.

[0011] In some embodiments, after determining that the vehicle enters the torque compensation mode, the method further comprises: issuing a prompt to release the brake pedal.

[0012] In some embodiments, controlling the output torque of the engine according to the front wheel speed and the rear wheel speed comprises: calculating a first wheel speed difference value between the front wheel speed and the rear wheel speed, wherein the front wheel speed is a sum of a left front wheel speed and a right front wheel speed, and the rear wheel speed is a sum of a left rear wheel speed and a right rear wheel speed; and determining that the first wheel speed difference value is greater than a first preset wheel speed threshold, adjusting a torque correction coefficient of the engine to control the output torque of the engine until the first wheel speed difference value is less than or equal to the first preset wheel speed threshold.

[0013] In some embodiments, the front wheel speed comprises a left front wheel speed and a right front wheel speed, and the rear wheel speed comprises a left rear wheel speed and a right rear wheel speed, and controlling the output torque of the engine according to the front wheel speed and the rear wheel speed comprises: calculating a second wheel speed difference value between the left front wheel speed and the right front wheel speed and calculating a third wheel speed difference value between the left rear wheel speed and the right rear wheel speed; and determining that the second wheel speed difference value is greater than a second preset wheel speed threshold and the third wheel speed difference value is greater than a third preset wheel speed threshold, adjusting a torque correction coefficient of the engine to control the output torque of the engine until the second wheel speed difference value is less than or equal to the second wheel speed threshold and the third wheel speed difference value is less than or equal to the third wheel speed threshold.

[0014] In some embodiments, adjusting the torque correction coefficient of the engine to control the output torque of the engine comprises: determining an adjusted target torque correction coefficient, and obtaining a maximum value of a rear wheel slip torque and a transmission ratio of a wheel; and controlling the output torque of the engine according to the maximum value of the rear wheel slip torque, the transmission ratio of the wheel, and the target torque correction coefficient.

[0015] In some embodiments, determining that the vehicle enters the torque compensation mode comprises: after receiving a torque compensation instruction, determining whether the vehicle meets a preset condition; and if yes, determining that the vehicle enters the torque compensation mode.

[0016] In some embodiments, determining whether the vehicle meets the preset condition comprises: determining whether a transmission oil temperature is in a first preset temperature range and determining whether an engine water temperature is in a second preset temperature range; if yes, controlling a vehicle body stability system to be turned off, prompting a user to shift into N gear, and controlling a transfer case to enter a low-speed four-wheel drive mode and a rear axle differential lock to be locked; otherwise, prompting the user that the vehicle does not meet the preset condition.

[0017] In some embodiments, after the vehicle body stability system is controlled to be closed, the user is prompted to put into the N gear, the transfer case is controlled to enter the low-speed four-wheel drive mode, and the rear axle differential lock is controlled to be locked, the method further comprises: determining whether the opening degree of the brake pedal is greater than a first preset opening threshold and whether the opening degree of the accelerator pedal is greater than a second preset opening threshold; if yes, it is determined that the vehicle enters the torque compensation mode; otherwise, the user is prompted that the vehicle does not meet the preset condition.

[0018] In some embodiments, after the output torque of the engine is controlled according to the front wheel speed and the rear wheel speed, the method further comprises: recording the number of times that the vehicle enters the torque compensation mode, and prompting the user to detect the components of the transmission system when the number of times reaches a specified value.

[0019] To achieve the above object, the second aspect of the present application provides a torque control device of a vehicle, comprising: a determination module configured to determine that a brake pedal releases a brake torque when a vehicle enters a torque compensation mode; an acquisition module configured to acquire a front wheel speed and a rear wheel speed of the vehicle in the torque compensation mode; and a control module configured to control an output torque of an engine according to the front wheel speed and the rear wheel speed.

[0020] The torque control device of the vehicle according to the embodiments of the present application, by acquiring the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode, judging the state of the wheels, and controlling the output torque of the engine when the wheels are determined to slip, can reduce the torque fluctuation of the transmission system, avoid the problem that a large torque fluctuation reduces the service life of the components, thereby improving the service life of the components and the safety of the vehicle.

[0021] To achieve the above object, the third aspect of the present application provides a controller, comprising: a processor; and a memory connected with the processor; wherein the memory stores a computer program executable by the processor, and the processor implements the torque control method of the vehicle according to the embodiments of the present application when executing the computer program.

[0022] To achieve the above object, the fourth aspect of the present application provides a vehicle, comprising: a controller configured to execute the torque control method of the vehicle according to the embodiments of the present application.

[0023] The vehicle according to the embodiments of the present application, by acquiring the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode, judging the state of the wheels, and controlling the output torque of the engine when the wheels are determined to slip, can reduce the torque fluctuation of the transmission system, avoid the problem that a large torque fluctuation reduces the service life of the components, thereby improving the service life of the components and the safety of the vehicle.

[0024] Additional aspects and advantages of the present application will be apparent from the following description, taken in conjunction with the accompanying drawings, wherein: BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0026] Figure 1 is a schematic view of a vehicle according to an embodiment of the present application;

[0027] Figure 2 is a flow chart of a torque control method of a vehicle according to an embodiment of the present application;

[0028] Figure 3 is a flow chart of a torque control method of a vehicle according to an embodiment of the present application;

[0029] Figure 4 is a block diagram of a torque control device of a vehicle according to an embodiment of the present application;

[0030] Figure 5 is a block diagram of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described below in detail with reference to the accompanying drawings. The embodiments described below are exemplary, and embodiments of the present application are described in detail below.

[0032] In an embodiment, as shown in Figure 1 is a schematic view of a vehicle according to an embodiment of the present application. The transmission system of the four-wheel drive chassis includes an engine, a transmission, a transfer, a front drive shaft, a rear drive shaft, and front and rear differentials. The vehicle is used for a pulling test, and the engine, the transmission, and the transfer are heavily loaded, and the power test is performed multiple times in a short time, for example, the pulling test can exacerbate the failure of the components.

[0033] Thus, the torque control method of the vehicle according to the embodiment of the present application controls the output torque of the engine of the vehicle when the vehicle is pulling, so as to reduce the torque fluctuation of the transmission system, avoid the large torque loading fluctuation of the transmission system, and reduce the service life of the components.

[0034] The torque control method of the vehicle according to the embodiment of the present application is described below.

[0035] The torque control method of the vehicle according to the embodiment of the present application is described below with reference to Figure 2 and Figure 3 Figure 1 ​As shown, the torque control method of the vehicle of the embodiment of the application at least includes steps S1, S2 and S3.

[0036] In step S1, when it is determined that the vehicle enters the torque compensation mode, the brake pedal is controlled to release the brake torque.

[0037] In the embodiment, the torque compensation mode is a mode for adjusting the output torque of the vehicle when the vehicle enters the tug state, specifically, after the power domain controller receives the tug signal of the mode switch, the working states of the engine, the transmission and the transfer are judged to determine whether the vehicle enters the torque compensation mode, when it is determined that the vehicle enters the torque compensation mode, the user is prompted by the instrument that the vehicle meets the condition for entering the torque compensation mode, and the brake pedal is quickly released to release the brake torque.

[0038] In step S2, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are obtained.

[0039] In the embodiment, when the brake pedal is controlled to release the brake torque, it is necessary to determine whether the wheels of the vehicle are slipping, because the tire slip will cause the temperature of the tire to rise sharply, if the brake force is not controlled, the tire slip speed of the vehicle will increase, which will cause the tire to smoke and the adhesion to decrease sharply, therefore, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are obtained to determine whether the wheels are slipping according to the wheel speed of the vehicle, so as to provide data support for the torque control of the engine.

[0040] In step S3, the output torque of the engine is controlled according to the front wheel speed and the rear wheel speed.

[0041] In the embodiment, the front wheel speed and the rear wheel speed of the vehicle can reflect the state of the wheels to a great extent, after the front wheel speed and the rear wheel speed of the vehicle are determined, the state of the wheels can be determined by analyzing the front wheel speed and the rear wheel speed, when it is determined that the wheels are slipping, the output torque of the engine is controlled to reduce the torque fluctuation of the transmission system, so as to avoid the problem that the large torque fluctuation reduces the service life of the components, thereby improving the service life of the components.

[0042] According to the torque control method of the vehicle of the embodiment of the application, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are obtained to determine the state of the wheels, when it is determined that the wheels are slipping, the output torque of the engine is controlled accordingly to reduce the torque fluctuation of the transmission system, so as to avoid the problem that the large torque fluctuation reduces the service life of the components, thereby improving the service life of the components and the vehicle safety.

[0043] In some embodiments, after determining that the vehicle enters the torque compensation mode, the method further comprises: issuing a prompt to release the brake pedal. It can be understood that after determining that the vehicle enters the torque compensation mode, the instrument issues a prompt to remind the user to release the brake pedal to release the brake torque.

[0044] In some embodiments, controlling the output torque of the engine according to the front wheel speed and the rear wheel speed comprises: calculating a first wheel speed difference value of the front wheel speed and the rear wheel speed, wherein the front wheel speed is the sum of the left front wheel speed and the right front wheel speed, and the rear wheel speed is the sum of the left rear wheel speed and the right rear wheel speed; and determining that the first wheel speed difference value is greater than a first preset wheel speed threshold value, and adjusting a torque correction coefficient of the engine to control the output torque of the engine until the first wheel speed difference value is less than or equal to the first preset wheel speed threshold value.

[0045] In embodiments, the front wheel speed comprises the sum of the left front wheel speed and the right front wheel speed, and the rear wheel speed comprises the sum of the left rear wheel speed and the right rear wheel speed. After determining the sum of the front wheel speed and the rear wheel speed, the difference value of the front wheel speed and the rear wheel speed is calculated, for example, the first wheel speed difference value is calculated, and when the first wheel speed difference value is greater than the first preset wheel speed threshold value, for example, the first wheel speed difference value is greater than 3.5%, it is considered that the wheel is slipping. At this time, the torque correction coefficient of the engine is adjusted to control the output torque of the engine, so as to avoid wheel slip.

[0046] For example, the output torque of the engine is denoted as T 发 , T 发 = K*T max / i, wherein T max is the slip torque, i is the transmission ratio, and K is the torque correction coefficient. The torque correction coefficient K is initially set by setting the tire model and selecting the bottom surface. When the vehicle is pulling, the torque correction coefficient K can be adjusted according to the wheel speed change to determine the target torque correction coefficient of the vehicle. The output torque of the engine is controlled according to the maximum value of the rear wheel slip torque, the transmission ratio of the wheel, and the target torque correction coefficient, so as to avoid wheel slip. The torque correction coefficient K can be between 0.5 and 1.5.

[0047] In some embodiments, controlling the output torque of the engine according to the front wheel speed and the rear wheel speed comprises: calculating a second wheel speed difference value of the left front wheel speed and the right front wheel speed and a third wheel speed difference value of the left rear wheel speed and the right rear wheel speed; and determining that the second wheel speed difference value is greater than a second preset wheel speed threshold value and the third wheel speed difference value is greater than a third preset wheel speed threshold value, and adjusting a torque correction coefficient of the engine to control the output torque of the engine until the second wheel speed difference value is less than or equal to the second wheel speed threshold value and the third wheel speed difference value is less than or equal to the third wheel speed threshold value.

[0048] In embodiments, the front wheel speeds of the vehicle include a left front wheel speed and a right front wheel speed, the rear wheel speeds of the vehicle include a left rear wheel speed and a right rear wheel speed, when the left front wheel speed is inconsistent with the right front wheel speed and the left rear wheel speed is inconsistent with the right rear wheel speed, it is considered that the wheels are slipping, for example, a wheel speed difference value of the left front wheel speed and the right front wheel speed is calculated, for example, recorded as a second wheel speed difference value, and a wheel speed difference value of the left rear wheel speed and the right rear wheel speed is calculated, for example, recorded as a third wheel speed difference value, when it is determined that the second wheel speed difference value is greater than a second preset wheel speed threshold value, for example, the second wheel speed difference value is greater than 3.5%, and it is determined that the third wheel speed difference value is greater than a third preset wheel speed threshold value, for example, the third wheel speed difference value is greater than 3.5%, it is considered that the front wheel speeds of the vehicle are inconsistent with the rear wheel speeds, at this time, the torque correction coefficient of the engine is adjusted to control the output torque of the engine, thereby avoiding wheel slip.

[0049] In some embodiments, determining that the vehicle enters the torque compensation mode includes: after receiving the torque compensation instruction, determining whether the vehicle meets a preset condition; if yes, determining that the vehicle enters the torque compensation mode, otherwise, the vehicle does not enter the torque compensation mode.

[0050] For example, determining whether the vehicle meets the preset condition includes: determining whether the transmission oil temperature value is in a first preset temperature interval, and determining whether the engine water temperature value is in a second preset temperature interval, if it is determined that the transmission oil temperature value is in the first preset temperature interval and the engine water temperature is in the second preset temperature interval, it is considered that the vehicle meets the pulling condition, at this time, the vehicle body stability system is controlled to be closed, and the user is prompted to engage N gear, and the transfer case enters the low-speed four-wheel drive mode, and the rear axle differential lock is locked, and it is further determined whether the transfer case enters the low-speed four-wheel drive mode and whether the rear axle differential lock is locked, if yes, it is determined whether the opening degree of the brake pedal is greater than a first preset opening threshold value, and whether the opening degree of the accelerator pedal is greater than a second preset opening threshold value; if yes, it is determined that the vehicle enters the torque compensation mode, otherwise, the user is prompted that the vehicle does not meet the preset condition.

[0051] Specifically, when the user operates the mode switch to be turned on, the power domain controller receives the torque compensation instruction, for example, receives the pulling instruction, at this time, it is determined whether the vehicle meets the preset condition, when it is determined that the vehicle meets the preset condition, the vehicle is controlled to enter the torque mode to control the output torque of the engine accordingly, if the preset condition is not met, the vehicle does not need to be controlled to enter the torque compensation mode.

[0052] For example, the vehicle is determined to meet the preset condition, i.e., the transmission oil temperature is determined to be in a first preset temperature range, for example, the transmission oil temperature is determined to be greater than 40°C and less than 100°C, and the engine water temperature is determined to be in a second preset temperature range, for example, the engine water temperature is determined to be greater than 20°C and less than 100°C, when the transmission oil temperature is determined to be in the first preset temperature range and the engine water temperature is determined to be in the second preset temperature range, the ESP (Electronic Stability Program) is requested to be automatically turned off, and the user is prompted to shift into the N gear through the instrument panel, at the same time, it is determined whether the transfer is in the low-speed four-wheel drive mode and whether the differential lock is locked, when the transfer is determined to be in the low-speed four-wheel drive mode and the differential lock is locked, it is determined whether the opening degree of the brake pedal is greater than a first preset opening threshold and whether the opening degree of the accelerator pedal is greater than a second preset opening, when the opening degree of the brake pedal is determined to be greater than the first preset opening threshold, for example, the opening degree of the brake pedal is greater than 90%, and the opening degree of the accelerator pedal is greater than the second preset opening, for example, the opening degree of the accelerator pedal is greater than 95%, it is considered that the vehicle meets the preset condition, and the vehicle is controlled to enter the torque compensation mode. By determining the engine water temperature and the transmission oil temperature, when both meet the set condition, the vehicle is controlled to enter the torque compensation mode, so that the vehicle can be prevented from frequently entering the torque compensation mode.

[0053] In some embodiments, after controlling the output torque of the engine according to the front wheel speed and the rear wheel speed, further comprising: recording the number of times the vehicle enters the torque compensation mode, when the number of times reaches a designated value, prompting the user to perform a component detection of the transmission system. Specifically, when the number of times the vehicle enters the torque compensation mode exceeds the designated value, for example, exceeds 20 times, the user is prompted to perform a component detection of the transmission system, for example, to perform a transmission system component flaw detection at a service station, and when no problem is detected, the number of times the vehicle enters the torque compensation mode is reset to zero and the next cycle of monitoring is performed. By recording the number of times the vehicle enters the torque compensation mode, and performing a component detection when the number of times exceeds the designated value, the safety of the transmission system can be ensured.

[0054] In other embodiments, the instrument panel of the vehicle adds a pull mode selection interface, and sets different parameters on the interface, such as corresponding parameters of asphalt road, cement road, sand, snow, four-wheel drive mode in high-speed four-wheel drive mode or low-speed four-wheel drive mode, on-off state of the Electronic Stability Program, gear of the transmission, and tire model, and controls the engine to output corresponding torque when the vehicle is in different working conditions.

[0055] In other embodiments, a mode saving window is set on the interface, and the parameters set by the user are directly calibrated to improve the user experience.

[0056] Reference will now be made to the following description Figure 3The torque control method of the vehicle of the embodiment of the present application is described as shown in the flow chart of the torque control method of the vehicle of the embodiment of the present application. Figure 3

[0057] In step S11, the transmission oil temperature value and the engine water temperature value are acquired.

[0058] In step S12, it is determined whether the transmission oil temperature is in a first preset temperature range and whether the engine water temperature value is in a second preset temperature threshold value. If yes, step S13 is executed. If no, step S20 is executed.

[0059] In step S13, the vehicle body stability system is controlled to be closed, the instrument prompts the user to shift into the N gear and the transfer case enters the low-speed four-wheel drive mode, and the rear axle differential lock is locked.

[0060] In step S14, it is determined whether the opening degree of the brake pedal is greater than a first preset opening threshold value and whether the opening degree of the accelerator pedal is greater than a second preset opening threshold value. If yes, step S15 is executed. If no, step S14 is executed.

[0061] In step S15, the controller requests the engine, the transmission and the transfer case to enter the torque compensation mode.

[0062] In step S16, it is determined whether the engine, the transmission and the transfer case enter the torque control torque compensation mode. If yes, step S17 is executed. If no, step S15 is executed.

[0063] In step S17, the brake pedal is controlled to release the brake torque.

[0064] In step S18, it is determined whether the vehicle tire is slipping. If yes, step S19 is executed. If no, step S21 is executed.

[0065] In step S19, the torque correction coefficient of the engine is adjusted to control the output torque of the engine.

[0066] In step S20, it is prompted that the torque control condition is not met at present.

[0067] In step S21, the number of times of entering the torque compensation mode is recorded.

[0068] According to the torque control method of the vehicle of the embodiment of the present application, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are acquired to determine the state of the vehicle wheel. When it is determined that the vehicle wheel is slipping, the output torque of the engine is controlled to reduce the torque fluctuation of the transmission system and avoid the problem that the large torque fluctuation reduces the service life of the component, thereby improving the service life of the component and the safety of the vehicle.

[0069] The torque control device of the vehicle of the embodiment of the present application is described below. ​

[0070] As Figure 4 shown in the figure, the torque control device 1 of the vehicle of the embodiment of the present application comprises a determination module 10, an acquisition module 11 and a control module 12, wherein the determination module 10 is configured to determine that the vehicle enters a torque compensation mode, and control the brake pedal to release brake torque; the acquisition module 11 is configured to acquire the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode; and the control module 12 is configured to control the output torque of the engine according to the front wheel speed and the rear wheel speed.

[0071] According to the torque control device 1 of the vehicle of the embodiment of the present application, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are acquired, the state of the wheel is judged, and when it is determined that the wheel slips, the output torque of the engine is controlled correspondingly, so as to reduce the torque fluctuation of the transmission system and avoid the problem that the large torque fluctuation reduces the service life of the components, thereby improving the service life of the components and the safety of the vehicle.

[0072] In some embodiments, the control module 12 is specifically configured to: calculate a first wheel speed difference value of the front wheel speed and the rear wheel speed, wherein the front wheel speed is the sum of the left front wheel speed and the right front wheel speed, and the rear wheel speed is the sum of the left rear wheel speed and the right rear wheel speed; and when the first wheel speed difference value is greater than a first preset wheel speed threshold value, adjust a torque correction coefficient of the engine to control the output torque of the engine until the first wheel speed difference value is less than or equal to the first preset wheel speed threshold value.

[0073] In some embodiments, the control module 12 is specifically configured to: calculate a second wheel speed difference value of the left front wheel speed and the right front wheel speed and a third wheel speed difference value of the left rear wheel speed and the right rear wheel speed; and when the second wheel speed difference value is greater than a second preset wheel speed threshold value and the third wheel speed difference value is greater than a third preset wheel speed threshold value, adjust the torque correction coefficient of the engine to control the output torque of the engine until the second wheel speed difference value is less than or equal to the second wheel speed threshold value and the third wheel speed difference value is less than or equal to the third wheel speed threshold value.

[0074] According to the torque control device 1 of the vehicle of the embodiment of the present application, the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode are acquired, the state of the wheel is judged, and when it is determined that the wheel slips, the output torque of the engine is controlled correspondingly, so as to reduce the torque fluctuation of the transmission system and avoid the problem that the large torque fluctuation reduces the service life of the components, thereby improving the service life of the components and the safety of the vehicle.

[0075] The controller of the embodiment of the present application is described below.

[0076] The embodiment of the third aspect of the present application provides a controller, comprising: a processor; a memory connected with the processor; wherein the memory stores a computer program executable by the processor, and the processor implements the torque control method of the vehicle according to the above embodiment when executing the computer program.

[0077] The vehicle according to the embodiment of the present application is described as follows.

[0078] As shown in Figure 5 The vehicle 2 according to the embodiment of the present application comprises a controller 20 for executing the torque control method of the vehicle according to the above embodiment.

[0079] According to the vehicle according to the embodiment of the present application, the state of the wheels is judged by obtaining the front wheel speed and the rear wheel speed of the vehicle in the torque compensation mode, and the output torque of the engine is controlled correspondingly when it is determined that the wheels slip, so as to reduce the torque fluctuation of the transmission system and avoid the problem that the large torque fluctuation reduces the service life of the components, thereby improving the service life of the components and the safety of the vehicle.

[0080] In the description of the present specification, the description of the terms “one embodiment”, “some embodiments”, “illustrative embodiment”, “example”, “specific example” or “some examples” means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example.

[0081] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and the scope of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A torque control method for a vehicle, characterized in that, include: When the vehicle enters torque compensation mode, control the brake pedal to release the braking torque; Obtain the front and rear wheel speeds of the vehicle under the torque compensation mode; The engine output torque is controlled based on the front wheel speed and the rear wheel speed. The torque compensation mode is a mode that adjusts the output torque when the vehicle enters a tug-of-war state. Determining that the vehicle enters the torque compensation mode includes: After receiving the torque compensation command, determine whether the vehicle meets the preset conditions; If so, then the vehicle is confirmed to have entered the torque compensation mode; The determination of whether a vehicle meets preset conditions includes: Determine whether the transmission oil temperature is within the first preset temperature range, and determine whether the engine coolant temperature is within the second preset temperature range; If so, the vehicle stability system will be turned off, and the user will be prompted to shift into neutral (N) gear, the transfer case will enter low-speed four-wheel drive mode, and the rear differential lock will be engaged. Otherwise, the user will be prompted that the vehicle does not meet the preset conditions.

2. The torque control method for a vehicle according to claim 1, characterized in that, Once the vehicle has entered torque compensation mode, the system also includes issuing a prompt to release the brake pedal.

3. The torque control method for a vehicle according to claim 1, characterized in that, Controlling the engine's output torque based on the front and rear wheel speeds includes: Calculate the first wheel speed difference between the front wheel speed and the rear wheel speed, wherein the front wheel speed is the sum of the left front wheel speed and the right front wheel speed, and the rear wheel speed is the sum of the left rear wheel speed and the right rear wheel speed; When the first wheel speed difference is determined to be greater than the first preset wheel speed threshold, the torque correction coefficient of the engine is adjusted to control the output torque of the engine until the first wheel speed difference is less than or equal to the first preset wheel speed threshold.

4. The torque control method for a vehicle according to claim 1, characterized in that, The front wheel speeds include the left front wheel speed and the right front wheel speed, and the rear wheel speeds include the left rear wheel speed and the right rear wheel speed. Controlling the engine's output torque based on the front and rear wheel speeds includes: Calculate the second wheel speed difference between the left front wheel speed and the right front wheel speed, and calculate the third wheel speed difference between the left rear wheel speed and the right rear wheel speed; When it is determined that the second wheel speed difference is greater than the second preset wheel speed threshold and the third wheel speed difference is greater than the third preset wheel speed threshold, the torque correction coefficient of the engine is adjusted to control the output torque of the engine until the second wheel speed difference is less than or equal to the second wheel speed threshold and the third wheel speed difference is less than or equal to the third wheel speed threshold.

5. The torque control method for a vehicle according to claim 3 or 4, characterized in that, Adjusting the torque correction coefficient of the engine to control the output torque of the engine includes: Determine the adjusted target torque correction coefficient, and obtain the maximum value of the rear wheel slippage torque and the wheel transmission ratio; The engine output torque is controlled based on the maximum value of the rear wheel slippage torque, the wheel transmission ratio, and the target torque correction coefficient.

6. The torque control method for a vehicle according to claim 1, characterized in that, After the vehicle stability control system is turned off, the user is prompted to shift into neutral (N), the transfer case enters low-range four-wheel drive mode, and the rear differential lock is engaged, the following steps are also included: Determine whether the opening degree of the brake pedal is greater than a first preset opening degree threshold, and determine whether the opening degree of the accelerator pedal is greater than a second preset opening degree threshold; If so, the vehicle is confirmed to have entered the torque compensation mode; otherwise, the user is prompted that the vehicle does not meet the preset conditions.

7. The torque control method for a vehicle according to claim 1, characterized in that, After controlling the engine's output torque based on the front and rear wheel speeds, the method further includes: The system records the number of times the vehicle enters the torque compensation mode, and prompts the user to perform a component inspection of the transmission system when the number of times reaches the calibrated value.

8. A torque control device for a vehicle, characterized in that, include: The determination module is used to determine when the vehicle enters torque compensation mode and control the brake pedal to release the braking torque; The acquisition module is used to acquire the front wheel speed and rear wheel speed of the vehicle in the torque compensation mode; The control module is used to control the output torque of the engine based on the front wheel speed and the rear wheel speed; The torque compensation mode is a mode that adjusts the output torque when the vehicle enters a tug-of-war state. Determining that the vehicle enters the torque compensation mode includes: After receiving the torque compensation command, determine whether the vehicle meets the preset conditions; If so, then the vehicle is confirmed to have entered the torque compensation mode; The determination of whether a vehicle meets preset conditions includes: Determine whether the transmission oil temperature is within the first preset temperature range, and determine whether the engine coolant temperature is within the second preset temperature range; If so, the vehicle stability system will be turned off, and the user will be prompted to shift into neutral (N) gear, the transfer case will enter low-speed four-wheel drive mode, and the rear differential lock will be engaged. Otherwise, the user will be prompted that the vehicle does not meet the preset conditions.

9. A controller, characterized in that, include: processor; The memory is communicatively connected to the processor; The memory stores a computer program that can be executed by the processor, and when the processor executes the computer program, it implements the torque control method for the vehicle according to any one of claims 1-7.

10. A vehicle, characterized in that, include: A controller for performing the torque control method for a vehicle as described in any one of claims 1-7.

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