A hybrid vehicle wheel side demand torque drivability filtering method, system and storage medium

Abstract

The present invention discloses a hybrid vehicle wheel demand torque drivability filtering method, which divides the wheel demand torque into intervals, adopts different filtering methods in each interval, and determines the filtering time constant by designing and searching a Map diagram, including: wheel demand torque arbitration; defining the boundary of an increasing interval of wheel demand torque and the boundary of a decreasing interval of wheel demand torque; calculating and judging the state of the wheel demand torque interval; judging the current wheel demand torque range and determining the wheel demand torque interval; determining the filtering method according to different wheel demand torque intervals; designing a Map diagram according to a hybrid mode and searching for the filtering time constant of the corresponding filtering method.

Description

Technical Field

[0001] The present invention relates to the field of control systems for hybrid vehicles, and in particular to a hybrid vehicle wheel side demand torque drivability filtering method, system and storage medium. Background Art

[0002] There are multiple sources of torque demand during driving. When the driver steps on the accelerator (driving) or brakes (braking), the wheel side has the driver's wheel side torque demand; when the vehicle has a creeping function and the driver puts the gear in D gear, releases the brake pedal, and does not step on the accelerator pedal, the wheel side will have a wheel side torque demand from creeping; for vehicles with cruise function, when the driver activates the cruise function, the wheel side will also have a torque demand from cruising. Different torque demands will be triggered in different scenarios. How the vehicle responds to torque demands from different scenarios will affect the torque transition of the vehicle and thus affect the drivability of the vehicle.

[0003] The wheel-side torque requirement will change with the current working conditions, and may increase or decrease. If the driver controls the accelerator more aggressively, such as suddenly pressing the accelerator and then releasing it immediately, the wheel-side torque requirement will also change suddenly (small value → large positive value → negative value), that is, the driver's Tipin and Tipout. If no treatment is done for this situation, the driving performance of the whole vehicle will be very poor, such as the vehicle will shake.

[0004] In view of the above situation, this patent proposes a wheel-side demand torque drivability filtering method. Summary of the invention

[0005] The embodiment of the present application provides a hybrid vehicle wheel-side demand torque drivability filtering method, which solves the problem of vehicle jitter caused by torque mutation during driving in the prior art, and improves drivability and comfort through an inter-partition filtering method.

[0006] A hybrid vehicle wheel side demand torque driving performance filtering method is provided, which divides the wheel side demand torque into intervals, adopts different filtering methods in each interval, and determines the filtering time constant by designing a search map, including the following steps:

[0007] S01: wheel side demand torque arbitration;

[0008] S02: defining the wheel side required torque rising interval boundary and the wheel side required torque falling interval boundary;

[0009] S03: Calculate and determine the wheel side required torque range state;

[0010] S04: judging the current wheel side required torque range and determining the wheel side required torque interval;

[0011] S05: determining a filtering method according to different wheel side required torque ranges;

[0012] S06: Design a map according to the hybrid mode and find a filtering time constant of a corresponding filtering method.

[0013] Preferably, the wheel side demand torque arbitration in step S01 specifically includes:

[0014] S11: Input the vehicle's wheel endurance torque requirement WheelDemTq cc , input the wheel creep torque requirement of the vehicle WheelDemTq crq , input the vehicle's wheel driver demand torque WheelDemTq drv , input the current vehicle driving direction DriveDri, input the maximum torque requirement of the wheel side WheelDemTq max and the minimum torque requirement of the wheel sideWheelDemTq min ;

[0015] S12: Calculate the wheel side demand torque WheelDemTqUnLim that is not limited after arbitration;

[0016] S13: Calculate the final wheel side required torque WheelDemTq after limitation:

[0017] WheelDemTq=

[0018] Lim(WheelDemTq max ,WheelDemTq min

[0019] , WheelDemTqUnLim).

[0020] Preferably, S12 calculates the wheel side required torque WheelDemTqUnLim which is not restricted after arbitration, specifically including:

[0021] When the vehicle is traveling forward, the maximum value of the three wheel-side required torques is taken as the final wheel-side required torque WheelDemTqUnLim:

[0022] WheelDemTqUnLim=

[0023] Max(WheelDemTq cc ,WheelDemTq crp ,WheelDemTq drv );

[0024] When the vehicle is traveling backward, the minimum value of the wheel creep torque requirement and the wheel driver torque requirement is taken as the final torque requirement WheelDemTqUnLim:

[0025] WheelDemTqUnLim=Min(WheelDemTq crp ,WheelDemTq drv ).

[0026] Preferably, in step S02, the wheel-side required torque increasing interval boundary and the wheel-side required torque decreasing interval boundary are defined, specifically including:

[0027] S21: Calibrate the Tipin boundary of the wheel side demand torque rising range:

[0028] Calibrate the Tipin torque high boundary UpTrqLimPos, calibrate the Tipin torque zero boundary ZeroTrqRefPos, calibrate the Tipin torque low boundary LowTrqLimPos;

[0029] S22: Calibrate the Tipout boundary of the wheel side required torque reduction interval:

[0030] The torque high boundary UpTrqLimNeg of Tipout is calibrated, the torque zero boundary ZeroTrqRefNeg of Tipout is calibrated, and the torque low boundary LowTrqLimNeg of Tipout is calibrated.

[0031] Preferably, in step S05, the filtering method is determined according to different wheel side required torque intervals, specifically including:

[0032] S51: In the torque rising Tipin range:

[0033] If TrqRange = TrqRange.PowerPos, the second-order filtering method is used;

[0034] If TrqRange = TrqRange.ZeroCrossPos, the parabolic filtering method is used;

[0035] If TrqRange = TrqRange.BrakingPos, the first-order filtering method is used;

[0036] S52: Torque drop Tipout interval:

[0037] If TrqRange = TrqRange.BrakingNeg, the first-order filtering method is used;

[0038] If TrqRange = TrqRange.ZeroCrossNeg, the parabolic filtering method is used;

[0039] If TrqRange = TrqRange.PowerNeg, a first-order filtering method is used.

[0040] Preferably, in step S06, a map is designed according to the hybrid mode to find the filtering time constant of the corresponding filtering method, which specifically includes:

[0041] S61: Determination of first-order filter time constant:

[0042] The first-order filter time constant is calculated based on the current vehicle speed V and the current unfiltered wheel side demand torque X.

[0043] S62: Determination of parabolic filter time constant:

[0044] The parabolic filter time constant is calculated based on the current vehicle speed V and the current gear position G.

[0045] S63: Determination of the second-order filter time constant:

[0046] The second-order filter time constant is calculated based on the current vehicle speed V and the current unfiltered wheel side demand torque X.

[0047] Preferably, designing a Map according to the hybrid mode in step S06 specifically includes: designing Maps in EV, HEV, BEV, FCV and PHEV modes respectively according to different hybrid modes.

[0048] The present application also proposes a computer storage medium, which stores a computer program that, when executed, implements the above-mentioned hybrid vehicle wheel-side demand torque drivability filtering method.

[0049] The present application also proposes a hybrid vehicle wheel side demand torque drivability filtering system, comprising:

[0050] A wheel-side demand torque arbitration module, for arbitrating the wheel-side demand torque;

[0051] The wheel-side torque requirement interval definition module defines the wheel-side torque requirement increase interval boundary and the wheel-side torque requirement decrease interval boundary, calculates and determines the wheel-side torque requirement interval state, determines the current wheel-side torque requirement range, and determines the wheel-side torque requirement interval;

[0052] The filtering module determines the filtering method according to the different wheel-side demand torque ranges, designs the map according to the hybrid mode, and finds the filtering time constant of the corresponding filtering method.

[0053] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0054] 1. Since the final wheel-side demand torque is obtained through wheel-side demand torque arbitration, the final wheel-side demand torque is the boundary value of all demand torques, thereby ensuring the filtering effect.

[0055] 2. By distinguishing the two states of Tipout and Tipin, each state is divided into multiple torque change intervals, and a different filtering method is selected for each change interval, thereby ensuring the filtering effect and improving drivability.

[0056] 3. The time constants of different filtering methods are obtained by searching the map under different design modes, which can meet the adjustment of driving experience under different hybrid modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A flow chart of a drivability filtering method for a hybrid electric vehicle of the present application;

[0058] Figure 2 The torque limit of the wheel side demand torque rise Tipin for this application;

[0059] Figure 3 The torque limit of the wheel side required torque reduction Tipout for this application;

[0060] Figure 4 This is the torque range in the Tipin state for this application;

[0061] Figure 5 This is the torque range in the Tipout state for this application;

[0062] Figure 6 This is a schematic diagram of the filtering method in the Tipin state of this application;

[0063] Figure 7 This is a schematic diagram of the filtering method in the Tipout state of this application;

[0064] Figure 8 This is the curve diagram of the torque in the Tipin state of this application after passing through the first-order filtering method;

[0065] Fig. 9 This is a curve diagram of the torque in the Tipout state of this application after passing through the first-order filtering method;

[0066] Fig.10 This is a curve diagram of the torque in the Tipin state of this application after passing through the parabolic filtering method;

[0067] Fig.11 This is a curve diagram of the torque in the Tipout state of this application after passing through the parabolic filtering method;

[0068] Fig.12 This is the curve diagram of the torque in the Tipin state of this application after passing through the second-order filtering method;

[0069] Fig.13 This is a principle block diagram of the drivability filtering system of a hybrid vehicle in the third embodiment of the present application. DETAILED DESCRIPTION

[0070] The present application solves the technical problem of reduced drivability due to sudden changes in wheel-side torque by providing a method for filtering the wheel-side demand torque drivability of a hybrid vehicle. The present application divides the wheel-side demand torque under different states into intervals, and matches each interval with a corresponding filtering method and filtering time constant, thereby achieving a better filtering effect.

[0071] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0072] like Figure 1 As shown, a hybrid vehicle wheel side demand torque driving performance filtering method is provided, which divides the wheel side demand torque into intervals, adopts different filtering methods in each interval, and determines the filtering time constant by designing a search map, including the following steps:

[0073] S01: calculating the wheel side demand torque after wheel side demand torque arbitration;

[0074] S11: Input the vehicle's wheel endurance torque requirement WheelDemTq cc ; Input the wheel creep torque requirement of the vehicle WheelDemTq crp ; Input the vehicle's wheel driver demand torque WheelDemTq drv ; Input the current vehicle driving direction DriveDri; Input the maximum torque requirement of the wheel side WheelDemTq max and the minimum torque requirement of the wheel sideWheelDemTq min ;

[0075] S12: Calculate the wheel side demand torque WheelDemTqUnLim that is not limited after arbitration;

[0076] When the vehicle is traveling forward, the maximum value of the three wheel-side required torques is taken as the final wheel-side required torque WheelDemTqUnLim:

[0077] WheelDemTqUnLim=

[0078] Max(WheelDemTq cc ,WheelDemTqcrp ,WheelDemTq drv );

[0079] When the vehicle is traveling backward, the minimum value of the wheel creep torque requirement and the wheel driver torque requirement is taken as the final torque requirement WheelDemTqUnLim:

[0080] WheelDemTqUnLim=Min(WheelDemTq crp ,WheelDemTq drv );

[0081] S13: Calculate the final wheel side required torque WheelDemTq after restriction

[0082] WheelDemTq=

[0083] Lim(WheelDemTq max ,WheelDemTq min

[0084] ,WheelDemTqUnLim);

[0085] S02: calibrating the wheel side required torque rising interval boundary and the wheel side required torque falling interval boundary;

[0086] S21: Calibrate the Tipin boundary of the wheel side demand torque rising range:

[0087] like Figure 2 As shown, the torque high boundary UpTrqLimPos of Tipin is calibrated, the torque zero boundary ZeroTrqRefPos of Tipin is calibrated, and the torque low boundary LowTrqLimPos of Tipin is calibrated;

[0088] S22: Calibrate the Tipout boundary of the wheel side required torque reduction interval:

[0089] like Figure 3 As shown, the torque high boundary UpTrqLimNeg of Tipout is calibrated, the torque zero boundary ZeroTrqRefNeg of Tipout is calibrated, and the torque low boundary LowTrqLimNeg of Tipout is calibrated;

[0090] S03: Calculate and determine the interval state;

[0091] Condition 1: The difference between the current wheel-side demand torque and the wheel-side demand torque of the previous cycle is greater than Error1 and lasts for a certain time Timer1 or the difference Error is greater than Error2. Error1, Error2, Timer1 are calibration quantities.

[0092] Condition 2: The difference between the current wheel-side demand torque and the wheel-side demand torque of the previous cycle is less than Error3 and lasts for a certain time Timer2, or the difference Error is less than Error4. Error3, Error4, Timer2 are calibration quantities.

[0093] Condition 3: The difference between the current wheel-side demand torque and the wheel-side demand torque after filtering in the previous cycle is greater than Error5 and lasts for a certain time, Timer3. Error5 and Timer3 are calibration values.

[0094] Condition 4: The difference between the current wheel-side demand torque and the wheel-side demand torque after filtering in the previous cycle is less than Error6 and lasts for a certain time, Timer4. Error6 and Timer4 are calibration values.

[0095] Judgment: When condition 1 is true and condition 2 is false, DriverTipin = True; when condition 2 is true, DriverTipin = False

[0096] Judgment: When condition 3 is true, DriverPos = True; when condition 3 is not true, DriverPos = False

[0097] Judgment: When condition 4 is true, DriverNeg = True; when condition 4 is not true, DriverNeg = False

[0098] Condition 5: When DriverTipin=True and DriverNeg=False, or DriverPos=True

[0099] Condition 6: When DriverTipin=False and DriverPos=False, or DriverNeg=True

[0100] Calculate Tipin and Tipout status: When condition 5 is met and condition 6 is not met, Tipin = True; when condition 6 is met, Tipout = True

[0101] S04: Determine the current torque range and determine the torque interval;

[0102] The current torque range TrqRange is determined based on the calculated Tipin and Tipout states and the wheel-side required torque WheelDemTq.

[0103] S41: When Tipin=True:

[0104] As Figure 4 shown,

[0105] if WheelDemTq ≥ UpTrqLimPos, then

[0106] TrqRange = TrqRange.PowerPos

[0107] if UpTrqLimPos > WheelDemTq ≥ LowTrqLimPos, then

[0108] TrqRange = TrqRange.ZeroCrossPos

[0109] if WheelDemTq < LowTrqLimPos, then

[0110] TrqRange = TrqRange.BrakingPos

[0111] S42: When Tipout = True:

[0112] As Figure 5 shown,

[0113] if WheelDemTq ≤ LowTrqLimNeg, then

[0114] TrqRange = TrqRange.BrakingNeg

[0115] if UpTrqLimNeg ≥ WheelDemTq > LowTrqLimNeg, then

[0116] TrqRange = TrqRange.ZeroCrossNeg

[0117] if WheelDemTq > UpTrqLimNeg, then

[0118] TrqRange = TrqRange.PowerNeg

[0119] S05: Determine the filtering method according to different torque ranges;

[0120] S51: In the torque rising Tipin interval:

[0121] As Figure 6 shown,

[0122] if TrqRange = TrqRange.PowerPos, use the second - order filtering method;

[0123] If TrqRange = TrqRange.ZeroCrossPos, the parabolic filtering method is used;

[0124] If TrqRange = TrqRange.BrakingPos, the first-order filtering method is used;

[0125] S52: Torque drop Tipout interval:

[0126] like Figure 7 As shown,

[0127] If TrqRange = TrqRange.BrakingNeg, the first-order filtering method is used;

[0128] If TrqRange = TrqRange.ZeroCrossNeg, the parabolic filtering method is used.

[0129] If TrqRange = TrqRange.PowerNeg, the first-order filtering method is used;

[0130] S06: Calculate the filtering time constant of the corresponding filtering method;

[0131] S61: first order filtering method and filtering time constant determination;

[0132] The first-order filtering algorithm uses the output of the previous cycle to filter and adjust the input of this cycle, thereby outputting the result of this cycle. The algorithm is as follows:

[0133]

[0134] Where X represents the input of this cycle, i.e., the unfiltered wheel-side demand torque; Y' represents the filtered wheel-side demand torque output of the previous cycle; T first Represents the first-order filter time constant; T s Represents the task cycle of the software; Y represents the filtered wheel-side demand torque output in this cycle.

[0135] First-order filter time constant T first It is a three-dimensional map calibration quantity, which is calculated based on the current vehicle speed V and the current unfiltered wheel side demand torque X. The first-order filter time constant T of the hybrid vehicle EV mode is shown in the following table. first Map.

[0136]

[0137] Design multiple different maps according to the current hybrid modes and find the filter constants, such as Figure 8 , Fig. 9 As shown, torque filtering is achieved.

[0138] S62: Determine the parabolic filtering method and filtering time constant;

[0139] The parabola filtering algorithm is based on the smooth transition of the zero position to calculate the filtered value. When the input value is greater than the zero position and approaches the zero position, the parabola function curve is negatively transitioned to the zero position. After reaching the zero position, the input value is less than the zero position, causing the parabola to reverse and further decrease in the negative direction. When the input value is less than the zero position and approaches the zero position, the parabola function curve is positively transitioned to the zero position. After reaching the zero position, the input value is greater than the zero position, causing the parabola to reverse and further increase in the positive direction. Therefore, the algorithm is as follows:

[0140] When Y'>Z P

[0141]

[0142] When Y' <Z P

[0143]

[0144] Among them, T s is the task cycle of the software; T p is the parabolic filter time constant; Y' is the input value (i.e. the filtered value of the previous cycle); Z p is the zero position (from 2.2.1.1); Z l is the upper and lower limits of the zero position, which is the calibration amount. When Tip-in, Z l is the lower limit of the zero position. When it is not Tip-in, Z l is the upper limit of the zero position; gain is the gain value Y is the filtered value of this period.

[0145] Parabolic filter time constant T p It is a three-dimensional map calibration quantity, which is calculated based on the current vehicle speed V and the current gear position G. The following table shows the parabolic filter time constant T of the hybrid vehicle EV mode. p Map.

[0146]

[0147] Design multiple different maps according to the current different hybrid modes, and find the filter constants, such as Fig.10 , Fig.11 As shown, torque filtering is achieved.

[0148] S63: second order filtering method and filtering time constant determination;

[0149] The second-order filtering implementation performs two first-order filtering processes from an algorithmic point of view. The algorithm is as follows:

[0150]

[0151] Among them, X represents the input of this cycle (i.e. the value before filtering), Y' represents the output of the previous cycle, T second represents the second-order filter time constant, T s Indicates the system sampling period.

[0152] Second-order filter time constant T second It is a three-dimensional map calibration quantity, which is calculated based on the current vehicle speed V and the current unfiltered wheel side demand torque X. The following table shows the second-order filter time constant T of the hybrid vehicle EV mode. second Map.

[0153]

[0154] Design multiple different maps according to the current hybrid modes and find the filter constants, such as Fig.12 As shown, torque filtering is achieved.

[0155] Embodiment 2

[0156] The present application also discloses a computer storage medium on which a computer program is stored. When the computer program is executed, the above-mentioned hybrid vehicle wheel side demand torque drivability filtering method is implemented.

[0157] Embodiment 3

[0158] like Fig.13 As shown, the present application also discloses a hybrid vehicle wheel side demand torque drivability filtering system, comprising:

[0159] A wheel side demand torque arbitration module 10 performs arbitration on the wheel side demand torque;

[0160] The wheel side torque requirement interval definition module 20 defines the wheel side torque requirement increase interval boundary and the wheel side torque requirement decrease interval boundary, calculates and determines the wheel side torque requirement interval state, determines the current wheel side torque requirement range, and determines the wheel side torque requirement interval;

[0161] The filtering module 30 determines a filtering method according to different wheel-side required torque ranges, designs a map according to the hybrid mode, and searches for a filtering time constant of a corresponding filtering method.

[0162] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement modes and shall be included in the protection scope of the present invention.

Claims

1. A hybrid vehicle wheel side torque demand driving performance filtering method, characterized in that Divide the wheel-end required torque into intervals, and use different filtering methods for each interval. Determine the filtering time constant by designing a lookup Map diagram, including the following steps: S01: Arbitrate the wheel-end required torque; S02: Define the boundaries of the wheel-end required torque rising interval and the wheel-end required torque falling interval; S03: Calculate and judge the state of the wheel-end required torque interval; S04: Judge the current wheel-end required torque range and determine the wheel-end required torque interval; S05: Determine the filtering method according to different wheel-end required torque intervals; specifically including: S51: In the torque rising Tipin interval: If WheelDemTq≥UpTrqLimPos, use the second-order filtering method; If UpTrqLimPos>WheelDemTq≥LowTrqLimPos, use the parabolic filtering method; If WheelDemTq<LowTrqLimPos, use the first-order filtering method; Torque falling Tipout interval: If WheelDemTq≤LowTrqLimNeg, use the first-order filtering method; If UpTrqLimNeg≥WheelDemTq>LowTrqLimNeg, use the parabolic filtering method; If WheelDemTq>UpTrqLimNeg, use the first-order filtering method; Among them, WheelDemTq is the wheel-end required torque, UpTrqLimPos is the high torque boundary of Tipin, LowTrqLimPos is the low torque boundary of Tipin, LowTrqLimNeg is the low torque boundary of Tipout, and UpTrqLimNeg is the high torque boundary of Tipout; S06: Design a Map diagram according to the hybrid mode and look up the filtering time constant of the corresponding filtering method; specifically including: S61: Determine the first-order filtering time constant: Based on the current vehicle speed V and the current unfiltered wheel-end required torque X, look up and calculate the first-order filtering time constant; S62: Determine the parabolic filtering time constant: Based on the current vehicle speed V and the current gear G, look up and calculate the parabolic filtering time constant; S63: Determine the second-order filtering time constant: Based on the current vehicle speed V and the current unfiltered wheel-end required torque X, look up and calculate the second-order filtering time constant.

2. A hybrid vehicle wheel side demand torque drivability filtering method as claimed in claim 1, characterized in that: The arbitration of the wheel-end required torque in step S01 specifically includes: S11: Input the wheel endurance torque requirement of the vehicle WheeDemT qcc , input the wheel creep torque requirement of the vehicle WheelDemT qcrp , input the vehicle's wheel driver demand torque WheelDemTq drv , input the current vehicle driving direction DriveDri, input the maximum torque requirement of the wheel side WheelDemTq max and the minimum torque requirement of the wheel sideWheelDemTq min ; S12: Calculate the unconstrained wheel-end required torque WheelDemTqUnLim after arbitration; S13: Calculate the final wheel-end required torque WheelDemTq after limitation: WheelDemTq= Lim(WheelDemTq max ,WheelDemTq min , WheelDemTqUnLim).

3. A hybrid vehicle wheel side demand torque drivability filtering method as claimed in claim 2, characterized in that: The calculation of the unconstrained wheel-end required torque WheelDemTqUnLim after arbitration in S12 specifically includes: When the driving direction of the whole vehicle is forward, take the maximum value of the three wheel-end required torques as the final wheel-end required torque WheelDemTqUnLim: WheelDemTqUnLim= Max(WheelDemTq cc ,WheelDemTq crp ,WheelDemTq drv ); When the driving direction of the whole vehicle is backward, the minimum value of the in-wheel creep demand torque and the driver demand torque at the in-wheel is taken as the final torque demand WheelDemTqUnLim: WheelDemTqUnLim=Min(WheelDemTq crp ,WheelDemTq drv )。 4. A hybrid vehicle wheel side demand torque drivability filtering method as claimed in claim 1, characterized in that: In step S02, defining the boundary of the in-wheel demand torque rising interval and the boundary of the in-wheel demand torque falling interval specifically includes: S21: Calibrating the Tipin boundary of the in-wheel demand torque rising interval: Calibrating the high torque boundary UpTrqLimPos of Tipin, calibrating the zero torque reference boundary ZeroTrqRefPos of Tipin, and calibrating the low torque boundary LowTrqLimPos of Tipin; S22: Calibrating the Tipout boundary of the in-wheel demand torque falling interval: Calibrating the high torque boundary UpTrqLimNeg of Tipout, calibrating the zero torque reference boundary ZeroTrqRefNeg of Tipout, and calibrating the low torque boundary LowTrqLimNeg of Tipout.

5. A hybrid vehicle wheel side demand torque drivability filtering method as claimed in claim 1, characterized in that: In step S06, designing a Map according to the hybrid mode, specifically including: designing Maps for EV, HEV, BEV, FCV, and PHEV modes respectively according to different hybrid modes.

6. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, it implements a method for filtering the in-wheel demand torque drivability of a hybrid vehicle according to any one of claims 1-5.

7. A hybrid vehicle wheel side demand torque drivability filtering system, characterized in that: Including: An in-wheel demand torque arbitration module for arbitrating the in-wheel demand torque; An in-wheel demand torque interval definition module for defining the boundary of the in-wheel demand torque rising interval and the boundary of the in-wheel demand torque falling interval, calculating and judging the state of the in-wheel demand torque interval, judging the current in-wheel demand torque range, and determining the in-wheel demand torque interval; A filtering module for determining a filtering method according to different in-wheel demand torque intervals, specifically including: In the torque rising Tipin interval: If WheelDemTq ≥ UpTrqLimPos, use a second-order filtering method; If UpTrqLimPos > WheelDemTq ≥ LowTrqLimPos, use a parabolic filtering method; If WheelDemTq < LowTrqLimPos, use a first-order filtering method; In the torque falling Tipout interval: If WheelDemTq ≤ LowTrqLimNeg, use a first-order filtering method; If UpTrqLimNeg ≥ WheelDemTq > LowTrqLimNeg, use a parabolic filtering method; If WheelDemTq > UpTrqLimNeg, use a first-order filtering method; Wherein, WheelDemTq is the in-wheel demand torque, UpTrqLimPos is the high torque boundary of Tipin, LowTrqLimPos is the low torque boundary of Tipin, LowTrqLimNeg is the low torque boundary of Tipout, and UpTrqLimNeg is the high torque boundary of Tipout; Designing a Map according to the hybrid mode and finding the filtering time constant of the corresponding filtering method; specifically including: Determination of the first-order filtering time constant: Find and calculate the first-order filter time constant based on the current vehicle speed V and the current unfiltered wheel side demand torque X; Parabolic filter time constant determination: Find and calculate the parabolic filter time constant based on the current vehicle speed V and the current gear position G; Second-order filter time constant determination: The second-order filter time constant is calculated based on the current vehicle speed V and the current unfiltered wheel side demand torque X.

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