A vehicle-mounted electronic device, a torque control method and device

Abstract

Embodiments of the present invention provide a vehicle-mounted electronic device, a torque control method and a device. By obtaining a first required torque value and a first actual torque value, then, it is possible to determine whether to activate positive torque control based on the first required torque value, the first actual torque value and a preset first clearance limit torque value, and after determining that positive torque control is activated, it is possible to determine a first torque holding value from a preset first torque holding database, and further, the output torque of the driving device can be controlled based on the first torque holding value, so as to avoid excessive torque change in a short time, prevent the driving device from outputting jerks, and improve the smoothness of the output of the driving device.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to an in-vehicle electronic device, a torque control method and a device. Background Art

[0002] Currently, almost all automobile manufacturers perform torque control for transmission clearance by filtering control. However, sometimes the effect of simple filtering control is not ideal, and it is greatly affected by the filter hardware and torque accuracy.

[0003] The existing torque filtering control strategy determines the filtering coefficient based on the gear position of the transmission. Although the filtering coefficient is adjusted according to the rotational speed or the throttle (torque), the existing torque filtering control strategy still has the disadvantages of simple control logic, relatively single control function, and poor control accuracy. Summary of the Invention

[0004] Embodiments of the present invention provide an in-vehicle electronic device, a torque control method and a device, which solve the technical problem that the existing torque control accuracy is low, resulting in too large actual torque changes and easy to generate jerks.

[0005] In a first aspect, an embodiment of the present invention provides a torque control method applied to a driving device. The method includes: obtaining a first required torque value and a first actual torque value; based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value, determining whether to activate positive torque control; if the positive torque control is activated, determining a first torque holding value from a preset first torque holding database, and controlling the output torque of the driving device based on the first torque holding value.

[0006] Optionally, the determining whether to activate positive torque control based on the first required torque value, the first actual torque value, and the preset first clearance limit torque value includes: when a first difference between the first required torque value and the first clearance limit torque value is less than a first threshold, determining that a first condition is satisfied; when a second difference between the first actual torque value and the first clearance limit torque value is greater than a second threshold, starting to superimpose the difference between the actual torque value and the first clearance limit torque value in the next period on the second difference until the superimposed result is less than a first preset superimposed limit value, then determining that a second condition is satisfied; when the first condition and the second condition are satisfied, determining that the positive torque control is activated; otherwise, determining that the positive torque control is not activated.

[0007] Optionally, the method further includes: if the positive torque control is not activated, not controlling the output torque of the driving device.

[0008] Optionally, the method further includes: if the positive torque control changes from inactive to active, determining a first torque change rate from a preset first torque change rate limit database, and controlling the output torque of the driving device based on the first torque change rate.

[0009] Optionally, the method further includes: obtaining a second required torque value, an original required torque value, and a second actual torque value; determining whether to activate negative torque control based on the second required torque value, the second actual torque value, the original torque value, and a preset second clearance limit torque value; if the negative torque control is activated, determining a second torque holding value from a preset second torque holding database, and controlling the output torque of the driving device based on the second torque holding value.

[0010] Optionally, the determining whether to activate negative torque control based on the second required torque value, the second actual torque value, the original torque value, and the preset second clearance limit torque value includes: determining that the third condition is satisfied when the second required torque value is less than or equal to the second clearance limit torque value and the original required torque value is less than or equal to the second clearance limit torque value; starting to add the difference between the second actual torque value and the second clearance limit torque value when the original required torque value is less than or equal to the second clearance limit torque value until the addition result is less than or equal to a second preset addition limit value, and then determining that the fourth condition is satisfied; determining that the negative torque control is activated when the third condition is satisfied; and determining that the negative torque control is not activated when the third condition is not satisfied but the fourth condition is satisfied.

[0011] Optionally, the method further includes: if the negative torque control is not activated, not controlling the output torque of the driving device.

[0012] Optionally, the method further includes: if the negative torque control changes from inactive to active, determining a second torque change rate from a preset second torque change rate limit database, and controlling the output torque of the driving device based on the second torque change rate.

[0013] In a second aspect, through an embodiment of the present invention, the present invention provides a torque control device applied to a driving device, and the device includes:

[0014] a data acquisition unit configured to acquire a first required torque value and a first actual torque value;

[0015] a judgment unit configured to determine whether to activate positive torque control based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value;

[0016] A torque control unit is configured to, when the positive torque control is activated, determine a first torque holding value from a preset first torque holding database and control the output torque of the drive device based on the first torque holding value.

[0017] In a third aspect, through an embodiment of the present invention, a vehicle-mounted electronic device is provided, including a memory, a processor, and code stored on the memory and executable on the processor. When the processor executes the code, any implementation manner in the first aspect is realized.

[0018] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0019] First, a first required torque value and a first actual torque value can be obtained. Then, based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value, it can be determined whether to activate the positive torque control. After determining that the positive torque control is activated, the first torque holding value can be determined from a preset first torque holding database. Furthermore, the output torque of the drive device can be controlled based on the first torque holding value, thereby avoiding excessive torque changes in a short time, preventing the drive device from outputting jerks, and improving the smoothness of the drive device output. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a flowchart of the torque control method in the embodiments of the present invention;

[0022] Figure 2 It is a schematic diagram of the torque change comparison between the torque control method provided in the embodiments of the present invention, no control, and filter control;

[0023] Figure 3 It is a schematic diagram of the structure of the torque control device in the embodiments of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the vehicle-mounted electronic device in the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In an embodiment of the present invention, by providing a vehicle-mounted electronic device, a torque control method and a device, the technical problem that the existing torque control accuracy is low, resulting in too large actual torque changes and easy to generate jerks, is solved. By precisely controlling the magnitude, duration, start time and end time that the torque needs to maintain, the influence caused by too large torque changes can be eliminated to a certain extent, and the smoothness of the output of the driving device can be improved.

[0026] The technical solution provided by the embodiment of the present invention to solve the above technical problem has the following general idea:

[0027] First, obtain a first required torque value and a first actual torque value, and then, based on the first required torque value, the first actual torque value and a preset first gap limit torque value, determine whether to activate positive torque control. After determining that the positive torque control is activated, determine a first torque holding value from a preset first torque holding database, and then the output torque of the driving device can be controlled based on the first torque holding value.

[0028] And obtain a second required torque value, an original required torque value and a second actual torque value, and based on the second required torque value, the second actual torque value, the original torque value and a preset second gap limit torque value, determine whether to activate negative torque control. If the negative torque control is activated, determine a second torque holding value from a preset second torque holding database, and control the output torque of the driving device based on the second torque holding value.

[0029] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0030] First, it should be noted that the term "and / or" appearing in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the front and rear associated objects.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here.

[0032] In a first aspect, through an embodiment of the present invention, the present invention provides a torque control method, which can be applied to a driving device. For example, this torque control method can be used to control the output torque of a driving motor or the output torque of an engine.

[0033] Please refer to as Figure 1 shown, the above torque control method may include the following steps S101 to step S103:

[0034] Step S101: Obtain the first required torque value and the first actual torque value.

[0035] Specifically, the first required torque value can be obtained according to the command information received by the driving device, and the first actual torque value can be obtained according to the actual working state of the driving device.

[0036] In a specific implementation process, the driving device can be connected to a controller, and the controller is used to send corresponding driving command information to the driving device. The driving command information includes the first required torque value. The driving device can also be provided with a current sensor, a voltage sensor, and a speed sensor. In this way, based on the actual current, actual voltage, and actual speed, the actual torque value output by the driving device can be determined, and then the first actual torque value can be obtained.

[0037] In some optional application scenarios, such as in the field of pure electric vehicles, the driving device can be a driving motor. The driving motor is electrically connected to the vehicle controller, and the driving motor is also connected to a motor controller. Furthermore, the above first required torque value can be obtained through the vehicle controller, and the above first actual torque value can be obtained through the motor controller.

[0038] Step S102: Based on the first required torque value, the first actual torque value, and a preset first gap limit torque value, determine whether to activate positive torque control.

[0039] Specifically, it can be determined that the first condition is satisfied when the first difference between the first required torque value and the first gap limit torque value is less than the first threshold.

[0040] In a specific implementation process, the first threshold can be set according to the actual application scenario, and the difference obtained by subtracting the first gap limit torque value from the first required torque value can be used as the first difference.

[0041] Specifically, it can be determined that the second condition is satisfied when the second difference between the first actual torque value and the first gap limit torque value is greater than the second threshold, and then the difference between the actual torque value and the first gap limit torque value in the next cycle is added to the second difference until the added result is less than the first preset addition limit value.

[0042] In a specific implementation process, the second threshold can be set according to the actual application scenario, and the second threshold can be greater than the above first threshold. The difference obtained by subtracting the first gap limit torque value from the first actual torque value can be used as the second difference. When the second difference is greater than the second threshold, the following addition steps are started:

[0043] Calculate the difference between the actual torque value and the first clearance limit torque value in the next cycle, and superimpose this difference with the second difference to obtain a first superimposed value;

[0044] Continue to calculate the difference between the actual torque value and the first clearance limit torque value in the next adjacent cycle, and superimpose this difference with the first superimposed value to obtain a second superimposed value;

[0045] Loop like this until the Nth superimposed value obtained is less than the first preset superimposed limit value, then end the superimposing process. Wherein, N is a positive integer greater than 1.

[0046] Among them, the first clearance limit torque value can be set according to the actual application scenario. The larger the first clearance limit torque value, the more sensitive the control of the output torque of the driving device. The first preset superimposed limit value can be set according to the actual application scenario.

[0047] For the convenience of understanding the above process of superimposing the second difference, take the first clearance limit torque value of 20 Nm and the first preset superimposed limit value of 35 Nm as an example. Suppose the actual torque value obtained in the current cycle is 30 Nm, then the second difference is 10 Nm; suppose the actual torque value obtained in the next cycle is 35 Nm, then the first superimposed value is 10 + 15 = 25 Nm; suppose the actual torque value obtained in the next adjacent cycle is 38 Nm, then the second superimposed value is 10 + 15 + 18 = 43 Nm. Since the second superimposed value is greater than the first preset superimposed limit value, the superimposing process ends after obtaining the first superimposed value.

[0048] It should be noted that if at the beginning, the second difference is less than the above first threshold, and during the process of superimposing the second difference, the final superimposed result is also less than the first preset superimposed limit value, then it will be directly determined that the second condition is satisfied.

[0049] When the first condition and the second condition are satisfied, it is determined that the positive torque control is activated; otherwise, it is determined that the positive torque control is not activated.

[0050] It should be noted that, continuing to take a pure electric vehicle as an example of the application scenario, the above step S102 can be in the tip in process of the pure electric vehicle. From the activation condition of the positive torque control in the tip in stage, this activation can only be satisfied when both the driver's demand torque and the actual torque of the drive motor are small, which undoubtedly conforms to the logic that the tip in process is prone to jerks at the moment of torque start (from negative torque to positive torque).

[0051] Step S103: If the positive torque control is activated, determine the first torque holding value from the preset first torque holding database, and control the output torque of the driving device based on the first torque holding value.

[0052] Specifically, the first torque holding database can be set according to the actual application scenario. The more torque holding values in the first torque holding database, the finer the torque control of the driving device.

[0053] In the specific implementation process, once the positive torque control is activated, the corresponding actual torque value can be used to find a matching torque holding value from the first torque holding database as the first torque holding value. In this way, when the torque of the driving device changes, the torque of the driving device can be controlled to remain at the first torque holding value for a certain period of time, so as to avoid large changes in the torque of the driving device in a short time, and thus make the output torque of the driving device smooth.

[0054] Correspondingly, in some alternative embodiments, if the positive torque control is not activated, the output torque of the driving device is not controlled. Specifically, the maximum output torque of the driving device may not be controlled.

[0055] Correspondingly, in some alternative embodiments, if it is detected that the positive torque control changes from not activated to activated, the first torque change rate is determined from the preset first torque change rate limit database, and the output torque of the driving device is controlled based on the first torque change rate.

[0056] In the specific implementation process, the first torque change rate limit database can be set according to the actual application scenario. The first torque change rate can include multiple values. The more the first torque change rate values, the smoother the control process of the output torque of the driving device, and the smoother the change of the output torque of the driving device.

[0057] Correspondingly, based on a similar control principle, in addition to positive torque control of the driving device, negative torque control can also be performed on the driving device. Specifically, the second required torque value, the original required torque value, and the second actual torque value can be obtained.

[0058] In the specific implementation process, the second required torque value and the original required torque value can also be obtained according to the command information received by the driving device, and the second actual torque value can also be obtained according to the actual working state of the driving device.

[0059] In some alternative application scenarios, such as in the field of pure electric vehicles, the driving device can be a drive motor. The drive motor is electrically connected to the vehicle controller, and the drive motor is also connected to a motor controller. Furthermore, the above-mentioned second required torque value and the original required torque value can be obtained through the vehicle controller, and the above-mentioned second actual torque value can be obtained through the motor controller.

[0060] Then, based on the second required torque value, the second actual torque value, the original torque value, and the preset second clearance limit torque value, it can be determined whether to activate the negative torque control.

[0061] Specifically, when the second required torque value is less than or equal to the second clearance limit torque value and the original required torque value is less than or equal to the second clearance limit torque value, it is determined that the third condition is satisfied. When the original required torque value is less than or equal to the second clearance limit torque value, the difference between the second actual torque value and the second clearance limit torque value is started to be superimposed until the superimposed result is less than or equal to the second preset superimposed limit value, then it is determined that the fourth condition is satisfied.

[0062] In the specific implementation process, the second clearance limit torque value can be set according to the actual application scenario. The larger the second clearance limit torque value is, the more sensitive the control of the output torque of the drive device is. The second preset superimposed limit value can be set according to the actual application scenario.

[0063] For the superimposing process, similarly, the difference obtained by subtracting the second clearance limit torque value from the second actual torque value can be used as the first superimposed value;

[0064] Calculate the difference between the actual torque value and the second clearance limit torque value in the next cycle, and add this difference to the first superimposed value to obtain the second superimposed value;

[0065] Continue to calculate the difference between the actual torque value and the second clearance limit torque value in the next adjacent cycle, and superimpose this difference on the second superimposed value to obtain the third superimposed value;

[0066] Loop like this until the Mth superimposed value obtained is less than the second preset superimposed limit value, then the superimposing process ends. Where M is a positive integer greater than 1.

[0067] It should be noted that if at the beginning, the original required torque value is greater than the second clearance limit torque value, it will be directly determined that the fourth condition is satisfied.

[0068] When the third condition is satisfied, it is judged that the negative torque control is activated; when the third condition is not satisfied but the fourth condition is satisfied, it is judged that the negative torque control is not activated.

[0069] If the negative torque control is activated, the second torque holding value is determined from the preset second torque holding database, and the output torque of the drive device is controlled based on the second torque holding value.

[0070] Specifically, the second torque holding database can also be set according to the actual application scenario. The more torque holding values in the second torque holding database, the finer the torque control of the drive device is.

[0071] In the specific implementation process, once the negative torque control is activated, the corresponding actual torque value can be used to find a matching torque holding value from the second torque holding database as the second torque holding value. In this way, when the torque of the driving device changes, the torque of the driving device can be controlled to be maintained at the second torque holding value for a certain period of time, so as to avoid large changes in the torque of the driving device in a short time, thereby making the output torque of the driving device smooth.

[0072] Correspondingly, in some alternative embodiments, if the negative torque control is not activated, the output torque of the driving device is not controlled.

[0073] Correspondingly, in some alternative embodiments, if it is detected that the negative torque control changes from not activated to activated, the second torque change rate is determined from the preset second torque change rate limit database, and the output torque of the driving device is controlled based on the second torque change rate.

[0074] In the specific implementation process, the second torque change rate limit database can be set according to the actual application scenario. The second torque change rate can include multiple values. The more the second torque change rate values, the smoother the control process of the output torque of the driving device, and the smoother the change of the output torque of the driving device.

[0075] Similarly, if it is detected that the negative torque control changes from activated to not activated, the third torque change rate can be determined from the preset third torque change rate limit database, and the output torque of the driving device is controlled based on the third torque change rate.

[0076] In the specific implementation process, the third torque change rate limit database can be set according to the actual application scenario. The third torque change rate can include multiple values. The more the third torque change rate values, the smoother the control process of the output torque of the driving device, and the smoother the change of the output torque of the driving device.

[0077] To better reflect the effect of the torque control method provided by the embodiment of the present invention, refer to Figure 2 as shown in Figure 2 It can be seen that the torque control method provided by the present invention can make the change of the output torque of the driving device relatively smooth. Therefore, during the power cut-off gap, the driving device can be controlled with a torque having a small increment, which can significantly reduce the moment of inertia of the driving device, thereby reducing the jerks.

[0078] In a second aspect, through an embodiment of the present invention, the present invention provides a torque control device, which can be applied to a driving device. For example, it can be used to control the output torque of a driving motor or the output torque of an engine.

[0079] Please refer toFigure 3 As shown, the above torque control device may include:

[0080] A data acquisition unit 301 for acquiring a first required torque value and a first actual torque value;

[0081] A judgment unit 302 for judging whether to activate positive torque control based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value;

[0082] A torque control unit 303 for, when positive torque control is activated, determining a first torque holding value from a preset first torque holding database and controlling the output torque of the driving device based on the first torque holding value.

[0083] As an optional implementation manner, the judgment unit 302 is specifically configured to:

[0084] When the first difference between the first required torque value and the first clearance limit torque value is less than a first threshold, it is determined that the first condition is satisfied; when the second difference between the first actual torque value and the first clearance limit torque value is greater than a second threshold, the difference between the actual torque value and the first clearance limit torque value in the next cycle is added to the second difference until the added result is less than a first preset addition limit value, and then it is determined that the second condition is satisfied; when the first condition and the second condition are satisfied, it is judged that positive torque control is activated; otherwise, it is determined that positive torque control is not activated.

[0085] As an optional implementation manner, the torque control unit 303 is further configured to: when positive torque control is not activated, not control the output torque of the driving device.

[0086] As an optional implementation manner, the torque control unit 303 is further configured to: when positive torque control changes from not activated to activated, determining a first torque change rate from a preset first torque change rate limit database and controlling the output torque of the driving device based on the first torque change rate.

[0087] As an optional implementation manner, the data acquisition unit 301 is further configured to: acquire a second required torque value, an original required torque value, and a second actual torque value.

[0088] As an optional implementation manner, the judgment unit 302 is further configured to: judge whether to activate negative torque control based on the second required torque value, the second actual torque value, the original torque value, and a preset second clearance limit torque value.

[0089] As an alternative embodiment, the torque control unit 303 is further configured to: when the negative torque control is activated, determine a second torque holding value from a preset second torque holding database, and control the output torque of the driving device based on the second torque holding value.

[0090] As an alternative embodiment, the determination unit 302 is specifically further configured to: when the second required torque value is less than or equal to the second clearance limit torque value and the original required torque value is less than or equal to the second clearance limit torque value, determine that the third condition is satisfied; when the original required torque value is less than or equal to the second clearance limit torque value, start adding the difference between the second actual torque value and the second clearance limit torque value until the added result is less than or equal to the second preset addition limit value, then determine that the fourth condition is satisfied; when the third condition is satisfied, determine that the negative torque control is activated; when the third condition is not satisfied but the fourth condition is satisfied, determine that the negative torque control is not activated.

[0091] As an alternative embodiment, the torque control unit 303 is specifically further configured to: when the negative torque control is not activated, not control the output torque of the driving device.

[0092] As an alternative embodiment, the torque control unit 303 is specifically further configured to: when the negative torque control changes from not activated to activated, determine a second torque change rate from a preset second torque change rate limit database, and control the output torque of the driving device based on the second torque change rate.

[0093] Since the torque control device introduced in this embodiment is the electronic device adopted for implementing the torque control method in the embodiments of the present invention, based on the torque control method introduced in the embodiments of the present invention, those skilled in the art can understand the specific implementation manners and various variations of the electronic device in this embodiment. Therefore, the specific implementation of how this electronic device implements the method in the embodiments of the present invention will not be described in detail here. As long as the electronic device adopted by those skilled in the art to implement the torque control method in the embodiments of the present invention falls within the scope of protection of the present invention.

[0094] In a third aspect, based on the same inventive concept, the embodiments of the present invention provide a vehicle-mounted electronic device, which can be applied to a driving device. For example, it can be used to control the output torque of a driving motor or the output torque of an engine.

[0095] Refer to Figure 4 As shown, the vehicle-mounted electronic device provided by the embodiments of the present invention includes: a memory 401, a processor 402, and code stored on the memory and executable on the processor 402. When the processor 402 executes the code, it implements any of the foregoing embodiments of the torque control method.

[0096] Among them, in Figure 4 a bus architecture (represented by bus 400), the bus 400 may include any number of interconnected buses and bridges. The bus 400 links together various circuits of one or more processors represented by processor 402 and a memory represented by memory 401. The bus 400 may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and thus will not be further described herein. The bus interface 405 provides an interface between the bus 400 and the receiver 403 and the transmitter 404. The receiver 403 and the transmitter 404 may be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices over a transmission medium. The processor 402 is responsible for managing the bus 400 and general processing, while the memory 401 may be used to store data used by the processor 402 when performing operations.

[0097] The technical solutions in the embodiments of the present invention described above have at least the following technical effects or advantages:

[0098] By obtaining a first required torque value and a first actual torque value, then, based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value, it can be determined whether to activate positive torque control. After determining that the positive torque control is activated, a first torque holding value can be determined from a preset first torque holding database, and then the output torque of the driving device can be controlled based on the first torque holding value, thereby avoiding excessive torque changes in a short time, preventing the driving device from outputting jerks, and improving the smoothness of the driving device output.

[0099] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable code.

[0100] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer instructions. These computer instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementing in the process Figure 1one or more processes and / or blocks Figure 1 means for the functions specified in one or more blocks

[0101] These computer instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction means that implements the functions in the process Figure 1 one or more processes and / or blocks Figure 1 specified in one or more blocks

[0102] These computer instructions may also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in the process Figure 1 one or more processes and / or blocks Figure 1 specified in one or more blocks

[0103] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic inventive concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present invention

[0104] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations

Claims

1. A torque control method, characterized in that, applied to a driving device, the method includes: obtaining a first required torque value and a first actual torque value; judging whether to activate positive torque control based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value; if the positive torque control is activated, determining a first torque holding value from a preset first torque holding database, and controlling the output torque of the driving device based on the first torque holding value; the judging whether to activate positive torque control based on the first required torque value, the first actual torque value, and the preset first clearance limit torque value includes: when a first difference between the first required torque value and the first clearance limit torque value is less than a first threshold, determining that a first condition is satisfied; when a second difference between the first actual torque value and the first clearance limit torque value is greater than a second threshold, starting to superimpose a difference between the actual torque value in the next cycle and the first clearance limit torque value on the second difference until the superimposed result is less than a first preset superimposed limit value, then determining that a second condition is satisfied; when the first condition and the second condition are satisfied, judging that the positive torque control is activated; otherwise, judging that the positive torque control is not activated.

2. The method according to claim 1, characterized in that, further includes: if the positive torque control is not activated, not controlling the output torque of the driving device.

3. The method according to claim 1, characterized in that, further includes: if the positive torque control changes from not activated to activated, determining a first torque change rate from a preset first torque change rate limit database, and controlling the output torque of the driving device based on the first torque change rate.

4. The method according to claim 1, characterized in that, further includes: obtaining a second required torque value, an original required torque value, and a second actual torque value; judging whether to activate negative torque control based on the second required torque value, the second actual torque value, the original required torque value, and a preset second clearance limit torque value; if the negative torque control is activated, determining a second torque holding value from a preset second torque holding database, and controlling the output torque of the driving device based on the second torque holding value.

5. The method according to claim 4, characterized in that, the judging whether to activate negative torque control based on the second required torque value, the second actual torque value, the original required torque value, and the preset second clearance limit torque value includes: when the second required torque value is less than or equal to the second clearance limit torque value, and the original required torque value is less than or equal to the second clearance limit torque value, determining that a third condition is satisfied; when the original required torque value is less than or equal to the second clearance limit torque value, starting to superimpose a difference between the second actual torque value and the second clearance limit torque value until the superimposed result is less than or equal to a second preset superimposed limit value, then determining that a fourth condition is satisfied; When the third condition is satisfied, it is determined that the negative torque control is activated; when the third condition is not satisfied but the fourth condition is satisfied, it is determined that the negative torque control is not activated.

6. The method according to claim 5, wherein, further comprising: if the negative torque control is not activated, the output torque of the drive device is not controlled.

7. The method according to claim 5, wherein, further comprising: if the negative torque control changes from not activated to activated, a second torque change rate is determined from a preset second torque change rate limit database, and the output torque of the drive device is controlled based on the second torque change rate.

8. A torque control device, wherein, applied to a drive device, the device comprising: a data acquisition unit for acquiring a first required torque value and a first actual torque value; a judgment unit for judging whether to activate positive torque control based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value; a torque control unit for, when the positive torque control is activated, determining a first torque holding value from a preset first torque holding database and controlling the output torque of the drive device based on the first torque holding value; The judging whether to activate positive torque control based on the first required torque value, the first actual torque value, and a preset first clearance limit torque value includes: when a first difference between the first required torque value and the first clearance limit torque value is less than a first threshold, it is determined that the first condition is satisfied; when a second difference between the first actual torque value and the first clearance limit torque value is greater than a second threshold, the difference between the actual torque value and the first clearance limit torque value in the next cycle is added to the second difference until the added result is less than a first preset addition limit value, and then it is determined that the second condition is satisfied; when the first condition and the second condition are satisfied, it is determined that the positive torque control is activated; otherwise, it is determined that the positive torque control is not activated.

9. A vehicle-mounted electronic device, including a memory, a processor, and code stored on the memory and executable on the processor, wherein, when the processor executes the code, the method according to any one of claims 1-7 is implemented.

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