Method for Steady-State Adaptive Synchronous Update Based on Torque

Abstract

The present invention provides a method for steady-state adaptive synchronous update based on torque, including: dividing the torque in the torque model into multiple torque regions; dividing the torque regions into a high-frequency region and a low-frequency region; judging whether the adaptation in the high-frequency region converges according to the adaptive activation times and the adaptive error values; and correcting the torque pressure map in the low-frequency region by using the average slope of the torque pressure map after convergence in the high-frequency region. The provided method realizes the adaptive synchronous update of the torque in the high-frequency region to update the torque range that is difficult to activate adaptation, so that the vehicle performance quickly reaches stability.

Description

Technical Field

[0001] The present invention relates to the field of automotive clutch control methods, and particularly to a method for steady-state adaptive synchronous update based on torque. Background Art

[0002] For clutch control, the quality of the torque transmission characteristics of the clutch will directly affect the torque accuracy, thereby affecting the vehicle performance. Moreover, for a vehicle that has been driven for a period of time, due to wear, the actual torque transmission characteristics of the clutch change. If no adjustment is made, various performance problems will also occur. Therefore, steady-state adaptation is required to adjust the changing characteristics to meet the performance requirements. However, some torque ranges, such as high torque, are difficult to activate adaptation.

[0003] Currently, most steady-state adaptations are performed separately for each torque range. If the initial clutch torque transmission parameters are inaccurate, it is difficult to adjust back for torque ranges that are difficult to activate adaptation. This will affect the performance of some working conditions in this torque range, such as starting with full throttle and downshifting with full throttle, making the vehicle performance quickly reach a steady state. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that in the existing clutch control, the steady-state adaptive method makes it difficult to adjust the torque range that is difficult to activate adaptation, which may affect the performance of some working conditions. A method for steady-state adaptive synchronous update based on torque is provided to realize the adaptive synchronous update of the torque range that is difficult to activate adaptation according to the torque in the high-frequency region, so that the vehicle performance quickly reaches a steady state.

[0005] To solve the above technical problems, the present invention provides a method for steady-state adaptive synchronous update based on torque, including:

[0006] S1: Obtain the pressure-torque characteristic data of the clutch, and divide the torque in the torque model into multiple torque regions according to the pressure-torque characteristic data;

[0007] S2: Simulate various driving scenarios and conduct adaptive tests, count the total number of adaptive times of each torque region in all driving scenarios, and determine whether the total number of adaptive times is greater than the frequency threshold; where

[0008] When the total number of adaptive times is greater than the frequency threshold, the corresponding torque region is in the high-frequency region;

[0009] When the total number of adaptive times is less than or equal to the frequency threshold, the corresponding torque region is in the low-frequency region;

[0010] S3: counting the number of adaptive activations and adaptive error values ​​of each torque area in the high-frequency area during driving, and judging whether the high-frequency area adaptiveness has converged according to the number of adaptive activations and the adaptive error values;

[0011] If yes, execute step S4;

[0012] If not, continue to determine whether the high-frequency region adaptation has converged;

[0013] When the number of adaptive activations of each torque region in the high-frequency region is greater than the convergence number threshold, and the adaptive error value of each torque region in the high-frequency region is less than the error threshold, it is determined that the high-frequency region is adaptively converged;

[0014] The adaptive error value is the value generated when the stored torque-pressure relationship is inconsistent with the corresponding torque-pressure relationship during adaptation;

[0015] S4: Obtain the torque pressure diagram after convergence in the high-frequency area, and calculate the slope k1; obtain the torque pressure diagram in the low-frequency area, and calculate the slope k2; calculate the average slope k3 of the slope k1 and the slope k2, and use the average slope k3 to correct the torque pressure diagram in the low-frequency area, and obtain the pressure value according to the corrected torque pressure diagram in the low-frequency area, and synchronously update the pressure value to each torque area in the low-frequency area of ​​the torque model.

[0016] Using the above scheme, the method for steady-state adaptive synchronous updating based on torque provided by the present invention first divides the torque into regions. Due to different driving scenarios and driving conditions, the driving time of each torque region will be different, which will lead to different frequencies of activating adaptation in different torque regions. The present invention then divides the high-frequency region and the low-frequency region according to the adaptive frequencies of different torque regions in different scenarios. The high-frequency region is judged for convergence, and then the torque-pressure relationship slope of the low-frequency region is corrected according to a certain logic based on the torque-pressure relationship slope of the high-frequency region after convergence and the torque-pressure relationship slope of the current low-frequency region. Thereby, the pressure values ​​corresponding to all torques in the torque region of the low-frequency region can be obtained, and this pressure value can be synchronously updated to the low-frequency region. The present invention realizes the adaptive synchronous update of the torque range that is difficult to activate adaptation according to the torque of the high-frequency region, so that the performance of the whole vehicle can quickly reach stability.

[0017] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a method for steady-state adaptive synchronous update based on torque. In step S1, the pressure-torque characteristic data includes a torque-pressure relationship diagram. The torque in the torque model is divided into multiple torque regions according to the degree of linearity in the torque-pressure relationship diagram, wherein the slopes of the torque-pressure curves in each torque region in the torque-pressure relationship diagram are equal.

[0018] According to another specific embodiment of the present invention, the method for torque-based steady-state adaptive synchronization update disclosed in the embodiment of the present invention is characterized in that the number of the multiple torque regions is 4.

[0019] According to another specific embodiment of the present invention, the embodiment of the present invention discloses a method for steady-state adaptive synchronous update based on torque. In step S1, multiple torque points are selected for each torque region. The torque points are characteristic points of the corresponding torque region. The torque points include intermediate torque points, which are intermediate values ​​of the corresponding torque region.

[0020] According to another specific embodiment of the present invention, the embodiment of the present invention discloses a method for steady-state adaptive synchronous update based on torque. In step S4, the slope k1 is calculated based on the line connecting the converged pressure value points corresponding to all the torque points in the high-frequency zone; the slope k2 is calculated based on the line connecting the pressure value points corresponding to all the torque points in the low-frequency zone; and the step of correcting the torque-pressure diagram in the low-frequency zone using the average slope k3 includes taking the pressure value point corresponding to the middle torque point close to the low-frequency zone as the starting point and extending toward the low-frequency zone to form a straight line with a slope of k3.

[0021] According to another specific embodiment of the present invention, in the method for steady-state adaptive synchronization update based on torque disclosed in the embodiment of the present invention, the adaptive error numerical calculation method is:

[0022] Adaptive error value = | theoretical pressure value - adaptive pressure value | / theoretical pressure value

[0023] The theoretical pressure value is a pressure value corresponding to a certain torque value in the stored torque-pressure relationship; the adaptive pressure value is a pressure value corresponding to the torque value in the torque-pressure relationship after adaptation.

[0024] According to another specific embodiment of the present invention, in the torque-based steady-state adaptive synchronization update method disclosed in the embodiment of the present invention, the error threshold is 1%.

[0025] According to another specific embodiment of the present invention, the torque-based steady-state adaptive synchronization update method disclosed in the embodiment of the present invention has a convergence times threshold of 1-3 times.

[0026] According to another specific embodiment of the present invention, the embodiment of the present invention discloses a method for torque-based steady-state adaptive synchronization update, and multiple driving scenarios include high temperature environment, high cold environment, high altitude environment and plain environment.

[0027] The beneficial effects of the present invention are:

[0028] The method for steady-state adaptive synchronous updating based on torque provided by the present invention first divides the torque into regions. Due to different driving scenarios and driving conditions, the driving time of each torque region will be different, which will lead to different frequencies of activating adaptation in different torque regions. The present invention then divides the high-frequency region and the low-frequency region according to the adaptive frequencies of different torque regions in different scenarios. The high-frequency region is judged for convergence, and then the torque-pressure relationship slope of the low-frequency region is corrected according to a certain logic based on the torque-pressure relationship slope of the high-frequency region after convergence and the torque-pressure relationship slope of the current low-frequency region. Thus, the pressure values ​​corresponding to all torques in the torque region of the low-frequency region can be obtained, and this pressure value can be synchronously updated to the low-frequency region. The present invention realizes the adaptive synchronous update of the torque range that is difficult to activate adaptation according to the torque of the high-frequency region, so that the performance of the whole vehicle can quickly reach stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A statistical histogram of the total number of adaptations in different torque regions in one embodiment of the method for steady-state adaptive synchronization update based on torque of the present invention;

[0030] Figure 2 This is a schematic diagram of correcting the torque-pressure relationship slope in the low-frequency area according to the torque-pressure relationship slope in the high-frequency area after convergence and the torque-pressure relationship slope in the current low-frequency area in one embodiment of the torque-based steady-state adaptive synchronous update method of the present invention. DETAILED DESCRIPTION

[0031] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0032] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0033] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0035] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0036] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] The present invention provides a method for steady-state adaptive synchronization update based on torque, the method comprising the following steps S1, S2, S3, S4 performed in sequence, and these steps are described in detail below.

[0038] Step S1: acquiring pressure torque characteristic data of the clutch, and dividing the torque in the torque model into a plurality of torque regions according to the pressure torque characteristic data.

[0039] Specifically, the pressure torque characteristic data of the clutch is obtained according to the torque transmission characteristics of the clutch and the data of the bench test; the torque transmission characteristics and test data of the clutch particularly refer to the friction characteristics and related data, that is, the correspondence between the clutch transmission torque and pressure, for example, a 10 bar pressure clutch can transmit 100 Nm of torque. The torque in the torque model can be divided into 3, 4, 5, etc.; the boundaries of multiple torque regions are defined based on a large number of hardware tests and statistical samples of the torque and pressure correspondence law, for example, according to the division of the corresponding proportional relationship, the proportional relationship is close to a torque region.

[0040] According to one specific embodiment of the present invention, the pressure-torque characteristic data includes a torque-pressure relationship diagram, and the torque in the torque model is divided into multiple torque regions according to the degree of linearity in the torque-pressure relationship diagram, wherein the slope of the torque-pressure curve of each torque region in the torque-pressure relationship diagram is equal.

[0041] According to one specific embodiment of the present invention, the torque in the torque model is divided into four torque regions; for example, in a specific experiment, torque region 1 is 20-80 Nm, torque region 2 is 80-140 Nm, torque region 3 is 140-200 Nm, and torque region 4 is 200-280 Nm; wherein the relationship between the torque of 20-80 Nm in torque region 1 and the pressure is basically the same slope, and the relationship between the torque of 80-140 Nm in torque region 2 and the pressure is basically another slope.

[0042] According to one specific implementation of the present invention, a plurality of torque points are selected for each torque region, where the torque points are characteristic points of the corresponding torque region, and the torque points include intermediate torque points, which are intermediate values ​​of the corresponding torque region.

[0043] Among them, the torque point is the characteristic point of the corresponding torque area, which is divided according to the transmission torque characteristics of the clutch and combined with the adaptive method to facilitate the application of the adaptive error value to the transmission torque characteristics. For example, torque area 1 activates an adaptation, assuming that the adaptive error value is 10%, then how to apply this 10% is used in the corresponding relationship between the clutch torque and pressure. These torque points are used. More specifically, the specific values ​​of the torque points of the four torque areas divided above can be shown in Table 1, where the unit is Nm.

[0044] Table 1

[0045]

[0046] Step S2: Simulate normal driving conditions under various driving scenarios, and perform adaptive tests, count the total adaptive times of each torque area in all driving scenarios, and determine whether the total adaptive times is greater than the frequency threshold; when the total adaptive times is greater than the frequency threshold, the corresponding torque area is in the high frequency area; when the total adaptive times is less than or equal to the frequency threshold, the corresponding torque area is in the low frequency area.

[0047] Due to different driving scenarios and driving conditions, the driving time in each torque area will be different. Because in different environments, the process of the vehicle from cold to hot will be different, such as the change in oil temperature, and the change in oil temperature will affect the clutch torque transmission; this will cause different activation frequencies of adaptation in different torque areas, some high, some low, and even some areas are difficult to activate. Therefore, simulate multiple driving scenarios and make the vehicle drive in different environments. According to the set adaptation area, the adaptive frequency is counted; according to the statistics of multi-sample tests, the high-frequency area with high adaptive probability and the low-frequency area with low adaptive probability are determined.

[0048] The frequency threshold is determined according to the actual test situation, for example, it is defined according to the difference in statistical results to distinguish between the adaptive relatively high-frequency area and the relatively low-frequency area. Figure 1 The difference in the total number of adaptations within a certain test time of the four torque regions divided by step S1 of the present invention is shown; it can be seen that the total number of adaptations of torque region 1 and torque region 2 is significantly higher than that of torque region 3 and torque region 4, so the frequency number threshold can be a certain value that is less than the total number of adaptations of torque region 2 and greater than the total number of adaptations of torque region 3, and torque region 1 and torque region 2 are defined as high-frequency regions, and torque region 3 and torque region 4 are defined as low-frequency regions, as shown in Table 2.

[0049] Table 2

[0050] Regional division Region Type Torque zone 1 High frequency area Torque zone 2 High frequency area Torque zone 3 Low frequency area Torque zone 4 Low frequency area

[0051] According to one specific embodiment of the present invention, multiple driving scenarios include high temperature environment, high cold environment, high altitude environment and plain environment. The high temperature, plateau and high cold environment mentioned in the present invention refer to the three high tests in vehicle testing, such as high temperature in Hainan in summer, high cold in Mohe in winter, and plateau in Shangri-La Snow Mountain.

[0052] Step S3: According to the division in the above steps, the number of adaptive activations and the adaptive error value of each torque area in the high-frequency area during driving are counted, and whether the high-frequency area adaptation has converged is determined based on the number of adaptive activations and the adaptive error value; if so, execute step S4; if not, continue to determine whether the high-frequency area adaptation has converged.

[0053] When the number of adaptive activations in each torque region of the high frequency zone is greater than the convergence number threshold, and the adaptive error value in each torque region of the high frequency zone is less than the error threshold, it is determined that the high frequency zone is adaptively converged, that is, the clutch transmission torque parameter in the torque region of the high frequency zone has been adapted OK. The adaptive error value is the value generated when the torque-pressure relationship stored in the current controller is inconsistent with the corresponding torque-pressure relationship during adaptation.

[0054] Specifically, during actual driving, it is necessary to adjust the torque transfer characteristics of the low-frequency torque area through the adaptive value of the torque area in the high-frequency area through certain logical operations; after the adaptive judgment of the torque area in the high-frequency area converges, the synchronous update action is performed.

[0055] The number of adaptations will be accumulated one by one. For example, if the current driving condition is in torque zone 1 and meets the conditions for adaptation, after a certain period of time, such as 5 seconds, the adaptation is activated once, that is, the number of adaptation activations is increased by 1. The convergence number threshold can be determined according to actual conditions.

[0056] According to one specific implementation of the present invention, the adaptive error numerical calculation method is:

[0057] Adaptive error value = | theoretical pressure value - adaptive pressure value | / theoretical pressure value

[0058] The theoretical pressure value is the pressure value corresponding to a certain torque value in the stored torque-pressure relationship; the adaptive pressure value is the pressure value corresponding to the torque value in the torque-pressure relationship after adaptation. For example, the pressure required to transmit a torque of 50 Nm stored in the controller is 8 bar, but the pressure required for the clutch to transmit a torque of 50 Nm obtained during the adaptive process is 9 bar, then the adaptive error value at this time is (9-8) / 8=12.5%.

[0059] According to one specific implementation manner of the present invention, the error threshold is 1%.

[0060] According to one specific implementation manner of the present invention, the convergence times threshold is 1-3 times.

[0061] More specifically, when the error threshold is set to 1% and the convergence number threshold is set to 2 times, the adaptive activation times of the high-frequency torque areas (such as torque area 1 and torque area 2) are greater than 2, and the adaptive error values ​​of the high-frequency torque areas (such as torque area 1 and torque area 2) are less than 1%, it is judged that the high-frequency torque areas (such as torque area 1 and torque area 2) are adaptively converged.

[0062] Step S4: After judging convergence, obtain the torque-pressure diagram after convergence in the high-frequency zone, and calculate the slope k1 of the torque-pressure relationship curve in the high-frequency zone; obtain the current torque-pressure diagram in the low-frequency zone, and calculate the slope k2 of the torque-pressure relationship curve in the low-frequency zone; calculate the average slope k3 of the slope k1 and the slope k2, k3 = (k1 + k2) / 2; and use the average slope k3 to correct the torque-pressure diagram in the low-frequency zone, and obtain the pressure value based on the corrected torque-pressure diagram in the low-frequency zone, and synchronously update the pressure value to each torque area in the low-frequency zone of the torque model; at the same time, all the accumulated results of the low-torque zone's own adaptation are cleared.

[0063] Specifically, when it is determined that torque region 1 and torque region 2 have converged, the converged slope k1 is calculated based on the torque-pressure relationship curves of the converged torque region 1 and torque region 2, and the slope k2 is calculated based on the torque region 3 and torque region 4 of the current torque-pressure relationship, and then the average slope k3 is calculated. The torque-pressure diagram in the low-frequency region is corrected using the average slope k3 to obtain a straight line, so that the pressure values ​​corresponding to all torque points in torque region 3 and torque region 4 can be obtained, and this pressure value is synchronously updated to torque region 3 and torque region 4; at the same time, some accumulated results of the adaptation of torque region 3 and torque region 4 themselves are all cleared.

[0064] According to one specific embodiment of the present invention, the slope k1 is calculated based on the line connecting the converged pressure value points corresponding to all the torque points in the high-frequency zone; the slope k2 is calculated based on the line connecting the pressure value points corresponding to all the torque points in the low-frequency zone; and the step of correcting the torque-pressure diagram in the low-frequency zone using the average slope k3 includes taking the pressure value point corresponding to the middle torque point close to the low-frequency zone as the starting point and extending toward the low-frequency zone to form a straight line with a slope of k3.

[0065] like Figure 2 As shown, the four points a, b, c, and d are the original points of the middle torque points in the four torque areas, respectively. After the torque area 1 and the torque area 2 converge, the point a is adaptively OK to obtain a new point a1, and the point b is adaptively OK to obtain a new point b1. k1 is the slope of the calculated a1-b1 segment, k2 is the slope of the cd segment, that is, the slope of the pressure-torque curve in the original torque areas 3 and 4; k3 is the average of k1 and k2, and the ray b1-c1-d1 is a ray with b1 (for example, 110Nm) as the starting point and k3 as the slope. The intersection point c1 of the point c after translation and the ray is the pressure point after the synchronous update of the point c, and the intersection point d1 of the point d after translation and the ray is the pressure point after the synchronous update of the point d.

[0066] It should be noted that the above steps S1 and S2 are divided for the frame test before leaving the factory, and the results are stored in the controller, such as the clutch control unit (TCU). The above steps S3 and S4 are performed during the use of the vehicle, according to the stored torque area and high frequency area, through the control of the controller such as TCU.

[0067] The method for steady-state adaptive synchronous updating provided by the present invention first divides the torque into regions. Due to different driving scenarios and driving conditions, the driving time of each torque region will be different, which will lead to different frequencies of activating adaptation in different torque regions. The present invention then divides the high-frequency region and the low-frequency region according to the adaptive frequencies of different torque regions in different scenarios. The high-frequency region is judged for convergence, and then the torque-pressure relationship slope of the low-frequency region is corrected according to a certain logic based on the torque-pressure relationship slope of the high-frequency region after convergence and the torque-pressure relationship slope of the current low-frequency region. Thereby, the pressure values ​​corresponding to all torques in the torque region of the low-frequency region can be obtained, and this pressure value can be synchronously updated to the low-frequency region. The present invention realizes the adaptive synchronous update of the torque range that is difficult to activate adaptation according to the torque of the high-frequency region, so that the performance of the whole vehicle can quickly reach stability.

[0068] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A method for steady-state adaptive synchronous update based on torque, characterized in that, the method includes: S1: Obtain the pressure-torque characteristic data of the clutch, and divide the torque in the torque model into multiple torque regions according to the pressure-torque characteristic data; S2: Simulate multiple driving scenarios and conduct adaptive tests, count the total number of adaptive times of each torque region in all driving scenarios, and determine whether the total number of adaptive times is greater than the frequency threshold; where, when the total number of adaptive times is greater than the frequency threshold, the corresponding torque region is in the high-frequency region; when the total number of adaptive times is less than or equal to the frequency threshold, the corresponding torque region is in the low-frequency region; S3: Count the number of adaptive activation times and the adaptive error values of each torque region in the high-frequency region during driving, and determine whether the high-frequency region adaptation converges according to the number of adaptive activation times and the adaptive error values; if so, execute step S4; if not, continue to determine whether the high-frequency region adaptation converges; wherein, when the number of adaptive activation times of each torque region in the high-frequency region is greater than the convergence threshold, and the adaptive error values of each torque region in the high-frequency region are less than the error threshold, it is determined that the high-frequency region adaptation converges; the adaptive error value is the value generated when there is an inconsistency between the stored torque-pressure relationship and the torque-pressure relationship during corresponding adaptation; S4: Obtain the torque-pressure graph after convergence in the high-frequency region and calculate the slope k1; obtain the torque-pressure graph in the low-frequency region and calculate the slope k2; calculate the average slope k3 of the slope k1 and the slope k2, and use the average slope k3 to correct the torque-pressure graph in the low-frequency region, and obtain the pressure value according to the corrected torque-pressure graph in the low-frequency region, and synchronously update the pressure value to each torque region in the low-frequency region of the torque model.

2. The method for steady-state adaptive synchronous update based on torque according to claim 1, characterized in that, in step S1, the pressure-torque characteristic data includes a torque-pressure relationship graph, and the torque in the torque model is divided into multiple torque regions according to the linearity degree in the torque-pressure relationship graph, where the torque-pressure curve slopes of each torque region in the torque-pressure relationship graph are equal.

3. The method for steady-state adaptive synchronous update based on torque according to claim 2, characterized in that, the multiple torque regions are 4.

4. The method for steady-state adaptive synchronous update based on torque according to claim 2, characterized in that, in step S1, multiple torque points are also selected for each torque region, the torque points are characteristic points corresponding to the torque region, and the torque points include intermediate torque points, which are the intermediate values corresponding to the torque region.

5. The method for steady-state adaptive synchronous update based on torque according to claim 4, characterized in that, in step S4, calculate the slope k1 according to the connection line of the pressure value points corresponding to the torque points in all the high-frequency regions after convergence; Calculate the slope k2 based on the connection line of the pressure value points corresponding to the torque points in all the low-frequency regions; The steps of using the average slope k3 to correct the torque-pressure diagram in the low-frequency region include: starting from the pressure value point corresponding to the intermediate torque point close to the low-frequency region, extending towards the low-frequency region to form a straight line with a slope of k3.

6. The method for steady-state adaptive synchronous update based on torque according to claim 1, characterized in that, the adaptive error numerical calculation method is: Adaptive error value = |Theoretical pressure value - Adaptive pressure value| / Theoretical pressure value wherein, the theoretical pressure value is the pressure value corresponding to a certain torque value in the stored torque-pressure relationship; the adaptive pressure value is the pressure value corresponding to the torque value in the torque-pressure relationship after adaptation.

7. The method for steady-state adaptive synchronous update based on torque according to claim 6, characterized in that, the error threshold is 1%.

8. The method for steady-state adaptive synchronous update based on torque according to any one of claims 1-7, characterized in that, the convergence times threshold is 1-3 times.

9. The method for steady-state adaptive synchronous update based on torque according to any one of claims 1-7, characterized in that, the multiple driving scenarios include high-temperature environment, high-cold environment, high-altitude environment and plain environment.

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