Vehicle torque control method, device, storage medium and electronic device

Abstract

The present invention discloses a method, device, storage medium and electronic device for controlling vehicle torque. The method comprises: obtaining the initial torque and target torque of the vehicle under the target working condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle comprises a first motor and a second motor; determining the torque adjustment rate of the first motor and the second motor at different torque adjustment stages based on the initial torque and / or the target torque; adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rate of the first motor and the second motor at different torque adjustment stages. The present invention solves the technical problems of vehicle power interruption and driving shock caused by torque zero-crossing shock when switching between positive and negative torques.

Description

Technical Field

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

[0002] With the rapid development of new energy technologies, pure electric vehicles are becoming more and more popular. The noise, vibration and harshness (NVH) of electric vehicles is a comprehensive issue to measure the quality of automobile manufacturing, which can directly reflect the user's riding experience.

[0003] Electric locomotives are equipped with motors for providing torque. When switching between positive and negative torques, due to the different meshing surfaces of the motor gears, the time the gears need to switch between the two meshing surfaces is the zero-crossing time. When the gear gap is large or the torque control is inaccurate, the zero-crossing time will be long or the transmission system will shake, resulting in a torque zero-crossing shock. The measures taken in the related art to reduce the impact of NVH problems caused by torque zero-crossing shock can only alleviate the zero-crossing shock to a certain extent, and have a certain impact on the economy and power of the vehicle.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] Embodiments of the present invention provide a vehicle torque control method, device, storage medium and electronic device to at least solve the technical problems of vehicle power interruption and driving shock caused by torque zero-crossing shock when switching between positive and negative torques.

[0006] According to one embodiment of the present invention, a method for controlling vehicle torque is provided, comprising: obtaining an initial torque and a target torque of a vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle comprises a first motor and a second motor; determining a torque adjustment rate of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stages comprise: a first adjustment stage, a second adjustment stage and a third adjustment stage, wherein in the first adjustment stage, the output torque of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torque of the first motor and the second motor are in the same direction as the target torque, and the output torque of the second motor is in the same direction as the initial torque; in the third adjustment stage, the output torque of the first motor and the second motor are in the same direction as the target torque; and adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor in different torque adjustment stages.

[0007] Optionally, determining the torque adjustment rates of the first motor and the second motor in the first adjustment stage based on the initial torque includes: determining a first target adjustment rate based on the initial torque, wherein the first target adjustment rate is the torque adjustment rate of the vehicle torque in the first adjustment stage; setting a first torque adjustment rate corresponding to the first motor and a second torque adjustment rate corresponding to the second motor based on the first target adjustment rate, wherein, in the first adjustment stage, the moment when the output torque of the first motor changes to zero value is separated from the moment when the output torque of the second motor changes to zero value by a first preset time length, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate.

[0008] Optionally, determining the torque adjustment rates of the first motor and the second motor in the second adjustment stage based on the initial torque and the target torque includes: in response to the output torque of the first motor being equal to zero, turning off the first motor, and setting the first target adjustment rate to a third torque adjustment rate corresponding to the second motor in the second adjustment stage; determining the second target adjustment rate based on the target torque, wherein the second target adjustment rate is the torque adjustment rate of the vehicle torque in the third adjustment stage; in response to the output torque of the second motor being equal to zero, turning off the second motor, and setting the second target adjustment rate to a fourth torque adjustment rate corresponding to the first motor in the second adjustment stage.

[0009] Optionally, determining the torque adjustment rates of the first motor and the second motor in the third adjustment stage based on the target torque includes: in response to the time when the first motor runs at the fourth torque adjustment rate reaching a second preset time length, determining a fifth torque adjustment rate corresponding to the first motor and a sixth torque adjustment rate corresponding to the second motor according to the second target adjustment rate, wherein the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate.

[0010] Optionally, the vehicle torque control method also includes: in response to the output torque of the first motor being equal to zero, controlling the vehicle to switch from the first adjustment stage to the second adjustment stage; in response to the time when the first motor runs at the fourth torque adjustment rate reaching a second preset time length, controlling the vehicle to switch from the second adjustment stage to the third adjustment stage.

[0011] Optionally, the vehicle torque control method further includes: in response to the sum of the output torques of the first motor and the second motor being equal to the target torque, adjusting the torque adjustment rates of the first motor and the second motor to zero.

[0012] According to one embodiment of the present invention, a vehicle torque control device is provided, comprising: an acquisition module, used to acquire an initial torque and a target torque of a vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle comprises a first motor and a second motor; a determination module, used to determine the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stages comprise: a first adjustment stage, a second adjustment stage and a third adjustment stage, wherein in the first adjustment stage, the output torques of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torque of the first motor is in the same direction as the target torque, and the output torque of the second motor is in the same direction as the initial torque; in the third adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque; and an adjustment module, used to adjust the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor in different torque adjustment stages.

[0013] Optionally, the determination module is also used to: determine a first target adjustment rate based on the initial torque, wherein the first target adjustment rate is the torque adjustment rate of the vehicle torque in the first adjustment stage; set a first torque adjustment rate corresponding to the first motor and a second torque adjustment rate corresponding to the second motor based on the first target adjustment rate, wherein, in the first adjustment stage, the moment when the output torque of the first motor changes to zero value and the moment when the output torque of the second motor changes to zero value are separated by a first preset time length, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate.

[0014] Optionally, the determination module is also used to: in response to the output torque of the first motor being equal to zero, turn off the first motor, and set the first target adjustment rate to a third torque adjustment rate corresponding to the second motor in the second adjustment stage; determine the second target adjustment rate based on the target torque, wherein the second target adjustment rate is the torque adjustment rate of the vehicle torque in the third adjustment stage; in response to the output torque of the second motor being equal to zero, turn off the second motor, and set the second target adjustment rate to a fourth torque adjustment rate corresponding to the first motor in the second adjustment stage.

[0015] Optionally, the determination module is also used to: in response to the time when the first motor runs at the fourth torque adjustment rate reaching a second preset time length, determine the fifth torque adjustment rate corresponding to the first motor and the sixth torque adjustment rate corresponding to the second motor according to the second target adjustment rate, wherein the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate.

[0016] Optionally, the vehicle torque control device also includes: a control module, used to control the vehicle to switch from a first adjustment stage to a second adjustment stage in response to the output torque of the first motor being equal to zero; the control module is also used to control the vehicle to switch from the second adjustment stage to the third adjustment stage in response to the time when the first motor runs at a fourth torque adjustment rate reaching a second preset time length.

[0017] Optionally, the adjustment module is further configured to adjust the torque adjustment rates of the first motor and the second motor to zero in response to the sum of the output torques of the first motor and the second motor being equal to the target torque.

[0018] According to one embodiment of the present invention, a non-volatile storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute any of the above-mentioned vehicle torque control methods when running.

[0019] According to one embodiment of the present invention, a processor is provided, and the processor is used to run a program, wherein the program is configured to execute any of the above-mentioned vehicle torque control methods when running.

[0020] According to one embodiment of the present invention, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above vehicle torque control methods.

[0021] In an embodiment of the present invention, by obtaining the initial torque and target torque of the vehicle under the target working condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor, and then determining the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, and finally adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor in different torque adjustment stages, thereby achieving the purpose of avoiding the occurrence of torque zero-crossing shock, thereby achieving the technical effect of improving the driving experience and vehicle dynamics of the whole vehicle, and then solving the technical problems of vehicle power interruption and driving shock caused by torque zero-crossing shock when switching between positive and negative torques. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a flow chart of a method for controlling vehicle torque according to an embodiment of the present invention;

[0024] Figure 2is a schematic diagram of a method for controlling vehicle torque according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of another method for controlling vehicle torque according to an embodiment of the present invention;

[0026] Figure 4 is a comparative schematic diagram of a vehicle torque control method according to an embodiment of the present invention;

[0027] Figure 5 is a comparative schematic diagram of another vehicle torque control method according to an embodiment of the present invention;

[0028] Figure 6 4 is a structural block diagram of a vehicle torque control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] In order to reduce the impact of NVH problems caused by torque zero impact, the following methods are usually used in related technologies:

[0032] Method 1: When the motor has a torque zero crossing, the motor request torque is smoothed and then torque control is performed, thereby achieving torque zero crossing with a smoother torque change. However, this method can only alleviate the zero crossing impact to a certain extent and cannot avoid the occurrence of the zero crossing impact phenomenon.

[0033] Method 2: By solidifying the two motors as a positive motor and a negative motor respectively, the positive motor is responsible for providing the positive torque of the whole vehicle under all working conditions, and the negative motor is responsible for providing the negative torque of the whole vehicle under all working conditions, so that the torque of the two motors does not exceed zero. However, this method will cause the dual motors to be unable to work together. While significantly increasing costs, it will also limit the maximum output capacity of the power system, causing waste of resources and reducing the economy and power of the vehicle.

[0034] Method three: By adjusting the output delay when switching between positive and negative torque, the torque can be maintained at zero torque output for a certain period of time to alleviate the impact on the gear meshing surface. However, this method will cause a certain period of no output torque when the torque passes through zero, resulting in a delay in torque response and even power interruption, thereby reducing the vehicle's drivability and power.

[0035] According to an embodiment of the present invention, an embodiment of a method for controlling vehicle torque is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0036] The method embodiment can be executed in an electronic device or a similar computing device including a memory and a processor. Taking running on a vehicle terminal as an example, the vehicle terminal may include one or more processors (the processor may include but is not limited to a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a programmable logic device (Field Programmable Gate Array, FPGA), a neural network processor (Neural-network Processor Unit, NPU), a tensor processor (Tensor Processing Unit, TPU), an artificial intelligence (Artificial Intelligence, AI) type processor, etc.) and a memory for storing data. Optionally, the above-mentioned vehicle terminal may also include a transmission device for communication functions. It can be understood by those of ordinary skill in the art that the above-mentioned structural description is only illustrative and does not limit the structure of the above-mentioned vehicle terminal. For example, the vehicle terminal may also include more or fewer components than the above-mentioned structural description, or have a configuration different from the above-mentioned structural description.

[0037] The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the vehicle torque control method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the above-mentioned vehicle torque control method is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the vehicle terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0038] The transmission device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the vehicle terminal. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0039] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with the user interface of the vehicle terminal. In some embodiments, the vehicle terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on the touch-sensitive surface. The human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0040] In this embodiment, a method for controlling vehicle torque running in the above-mentioned vehicle terminal is provided. Figure 1 is a flow chart of a method for controlling vehicle torque according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0041] Step S11, obtaining an initial torque and a target torque of the vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor;

[0042] The above initial torque is the output torque of the vehicle before the torque adjustment, and the above target torque is the output torque of the vehicle after the torque adjustment. The initial torque and the target torque of the vehicle can be provided by the first motor and the second motor of the vehicle, that is, the initial torque and the target torque can be obtained by superimposing the output torques of the first motor and the second motor, and the directions of the initial torque and the target torque are opposite. When the vehicle torque is stable at the initial torque or the target torque, the output torque of the first motor and the output torque of the second motor can be torques with exactly the same direction and magnitude, or can be torques with the same direction but different magnitudes.

[0043] The target operating condition may include a short period of time from zero throttle to high throttle, i.e., a Tip-in operating condition, and a short period of time from high throttle to zero throttle, i.e., a Tip-out operating condition. For example, in the Tip-in operating condition, the initial torque is a negative torque and the target torque is a positive torque; in the Tip-out operating condition, the initial torque is a positive torque and the target torque is a negative torque.

[0044] Step S12, determining the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stages include: a first adjustment stage, a second adjustment stage and a third adjustment stage, in which in the first adjustment stage, the output torques of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torque of the first motor is in the same direction as the target torque, and the output torque of the second motor is in the same direction as the initial torque; in the third adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque;

[0045] Specifically, in the second adjustment stage, the vehicle torque will cross zero. When the initial torque is a negative torque and the target torque is a positive torque, in the first adjustment stage, the output torque of the first motor and the second motor is a negative torque, in the second adjustment stage, the output torque of the first motor is a positive torque, and the output torque of the second motor is a negative torque, and in the third adjustment stage, the output torque of the first motor and the second motor is a positive torque. When the initial torque is a positive torque and the target torque is an auxiliary torque, in the first adjustment stage, the output torque of the first motor and the second motor is a positive torque, in the second adjustment stage, the output torque of the first motor is a negative torque, and the output torque of the second motor is a positive torque, and in the third adjustment stage, the output torque of the first motor and the second motor is a negative torque.

[0046] Step S13, adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor at different torque adjustment stages.

[0047] Through the above steps, by obtaining the initial torque and target torque of the vehicle under the target working condition, wherein the initial torque and the target torque are in opposite directions, the vehicle includes a first motor and a second motor, and then based on the initial torque and / or the target torque, the torque adjustment rates of the first motor and the second motor in different torque adjustment stages are determined, and finally based on the torque adjustment rates of the first motor and the second motor in different torque adjustment stages, the vehicle torque is adjusted from the initial torque to the target torque, thereby achieving the purpose of avoiding the torque zero-crossing shock, thereby achieving the technical effect of improving the driving experience of the whole vehicle and the vehicle dynamics, and then solving the technical problems of vehicle power interruption and driving shock caused by the torque zero-crossing shock when switching between positive and negative torques.

[0048] The vehicle torque control method proposed in the embodiment of the present invention is further introduced below.

[0049] Optionally, in step S12, determining the torque adjustment rate of the first motor and the second motor in the first adjustment stage based on the initial torque includes:

[0050] Step S121, determining a first target adjustment rate based on the initial torque, wherein the first target adjustment rate is a torque adjustment rate of the vehicle torque in the first adjustment stage;

[0051] Step S122, based on the first target adjustment rate, a first torque adjustment rate corresponding to the first motor and a second torque adjustment rate corresponding to the second motor are set, wherein in the first adjustment stage, the moment when the output torque of the first motor changes to zero value and the moment when the output torque of the second motor changes to zero value are separated by a first preset time length, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate.

[0052] Specifically, the first target adjustment rate is the torque change rate in the process of adjusting the vehicle torque from the initial torque to zero torque, and the torque change rate can be finely calibrated according to actual driving needs. For example, when the initial torque of the vehicle is negative torque, the first target adjustment rate can be set to 1000. Furthermore, the first target adjustment rate can be set to a more detailed interval, for example, when the vehicle torque is between -500 and -200, the first target adjustment rate is 1000; when the vehicle torque is between -200 and 0, the first target adjustment rate is 500.

[0053] The first torque adjustment rate and the second torque adjustment rate corresponding to the first motor and the second motor in the first adjustment stage are set based on the first target adjustment rate. Before adjusting the vehicle torque, if the output torque of the first motor and the output torque of the second motor are exactly the same in direction and magnitude, when setting based on the first target adjustment rate, the first torque adjustment rate can be made greater than the second torque adjustment rate, so that the output torque of the first motor can reach zero torque before the output torque of the second motor, that is, after the output torque of the first motor changes to zero value, the output torque of the second motor changes to zero value again after the second motor continues to run for a first preset time.

[0054] Based on the above optional embodiments, the first motor and the second motor can be controlled to output torque in the same direction in the first adjustment stage, so as to give full play to the power output potential of the dual motors, increase the rate of change of the vehicle torque crossing zero, and improve the torque response delay.

[0055] Optionally, in step S12, determining the torque adjustment rate of the first motor and the second motor in the second adjustment phase based on the initial torque and the target torque includes:

[0056] Step S123, in response to the output torque of the first motor being equal to zero, turning off the first motor, and setting the first target adjustment rate to a third torque adjustment rate corresponding to the second motor in the second adjustment stage;

[0057] Step S124, determining a second target adjustment rate based on the target torque, wherein the second target adjustment rate is a torque adjustment rate of the vehicle torque in the third adjustment stage;

[0058] Step S125 , in response to the output torque of the second motor being equal to zero, the second motor is turned off, and the second target adjustment rate is set to the fourth torque adjustment rate corresponding to the first motor in the second adjustment stage.

[0059] Specifically, by setting the first torque adjustment rate corresponding to the first motor and the second torque adjustment rate corresponding to the second motor based on the first target adjustment rate, the time when the output torque of the first motor changes to zero and the time when the output torque of the second motor changes to zero are separated by a first preset time length, that is, the time when the output torque of the first motor reaches zero torque will be earlier than the time when the output torque of the second motor reaches zero torque. After the output torque of the first motor is zero, the first motor is turned off, and the output torque change rate of the second motor is adjusted from the second torque adjustment rate to the third torque adjustment rate, and the third torque adjustment rate is equal to the first target adjustment rate.

[0060] In the second adjustment stage, after the output torque of the first motor reaches zero torque and before the output torque of the second motor reaches zero torque, that is, within the first preset time, the first motor is in a shutdown state, which can avoid the meshing collision of the first motor's gears and fundamentally solve the drivability and NVH problems caused by the torque zero impact. At the same time, in order to ensure that the torque change rate of the vehicle's overall torque remains unchanged, the second motor running alone during this period needs to bear the output torque of the entire vehicle, thereby ensuring that the vehicle's power is not affected.

[0061] The second target adjustment rate is the torque change rate in the process of adjusting the vehicle torque from zero torque to the target torque, and the torque change rate can be finely calibrated according to the actual driving needs. For example, when the vehicle target torque is positive torque, the second target adjustment rate can be set to 1000. Furthermore, the second target adjustment rate can be set to a more detailed interval, for example, when the vehicle torque is between 0 and 200, the second target adjustment rate is 500; when the vehicle torque is between 200 and 500, the second target adjustment rate is 1000.

[0062] Furthermore, when the output torque of the second motor is equal to zero, the output torque of the whole vehicle is also equal to zero. At this time, the second motor is controlled to be in a shutdown state, which can avoid the meshing collision of the gears of the second motor, and fundamentally solve the drivability and NVH problems caused by the torque zero impact. At the same time, in order to ensure that the vehicle torque can be continuously and steadily adjusted to the target torque, the first motor running alone needs to bear the output torque of the whole vehicle. Therefore, the second target adjustment rate after the vehicle torque passes zero is set to the torque change rate of the first motor, so as to ensure that the power of the vehicle is not affected.

[0063] Based on the above optional embodiments, by dynamically matching the start and stop states of the first motor and the second motor during the stage of changing the direction of the vehicle torque, it is ensured that there is a motor that continuously provides output torque for the entire vehicle, and can meet the first target adjustment rate before the vehicle torque passes through zero and the second target adjustment rate after the vehicle torque passes through zero, thereby avoiding power interruption and driving shock caused by torque response delay and constantly changing torque change rate.

[0064] Optionally, in step S12, determining the torque adjustment rate of the first motor and the second motor in the third adjustment stage based on the target torque includes:

[0065] Step S126, in response to the first motor running at the fourth torque adjustment rate reaching a second preset time length, the fifth torque adjustment rate corresponding to the first motor and the sixth torque adjustment rate corresponding to the second motor are determined according to the second target adjustment rate, wherein the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate.

[0066] Specifically, in the second adjustment stage, when the second motor stops running and the first motor runs at the fourth torque adjustment rate for a second preset time, the fifth torque adjustment rate and the sixth torque adjustment rate corresponding to the first motor and the second motor in the third adjustment stage are determined according to the second target adjustment rate. If the output torque of the first motor and the output torque of the second motor are exactly the same in direction and magnitude when the vehicle torque is stable at the target torque, the fifth torque adjustment rate can be made greater than the sixth torque adjustment rate when the setting is based on the second target adjustment rate. Among them, the fourth torque adjustment rate is equal to the second target adjustment rate, and the second preset time can be calibrated according to the motor parameters. For example, the second preset time can be calibrated according to the actual conditions of parameters such as motor power and motor maximum torque change rate.

[0067] Based on the above optional embodiments, the first motor and the second motor can be controlled to output torque in the same direction in the third adjustment stage, so as to give full play to the power output potential of the dual motors and increase the rate of change of the vehicle torque when it passes through zero, thereby effectively improving the torque response delay.

[0068] Optionally, the vehicle torque control method of the embodiment of the present application further includes:

[0069] Step S131, in response to the output torque of the first motor being equal to zero, controlling the vehicle to switch from the first adjustment stage to the second adjustment stage;

[0070] Step S132, in response to the time that the first motor runs at the fourth torque adjustment rate reaching a second preset time length, controlling the vehicle to switch from the second adjustment stage to the third adjustment stage.

[0071] Based on the above optional implementation, the first motor and the second motor can be controlled to switch at different torque adjustment stages, so as to operate at the corresponding torque adjustment rate after switching, and the power generated by the dual motors can be fully utilized to adjust the vehicle torque.

[0072] Optionally, the vehicle torque control method of the embodiment of the present application further includes:

[0073] In step S14 , in response to the sum of the output torques of the first motor and the second motor being equal to the target torque, the torque adjustment rates of the first motor and the second motor are adjusted to zero.

[0074] Specifically, after the sum of the output torques of the first motor and the second motor is equal to the target torque, the first motor and the second motor output the same torque, thereby completing the adjustment of the vehicle torque. At this time, the torque adjustment rate is adjusted to zero, which can ensure the stable operation of the dual motors, thereby obtaining a stable output target torque.

[0075] The above-mentioned vehicle torque control method is further introduced below with reference to the accompanying drawings.

[0076] Figure 2 is a schematic diagram of a method for controlling vehicle torque according to an embodiment of the present invention, such as Figure 2 As shown, the initial torque is a negative torque and the target torque is a positive torque. Before the torque adjustment, the output torques of the first motor and the second motor have the same direction and magnitude, and the value of the superposition of the output torques of the two motors is the initial torque. After the torque adjustment, the output torques of the first motor and the second motor have the same direction and magnitude, and the value of the superposition of the output torques of the two motors is the target torque.

[0077] In the first adjustment stage, the vehicle torque operates at a first target adjustment rate, the first motor operates at a first torque adjustment rate, and the second motor operates at a second torque adjustment rate, the first torque adjustment rate is greater than the second torque adjustment rate, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate. When the output torque of the first motor is equal to zero, the vehicle is controlled to switch from the first adjustment stage to the second adjustment stage.

[0078] In the second adjustment stage, when the output torque of the first motor is equal to zero, the first motor is turned off, and the output torque of the second motor is controlled to run at the first target adjustment rate. When the output torque of the second motor is equal to zero, the second motor is turned off, and the output torque of the first motor is controlled to run at the second target adjustment rate. When the running time of the first motor reaches the second preset time, the vehicle is controlled to switch from the second adjustment stage to the third adjustment stage.

[0079] In the third adjustment stage, the vehicle torque operates at the second target adjustment rate, the first motor operates at the fifth torque adjustment rate, and the second motor operates at the sixth torque adjustment rate, the fifth torque adjustment rate is less than the sixth torque adjustment rate, and the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate. When the sum of the output torques of the first motor and the second motor is equal to the target torque, the torque adjustment rates of the first motor and the second motor are adjusted to zero.

[0080] Figure 3 is a schematic diagram of another method for controlling vehicle torque according to an embodiment of the present invention, such as Figure 3 As shown, the initial torque is a positive torque and the target torque is a negative torque. Before the torque adjustment, the output torques of the first motor and the second motor have the same direction and magnitude, and the value of the superposition of the output torques of the two motors is the initial torque. After the torque adjustment, the output torques of the first motor and the second motor have the same direction and magnitude, and the value of the superposition of the output torques of the two motors is the target torque.

[0081] In the first adjustment stage, the vehicle torque operates at a first target adjustment rate, the first motor operates at a first torque adjustment rate, and the second motor operates at a second torque adjustment rate, the first torque adjustment rate is greater than the second torque adjustment rate, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate. When the output torque of the first motor is equal to zero, the vehicle is controlled to switch from the first adjustment stage to the second adjustment stage.

[0082] In the second adjustment stage, when the output torque of the first motor is equal to zero, the first motor is turned off, and the output torque of the second motor is controlled to run at the first target adjustment rate. When the output torque of the second motor is equal to zero, the second motor is turned off, and the output torque of the first motor is controlled to run at the second target adjustment rate. When the running time of the first motor reaches the second preset time, the vehicle is controlled to switch from the second adjustment stage to the third adjustment stage.

[0083] In the third adjustment stage, the vehicle torque operates at the second target adjustment rate, the first motor operates at the fifth torque adjustment rate, and the second motor operates at the sixth torque adjustment rate, the fifth torque adjustment rate is less than the sixth torque adjustment rate, and the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate. When the sum of the output torques of the first motor and the second motor is equal to the target torque, the torque adjustment rates of the first motor and the second motor are adjusted to zero.

[0084] Figure 4 is a comparative schematic diagram of a vehicle torque control method according to an embodiment of the present invention, such as Figure 4 As shown, the initial torque is a negative torque and the target torque is a positive torque. Figure 5 It is a comparative schematic diagram of another vehicle torque control method according to an embodiment of the present invention, in which the initial torque is positive torque and the target torque is negative torque. In order to avoid excessive zero-crossing impact, the torque of the traditional control method reduces the torque change rate, so the adjustment time is too long. In addition, although the change of vehicle torque is slowed down, the generation of zero-crossing impact cannot be avoided during the direct switching of positive and negative torques. However, the vehicle torque control method proposed in the embodiment of the present invention divides the vehicle torque change process into the first adjustment stage, the second adjustment stage and the third adjustment stage, wherein, in the first adjustment stage and the third adjustment stage, the dual motors work together to output the same direction torque, give full play to the power output potential of the dual motors, and increase the change rate of the vehicle torque zero-crossing, thereby improving the torque response delay; in the second adjustment stage, by adjusting the start-stop state of the dual motors, when the dual motors switch between positive and negative torques, the motor engagement collision is avoided by maintaining a certain period of shutdown state, which can fundamentally solve the drivability and NVH problems caused by the torque zero-crossing impact.

[0085] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, or by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for an electronic device to execute the methods described in each embodiment of the present invention.

[0086] In this embodiment, a vehicle torque control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementations, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0087] Figure 6 is a structural block diagram of a vehicle torque control device according to an embodiment of the present invention. Figure 6 As shown, the vehicle torque control device 600 includes:

[0088] An acquisition module 601 is used to acquire an initial torque and a target torque of a vehicle under a target working condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor;

[0089] A determination module 602 is used to determine the torque adjustment rate of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stage includes: a first adjustment stage, a second adjustment stage and a third adjustment stage, in which the output torque of the first motor and the second motor has the same direction as the initial torque; in the second adjustment stage, the output torque of the first motor has the same direction as the target torque, and the output torque of the second motor has the same direction as the initial torque; in the third adjustment stage, the output torque of the first motor and the second motor has the same direction as the target torque;

[0090] The adjustment module 603 is used to adjust the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor at different torque adjustment stages.

[0091] Optionally, the determination module 602 is also used to: determine a first target adjustment rate based on the initial torque, wherein the first target adjustment rate is the torque adjustment rate of the vehicle torque in the first adjustment stage; set a first torque adjustment rate corresponding to the first motor and a second torque adjustment rate corresponding to the second motor based on the first target adjustment rate, wherein, in the first adjustment stage, the moment when the output torque of the first motor changes to zero value and the moment when the output torque of the second motor changes to zero value are separated by a first preset time length, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate.

[0092] Optionally, the determination module 602 is also used to: in response to the output torque of the first motor being equal to zero, turn off the first motor, and set the first target adjustment rate to a third torque adjustment rate corresponding to the second motor in the second adjustment stage; determine the second target adjustment rate based on the target torque, wherein the second target adjustment rate is the torque adjustment rate of the vehicle torque in the third adjustment stage; in response to the output torque of the second motor being equal to zero, turn off the second motor, and set the second target adjustment rate to a fourth torque adjustment rate corresponding to the first motor in the second adjustment stage.

[0093] Optionally, the determination module 602 is also used to: in response to the time when the first motor runs at the fourth torque adjustment rate reaching a second preset time length, determine the fifth torque adjustment rate corresponding to the first motor and the sixth torque adjustment rate corresponding to the second motor according to the second target adjustment rate, wherein the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate.

[0094] Optionally, the vehicle torque control device 600 also includes: a control module 603, which is used to control the vehicle to switch from the first adjustment stage to the second adjustment stage in response to the output torque of the first motor being equal to zero; the control module 603 is also used to control the vehicle to switch from the second adjustment stage to the third adjustment stage in response to the time when the first motor runs at a fourth torque adjustment rate reaching a second preset time length.

[0095] Optionally, the adjustment module 603 is further configured to adjust the torque adjustment rates of the first motor and the second motor to zero in response to the sum of the output torques of the first motor and the second motor being equal to the target torque.

[0096] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0097] An embodiment of the present invention further provides a non-volatile storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0098] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0099] S1, obtaining an initial torque and a target torque of a vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor;

[0100] S2, determining the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stages include: a first adjustment stage, a second adjustment stage and a third adjustment stage, in which in the first adjustment stage, the output torques of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torque of the first motor is in the same direction as the target torque, and the output torque of the second motor is in the same direction as the initial torque; in the third adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque;

[0101] S3, adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor at different torque adjustment stages.

[0102] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0103] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0104] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0105] S1, obtaining an initial torque and a target torque of a vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor;

[0106] S2, determining the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stages include: a first adjustment stage, a second adjustment stage and a third adjustment stage, in which in the first adjustment stage, the output torques of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torque of the first motor is in the same direction as the target torque, and the output torque of the second motor is in the same direction as the initial torque; in the third adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque;

[0107] S3, adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor at different torque adjustment stages.

[0108] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0109] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0111] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0112] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0114] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling vehicle torque, characterized in that: include: Acquire an initial torque and a target torque of a vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor; determining the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stage includes: a first adjustment stage, a second adjustment stage and a third adjustment stage, in which the output torques of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque, and the output torques of the second motor are in the same direction as the initial torque; in the third adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque; adjusting the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor at the different torque adjustment stages; Wherein, determining the torque adjustment rates of the first motor and the second motor at different torque adjustment stages based on the initial torque and / or the target torque includes: determining a first target adjustment rate based on the initial torque, wherein the first target adjustment rate is a torque adjustment rate of the vehicle torque in the first adjustment stage; A first torque adjustment rate corresponding to the first motor and a second torque adjustment rate corresponding to the second motor are set based on the first target adjustment rate, wherein in the first adjustment stage, the moment when the output torque of the first motor changes to zero and the moment when the output torque of the second motor changes to zero are separated by a first preset time length, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate.

2. The vehicle torque control method according to claim 1, characterized in that: Determining the torque adjustment rate of the first motor and the second motor in the second adjustment phase based on the initial torque and the target torque includes: In response to the output torque of the first motor being equal to zero, turning off the first motor, and setting the first target adjustment rate to a third torque adjustment rate corresponding to the second motor in the second adjustment stage; determining a second target adjustment rate based on the target torque, wherein the second target adjustment rate is a torque adjustment rate of the vehicle torque in the third adjustment stage; In response to the output torque of the second motor being equal to zero, the second motor is turned off, and the second target adjustment rate is set to a fourth torque adjustment rate corresponding to the first motor in the second adjustment stage.

3. The vehicle torque control method according to claim 2, characterized in that: Determining the torque adjustment rate of the first motor and the second motor in the third adjustment stage based on the target torque includes: In response to the time when the first motor runs at the fourth torque adjustment rate reaching a second preset time length, the fifth torque adjustment rate corresponding to the first motor and the sixth torque adjustment rate corresponding to the second motor are determined according to the second target adjustment rate, wherein the sum of the fifth torque adjustment rate and the sixth torque adjustment rate is the second target adjustment rate.

4. The vehicle torque control method according to claim 3, characterized in that: The method further comprises: In response to the output torque of the first motor being equal to zero, controlling the vehicle to switch from the first adjustment stage to the second adjustment stage; In response to the time during which the first motor operates at the fourth torque adjustment rate reaching the second preset time period, the vehicle is controlled to switch from the second adjustment stage to the third adjustment stage.

5. The vehicle torque control method according to claim 1, characterized in that: The method further comprises: In response to a sum of the output torques of the first motor and the second motor being equal to the target torque, torque adjustment rates of the first motor and the second motor are adjusted to a zero value.

6. A vehicle torque control device, characterized in that: include: an acquisition module, configured to acquire an initial torque and a target torque of a vehicle under a target operating condition, wherein the initial torque and the target torque are in opposite directions, and the vehicle includes a first motor and a second motor; a determination module, configured to determine the torque adjustment rates of the first motor and the second motor in different torque adjustment stages based on the initial torque and / or the target torque, wherein the torque adjustment stage includes: a first adjustment stage, a second adjustment stage and a third adjustment stage, in which the output torques of the first motor and the second motor are in the same direction as the initial torque; in the second adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque, and the output torques of the second motor are in the same direction as the initial torque; in the third adjustment stage, the output torques of the first motor and the second motor are in the same direction as the target torque; an adjustment module, configured to adjust the vehicle torque from the initial torque to the target torque based on the torque adjustment rates of the first motor and the second motor at the different torque adjustment stages; Wherein, the determination module is also used to: determine a first target adjustment rate based on the initial torque, wherein the first target adjustment rate is the torque adjustment rate of the vehicle torque in the first adjustment stage; set a first torque adjustment rate corresponding to the first motor and a second torque adjustment rate corresponding to the second motor based on the first target adjustment rate, wherein, in the first adjustment stage, the moment when the output torque of the first motor changes to zero value and the moment when the output torque of the second motor changes to zero value are separated by a first preset time length, and the sum of the first torque adjustment rate and the second torque adjustment rate is the first target adjustment rate.

7. A non-volatile storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the vehicle torque control method described in any one of claims 1 to 5 when running.

8. A processor, characterized in that: The processor is used to run a program, wherein the program is configured to execute the vehicle torque control method described in any one of claims 1 to 5 when running.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the vehicle torque control method described in any one of claims 1 to 5.

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