Vehicle multi-dimensional torque control method and system

Abstract

The present invention discloses a vehicle multi-dimensional torque control method and system, the method includes the following steps: building a multi-dimensional torque control simulation model for electric vehicles, the multi-dimensional torque control simulation model for electric vehicles including a torque control model and a vehicle dynamics model; obtaining vehicle operation simulation test data obtained from a vehicle dynamics model vehicle simulation test at the last moment; inputting the obtained vehicle operation simulation test data into the torque control model to obtain the target output torque of the vehicle; and controlling the motor to output the target output torque of the vehicle to drive the vehicle. The vehicle multi-dimensional torque control method provided in the present application processes the vehicle operation simulation test data through a torque control model to obtain the target output torque of the vehicle, realizes rapid calibration of control parameters, provides convenience for on-site vehicle debugging, and realizes smooth output of vehicle torque with the target output torque of the vehicle, ensuring the smoothness, comfort and safety of vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle multi-dimensional torque control method and system. Background Art

[0002] The accurate torque output of the drive system is a key indicator of the power output of new energy vehicles. Abnormal torque output will cause abnormal acceleration and deceleration of the vehicle, which may endanger the driver's life in serious cases. The rapidity, accuracy and stability of vehicle torque control are the research directions of new energy vehicle electronic control.

[0003] There are few studies on the torque control strategy of new energy vehicles at home and abroad, but most of them focus on how to achieve single torque control, which cannot effectively ensure the smoothness and safety of vehicle driving. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and to provide a vehicle multi-dimensional torque control method and system.

[0005] In a first aspect, the present application provides a vehicle multi-dimensional torque control method, comprising the following steps:

[0006] Step S1, building a multi-dimensional torque control simulation model for an electric vehicle, wherein the multi-dimensional torque control simulation model for an electric vehicle includes a torque control model and a vehicle dynamics model;

[0007] Step S2, obtaining vehicle operation simulation test data obtained by the vehicle dynamics model vehicle simulation test at the previous moment;

[0008] Step S3, inputting the acquired vehicle operation simulation test data into the torque control model to obtain the target output torque of the whole vehicle;

[0009] Step S4: Control the motor to output the target output torque of the vehicle to drive the vehicle.

[0010] According to the first aspect, in a first possible implementation of the first aspect, the step S3, inputting the acquired vehicle operation simulation test data into the torque control model to obtain the target output torque of the whole vehicle, specifically includes the following steps:

[0011] Step S31, inputting the vehicle operation simulation test data at the last moment into the torque control model to obtain the vehicle state;

[0012] Step S32, obtaining a state target torque of the vehicle in various states according to the obtained vehicle state;

[0013] Step S33: Obtain the target output torque of the whole vehicle according to the state target torque of the vehicle in various states.

[0014] According to the first aspect, in a second possible implementation of the first aspect, the step S32, the step of acquiring the state target torque of the vehicle in various states according to the acquired vehicle state, specifically includes the following steps:

[0015] When the vehicle is in a driving activation state and the accelerator pedal is greater than a preset pedal opening value, the output accelerator pedal torque is controlled;

[0016] When the vehicle is in a driving activation state and the accelerator pedal is less than a preset pedal opening value, the output creep torque is controlled;

[0017] When the vehicle is in the energy feedback activation state and the brake pedal is greater than the preset pedal opening value, the output braking torque is controlled;

[0018] When the vehicle is in the energy feedback activation state and the brake pedal is less than the preset pedal opening value, the output coasting torque is controlled;

[0019] According to the output accelerator pedal torque and creep torque (or braking torque and coasting torque), the state target torque corresponding to the vehicle being in the driving activation state (or energy feedback activation state) is obtained.

[0020] According to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of acquiring a state target torque corresponding to the vehicle being in a driving activation state (or an energy feedback activation state) according to the output accelerator pedal torque and creep torque (or braking torque and coasting torque) specifically includes the following steps:

[0021] Taking the larger value of the accelerator pedal torque and the creep torque as the driving state target torque when the vehicle is in a driving activation state;

[0022] The smaller value between the coasting torque and the braking torque is taken as the energy regeneration state target torque when the vehicle is in the energy regeneration activation state.

[0023] According to the first aspect, in a fourth possible implementation of the first aspect, the step S33, the step of obtaining the target output torque of the whole vehicle according to the state target torque of the vehicle in various states, specifically includes the following steps:

[0024] According to the state target torque of the vehicle in various states, the real-time target torque of the whole vehicle is obtained;

[0025] According to the real-time target torque of the vehicle, the target output torque of the vehicle is obtained.

[0026] According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of obtaining the real-time target torque of the whole vehicle according to obtaining the state target torque of the vehicle in various states specifically includes the following steps:

[0027] The target torque of the driving state and the target torque of the energy feedback state are numerically transformed according to the following formula to obtain the real-time target torque of the whole vehicle:

[0028] T target =η[max(αT aps , βT creep )+min(λT slip , (1-λ)T brake )],

[0029] Where α is the accelerator pedal correlation coefficient, β is the creep correlation coefficient, and λ is the coasting correlation coefficient.

[0030] According to the fourth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of obtaining the target output torque of the whole vehicle according to the real-time target torque of the whole vehicle specifically includes the following steps:

[0031] Limit the vehicle's real-time target torque and the vehicle's real-time output torque in the driving state to real-time torque limit T DriveLimit Real-time torque limit T in energy feedback state RegenLimit between;

[0032] The vehicle real-time target torque and the vehicle real-time output torque after limitation are numerically transformed according to the following formula to obtain the vehicle target output torque:

[0033] T out (n) = T out (n-1)+s(T out →T target )

[0034] Among them, T out (n-1) is the real-time output torque of the vehicle at time n-1, s is the real-time step size of the torque filter, T out The real-time output torque of the vehicle, T target is the real-time target torque of the vehicle, T out (n) is the real-time output torque of the vehicle at time n.

[0035] According to the first aspect, in a seventh possible implementation manner of the first aspect, the step of controlling the motor to output the target output torque of the vehicle to drive the vehicle comprises the following steps:

[0036] The target output torque of the vehicle is numerically transformed according to the following formula to obtain the controlled vehicle speed:

[0037]

[0038] Where, T out (n) is the target output torque of the vehicle at the motor end at time n-1; i m is the speed ratio; η T is the mechanical efficiency; r is the tire radius; G is the vehicle weight; f is the rolling resistance coefficient; i is the road slope; C D is the drag coefficient; A is the windward area; u a is the vehicle speed; δ is the rotation mass conversion coefficient; m is the vehicle mass; is the current acceleration;

[0039] Convert the vehicle speed into a numerical value according to the following formula to obtain the motor control speed:

[0040]

[0041] Where n is the motor control speed; i m is the speed ratio; r is the tire radius; u a is the vehicle speed;

[0042] The vehicle motor is controlled to run at the acquired motor control speed to drive the vehicle to travel.

[0043] In a second aspect, the present application provides a vehicle multi-dimensional torque control system, characterized in that it includes:

[0044] A model building module, used to build a multi-dimensional torque control simulation model of an electric vehicle, wherein the multi-dimensional torque control simulation model of an electric vehicle includes a torque control model and a vehicle dynamics model;

[0045] A vehicle operation simulation test data acquisition module is used to acquire the vehicle operation simulation test data of the vehicle dynamics model at the previous moment;

[0046] A whole vehicle target output torque acquisition module, which is in communication connection with the model building module and the vehicle operation simulation test data acquisition module, and is used to input the acquired vehicle operation simulation test data value torque control model to acquire the whole vehicle target output torque;

[0047] The vehicle driving control module is communicatively connected with the vehicle target output torque acquisition module and is used to control the motor to output the vehicle target output torque to drive the vehicle to travel.

[0048] According to the second aspect, in a first possible implementation manner of the second aspect, the vehicle target output torque acquisition module includes:

[0049] A vehicle state acquisition submodule is connected to the vehicle operation simulation test data acquisition module for inputting the vehicle operation simulation test data at the last moment into the torque control model to acquire the vehicle state;

[0050] A target torque acquisition submodule, which is in communication with the vehicle state acquisition module and is used to acquire a state target torque of the vehicle in various states according to the acquired vehicle state;

[0051] The vehicle target output torque acquisition submodule is in communication with the target torque acquisition submodule and is used to acquire the vehicle target output torque according to the state target torque corresponding to each activation state.

[0052] Compared with the prior art, the advantages of the present invention are as follows:

[0053] The vehicle multi-dimensional torque control method provided in the present application uses the vehicle operation simulation test data obtained by the vehicle dynamics model as the input of the torque control model, and the output torque of the torque control model as the input of the vehicle dynamics model. The two models form a closed-loop control link, and the vehicle operation simulation test data is processed by the torque control model to obtain the target output torque of the whole vehicle, thereby realizing rapid calibration of control parameters, providing convenience for on-site vehicle debugging, and realizing smooth output of vehicle torque with the target output torque of the whole vehicle, thereby ensuring the smoothness, comfort and safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a method flow chart of a vehicle multi-dimensional torque control method provided by an embodiment of the present application;

[0055] Figure 2 is another method flow chart of the vehicle multi-dimensional torque control method provided by an embodiment of the present application;

[0056] Figure 3 It is a functional module block diagram of a vehicle multi-dimensional torque control system provided by an embodiment of the present application;

[0057] Figure 4 It is another functional module block diagram of the vehicle multi-dimensional torque control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the embodiments described. On the contrary, it is intended to cover changes, modifications and equivalents included in the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0059] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0060] Note: The example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0061] First, please refer to Figure 1 The present application provides a vehicle multi-dimensional torque control method, comprising the following steps:

[0062] Step S1, building a multi-dimensional torque control simulation model for an electric vehicle, wherein the multi-dimensional torque control simulation model for an electric vehicle includes a torque control model and a vehicle dynamics model, wherein the vehicle dynamics model is used to perform a whole vehicle simulation operation test and obtain vehicle operation simulation test data, and wherein the torque control module is used to obtain a target output torque of the whole vehicle according to the vehicle operation simulation test data output at the last moment;

[0063] Step S2, obtaining vehicle operation simulation test data obtained by the vehicle dynamics model vehicle simulation test at the previous moment;

[0064] Step S3, inputting the acquired vehicle operation simulation test data into the torque control model to obtain the target output torque of the whole vehicle;

[0065] Step S4: Control the motor to output the target output torque of the vehicle to drive the vehicle.

[0066] The multi-dimensional torque control method for a vehicle provided in the present application realizes rapid calibration of the control parameters and the target output torque of the whole vehicle by building a torque control model and a vehicle dynamics model and developing a simulation system, thereby facilitating on-site debugging of the vehicle and controlling the vehicle motor to output the target output torque of the whole vehicle to ensure the smoothness, comfort and safety of the vehicle's driving.

[0067] In one embodiment, the vehicle dynamics model is constructed, specifically comprising the following steps: using the vehicle dynamics balance equation, the vehicle target output torque T is set by the control parameter out (n) Get vehicle speed u a :

[0068]

[0069] Where, T out (n) is the target output torque of the vehicle at the motor end; i m is the speed ratio; η T is the mechanical efficiency; r is the tire radius; G is the vehicle weight; f is the rolling resistance coefficient; i is the road slope; C D is the drag coefficient; A is the windward area; u a is the vehicle speed; δ is the rotation mass conversion coefficient; m is the vehicle mass; is the current acceleration.

[0070] Then the vehicle speed u a Converted into motor control speed n:

[0071]

[0072] Where n is the motor control speed; i m is the speed ratio; r is the tire radius; u a For vehicle speed.

[0073] Thus, a vehicle dynamics model is constructed that shows the relationship among the target output torque of the vehicle, the vehicle speed and the motor control speed.

[0074] In one embodiment, please refer to Figure 2 The step S3, inputting the obtained vehicle operation simulation test data into the torque control model to obtain the target output torque of the whole vehicle, specifically includes the following steps:

[0075] Step S31, inputting the vehicle operation simulation test data of the previous moment into the torque control model to obtain the vehicle state, wherein the vehicle operation simulation test data includes the brake pedal opening, the accelerator pedal opening, the vehicle speed, the gear position, the EPB and the current torque;

[0076] Step S32, obtaining a state target torque of the vehicle in various states according to the obtained vehicle state;

[0077] Step S33: Obtain the target output torque of the whole vehicle according to the state target torque of the vehicle in various states.

[0078] The vehicle multi-dimensional torque control method provided in the present application obtains the state target torque in each state based on the vehicle operation simulation test data, and then obtains the final vehicle target output torque that the motor needs to control the output based on the state target torque in each state.

[0079] In one embodiment, the step S31, inputting the vehicle operation simulation test data at the previous moment into the torque control model to obtain the vehicle state, specifically includes the following steps:

[0080] When the vehicle startup state is Ready, the gear is in forward gear or reverse gear, the accelerator pedal signal is valid, the vehicle speed or speed signal is valid, the brake pedal signal is not pressed, and the electronic parking brake system (EPB) is in the released state or being released, the vehicle is in the drive activated state, otherwise it is in the drive exited state;

[0081] When the vehicle startup state is Ready, the gear is in forward gear or reverse gear, the vehicle speed is greater than the preset speed value, the anti-lock braking system (ABS) is not activated, and the battery management system (BMS) chargeable power is greater than 0, the vehicle is in the energy feedback activation state, otherwise the vehicle is in the energy feedback exit state.

[0082] In one embodiment, the step S32, the step of obtaining the state target torque of the vehicle in various states according to the obtained vehicle state, specifically includes the following steps:

[0083] When the vehicle is in a driving activation state and the accelerator pedal is greater than a preset pedal opening value, the accelerator pedal torque condition is met and the output accelerator pedal torque is controlled;

[0084] When the vehicle is in a driving activation state and the accelerator pedal is less than a preset pedal opening value, the creep torque condition is met and the output creep torque is controlled;

[0085] When the vehicle is in the energy feedback activation state and the brake pedal is greater than the preset pedal opening value, the braking torque condition is met and the output braking torque is controlled;

[0086] When the vehicle is in the energy feedback activation state and the brake pedal is less than the preset pedal opening value, the coasting torque condition is met and the output coasting torque is controlled;

[0087] Based on the output accelerator pedal torque and creep torque (and / or braking torque and coasting torque), the corresponding state target torque when the vehicle is in a drive activation state (and / or energy feedback activation state) is obtained, thereby considering the torque output control needs of the vehicle in different states when it is in the drive activation state and / or energy feedback activation state, so as to ensure the safety and smoothness of vehicle driving and realize torque management of the target output torque of the whole vehicle.

[0088] In one embodiment, the torque output control in the driving activation state is not limited to the case where the accelerator pedal torque condition and the creep torque condition are met, and the torque output control in the energy feedback activation state is not limited to the case where the sliding torque condition and the braking torque condition are met, which can be designed according to actual conditions.

[0089] In one embodiment, the accelerator pedal torque is obtained by a two-dimensional table lookup based on the vehicle speed and the accelerator pedal opening, the coasting torque is obtained by a two-dimensional table lookup based on the vehicle speed and the accelerator pedal opening, the braking torque is obtained by a one-dimensional table lookup based on the vehicle speed, and the creep torque is obtained by a one-dimensional table lookup based on the vehicle speed. The corresponding torque can be quickly acquired by table lookup, and the torque can be filtered at the same time to enable the vehicle to quickly and smoothly reach the target speed.

[0090] In one embodiment, the step of obtaining the state target torque corresponding to the vehicle being in the driving activation state (or energy feedback activation state) according to the output accelerator pedal torque and creep torque (or braking torque and coasting torque) specifically includes the following steps:

[0091] Take the accelerator pedal torque T aps and creep torque T creep The larger value of is used as the state target torque when the vehicle is in the driving activation state;

[0092] Take the sliding torque T slip and braking torque T brake The smaller value of is used as the state target torque when the vehicle is in the energy regeneration activation state.

[0093] In one embodiment, the step S33, the step of obtaining the target output torque of the whole vehicle according to the state target torque of the vehicle in various states, specifically comprises the following steps:

[0094] According to the state target torque of the vehicle in various states, the real-time target torque of the whole vehicle is obtained;

[0095] According to the real-time target torque of the vehicle, the target output torque of the vehicle is obtained.

[0096] In one embodiment, the driving state target torque is added to the energy feedback state target torque and multiplied by the gear coefficient to obtain the real-time target torque of the vehicle.

[0097] In one embodiment, the step of obtaining the real-time target torque of the whole vehicle according to the state target torque of the vehicle in various states specifically includes the following steps:

[0098] The target torque of the driving state and the target torque of the energy feedback state are numerically transformed according to the following formula to obtain the real-time target torque T of the whole vehicle. target :

[0099] T target =η[max(αT aps , βT creep )+min(λT slip , (1-λ)T brake )],

[0100] In the formula, α is the accelerator pedal correlation coefficient, β is the creep correlation coefficient, and λ is the coasting correlation coefficient;

[0101] in,

[0102]

[0103]

[0104]

[0105] In one embodiment, the step of obtaining the target output torque of the whole vehicle according to the real-time target torque of the whole vehicle specifically includes the following steps:

[0106] According to the real-time speed and real-time torque of the motor, the real-time torque limit T of the driving state is determined by looking up the motor external characteristic table. DriveLimit Real-time torque limit T in energy feedback state RegenLimit ,When the real-time target torque of the whole vehicle or the real-time output torque of the whole vehicle exceeds the real-time torque limit of the energy state or is less than the real-time torque limit of the driving state, the real-time torque limit of the energy feedback state is used as the real-time target torque of the whole vehicle or the real-time output torque of the whole vehicle, or the real-time torque limit of the driving state is used as the real-time target torque of the whole vehicle or the real-time output torque of the whole vehicle, and the real-time target torque of the whole vehicle T target And the real-time output torque T of the vehicle out Limit to T DriveLimit , T RegenLimit Between the two, prevent the vehicle's real-time target torque and the vehicle's real-time output torque T out Exceeding the actual limit of the motor to achieve the limit of torque output control:

[0107] T RegenLimit ≤T target ≤T DriveLimit ,

[0108] T RegenLimit ≤T out ≤T DriveLimit ;

[0109] The vehicle real-time target torque and the vehicle real-time output torque after limitation are numerically transformed according to the following formula to obtain the vehicle target output torque:

[0110] T out (n) = T out (n-1)+s(T out →T target ),

[0111] Among them, T out (n) is the target output torque of the vehicle at time n, T out (n-1) is the real-time output torque of the vehicle at time n-1 (relative to the target output torque T out (n) is the real-time output torque of the vehicle at the previous moment, i.e., at moment n-1), T out →T target The real-time output torque of the vehicle is close to the real-time target torque of the vehicle, T out The real-time output torque of the vehicle can be obtained through the vehicle dynamics model vehicle simulation test at the previous moment, T target is the real-time target torque of the whole vehicle, s is the real-time step length of the torque filter, s can set different parameters according to different states to target the torque output under different gears. By setting different real-time step lengths s of the torque filter and modifying the state activation conditions and torque conditions, it is possible to develop multiple driving modes and improve the flexibility of development. The real-time output torque of the whole vehicle can be quickly obtained by table lookup. At the same time, the real-time output torque of the whole vehicle can be filtered to enable the vehicle to reach the target speed quickly and smoothly.

[0112] In one embodiment, the step of controlling the motor to output the target output torque of the vehicle to drive the vehicle comprises the following steps:

[0113] The target output torque of the vehicle is numerically transformed according to the following formula to obtain the vehicle speed u a :

[0114]

[0115] Where, T out (n) is the target output torque of the vehicle at the motor end; i m is the speed ratio; η T is the mechanical efficiency; r is the tire radius; G is the vehicle weight; f is the rolling resistance coefficient; i is the road slope; C D is the drag coefficient; A is the windward area; u a is the vehicle speed; δ is the rotation mass conversion coefficient; m is the vehicle mass; is the current acceleration;

[0116] Convert the vehicle speed into a numerical value according to the following formula to obtain the motor control speed n:

[0117]

[0118] Where n is the motor control speed; i m is the speed ratio; r is the tire radius; u a is the vehicle speed;

[0119] The vehicle motor is controlled to run at the obtained motor control speed to drive the vehicle to realize the torque output control calculation. Under the premise of ensuring the smoothness, safety and comfort of vehicle driving, the motor is kept working in the high efficiency range as much as possible to reduce energy loss and ensure the cruising range.

[0120] The vehicle multi-dimensional torque control method provided in this application realizes the vehicle's multi-dimensional torque output control based on three parts: torque management, torque limit and torque calculation, and finally achieves smooth output of the vehicle's target output torque.

[0121] The multi-dimensional torque control method for a vehicle provided by the present application can adapt to different slopes and different road conditions, and can quickly respond to the output torque, and the vehicle has good controllability. It ensures the smoothness, comfort and safety of the vehicle's driving, and has the effect of saving the energy consumption of the whole vehicle.

[0122] Second, please refer to Figure 3 , the present application provides a vehicle multi-dimensional torque control system, comprising:

[0123] A model building module 100 is used to build a multi-dimensional torque control simulation model of an electric vehicle, wherein the multi-dimensional torque control simulation model of an electric vehicle includes a torque control model and a vehicle dynamics model;

[0124] The vehicle operation simulation test data acquisition module 200 is connected to the model building module 100 for acquiring the vehicle operation simulation test data of the vehicle dynamics model at the last moment, i.e., moment n-1;

[0125] The whole vehicle target output torque acquisition module 300 is connected to the model building module and the vehicle operation simulation test data acquisition module for inputting the acquired vehicle operation simulation test data value torque control model to acquire the whole vehicle target output torque;

[0126] The vehicle driving control module 400 is in communication connection with the vehicle target output torque acquisition module, and is used to control the motor to output the vehicle target output torque to drive the vehicle to travel.

[0127] In one embodiment, please refer to Figure 4 The vehicle target output torque acquisition module 300 includes:

[0128] The vehicle state acquisition submodule 310 is connected to the vehicle operation simulation test data acquisition module 200 for inputting the vehicle operation simulation test data at the last moment into the torque control model to acquire the vehicle state;

[0129] The target torque acquisition submodule 320 is in communication with the vehicle state acquisition module 310 and is used to acquire the state target torque of the vehicle in various states according to the acquired vehicle state;

[0130] The vehicle target output torque acquisition submodule 330 is in communication with the target torque acquisition submodule 320 and is used to acquire the vehicle target output torque according to the state target torque corresponding to each activation state.

[0131] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0132] The present invention implements all or part of the process in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0133] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0134] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0135] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0136] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, servers or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0137] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0140] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle multi-dimensional torque control method, characterized in that: The following steps are involved: Building a multi-dimensional torque control simulation model for an electric vehicle, wherein the multi-dimensional torque control simulation model for an electric vehicle includes a torque control model and a vehicle dynamics model; Obtain vehicle operation simulation test data obtained from the vehicle dynamics model whole vehicle simulation test at the last moment; Input the acquired vehicle operation simulation test data into the torque control model to obtain the target output torque of the whole vehicle; Control the motor to output the target output torque of the vehicle to drive the vehicle; The step of inputting the acquired vehicle operation simulation test data into the torque control model to obtain the target output torque of the whole vehicle specifically includes the following steps: Input the vehicle operation simulation test data of the previous moment into the torque control model to obtain the vehicle state; According to the acquired vehicle state, acquiring the state target torque of the vehicle in various states; Obtain the target output torque of the whole vehicle according to the state target torque of the vehicle in various states; The step of obtaining the target output torque of the vehicle according to the state target torque of the vehicle in various states specifically includes the following steps: According to the state target torque of the vehicle in various states, the real-time target torque of the whole vehicle is obtained; According to the real-time target torque of the vehicle, the target output torque of the vehicle is obtained; The step of obtaining the target output torque of the vehicle according to the real-time target torque of the vehicle specifically includes the following steps: Limit the vehicle's real-time target torque and the vehicle's real-time output torque in the driving state to real-time torque limit T DriveLimit Real-time torque limit T in energy feedback state RegenLimit between; The vehicle real-time target torque and the vehicle real-time output torque after limitation are numerically transformed according to the following formula to obtain the vehicle target output torque: T out (n)=T out (n-1)+s(T out →T target ), Among them, T out (n-1) is the real-time output torque of the vehicle at time n-1, s is the real-time step size of the torque filter, T out The real-time output torque of the vehicle, T target is the real-time target torque of the vehicle, T out (n) is the target output torque of the vehicle at time n.

2. The vehicle multi-dimensional torque control method according to claim 1, characterized in that: The step of obtaining the state target torque of the vehicle in various states according to the obtained vehicle state specifically includes the following steps: When the vehicle is in a driving activation state and the accelerator pedal is greater than a preset pedal opening value, the output accelerator pedal torque is controlled; When the vehicle is in a driving activation state and the accelerator pedal is less than a preset pedal opening value, the output creep torque is controlled; When the vehicle is in the energy feedback activation state and the brake pedal is greater than the preset pedal opening value, the output braking torque is controlled; When the vehicle is in the energy feedback activation state and the brake pedal is less than the preset pedal opening value, the output coasting torque is controlled; According to the output accelerator pedal torque and creep torque, the state target torque corresponding to the vehicle being in the driving activation state is obtained; and according to the output braking torque and coasting torque, the state target torque corresponding to the vehicle being in the energy feedback activation state is obtained.

3. The vehicle multi-dimensional torque control method according to claim 2, characterized in that: The step of obtaining the state target torque corresponding to the vehicle being in the driving activation state according to the output accelerator pedal torque and creep torque; and obtaining the state target torque corresponding to the vehicle being in the energy feedback activation state according to the output braking torque and coasting torque, specifically comprises the following steps: Taking the larger value of the accelerator pedal torque and the creep torque as the driving state target torque when the vehicle is in a driving activation state; The smaller value between the coasting torque and the braking torque is taken as the energy regeneration state target torque when the vehicle is in the energy regeneration activation state.

4. The vehicle multi-dimensional torque control method according to claim 3, characterized in that: The step of obtaining the real-time target torque of the whole vehicle according to the state target torque of the vehicle in various states specifically includes the following steps: The target torque of the driving state and the target torque of the energy feedback state are numerically transformed according to the following formula to obtain the real-time target torque of the whole vehicle: T target =η[max(αT aps ,βT creep )+min(λT slip ,(1-λ)T brake )], Where α is the accelerator pedal correlation coefficient, β is the creep correlation coefficient, λ is the coasting correlation coefficient, and T target The real-time target torque of the vehicle; T aps is the accelerator pedal torque, T creep is the creep torque, T slip is the coasting torque, T brake is the braking torque.

5. The vehicle multi-dimensional torque control method according to claim 1, characterized in that: The step of controlling the motor to output the target output torque of the vehicle to drive the vehicle specifically comprises the following steps: The target output torque of the vehicle is numerically transformed according to the following formula to obtain the controlled vehicle speed: Where, T out (n) is the target output torque of the vehicle at the motor end; i m is the speed ratio; η T is the mechanical efficiency; r is the tire radius; G is the vehicle weight; f is the rolling resistance coefficient; i is the road slope; C D is the drag coefficient; A is the windward area; u a is the vehicle speed; δ is the rotation mass conversion coefficient; m is the vehicle mass; is the current acceleration; Convert the vehicle speed into a numerical value according to the following formula to obtain the motor control speed: Where n is the motor control speed; i m is the speed ratio; r is the tire radius; u a is the vehicle speed; The vehicle motor is controlled to run at the acquired motor control speed to drive the vehicle to travel.

6. A vehicle multi-dimensional torque control system based on the vehicle multi-dimensional torque control method according to claim 1, characterized in that: include: A model building module, used to build a multi-dimensional torque control simulation model of an electric vehicle, wherein the multi-dimensional torque control simulation model of an electric vehicle includes a torque control model and a vehicle dynamics model; A vehicle operation simulation test data acquisition module is used to acquire the vehicle operation simulation test data of the vehicle dynamics model at the previous moment; A whole vehicle target output torque acquisition module, which is in communication connection with the model building module and the vehicle operation simulation test data acquisition module, and is used to input the acquired vehicle operation simulation test data value torque control model to acquire the whole vehicle target output torque; The vehicle driving control module is communicatively connected with the vehicle target output torque acquisition module and is used to control the motor to output the vehicle target output torque to drive the vehicle to travel.

7. The vehicle multi-dimensional torque control system according to claim 6, characterized in that: The vehicle target output torque acquisition module includes: A vehicle state acquisition submodule is connected to the vehicle operation simulation test data acquisition module for inputting the vehicle operation simulation test data at the last moment into the torque control model to acquire the vehicle state; A target torque acquisition submodule, which is in communication with the vehicle state acquisition module and is used to acquire a state target torque of the vehicle in various states according to the acquired vehicle state; The vehicle target output torque acquisition submodule is in communication with the target torque acquisition submodule and is used to acquire the vehicle target output torque according to the state target torque corresponding to each activation state.

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