A torque control method, device, and engineering vehicle for a hybrid vehicle.

Abstract

This application discloses a torque control method, device, and engineering vehicle for a hybrid vehicle. The torque control method includes: acquiring a driving mode; when the driving mode is a hybrid mode, acquiring the total torque demand; acquiring the motor torque output by the electric motor and the engine torque output by the engine based on the total torque demand and the actual operating conditions of the vehicle; and adjusting the target torque of the electric motor based on a first torque change in the electric motor torque and a second torque change in the engine torque to obtain the target output torque of the electric motor and the target output torque of the engine. This application can solve the problem of vehicle instability caused by sudden changes in engine torque and electric motor torque when the vehicle's state changes.

Description

Technical Field

[0001] This application relates to the field of hybrid vehicle technology, specifically to a torque control method, device, and engineering vehicle for a hybrid vehicle. Background Technology

[0002] Hybrid vehicles are vehicles with a dual-power system, employing both an electric motor and an engine as hybrid power sources, with the engine and motor power complementing each other. However, current technologies do not consider the impact of changes in vehicle operating conditions on engine and motor torque during the torque conversion and design process of hybrid systems. When the vehicle's operating conditions change, the engine and motor torques can change abruptly, causing vibrations and shocks during driving. Consequently, the comfort and safety of hybrid vehicles are not guaranteed. Summary of the Invention

[0003] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a torque control method, apparatus, and engineering vehicle for a hybrid vehicle, which can solve the problem of vehicle instability caused by sudden changes in engine torque and motor torque when the vehicle's state changes.

[0004] According to one aspect of this application, a torque control method for a hybrid vehicle is provided. The hybrid vehicle includes an engine and an electric motor. The torque control method includes: acquiring a driving mode; when the driving mode is a hybrid mode, acquiring a total torque demand; acquiring the motor torque output by the electric motor and the engine torque output by the engine based on the total torque demand and the actual operating conditions of the vehicle; and adjusting a target torque of the electric motor based on a first torque change of the motor torque and a second torque change of the engine torque to obtain a target output torque of the motor and a target output torque of the engine; wherein the first torque change represents the difference between the motor torque output by the motor and the target torque of the motor, and the second torque change represents the difference between the engine torque output by the engine and the target torque of the engine.

[0005] In one embodiment, the first torque change includes the difference in motor torque change; the second torque change includes the difference in engine torque change. The method for obtaining the first torque change and the second torque change includes: obtaining the difference in engine torque change based on the engine target torque at the previous moment and the engine torque at the current moment; and obtaining the difference in motor torque change based on the motor target torque at the previous moment and the motor torque at the current moment.

[0006] In one embodiment, adjusting the target torque of the motor based on the first torque change of the motor torque and the second torque change of the engine to obtain the target output torque of the motor and the target output torque of the engine includes: when the total difference between the difference in engine torque change and the difference in motor torque change is greater than a preset value, obtaining the throttle opening and motor speed; adjusting the target torque of the motor at the current moment based on the throttle opening and the motor speed; calculating the target torque of the engine at the current moment; using the target torque of the engine at the current moment as the target output torque of the engine, and using the adjusted target torque of the motor as the target output torque of the motor.

[0007] In one embodiment, adjusting the target torque of the motor at the current moment based on the throttle opening and the motor speed includes: the target torque of the motor * C = the target output torque of the motor; where C represents the adjustment coefficient of the target torque of the motor, and the value of C is related to the throttle opening and the motor speed.

[0008] In one embodiment, the torque control method for the hybrid vehicle further includes: when the total difference between the engine torque variation difference and the motor torque variation difference is less than or equal to a preset value, calculating the target torque of the engine and the target torque of the motor at the current moment; using the target torque of the engine at the current moment as the target output torque of the engine, and using the target torque of the motor at the current moment as the target output torque of the motor.

[0009] In one embodiment, the actual operating conditions of the vehicle include braking and non-braking processes. The step of calculating the motor torque output by the electric motor and the engine torque output by the engine based on the total torque demand and the actual operating conditions of the vehicle further includes: when the total torque demand drops to zero within a preset time and the vehicle is in the non-braking process, controlling the rate of decrease of the motor torque to be less than a first preset rate of decrease, and controlling the rate of decrease of the engine torque to be less than a second preset rate of decrease; wherein both the first preset rate of decrease and the second preset rate of decrease are positively correlated with the vehicle speed.

[0010] In one embodiment, the torque control method for the hybrid vehicle further includes: performing torque arbitration on the output torque of the electric motor and the output torque of the engine; wherein the torque arbitration represents determining the output priority of the electric motor torque and the engine torque.

[0011] In one embodiment, the actual operating conditions of the vehicle include a forward state and a reverse state. The step of calculating the motor torque output by the motor and the engine torque output by the engine based on the total torque requirement and the actual operating conditions of the vehicle further includes: when the vehicle is in the forward state or the reverse state, calculating the motor torque output by the motor and the engine torque output by the engine based on the total torque requirement.

[0012] According to another aspect of this application, a torque control device for a hybrid vehicle is provided. The hybrid vehicle includes an engine and an electric motor. The torque control device includes: a first acquisition module for acquiring a driving mode; a second acquisition module for acquiring a total torque demand when the driving mode is a hybrid mode; a third acquisition module for acquiring the motor torque output by the electric motor and the engine torque output by the engine based on the total torque demand and the actual operating conditions of the vehicle; and an adjustment module for adjusting a target torque of the electric motor based on a first torque change of the electric motor and a second torque change of the engine, to obtain a target output torque of the electric motor and a target output torque of the engine; wherein the first torque change represents the difference between the motor torque output by the electric motor and the target torque of the electric motor, and the second torque change represents the difference between the engine torque output by the engine and the target torque of the engine.

[0013] According to another aspect of this application, an engineering vehicle is provided, comprising: an electric motor and an engine; and a controller connected to the electric motor and the engine, the controller being configured to perform the torque control method for a hybrid vehicle as described in any of the above embodiments.

[0014] The torque control method, device, and engineering vehicle for hybrid vehicles provided in this application optimize and compensate the torque distribution mode of the engine and motor based on the different response characteristics between the engine and the motor, according to the driving mode requested by the driver and the actual operating conditions of the vehicle. In other words, it adjusts the target torque of the motor according to the actual operating conditions of the vehicle, thereby adjusting the torque distribution ratio between the engine and the motor. When the vehicle's operating state changes, the vehicle can maintain stable operation and improve safety. Attached Figure Description

[0015] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1This is a schematic diagram of the drive system of an engineering vehicle provided in an exemplary embodiment of this application.

[0017] Figure 2 This is a schematic flowchart of a torque control method for a hybrid vehicle provided in an exemplary embodiment of this application.

[0018] Figure 3 This is a schematic flowchart of a torque control method for a hybrid vehicle provided in another exemplary embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the structure of a torque control device for a hybrid vehicle provided in an exemplary embodiment of this application.

[0020] Figure 5 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application.

[0021] Explanation of reference numerals in the attached diagram: 1. Engine; 2. C1 clutch; 3. HCU controller; 4. ISG motor; 5. Battery; 6. C2 clutch; 7. Clutch pedal; 8. MT gearbox; 9. Rear axle; 10. Wheel. Detailed Implementation

[0022] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0023] Application Overview

[0024] Hybrid vehicles are vehicles with a dual-power system, employing both an electric motor and an engine as hybrid power sources, with the engine and motor's power complementing each other. While this complementarity offers the advantages of both, it also introduces drawbacks. For example, current technologies for hybrid systems, particularly in torque conversion and design, only consider the characteristics of the engine and motor, allocating torque according to the driver's needs. They lack detailed calculations of torque variations between the engine and motor, and fail to address abrupt torque changes under different conditions. Therefore, when vehicle operating conditions change, sudden changes in engine and motor torque can occur, leading to vibrations during vehicle operation and negatively impacting driver comfort and safety.

[0025] Therefore, this application provides a torque control method, device, and engineering vehicle for hybrid vehicles. Based on the different response characteristics between the engine and the motor, the torque distribution mode of the engine and the motor is optimized and compensated according to the driving mode requested by the driver and the actual operating conditions of the vehicle. That is, the target torque of the motor is adjusted according to the actual operating conditions of the vehicle, thereby adjusting the torque distribution ratio of the engine and the motor. When the vehicle's operating state changes, the vehicle can maintain stable operation and improve safety.

[0026] Exemplary engineering vehicles

[0027] This application provides an engineering vehicle, including: an electric motor and an engine; and a controller connected to the electric motor and engine, the controller being used to execute the torque control method for the hybrid vehicle provided in this application.

[0028] Figure 1 This is a schematic diagram of the drive system of an engineering vehicle provided in an exemplary embodiment of this application. The engineering vehicle can adopt, for example... Figure 1 The drive system shown may include an engine 1, a C1 clutch 2, an HCU controller 3, an ISG motor 4, a battery 5, a C2 clutch 6, a clutch pedal 7, a MT gearbox 8, a rear axle 9, and wheels 10.

[0029] The engineering vehicle incorporates a C1 clutch 2 between engine 1 and ISG motor 4, which is electrically controlled to resolve the coupling relationship between the powertrain and transmission systems during vehicle startup. For example, the HCU controller 3 controls the C1 clutch 2, disengaging it when the vehicle starts, and simultaneously starting engine 1 after the vehicle begins to move.

[0030] This application provides an engineering vehicle that optimizes and compensates for the torque distribution mode of the engine and motor based on the different response characteristics between the engine and the motor, according to the driving mode requested by the driver and the actual operating conditions of the vehicle. In other words, it adjusts the target torque of the motor according to the actual operating conditions of the vehicle, thereby adjusting the torque distribution ratio between the engine and the motor. When the vehicle's operating state changes, the vehicle can maintain stable operation and improve safety.

[0031] Exemplary methods

[0032] Hybrid vehicles include an engine and an electric motor. Figure 2 This is a schematic flowchart of a torque control method for a hybrid vehicle provided in an exemplary embodiment of this application, as shown below. Figure 2 As shown, the torque control method for the aforementioned hybrid vehicle includes:

[0033] Step 100: Obtain the driver mode.

[0034] The vehicle can be categorized into three drive modes: pure electric mode, hybrid mode, and engine direct drive mode. In pure electric mode, the motor torque is designed according to reverse and forward driving patterns, and a motor torque limit is implemented. The engine torque request is zero, so the electric motor provides the driving force for the vehicle. In engine direct drive mode, the engine provides the driving force for the vehicle, and the electric motor torque request is zero. The driver actively selects the drive mode based on their input commands. Therefore, the drive mode can be determined by reading the driver's input commands. Alternatively, the system can automatically select the drive mode based on vehicle conditions or driving circumstances.

[0035] Step 200: When the drive mode is hybrid mode, obtain the total torque requirement.

[0036] In hybrid mode, the total torque demand can be designed based on whether the vehicle is moving forward or reversing, and the torque distribution between the electric motor and the engine can be allocated according to driving conditions. In other words, in hybrid mode, the total torque demand consists of the electric motor torque and the engine torque, and the distribution ratio between the electric motor torque and the engine torque is adjusted according to the actual operating conditions of the vehicle.

[0037] Step 300: Based on the total torque requirement and the actual operating conditions of the vehicle, obtain the motor torque output by the electric motor and the engine torque output by the engine.

[0038] For example, when the vehicle is moving forward, a lookup table is used based on the engine speed and motor speed to obtain the motor torque and engine torque output. Each vehicle has a corresponding parameter table at the factory, which lists the engine torque corresponding to different engine speeds and the motor torque corresponding to different motor speeds. These parameters are obtained through factory testing. Therefore, by detecting the engine speed or motor speed, the motor torque or engine torque output can be obtained by looking up the table. When in reverse, a lookup table is used based on the current vehicle speed and throttle opening to obtain the motor torque and engine torque output. That is, the parameter table also contains the motor torque or engine torque corresponding to different vehicle speeds and different throttle openings. Therefore, by obtaining the current vehicle speed and current throttle opening, the corresponding motor torque and engine torque output can be obtained. This table lookup can be performed automatically by the system, directly displaying the final motor torque and engine torque, or directly outputting the motor torque and engine torque for subsequent calculations.

[0039] Step 400: Based on the first torque change of the motor torque and the second torque change of the engine, adjust the target torque of the motor to obtain the target output torque of the motor and the target output torque of the engine.

[0040] The first torque variation represents the difference between the motor torque output by the motor and the target torque of the motor, while the second torque variation represents the difference between the engine torque output by the engine and the target torque of the engine.

[0041] Because the response characteristics of the engine and motor are inconsistent, the torque changes of the engine and motor differ when vehicle operating conditions change. Furthermore, changes in vehicle operating conditions can cause abrupt changes in both engine and motor torque, resulting in excessively large differences between the current output torque of the engine and motor and their target output torques. Since the changed values ​​for the engine and motor differ, directly outputting torque based on the calculated target torques of the motor and engine would lead to vehicle instability and safety issues. By optimizing and compensating for the different changes in motor and engine torque, the torque distribution between the engine and motor can be balanced based on the same total torque requirement. This results in smoother vehicle operation when conditions change, thereby improving the driver's experience and safety.

[0042] Therefore, this application provides a torque control method for hybrid vehicles. Based on the different response characteristics between the engine and the motor, the method optimizes and compensates the torque distribution mode of the engine and the motor according to the driving mode requested by the driver and the actual operating conditions of the vehicle. In other words, it adjusts the target torque of the motor according to the actual operating conditions of the vehicle, thereby adjusting the torque distribution ratio between the engine and the motor. When the vehicle's operating state changes, the vehicle can maintain stable operation and improve safety.

[0043] In one embodiment, the actual operating conditions of the vehicle include a forward driving state and a reverse driving state, and step 300 may further include:

[0044] When the vehicle is moving forward or in reverse, the motor torque output and the engine torque output are calculated based on the total torque requirement.

[0045] In both pure electric and hybrid modes, torque can be designed according to forward and reverse states. For example, in pure electric mode, only the motor torque can be designed, while in hybrid mode, the total torque can be designed, further dividing the torque into the motor output torque and the engine output torque. When the vehicle is moving forward, the motor output torque and engine output torque are obtained by looking up tables based on the engine speed and motor speed. Each vehicle has a corresponding parameter table at the factory, which shows the engine torque corresponding to different engine speeds and the motor torque corresponding to different motor speeds. These parameters are obtained through factory testing. Therefore, by detecting the engine speed or motor speed, the motor output torque or engine output torque can be obtained by looking up the table. In reverse gear, the motor output torque and engine output torque are obtained by looking up the table based on the current vehicle speed and throttle opening. That is, the parameter table also contains the motor torque or engine torque corresponding to different vehicle speeds and different throttle openings. Therefore, by obtaining the current vehicle speed and current throttle opening, the motor output torque and engine output torque can be obtained accordingly. The lookup table can be automatically retrieved by the system and will directly display the final motor torque and engine torque, or directly output the motor torque and engine torque for subsequent calculations.

[0046] In one embodiment, the torque change of the motor torque includes the difference in motor torque change; the torque change of the engine includes the difference in engine torque change. The method for obtaining the first torque change and the second torque change includes: obtaining the difference in engine torque change based on the engine target torque at the previous moment and the engine torque at the current moment; and obtaining the difference in motor torque change based on the motor target torque at the previous moment and the motor torque at the current moment.

[0047] The target torque of the engine and the target torque of the electric motor are generally calculated at preset time intervals. This means that a calculation is performed every preset time interval, and this calculation is continuous in hybrid mode. For example, the target torque is calculated every ten seconds. Therefore, the previous moment is ten seconds before the current moment. The engine target torque at the previous moment represents the engine target torque calculated ten seconds before the current moment, and the electric motor target torque at the previous moment represents the electric motor target torque calculated ten seconds before the current moment. By comparing the engine target torque at the previous moment and the engine torque at the current moment, the change in engine torque within the preset time interval can be clearly identified, thus obtaining the engine torque change difference. Similarly, by comparing the electric motor target torque at the previous moment and the electric motor torque at the current moment, the change in electric motor torque within the preset time interval can be clearly identified, thus obtaining the electric motor torque change difference. The engine torque change difference and the electric motor torque change difference can, to some extent, reflect the impact of sudden changes in vehicle conditions on the electric motor and engine. Therefore, obtaining the electric motor torque change difference and the engine torque change difference is useful for adjusting the current electric motor output torque and the current engine output torque.

[0048] In one embodiment, step 400 may include: when the total difference between the engine torque change difference and the motor torque change difference is greater than a preset value, obtaining the throttle opening and motor speed; adjusting the target torque of the motor at the current moment according to the throttle opening and motor speed; calculating the target torque of the engine at the current moment; using the target torque of the engine at the current moment as the target output torque of the engine, and using the adjusted target torque of the motor as the target output torque of the motor.

[0049] The preset value can be set to zero. The difference in engine torque variation and the difference in motor torque variation are added together to obtain the total difference. When the total difference is greater than zero, the target engine torque at the current moment is calculated normally without adjustment. The throttle opening and motor speed at the current moment are obtained, and the target motor torque at the current moment is adjusted based on the throttle opening and motor speed. The adjusted target motor torque and the target engine torque at the current moment are used as the actual output torque of the vehicle. In other words, the motor torque is optimized and compensated by the throttle opening and motor speed to make up for the difference in variation caused by the different characteristics of the engine and motor, thereby optimizing the coordination between the engine and motor and making the transition process of the vehicle more smooth when changing state.

[0050] In one embodiment, adjusting the target torque of the motor at the current moment based on the throttle opening and the motor speed may include: target torque of the motor * C = target output torque of the motor; where C represents the adjustment coefficient of the target torque of the motor, and the value of C is related to the throttle opening and the motor speed.

[0051] When the total difference is greater than zero, the target torque of the motor * C = the target output torque of the motor. By adjusting the adjustment coefficient (C) of the target torque of the motor, the target torque of the motor at the current moment can be adjusted, and the actual output is based on the target output torque of the motor. The value of C is related to the throttle opening and the motor speed, which can be obtained by looking up a table using the throttle opening and the motor speed. By adjusting the target torque of the motor according to the real-time throttle opening and the real-time motor speed of the vehicle, the impact of changes in vehicle state on the motor and engine is reduced, thereby optimizing the coordination between the engine and the motor and making the transition process smoother when the vehicle changes state.

[0052] In one embodiment, the torque control method for the hybrid vehicle may further include: when the total difference between the engine torque variation difference and the motor torque variation difference is less than or equal to a preset value, calculating the target torque of the engine and the target torque of the motor at the current moment; using the target torque of the engine at the current moment as the target output torque of the engine, and using the target torque of the motor at the current moment as the target output torque of the motor.

[0053] The preset value can be set to zero. The difference in engine torque variation and the difference in motor torque variation are added together to obtain the total difference. When the total difference is less than zero, the target engine torque and target motor torque at the current moment are calculated normally without adjustment. This is because a total difference of less than zero indicates that changes in vehicle state have little impact on engine and motor torque; there are no significant abrupt changes in engine and motor torque, and no optimization or compensation is needed for the motor torque. Changes in engine and motor torque will not cause abnormal vehicle movement. Therefore, when the total difference is less than zero, no further optimization or adjustment of engine and motor torque is required in forward or reverse driving modes.

[0054] In one embodiment, the actual operating conditions of the vehicle include braking and non-braking processes. The above step 300 may further include: when the total torque demand drops to zero within a preset time and is in a non-braking process, controlling the rate of decrease of the motor torque to be less than a first preset rate of decrease, and controlling the rate of decrease of the engine torque to be less than a second preset rate of decrease; wherein, both the first preset rate of decrease and the second preset rate of decrease are positively correlated with the vehicle speed.

[0055] In real-time calculations of motor and engine torque, in addition to forward and reverse states, there are more detailed vehicle states such as brake feedback, coasting feedback, braking, engine braking, and clutch shifting. Executing these states in forward and reverse states can cause the requested torque to instantly change from a positive to zero, meaning the total torque demand instantly becomes zero. Therefore, when the total torque demand drops to zero within a preset time and is not in the braking process, a torque decrease occurs. However, to ensure a smooth transition in vehicle state, the rate of decrease of motor torque and engine torque can be limited to prevent excessively rapid torque decreases from causing sudden changes in vehicle speed and affecting vehicle stability. Both the first and second preset decrease rates are positively correlated with vehicle speed. The values ​​of the first and second preset decrease rates can be obtained by looking up the vehicle speed in a table, thereby controlling the rate of decrease of engine and motor torque. If braking is in progress, the decrease rate is no longer limited; the rate of decrease of motor torque does not need to be less than the first preset decrease rate, and the rate of decrease of engine torque does not need to be less than the second preset decrease rate. For example, during regenerative braking or coasting, the motor outputs negative torque, and this negative torque needs to decrease at a certain rate, which can be obtained from a table relative to the vehicle speed. By further subdividing the vehicle's changing states and adding a descent limit, the smoothness of the vehicle's operation during state changes can be further improved, reducing the possibility of uneven changes in hybrid modes.

[0056] In one embodiment, the torque control method for the hybrid vehicle described above may further include: performing torque arbitration on the output torque of the electric motor and the output torque of the engine; wherein, torque arbitration means determining the output priority of the electric motor torque and the engine torque.

[0057] This application classifies the vehicle into various states, such as forward, reverse, brake feedback, coasting feedback, braking, engine braking, and clutch shifting. Therefore, it may simultaneously output torque from multiple electric motors or multiple engines. Torque arbitration is performed on the output torque of the electric motors and engines, meaning that priority is determined among the simultaneously output torques from multiple electric motors or multiple engines to select the vehicle's response order. Torque arbitration can further improve the stability of vehicle operation and help the vehicle decide on the optimal output torque. For example, if clutch shifting has the highest priority, then the clutch shifting torque request is executed first, and other requests are not responded to.

[0058] Figure 3 This is a schematic flowchart of a torque control method for a hybrid vehicle provided in another exemplary embodiment of this application, as shown below. Figure 3As shown, the vehicle can be categorized into three driving modes: pure electric mode (step 30), hybrid mode (step 40), and engine direct drive mode (step 50). In pure electric mode (step 30), the motor torque can be allocated based on reversing and forward driving states (step 31), and the motor torque can be limited (step 32). The limitation of motor torque in pure electric mode is related to the battery and motor conditions; for example, the worse the battery condition, the smaller the maximum value of the motor torque. In hybrid mode (step 40), the total torque demand is calculated (step 41), divided into motor torque (step 43) and engine torque (step 42), and the torque allocation between the motor and engine is optimized and limited (step 44). For example, based on the motor's target torque * C = the motor's target output torque, the optimal torque for the motor and engine is calculated (step 45). After the calculation, engine response torque compensation is calculated (step 46), and the motor and engine are redistributed according to the optimized torque. The torque limitation for the motor and engine can refer to the limitation on the rate of descent in the above embodiment. In addition, the vehicle may also be in multiple states, such as brake feedback (step 65), slip feedback (step 64), engine braking (step 63), clutch engagement (step 62), and starting (step 61). When torque is output in multiple states simultaneously, torque arbitration is required (step 70). Torque arbitration of the motor output torque and engine output torque means prioritizing and selecting the vehicle's response order among the simultaneous output torques of multiple motors or multiple engine output torques. Torque arbitration can further improve the stability of vehicle operation and help the vehicle determine a better output torque.

[0059] Exemplary device

[0060] Figure 4 This is a schematic diagram of the structure of a torque control device for a hybrid vehicle provided in an exemplary embodiment of this application, as shown below. Figure 4 As shown, the torque control device 8 of the hybrid vehicle includes: a first acquisition module 81 for acquiring the driving mode; a second acquisition module 82 for acquiring the total torque demand when the driving mode is hybrid mode; a third acquisition module 83 for acquiring the motor torque output by the electric motor and the engine torque output by the engine based on the total torque demand and the actual operating conditions of the vehicle; and an adjustment module 84 for adjusting the target torque of the electric motor based on a first torque change of the electric motor and a second torque change of the engine, so as to obtain the target output torque of the electric motor and the target output torque of the engine; wherein the first torque change represents the difference between the motor torque output by the electric motor and the target torque of the electric motor, and the second torque change represents the difference between the engine torque output by the engine and the target torque of the engine.

[0061] This application provides a torque control device for a hybrid vehicle. Based on the different response characteristics between the engine and the motor, the device optimizes and compensates the torque distribution mode of the engine and the motor according to the driving mode requested by the driver and the actual operating conditions of the vehicle. In other words, it adjusts the target torque of the motor according to the actual operating conditions of the vehicle, thereby adjusting the torque distribution ratio between the engine and the motor. When the vehicle's operating state changes, the vehicle can maintain stable operation and improve safety.

[0062] In one embodiment, the torque change of the motor torque includes the difference in motor torque change; the torque change of the engine includes the difference in engine torque change. The torque control device 8 of the hybrid vehicle may further include a third acquisition module, which is used to acquire the first torque change and the second torque change. The third acquisition module may be further configured to: acquire the difference in engine torque change based on the engine target torque at the previous moment and the engine torque at the current moment; and acquire the difference in motor torque change based on the motor target torque at the previous moment and the motor torque at the current moment.

[0063] In one embodiment, the adjustment module 84 can be configured to: when the total difference between the engine torque change difference and the motor torque change difference is greater than a preset value, obtain the throttle opening and motor speed; adjust the target torque of the motor at the current moment according to the throttle opening and motor speed; calculate the target torque of the engine at the current moment; use the target torque of the engine at the current moment as the target output torque of the engine, and use the adjusted target torque of the motor as the target output torque of the motor.

[0064] In one embodiment, the adjustment module 84 can be configured as follows: the target torque of the motor * C = the target output torque of the motor; where C represents the adjustment coefficient of the target torque of the motor, and the value of C is related to the throttle opening and the motor speed.

[0065] In one embodiment, the torque control device 8 of the hybrid vehicle can also be configured to: calculate the target torque of the engine and the target torque of the motor at the current moment when the total difference between the engine torque variation difference and the motor torque variation difference is less than or equal to a preset value; and use the target torque of the engine at the current moment as the target output torque of the engine and the target torque of the motor at the current moment as the target output torque of the motor.

[0066] In one embodiment, the third acquisition module 83 can be configured to: when the total torque demand drops to zero within a preset time and is in a non-braking process, control the rate of decrease of the motor torque to be less than a first preset rate of decrease, and control the rate of decrease of the engine torque to be less than a second preset rate of decrease; wherein, both the first preset rate of decrease and the second preset rate of decrease are positively correlated with the vehicle speed.

[0067] In one embodiment, the torque control device 8 of the hybrid vehicle can also be configured to: perform torque arbitration on the output torque of the motor and the output torque of the engine; wherein, torque arbitration means determining the output priority of the motor torque and the engine torque.

[0068] In one embodiment, the third acquisition module 83 described above can be configured to: when the vehicle is in a forward or reverse state, calculate the motor torque output by the motor and the engine torque output by the engine based on the total torque requirement.

[0069] Exemplary electronic devices

[0070] Below, for reference Figure 5 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0071] Figure 5 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0072] like Figure 5 As shown, the electronic device 20 includes one or more processors 21 and memory 22.

[0073] The processor 21 may be a central processing unit (CPU) or other form of processing unit with data processing and / or instruction execution capabilities, and may control other components in the electronic device 20 to perform desired functions.

[0074] The memory 22 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 21 may execute the program instructions to implement the torque control method of the hybrid vehicle of the various embodiments of this application described above, and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0075] In one example, the electronic device 20 may also include an input device 23 and an output device 24, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0076] When the electronic device is a standalone device, the input device 23 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0077] In addition, the input device 23 may also include, for example, a keyboard, a mouse, etc.

[0078] The output device 24 can output various information to the outside, including determined distance information, direction information, etc. The output device 24 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0079] Of course, for the sake of simplicity, Figure 5 Only some of the components of the electronic device 20 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 20 may include any other suitable components depending on the specific application.

[0080] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0081] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0082] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A torque control method for a hybrid vehicle, the hybrid vehicle comprising an engine and an electric motor, characterized in that, The torque control method for the hybrid vehicle includes: Get the driver mode; When the driving mode is hybrid mode, obtain the total torque requirement; Based on the total torque requirement and the actual operating conditions of the vehicle, obtain the motor torque output by the electric motor and the engine torque output by the engine; and The first torque change includes the difference in motor torque change; the second torque change includes the difference in engine torque change. The method for obtaining the first torque change and the second torque change includes: obtaining the difference in engine torque change based on the engine target torque at the previous moment and the engine torque at the current moment; and obtaining the difference in motor torque change based on the motor target torque at the previous moment and the motor torque at the current moment. Based on the first torque change of the motor torque and the second torque change of the engine, the target torque of the motor is adjusted to obtain the target output torque of the motor and the target output torque of the engine; wherein, the first torque change represents the difference between the motor torque output by the motor and the target torque of the motor, and the second torque change represents the difference between the engine torque output by the engine and the target torque of the engine; When the total difference between the engine torque change difference and the motor torque change difference is greater than a preset value, the throttle opening and motor speed are obtained; based on the throttle opening and motor speed, the target torque of the motor at the current moment is adjusted; the target torque of the engine at the current moment is calculated; the target torque of the engine at the current moment is used as the target output torque of the engine, and the adjusted target torque of the motor is used as the target output torque of the motor.

2. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The step of adjusting the target torque of the motor at the current moment based on the throttle opening and the motor speed includes: The target torque of the motor × C = the target output torque of the motor; Wherein, C represents the adjustment coefficient of the target torque of the motor, and the value of C is related to the throttle opening and the motor speed.

3. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The torque control method for the hybrid vehicle also includes: When the total difference between the engine torque variation difference and the motor torque variation difference is less than or equal to a preset value, the target torque of the engine and the target torque of the motor at the current moment are calculated. The target torque of the engine at the current moment is taken as the target output torque of the engine, and the target torque of the motor at the current moment is taken as the target output torque of the motor.

4. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The actual operating conditions of the vehicle include braking and non-braking processes. The calculation of the motor torque output by the electric motor and the engine torque output by the engine, based on the total torque requirement and the actual operating conditions of the vehicle, further includes: When the total torque demand drops to zero within a preset time and the vehicle is in the non-braking process, the rate of decrease of the motor torque is controlled to be less than a first preset rate of decrease, and the rate of decrease of the engine torque is controlled to be less than a second preset rate of decrease; wherein, both the first preset rate of decrease and the second preset rate of decrease are positively correlated with the vehicle speed.

5. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The torque control method for the hybrid vehicle also includes: Torque arbitration is performed on the output torque of the motor and the output torque of the engine; wherein, the torque arbitration means determining the output priority of the motor torque and the engine torque.

6. The torque control method for a hybrid vehicle according to claim 1, characterized in that, The actual operating conditions of the vehicle include forward and reverse states. The calculation of the motor torque output by the electric motor and the engine torque output by the engine, based on the total torque requirement and the actual operating conditions of the vehicle, further includes: When the vehicle is in the forward or reverse state, the motor torque output by the motor and the engine torque output by the engine are calculated based on the total torque requirement.

7. A torque control device for a hybrid vehicle, the hybrid vehicle comprising an engine and an electric motor, characterized in that, The torque control method applicable to the hybrid vehicle of claim 1, wherein the torque control device of the hybrid vehicle comprises: The first acquisition module acquires the driver mode; The second acquisition module acquires the total torque requirement when the driving mode is hybrid mode; The third acquisition module is used to acquire the motor torque output by the electric motor and the engine torque output by the engine based on the total torque requirement and the actual operating conditions of the vehicle; and An adjustment module is used to adjust the target torque of the motor according to a first torque change and a second torque change of the engine, so as to obtain the target output torque of the motor and the target output torque of the engine; wherein the first torque change represents the difference between the motor output torque and the target torque of the motor, and the second torque change represents the difference between the engine output torque and the target torque of the engine.

8. An engineering vehicle, characterized in that, include: Electric motors and engines; A controller connected to the motor and the engine, the controller being used to execute the torque control method of the hybrid vehicle according to any one of claims 1-6.

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