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

Abstract

The application relates to the technical field of automobile driving, and discloses a vehicle torque control method and device, electronic equipment and a readable storage medium, the method obtains the boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of a target vehicle; the boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of the target vehicle are used to determine the whole-vehicle boundary acceleration of the target vehicle; the current gear, vehicle speed and throttle depth of the target vehicle are obtained; the boundary acceleration, current gear, current vehicle speed and current throttle depth are used to determine the target acceleration of the target vehicle; and the target acceleration is used to determine the whole-vehicle demand torque of the target vehicle. The application can improve the problem that the whole-vehicle demand torque acquisition process is complex in the existing whole-vehicle demand torque control process, and the response speed of the whole-vehicle output torque is improved.

Description

Technical Field

[0001] This invention relates to the field of automotive driving technology, and in particular to a vehicle torque control method, device, electronic device, and readable storage medium. Background Technology

[0002] In the field of conventional automotive driving control, the main method for controlling the output torque of a vehicle involves calculating the throttle torque during driving by looking up a table based on the accelerator pedal, calculating the coasting feedback torque based on the speedometer, calculating the braking feedback torque during braking by looking up a table based on vehicle speed and braking depth, calculating the creep torque based on PID control of vehicle speed or by looking up a table based on a fixed vehicle speed, and finally performing operating condition judgment, torque arbitration, and gradient filtering before outputting the torque to control the vehicle's output. As can be seen from the above control method, the calculation of output torque requires switching between different torque values ​​and coordinating the switching between different operating conditions. This results in a significant workload in the development of vehicle torque control, and the calibrated test conditions are insufficient to cover all possible operating conditions at the customer's end, thus failing to meet the driving performance requirements of users. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the present invention discloses a vehicle torque control method, device, electronic device and readable storage medium to improve the problem of the complex process of obtaining the vehicle's required torque in the existing vehicle torque demand control process, thereby improving the response speed of the vehicle's output torque.

[0004] This invention discloses a vehicle torque control method, comprising: acquiring the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of the target vehicle;

[0005] The overall boundary acceleration of the target vehicle is determined based on the target vehicle's boundary torque, vehicle resistance, vehicle mass, and vehicle moment of inertia.

[0006] The upper and lower boundary accelerations of the target vehicle are determined based on the overall vehicle boundary acceleration.

[0007] Obtain the target vehicle's current gear, current speed, and current throttle position;

[0008] The target acceleration of the target vehicle is determined based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth.

[0009] Based on the target acceleration of the target vehicle, determine the total torque required by the target vehicle, and control the corresponding drive motor or brake of the target vehicle to output the corresponding torque based on the total torque required by the target vehicle.

[0010] Optionally, the boundary torque includes the vehicle drive torque, and determining the upper boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the upper boundary acceleration based on the vehicle drive torque.

[0011] Optionally, the boundary torque includes the vehicle braking torque, and determining the lower boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the lower boundary acceleration based on the vehicle braking torque.

[0012] Optionally, determining the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth includes: determining the target acceleration by looking up a table based on the current gear and / or current vehicle speed and / or current throttle depth, wherein the target acceleration is limited between the upper boundary acceleration and the lower boundary acceleration.

[0013] Optionally, controlling the output torque of the drive motor or brake corresponding to the target vehicle based on the overall vehicle torque demand includes:

[0014] The required torque for the entire vehicle is determined;

[0015] If the required torque of the vehicle is less than the preset torque value, the brake is controlled to output braking torque according to the required torque of the vehicle.

[0016] If the required torque of the vehicle is greater than the preset torque value, the drive motor is controlled to output drive torque according to the required torque of the vehicle.

[0017] Optionally, determining the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth also includes: a process of calibrating and adjusting the target acceleration based on the actual acceleration of the target vehicle.

[0018] Optionally, after controlling the output torque of the drive motor or brake corresponding to the target vehicle according to the overall vehicle torque demand, the process further includes torque monitoring and processing, which includes:

[0019] Based on the required torque of the vehicle, the current driving torque or current braking torque of the target vehicle is read in real time, and the torque difference between the required torque of the vehicle and the current driving torque or current braking torque is determined.

[0020] The drive motor or the brake is calibrated according to the torque difference so that the corresponding output drive torque or braking torque is equal to the required torque of the vehicle.

[0021] This invention discloses a vehicle torque control device, comprising: a first acquisition module for acquiring the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of a target vehicle; a first data processing module for determining the overall boundary acceleration of the target vehicle based on the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia; a second data processing module for determining the upper boundary acceleration and lower boundary acceleration of the target vehicle based on the boundary acceleration; a second acquisition module for acquiring the current gear, current speed, and current throttle depth of the target vehicle; a third data processing module for determining the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current speed, and current throttle depth; a fourth data processing module for determining the overall vehicle torque requirement of the target vehicle based on the target acceleration; and a control module for controlling the corresponding drive motor or brake of the target vehicle to output the corresponding torque based on the overall vehicle torque requirement.

[0022] The present invention discloses an electronic device, comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device enables the electronic device to implement any of the above-described vehicle torque control methods.

[0023] The present invention discloses a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform any of the above-described vehicle torque control methods.

[0024] The beneficial effects of this invention are as follows: By acquiring the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of the target vehicle, the boundary acceleration of the target vehicle can be directly determined. By determining the upper and lower boundary accelerations, the acceleration capability of the target vehicle can be determined. Combined with the acquired current gear, speed, and throttle depth of the target vehicle, the target acceleration of the target vehicle can be determined, thereby determining the required torque of the entire vehicle. This process simplifies the steps and procedures for obtaining the required torque of the entire vehicle, thus improving the speed of obtaining the required torque of the entire vehicle. Since the required torque of the entire vehicle controls the output torque of the corresponding drive motor or brake of the target vehicle, when the speed of obtaining the required torque of the entire vehicle is increased, the control speed of the drive motor and brake can be increased accordingly, thereby improving the response speed of the output torque of the entire vehicle.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0027] Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle torque control method, as shown in an exemplary embodiment of this application.

[0028] Figure 2 This is a flowchart illustrating a vehicle torque control method in an exemplary embodiment of this application;

[0029] Figure 3 This is a schematic diagram of step S3 obtaining the upper boundary acceleration based on the boundary drive torque in an exemplary embodiment;

[0030] Figure 4 In one embodiment, step S3 involves obtaining a data relationship diagram of the upper boundary acceleration.

[0031] Figure 5 This is a schematic diagram of step S3 obtaining the lower boundary acceleration based on the boundary braking torque in an exemplary embodiment;

[0032] Figure 6 In one embodiment, step S3 involves obtaining a data relationship diagram of the lower boundary acceleration.

[0033] Figure 7 This is a data relationship diagram of the upper boundary acceleration and the lower boundary acceleration obtained in one embodiment of the present invention;

[0034] Figure 8 yes Figure 2 Step S51 in the illustrated embodiment is shown in a logic diagram of an exemplary embodiment;

[0035] Figure 9 yes Figure 2 Step S5 in the embodiment is a data relationship diagram in an exemplary embodiment;

[0036] Figure 10 This is a flowchart of step S7 in an exemplary embodiment;

[0037] Figure 11 This is a logic flowchart of one embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of the structure of a vehicle torque control device shown in an exemplary embodiment of this application;

[0039] Figure 13A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0040] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and sub-samples in the embodiments can be combined with each other.

[0041] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0042] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0043] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0044] Unless otherwise stated, the term "multiple" means two or more.

[0045] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0046] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0047] First, it's important to clarify that in conventional automotive electronic control systems, when calculating throttle torque, calibration engineers can achieve different driving styles by matching different calibration parameters during different project development processes. This involves calibrating the torque at various vehicle speeds and accelerator pedal openings to meet torque requirements for vehicle start-up, constant speed driving, acceleration, and overtaking. When calculating coasting feedback torque, it's necessary to determine whether the desired driving condition has been entered based on parameters such as the brake and accelerator pedal states and vehicle speed. By calibrating the coasting feedback torque at various vehicle speeds, different energy recovery intensities are achieved while meeting drivability requirements. Similarly, when calculating braking feedback torque, it's necessary to determine whether the desired driving condition has been entered based on parameters such as the brake and accelerator pedal states and vehicle speed. By calibrating the coasting feedback torque at various vehicle speeds and braking depths, it's necessary to meet drivability requirements while fulfilling the driver's braking needs and recovering energy as much as possible. Finally, when calculating creep torque, it's necessary to determine whether the desired driving condition has been entered based on parameters such as the brake and accelerator pedal states and vehicle speed. Creep torque is calculated using a PID controller based on vehicle speed or by looking up a table at a fixed vehicle speed, achieving both drivability requirements and idle creep requirements. Finally, it is necessary to perform operating condition judgment, torque arbitration, and gradient filtering to control the vehicle's output torque accordingly. During the torque calculation process, there are transitions between different calculated torque values, requiring consideration and coordination of these transitions between different operating conditions. This makes obtaining the required torque for the entire vehicle quite complex, involving numerous calculation steps. Furthermore, the calibrated test conditions are insufficient to cover all possible operating conditions experienced by customers.

[0048] In view of this, embodiments of this application provide a vehicle torque control method, apparatus, electronic device, and readable storage medium. This method can be applied to the electronic control system of a target vehicle, in this embodiment of the application, where the target vehicle is an electric vehicle with a motor drive system. By acquiring the current gear, vehicle speed, and throttle depth of the target vehicle, the target acceleration of the current vehicle is determined, thereby determining the required torque for the entire vehicle. This process simplifies the steps and procedures for obtaining the required torque for the entire vehicle, thus improving the speed at which the required torque for the entire vehicle is obtained. Because the corresponding torque output of the drive motor or brake of the target vehicle is controlled by the required torque for the entire vehicle, when the speed at which the required torque for the entire vehicle is obtained is increased, the control speed of the drive motor and brake can be increased accordingly, thereby improving the response speed of the output torque of the entire vehicle.

[0049] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an application scenario of a vehicle torque control method according to an exemplary embodiment of this application. The vehicle torque control method provided in this disclosure is applied to an on-board device 1, which can be installed on a target vehicle. The on-board device 1 includes, but is not limited to, a controller 11, a power system 12, an accelerator pedal 13, and a brake pedal 14.

[0050] The controller 11 may include a memory 111, a processor 112, and a demand torque calculation device 113. The memory 111 and the processor 112 are electrically connected directly or indirectly to enable data transmission or interaction. For example, they can be electrically connected via one or more communication buses or signal lines. The demand torque calculation device 113 includes at least one software functional module stored in the memory 111 in the form of software or firmware. The processor 112 executes the executable computer program stored in the memory 111, such as the software functional module and computer program included in the demand torque calculation device 113, to implement a method for calculating the demand torque of the entire vehicle.

[0051] Optionally, the memory 111 may be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable read-only memory, electrically erasable read-only memory, etc., wherein the memory 111 is used to store programs, and the processor 112 executes the programs after receiving execution instructions.

[0052] The processor 112 may be an integrated circuit chip with signal processing capabilities. The processor 112 can be a general-purpose processor, including a central processing unit, network processor, system-on-a-chip, etc.; it can also be a digital signal processor, application-specific integrated circuit, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0053] The power system 12 includes a drive system 121 and a braking system 122. The drive system 121 is used to control the driving force of the target vehicle, and the braking system 122 is used to control the braking force of the target vehicle. Both the drive system 121 and the braking system 122 are electrically connected to the controller 11.

[0054] Understandable. Figure 1 The controller 11 shown may also include more or fewer components, or have the same... Figure 1 The different configurations shown, and, Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0055] Please see Figure 2 and Figure 11 , Figure 2 This is a flowchart of a vehicle torque control method provided in an embodiment of this application. Figure 11 This is a logic flowchart of one embodiment of the present invention.

[0056] The vehicle torque control method is applied to in-vehicle equipment (e.g., Figure 1 In the vehicle-mounted equipment 1). The vehicle torque control method includes:

[0057] S1, obtain the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of the target vehicle.

[0058] In this embodiment, the current parameters of the target vehicle can be obtained first, such as vehicle speed, pedal opening and vehicle mass. Then, based on the obtained parameters, each preset rule is installed to perform calculations to obtain the current boundary torque, vehicle resistance and vehicle rotational inertia of the target vehicle.

[0059] In one embodiment of the vehicle torque control method of the present invention, obtaining the boundary torque of the target vehicle includes:

[0060] S11, Obtain the vehicle boundary drive torque.

[0061] In this step, the driving torque refers to the torque output by the drive motor from the crankshaft end; under stable power conditions, it is inversely proportional to the speed of the drive motor. The faster the speed, the smaller the driving torque of the drive motor, and vice versa, and the greater the vehicle's load-bearing capacity within the corresponding range. The boundary driving torque refers to the maximum output torque of the drive motor, which is a performance parameter of the drive motor; generally, it refers to the maximum torque that can be achieved at relatively low engine speeds. The larger the boundary driving torque, the better the driving performance of the drive motor.

[0062] S12, Obtain the vehicle boundary braking torque.

[0063] In this step, the braking torque is the torque generated by the brakes, which reduces the wheel speed, ultimately slowing the vehicle down to a stop; it also helps maintain a suitable and stable speed when driving downhill; furthermore, it allows the vehicle to reliably stop in place or on a slope. In this embodiment, the braking torque is the torque generated by the vehicle's chassis brakes; the stronger the braking capacity of the chassis brakes, the greater the braking torque generated; the boundary braking torque refers to the maximum braking torque generated by the chassis brakes.

[0064] S2. Determine the overall boundary acceleration of the target vehicle based on the boundary torque, vehicle resistance, vehicle mass, and vehicle moment of inertia of the target vehicle.

[0065] In this step, the boundary acceleration determination formula, Boundary Acceleration = (Boundary Torque - Vehicle Resistance) / (Vehicle Mass + Vehicle Moment of Inertia), can be pre-stored in the controller's memory. By substituting the boundary torque, vehicle resistance, vehicle mass, and vehicle moment of inertia obtained in step S1 into the pre-stored boundary acceleration determination formula, the overall vehicle boundary acceleration can be obtained.

[0066] S3. Determine the upper and lower boundary accelerations of the target vehicle based on the overall vehicle boundary acceleration. This process includes steps S31 to S32:

[0067] S31. Determining the upper boundary acceleration of the target vehicle based on the overall vehicle boundary acceleration includes: determining the upper boundary acceleration based on the vehicle driving torque.

[0068] Please see Figures 3 to 4 , Figure 3 This is a schematic diagram of step S3 obtaining the upper boundary acceleration based on the boundary drive torque in an exemplary embodiment. Figure 4 In one embodiment, step S3 obtains a data relationship diagram of the upper boundary acceleration. In this step, the boundary driving torque, vehicle resistance, vehicle mass, and vehicle rotational inertia obtained in step S11 are substituted into the boundary acceleration determination formula pre-stored in the memory to obtain: upper boundary acceleration = (boundary driving torque - vehicle resistance) / (vehicle mass + vehicle rotational inertia), thereby determining the upper boundary acceleration.

[0069] S32. Determining the lower boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the lower boundary acceleration based on the vehicle's braking torque.

[0070] Please see Figures 5 to 6 , Figure 5 This is a schematic diagram of step S3 obtaining the lower boundary acceleration based on the boundary braking torque in an exemplary embodiment. Figure 6 In one embodiment, step S3 obtains a data relationship diagram of the lower boundary acceleration. In this step, the boundary braking torque, vehicle resistance, vehicle mass, and vehicle rotational inertia obtained in step S12 are substituted into the boundary acceleration determination formula stored in the memory beforehand, and the following result is obtained: Lower boundary acceleration = (Boundary braking torque - Vehicle resistance) / (Vehicle mass + Vehicle rotational inertia), thereby determining the lower boundary acceleration.

[0071] Please see Figure 7 , Figure 7 This is a data relationship diagram of the upper boundary acceleration and the lower boundary acceleration obtained in one embodiment of the present invention. After steps S31 and S32, the upper boundary acceleration curve and the lower boundary acceleration curve are finally obtained.

[0072] S4. Obtain the target vehicle's current gear, speed, and throttle position.

[0073] In this embodiment, the target vehicle's current gear, speed, and throttle position can be directly read by the vehicle operation status monitoring system or obtained through other sensors.

[0074] S5. Determine the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth.

[0075] Please see Figure 8 and Figure 9 , Figure 8 yes Figure 2 Step S51 in the illustrated embodiment is shown in a logic diagram of an exemplary embodiment. Figure 9 yes Figure 2 Step S5 in the embodiment is a data relationship diagram in an exemplary embodiment. In this embodiment, after obtaining the current boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of the target vehicle through steps S11 and S4, and after obtaining the upper boundary acceleration and lower boundary acceleration of the target vehicle through steps S31 and S32, the target acceleration of the target vehicle can be calculated based on the current operating conditions of the vehicle.

[0076] S51. Determining the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth includes: determining the target acceleration by looking up a table based on the current gear and / or current vehicle speed and / or current throttle depth, wherein the target acceleration is limited between the upper boundary acceleration and the lower boundary acceleration. Further, when the throttle opening is lower than a first preset ratio, the target acceleration is determined based on the lower boundary acceleration; when the throttle opening is higher than a second preset ratio, the target acceleration is determined based on the upper boundary acceleration.

[0077] In this embodiment, the first preset ratio and the second preset ratio can be any value in the range of 0 to 100%. In order to make the target acceleration of the target vehicle more optimal, in this embodiment, the first preset ratio is selected as 8%. In other embodiments, it can also be any value such as 7%, 9%, or 10%. The second preset ratio is selected as 10%. In other embodiments, it can also be any value such as 9%, 11%, or 12%.

[0078] In step S5, determining the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth further includes step S52: a process of calibrating and adjusting the target acceleration based on the actual acceleration of the target vehicle. This calibration and adjustment process includes steps S521 to S523.

[0079] S521: Real-time reading of the target vehicle's current actual acceleration.

[0080] In this embodiment, the method for obtaining the actual acceleration of the target vehicle is unrestricted and can be selected according to actual application requirements. It can be calculated directly from the vehicle speed or measured directly by an acceleration sensor.

[0081] S522. Perform real-time difference calculation between the actual acceleration of the target vehicle and the target acceleration to determine whether the target acceleration is accurate.

[0082] In this embodiment, the torque calculation device 113 has a preset acceleration difference range. The torque calculation device 113 calculates the difference between the actual acceleration and the target acceleration and determines whether the difference falls within the acceleration difference range.

[0083] S523. Based on the judgment result, determine whether the vehicle dynamics model is needed to calibrate the calculation parameters of the target acceleration.

[0084] When the difference between the actual acceleration and the target acceleration in step S522 falls within the set acceleration difference range, the vehicle dynamics model does not update the calculation parameters of the target acceleration. When the difference between the actual acceleration and the target acceleration in step S522 falls outside the acceleration difference range, the vehicle dynamics model updates the calculation parameters of the target acceleration, thereby making the target acceleration closer to the actual acceleration.

[0085] S6. Determine the required torque of the target vehicle based on the target vehicle's target acceleration.

[0086] In this embodiment, after obtaining the target acceleration of the target vehicle through steps S51 and S52, the total vehicle torque requirement of the target vehicle can be calculated according to the rule algorithm pre-stored in the torque calculation device 113. In this step, a drive characteristic curve is generated based on the relationship between boundary acceleration and drive torque, and a braking torque characteristic curve is generated based on the relationship between boundary acceleration and braking torque.

[0087] S7. Based on the required torque for the entire vehicle, control the drive motor or brake of the target vehicle to output the corresponding torque. Please refer to [link / reference]. Figure 10 , Figure 10 This is a flowchart of step S7 in an exemplary embodiment. Step S7 includes steps S71 to S74:

[0088] S71. Determine the required torque for the entire vehicle.

[0089] In this embodiment, the torque calculation device 113 judges the vehicle's required torque obtained in step S6 according to preset rules.

[0090] S72. If the required torque of the vehicle is less than the preset torque value, control the brake to output braking torque according to the required torque of the vehicle.

[0091] In this step, the preset torque value can be set according to the user's usage habits; for ease of judgment, in this embodiment, the preset torque value is set to 0. The required torque obtained in step 6 is compared with the preset torque value in the torque calculation device 113. If the required torque of the vehicle is less than 0, the controller controls the brakes in the power system to operate, outputting braking torque according to the required torque. The output drive torque is distributed through braking torque distribution, then monitored and processed by torque, and finally transmitted to the brake torque control system to ultimately achieve output control of the braking torque.

[0092] S73. If the required torque of the whole vehicle is greater than the preset torque value, control the drive motor to output the drive torque according to the required torque of the whole vehicle.

[0093] In this step, the required torque obtained in step 6 is compared with the preset torque value in the torque calculation device 113. If the required torque of the vehicle is greater than 0, the controller controls the drive motor in the power system to operate and outputs drive torque according to the required torque. The output drive torque is calculated for drive torque distribution, then monitored and processed, and finally transmitted to the drive motor torque control system to ultimately achieve output control of drive torque.

[0094] After step S7, where the target vehicle for the overall vehicle torque demand control outputs the corresponding torque from the drive motor or brake, the process further includes step S74: torque monitoring and processing, which includes either step S741 or step S742.

[0095] S741. Based on the required torque of the whole vehicle, read the current driving torque or current braking torque of the target vehicle in real time, and determine the torque difference between the required torque of the whole vehicle and the current driving torque or current braking torque.

[0096] In this embodiment, the method of obtaining the drive torque of the target vehicle is not limited and can be selected according to actual application requirements. It can be obtained directly from the controller of the drive motor or through an external torque sensor. In this step, when the required torque obtained in step 6 is compared with the preset torque value in the torque calculation device 113, and it is found that the required torque of the whole vehicle is greater than the preset torque value of 0, the drive motor runs and outputs drive torque according to the required torque; at this time, the torque calculation device 113 calculates the difference between the drive torque and the required torque of the whole vehicle to obtain the first torque difference value.

[0097] In this embodiment, the method of obtaining the braking torque of the target vehicle is not limited and can be selected according to actual application requirements. It can be obtained directly from the brake controller or through an external torque sensor. In this step, when the required torque obtained in step 6 is compared with the preset torque value in the torque calculation device 113, and it is found that the required torque of the whole vehicle is less than the preset torque value of 0, the brake is activated and the braking torque is output according to the required torque; at this time, the torque calculation device 113 calculates the difference between the braking torque and the required torque of the whole vehicle to obtain a second torque difference value.

[0098] S742. Calibrate the drive motor or the brake according to the torque difference so that the output drive torque or braking torque is equal to the required torque of the whole vehicle.

[0099] In this exemplary embodiment of step one, when the required torque obtained in step 6 is compared with the preset torque value in the torque calculation device 113, and it is found that the required torque of the whole vehicle is greater than the preset torque value of 0, the drive motor runs and outputs the drive torque according to the required torque. At this time, the torque calculation device 113 calculates the difference between the drive torque and the required torque of the whole vehicle to obtain a first torque difference value. Then, the first torque difference value is transmitted to the power model preset in the torque calculation device 113. The power model calibrates the drive torque through the first torque difference value and controls the drive motor through the calibration result so that the output torque of the drive motor is equal to the required torque.

[0100] In another exemplary embodiment of this step, when the required torque obtained in step 6 is compared with the preset torque value in the torque calculation device 113, and it is found that the required torque of the whole vehicle is less than the preset torque value of 0, the brake is activated and the braking torque is output according to the required torque. At this time, the torque calculation device 113 calculates the difference between the braking torque and the required torque of the whole vehicle to obtain a second torque difference value. At this time, the second torque difference value is transmitted to the power model preset in the torque calculation device 113. The power model calibrates the braking torque through the second torque difference value and controls the brake through the calibration result so that the output torque of the brake is equal to the required torque.

[0101] Please see Figure 12 , Figure 12This is a schematic diagram illustrating the structure of a vehicle torque control device according to an exemplary embodiment of this application. The present invention also provides a vehicle demand torque control device, including a first acquisition module 100, a first data processing module 200, a second data processing module 300, a second acquisition module 400, a third data processing module 500, a fourth data processing module 600, and a control module 700; the first acquisition module 100 is used to acquire the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of the target vehicle; the first data processing module 200 is used to determine the vehicle boundary acceleration of the target vehicle based on the boundary torque, vehicle resistance, vehicle mass, and vehicle rotational inertia of the target vehicle; the second data processing module 300... The first module 400 is used to determine the upper and lower boundary accelerations of the target vehicle based on the boundary accelerations; the second acquisition module 400 is used to acquire the current gear, vehicle speed, and throttle depth of the target vehicle; the third data processing module 500 is used to determine the target acceleration of the target vehicle based on the upper and lower boundary accelerations, current gear, current vehicle speed, and current throttle depth; the fourth data processing module 600 is used to determine the required torque of the target vehicle based on the target acceleration; and the control module 700 is used to control the corresponding drive motor or brake of the target vehicle to output the corresponding torque based on the required torque.

[0102] It should be noted that the vehicle torque control method and device provided in the above embodiments belong to the same concept, and the specific operation of each module has been described in detail in the method embodiments, and will not be repeated here. In practical applications, the vehicle torque control device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0103] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the model testing methods provided in the above embodiments.

[0104] Figure 13 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 13 The computer system 1000 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0105] like Figure 13As shown, the computer system 1000 includes a Central Processing Unit (CPU) 1001, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1002 or programs loaded from storage portion 1008 into Random Access Memory (RAM) 1003, such as performing the methods described in the above embodiments. The RAM 1003 also stores various programs and data required for system operation. The CPU 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An Input / Output (I / O) interface 1005 is also connected to the bus 1004.

[0106] The following components are connected to I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1010 as needed so that computer programs read from them can be installed into storage section 1008 as needed.

[0107] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by central processing unit (CPU) 1001, it performs various functions defined in the system of this application.

[0108] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0109] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0110] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0111] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the model testing method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0112] In the vehicle torque control method proposed in this invention, the target acceleration of the current vehicle is determined by acquiring the current gear, speed, and throttle depth of the target vehicle. The target acceleration is directly used as the target value to adjust and control the torque output of the drive motor or brake of the target vehicle. This establishes a direct input-output connection between the vehicle's moving end and the drive end, allowing the required torque of the vehicle's moving end to be directly fed back to the vehicle's drive end. This improves the transmission efficiency between the vehicle's required torque and the vehicle control end, thereby better enhancing the speed response performance during vehicle driving and improving the user's driving experience.

[0113] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A vehicle torque control method, characterized in that, The method includes: Obtain the boundary torque, vehicle resistance, vehicle mass, and vehicle moment of inertia of the target vehicle; The overall boundary acceleration of the target vehicle is determined based on the target vehicle's boundary torque, vehicle resistance, vehicle mass, and vehicle moment of inertia. The upper and lower boundary accelerations of the target vehicle are determined based on the overall vehicle boundary acceleration. Obtain the target vehicle's current gear, current speed, and current throttle position; The target acceleration of the target vehicle is determined based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth. Based on the target acceleration of the target vehicle, determine the total torque required for the target vehicle, and control the corresponding drive motor or brake of the target vehicle to output the corresponding torque based on the total torque required for the vehicle. The boundary torque includes the vehicle driving torque, and determining the upper boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the upper boundary acceleration based on the vehicle driving torque; The boundary torque includes the vehicle braking torque, and determining the lower boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the lower boundary acceleration based on the vehicle braking torque.

2. The vehicle torque control method according to claim 1, characterized in that, Determining the target acceleration of a target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth includes: determining the target acceleration by looking up a table based on the current gear and / or current vehicle speed and / or current throttle depth, wherein the target acceleration is limited between the upper boundary acceleration and the lower boundary acceleration.

3. The vehicle torque control method according to claim 1, characterized in that, The torque output of the drive motor or brake corresponding to the target vehicle is controlled according to the overall vehicle torque requirement, including: The required torque for the entire vehicle is determined; If the required torque of the vehicle is less than the preset torque value, the brake is controlled to output braking torque according to the required torque of the vehicle. If the required torque of the vehicle is greater than the preset torque value, the drive motor is controlled to output drive torque according to the required torque of the vehicle.

4. The vehicle torque control method according to claim 3, characterized in that, Determining the target acceleration of a target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth also includes: the process of calibrating and adjusting the target acceleration based on the actual acceleration of the target vehicle.

5. The vehicle torque control method according to claim 3 or 4, characterized in that, After controlling the output torque of the drive motor or brake corresponding to the target vehicle according to the overall vehicle torque requirement, the process also includes torque monitoring and processing, which includes: Based on the required torque of the vehicle, the current driving torque or current braking torque of the target vehicle is read in real time, and the torque difference between the required torque of the vehicle and the current driving torque or current braking torque is determined. The drive motor or the brake is calibrated according to the torque difference so that the corresponding output drive torque or braking torque is equal to the required torque of the vehicle.

6. A vehicle torque control device, characterized in that, The device includes: The first acquisition module is used to acquire the boundary torque, vehicle resistance, vehicle mass, and vehicle moment of inertia of the target vehicle. The first data processing module is used to determine the overall boundary acceleration of the target vehicle based on the boundary torque, vehicle resistance, vehicle mass and vehicle rotational inertia of the target vehicle. The second data processing module is used to determine the upper boundary acceleration and lower boundary acceleration of the target vehicle based on the boundary acceleration. The second acquisition module is used to acquire the target vehicle's current gear, current speed, and current throttle position. The third data processing module is used to determine the target acceleration of the target vehicle based on the upper boundary acceleration, lower boundary acceleration, current gear, current vehicle speed, and current throttle depth. The fourth data processing module is used to determine the total torque required by the target vehicle based on the target acceleration of the target vehicle. The control module is used to control the drive motor or brake of the target vehicle to output the corresponding torque according to the required torque of the whole vehicle. The boundary torque includes the vehicle driving torque, and determining the upper boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the upper boundary acceleration based on the vehicle driving torque; The boundary torque includes the vehicle braking torque, and determining the lower boundary acceleration of the target vehicle based on the boundary acceleration includes: determining the lower boundary acceleration based on the vehicle braking torque.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the vehicle torque control method according to any one of claims 1 to 5.

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