Method, system and device for determining output torque and computer readable storage medium

Abstract

The application discloses a method, system and device for determining output torque and a computer readable storage medium. The method can monitor the whole vehicle mass, determine a torque factor and a torque rising rate factor according to the whole vehicle mass and a current accelerator pedal opening, and then determine a requested torque according to the torque factor and a torque value corresponding to the current accelerator pedal opening. That is, a corresponding acceleration curve can be selected according to different working conditions, so that the use of a single acceleration curve in any working condition can be avoided, and the energy utilization rate of the motor is improved. In addition, a target torque change rate is determined according to the current torque value, the requested torque and the torque rising rate factor, so that the vehicle can change from the current torque value to the requested torque based on the target torque change rate, so that in the acceleration working condition, the motor torque rate can be slowed down and the motor peak torque is limited, the acceleration curve can be slowed down, and as the load further increases, the torque and the torque rising rate are gradually released, so that the vehicle can run smoothly.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, system, device, and computer-readable storage medium for determining output torque. Background Art

[0002] With improved living standards and growing environmental awareness, electric vehicles are becoming increasingly popular. Related technologies collect data on the vehicle's accelerator pedal position and motor speed, calibrate a MAP table for accelerator pedal position and motor speed-torque. While the vehicle is in motion, the current requested torque can be determined by looking up the table based on the real-time accelerator pedal position. However, when operating under no-load conditions, if a fixed acceleration motor speed-torque MAP is used, the motor may have excess capacity, resulting in low energy efficiency. Summary of the Invention

[0003] The embodiments of the present application provide a method, system, device, and computer-readable storage medium for determining an output torque, aiming to solve the problem of low energy utilization when a vehicle operates according to a fixed acceleration motor speed torque MAP.

[0004] An embodiment of the present application provides a method for determining output torque, the method comprising:

[0005] Get the current vehicle mass and current accelerator pedal opening;

[0006] Determining a torque factor and a torque rise rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass;

[0007] determining a requested torque according to the torque factor and a torque value corresponding to the current accelerator pedal opening;

[0008] determining a target torque increase rate according to the torque value, the requested torque, and the torque increase rate factor;

[0009] The vehicle is controlled to change from the torque value to the requested torque at the target torque increase rate.

[0010] Optionally, before the step of determining the torque factor and the torque increase rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass, the method further includes:

[0011] Obtaining a fully loaded vehicle mass, and dividing the fully loaded vehicle mass into a plurality of load mass intervals;

[0012] Determining a torque factor and a torque rise rate factor corresponding to an accelerator pedal opening of the vehicle in each load mass range;

[0013] A mapping relationship is established between the load mass interval and the torque factor and torque increase rate factor corresponding to the accelerator pedal opening.

[0014] Optionally, the step of determining the torque factor and the torque rise rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass includes:

[0015] Determining a load mass range in which the current vehicle mass falls;

[0016] The torque factor and the torque increase rate factor corresponding to the current accelerator pedal opening are determined according to the load mass interval and the mapping relationship.

[0017] Optionally, the step of determining the requested torque according to the torque factor and the torque value corresponding to the current accelerator pedal opening includes:

[0018] Obtaining the output torque corresponding to the current accelerator pedal opening;

[0019] A first product between the torque factor and the output torque is determined as the requested torque.

[0020] Optionally, the step of determining the target torque increase rate according to the torque value, the requested torque and the torque increase rate factor includes:

[0021] determining a torque increase rate according to the torque value and the requested torque;

[0022] A second product between the torque increase rate and the torque increase rate factor is determined as the target torque increase rate.

[0023] Optionally, the method further includes:

[0024] Obtaining the current operating state, gear position, and button status of the load torque control mode of the vehicle;

[0025] determining whether the vehicle enters a load torque control mode according to the working state, the gear position, and the button state;

[0026] If so, obtain the vehicle's current vehicle mass and current accelerator pedal opening.

[0027] Optionally, determining whether the vehicle enters the load torque control mode according to the working state, the gear position, and the button state includes:

[0028] When the current working state of the vehicle is a ready state, the gear is in neutral, and the key state of the load torque control mode is in an activated state, it is determined that the vehicle enters the load torque control mode.

[0029] In addition, to achieve the above-mentioned object, the present invention further provides a system for determining an output torque, the system comprising:

[0030] The acquisition module is used to obtain the current vehicle mass and the current accelerator pedal opening;

[0031] a first determining module, configured to determine a torque factor and a torque rise rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass;

[0032] a second determining module, configured to determine a requested torque based on the torque factor and a torque value corresponding to the current accelerator pedal opening;

[0033] a third determining module, configured to determine a target torque increase rate according to the torque value, the requested torque, and the torque increase rate factor;

[0034] A control module is configured to control the vehicle to change from the torque value to the requested torque at the target torque increase rate.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides an output torque determination device including: a memory, a controller, and an output torque determination program stored in the memory and executable on the controller. When the output torque determination program is executed by the controller, the steps of the above-mentioned output torque determination method are implemented.

[0036] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium on which an output torque determination program is stored. When the output torque determination program is executed by a controller, the steps of the above-mentioned output torque determination method are implemented.

[0037] The technical solutions for a method, system, device, and computer-readable storage medium for determining output torque provided in embodiments of the present application can monitor the vehicle's current vehicle mass in real time, determine different torque factors and torque rise rate factors based on the current vehicle command and the current accelerator pedal opening, and then determine the requested torque based on the torque factors and the torque value corresponding to the current accelerator pedal opening. This allows for selecting the appropriate acceleration curve based on different operating conditions, thereby avoiding the use of a single acceleration curve under all operating conditions, which would result in reduced motor energy utilization. Furthermore, a target torque change rate is determined based on the current torque value, the requested torque, and the torque rise rate factor, allowing the vehicle to vary based on this target torque change rate. This allows the motor torque rate to be slowed down and the peak torque of the motor to be limited under acceleration conditions, slowing the acceleration curve. As the load increases, the torque and torque rise rate are gradually released, allowing the vehicle to operate smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 11 is a flow chart of a first embodiment of a method for determining output torque according to the present invention;

[0039] Figure 2 1 is a flow chart of a second embodiment of a method for determining output torque according to the present invention;

[0040] Figure 3 This is a functional module diagram of the output torque determination system of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of the hardware operating environment involved in the embodiment of the present invention.

[0042] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The above-mentioned drawings are only an embodiment diagram, not the entire invention. DETAILED DESCRIPTION

[0043] At present, the accelerator pedal opening and motor speed can be collected to calibrate the accelerator pedal opening and motor speed-torque MAP table. When the vehicle is driving, the current required torque can be determined by looking up the table based on the real-time collected accelerator pedal opening. However, at this stage, there is only one fixed acceleration motor speed-torque MAP, and this fixed acceleration motor speed-torque MAP can only be applied to vehicles under a certain load. When the vehicle is unloaded, when the vehicle is accelerating, if it runs according to the fixed acceleration motor speed-torque MAP, the motor capacity will be surplus, the energy utilization rate will decrease, and the cruising range will be reduced. In addition, when fully loaded, if it runs according to the fixed acceleration motor speed-torque MAP, it will also cause the vehicle to start slowly.

[0044] Therefore, to address the aforementioned issues, the present application proposes a method for determining output torque. This method can monitor the vehicle's current vehicle mass in real time, determine different torque factors and torque rise rate factors based on the current vehicle command and the current accelerator pedal opening, and then determine the requested torque based on the torque factor and the torque value corresponding to the current accelerator pedal opening. This allows the selection of corresponding acceleration curves based on different operating conditions, thereby avoiding the use of a single acceleration curve under all operating conditions, which would result in reduced motor energy utilization. Furthermore, a target torque change rate is determined based on the current torque value, the requested torque, and the torque rise rate factor, allowing the vehicle to change based on this target torque change rate. This allows the motor torque rate to be slowed down and the peak torque of the motor to be limited under acceleration conditions, slowing the acceleration curve. As the load increases, the corresponding torque and torque rise rate are gradually released, allowing the vehicle to operate smoothly.

[0045] To better understand the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0046] like Figure 1 As shown, in the first embodiment of the present application, the output torque determination method of the present application is applied to the output torque determination device, and the output torque determination method includes the following steps:

[0047] Step S110, obtaining the current vehicle mass and the current accelerator pedal opening;

[0048] In this embodiment, a vehicle load detection module is provided in the vehicle and is connected to a controller in the output torque determination device. The vehicle's current gross vehicle mass includes the vehicle's net weight and the weight of its cargo, or it may include only the weight of its cargo. The vehicle load detection module can be used to collect the total weight of the vehicle and its cargo, or it can collect only the weight of its cargo. The current accelerator pedal opening can be determined based on the voltage value fed back by the accelerator pedal.

[0049] Step S120 , determining a torque factor and a torque increase rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass.

[0050] In one embodiment, in order to avoid the problem of excess motor capacity and reduced energy efficiency when the vehicle is executed according to a fixed acceleration motor speed-torque MAP, the present application can pre-calibrate the dynamic performance of the vehicle under full load. The vehicle mass under full load is pre-divided into multiple mass grade intervals, and the upper limits of different load mass intervals are tested and calibrated respectively, so as to determine the torque rise rate factor corresponding to each load mass interval and the accelerator pedal opening and motor speed-torque MAP table under each load mass interval. As a result, there are matching torque rise rate factors, accelerator pedal openings and motor speed-torque MAP tables under different loads, so as to accurately control the motor output capacity, realize multiple output torque MAPs, and effectively increase the cruising range.

[0051] Optionally, the step of determining the torque factor and the torque rise rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass includes:

[0052] Step S121, obtaining the vehicle mass under full load, and dividing the vehicle mass under full load into a plurality of load mass intervals;

[0053] Step S122, determining the torque factor and torque rise rate factor corresponding to the accelerator pedal opening of the vehicle in each load mass range;

[0054] Step S123 , establishing a mapping relationship between the load mass range and the torque factor and torque increase rate factor corresponding to the accelerator pedal opening.

[0055] In this embodiment, after obtaining the fully loaded vehicle mass, the fully loaded vehicle mass can be divided into multiple load mass intervals based on actual conditions. For example, the upper limits M2, M3, M4, M5, and M6 corresponding to each load mass interval can be tested and calibrated. The motor speed is controlled for each load mass interval at different accelerator pedal openings, and the requested torque corresponding to the vehicle's accelerator pedal opening is determined based on this speed. A torque factor can be determined based on the difference between the requested torque and the actual torque corresponding to the vehicle's accelerator pedal opening. This torque factor is then associated with the accelerator pedal opening and the load mass interval, thereby establishing a mapping relationship between the load mass interval and the torque factor corresponding to the accelerator pedal opening. The torque factor and torque rise rate factor corresponding to the accelerator pedal opening serve as correction values ​​used to modify the current output torque and the current torque rise rate, thereby making the motor control process more precise.

[0056] Optionally, when the vehicle is accelerating, in order to avoid the problem of unstable vehicle operation caused by sudden acceleration of the vehicle speed, the vehicle's torque is gradually changed to the requested torque by increasing the torque rise rate. Therefore, after determining the requested torque, the difference between the vehicle's current torque change and the requested torque can be determined, and the torque difference can be determined based on the difference, and then the theoretical torque rise rate can be determined based on the torque difference. The actual torque rise rate can be determined based on the difference between the current torque change and the actual torque. The torque rise rate factor can be determined based on the difference between the theoretical torque rise rate and the actual torque rise rate, and the torque rise rate factor can be associated with the load mass to establish a mapping relationship between the load mass interval and the torque rise rate factor. The following table is a mapping table between the load mass interval and the torque factor and the torque rise rate factor corresponding to the accelerator pedal opening:

[0057] Gross vehicle mass Torque rise rate factor K Torque factor P M6 <M K06 P06 M5 <M≤M6 K05 P05 M4 <M≤M5 K04 P04 M3 <M≤M4 K03 P03 M2 <M≤M3 K02 P02 M1≤M≤M2 K01 P01

[0058] Wherein, M is the mass of the vehicle. When M is close to full load, such as when M>M6, K06=1 and P06=1.

[0059] Optionally, after establishing a mapping relationship between the load-mass interval and the torque factor and torque rise rate factor corresponding to the accelerator pedal opening, the load-mass interval in which the current vehicle mass falls can be determined. Furthermore, based on this load-mass interval and the mapping relationship, the torque factor and torque rise rate factor corresponding to the current accelerator pedal opening can be determined. A mapping table can be searched based on this load-mass interval to obtain the torque factor and torque rise rate factor corresponding to the current accelerator pedal opening.

[0060] Optionally, the output torque of the vehicle is affected not only by the mass of the vehicle but also by the current slope and vehicle speed. A mapping relationship can be established between the torque factor and the torque rise rate factor corresponding to different slopes and accelerator pedal openings, and a mapping relationship can also be established between the torque factor and the torque rise rate factor corresponding to different vehicle speeds and accelerator pedal openings.

[0061] Step S130 : determining a requested torque according to the torque factor and a torque value corresponding to the current accelerator pedal opening.

[0062] In this embodiment, after determining the torque factor, the torque value corresponding to the current accelerator pedal opening can be corrected using the torque factor to obtain the requested torque. A mapping table between different accelerator pedal openings and torque values ​​can be pre-established. After detecting the current accelerator pedal opening, the corresponding torque value can be obtained by searching the mapping table. Alternatively, the torque value corresponding to the current accelerator pedal opening can be obtained, and the first product of the torque factor and the torque value can be determined as the requested torque. The specific calculation formula is as follows:

[0063] T=T tq p

[0064] Where, T represents the requested torque; T tq It represents the torque value corresponding to the accelerator pedal opening and motor speed under full load; p represents the torque factor.

[0065] Step S140 : determining a target torque increase rate according to the torque value, the requested torque, and the torque increase rate factor.

[0066] In this embodiment, the target torque rise rate refers to the speed at which the vehicle changes from the current torque value to the requested torque, also known as the torque loading slope. The torque rise rate can be determined based on the torque value corresponding to the current accelerator pedal opening and the requested torque, and then corrected using a torque rise rate factor to obtain the target torque rise rate. Alternatively, the torque rise rate can be determined based on the torque value and the requested torque, and the target torque rise rate is determined by multiplying the torque rise rate and the torque rise rate factor. The specific calculation formula is as follows:

[0067] ε=ε0k

[0068] Wherein, ε represents the target torque increase rate; ε0 represents the torque increase rate under full load; and k represents the torque increase rate factor.

[0069] Step S150 , controlling the vehicle to change from the torque value to the requested torque at the target torque increase rate.

[0070] In this embodiment, to ensure smooth vehicle operation during acceleration, after determining the target torque increase rate and the requested torque, the vehicle can be controlled to increase to or decrease to the requested torque at the target torque increase rate. Alternatively, the motor speed at the requested torque and the speed change rate corresponding to the target torque increase rate can be determined. Based on the motor speed and speed change rate at the requested torque, control parameters for the motor are determined. The motor can then be operated based on these control parameters, thereby enabling the vehicle to reach the requested torque at the target torque increase rate.

[0071] According to the above technical solution, this embodiment monitors the vehicle's current mass in real time, determines different torque factors and torque rise rate factors based on the current vehicle command and the current accelerator pedal opening, and then determines the requested torque based on the torque factors and the torque value corresponding to the current accelerator pedal opening. This allows for the selection of appropriate acceleration curves based on different operating conditions, thus avoiding the use of a single acceleration curve under all operating conditions, which would result in reduced motor energy utilization. Furthermore, a target torque change rate is determined based on the current torque value, the requested torque, and the torque rise rate factor. This allows the vehicle to vary based on this target torque change rate, slowing the motor torque rate and limiting the motor's peak torque under acceleration conditions. This allows the acceleration curve to be slowed, and as the load increases, the torque and torque rise rate are gradually released, ensuring smooth vehicle operation.

[0072] Reference Figure 2 Based on the first embodiment, in a second embodiment of the present application, the method for determining the output torque of the present application includes the following steps:

[0073] Step S210, obtaining the current working state, gear position and button status of the load torque control mode of the vehicle;

[0074] Step S220, determining whether the vehicle enters a load torque control mode according to the working state, the gear position, and the button state;

[0075] If so, in step S110, the current vehicle mass and the current accelerator pedal opening are obtained.

[0076] Step S120, determining a torque factor and a torque increase rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass;

[0077] Step S130, determining a requested torque according to the torque factor and a torque value corresponding to the current accelerator pedal opening;

[0078] Step S140, determining a target torque increase rate according to the torque value, the requested torque and the torque increase rate factor;

[0079] Step S150 , controlling the vehicle to change from the torque value to the requested torque at the target torque increase rate.

[0080] In this embodiment, when entering the load torque control mode, the current vehicle mass and the current accelerator pedal opening are obtained; the torque factor and torque rise rate factor corresponding to the current accelerator pedal opening are determined based on the current vehicle mass; the requested torque is determined based on the torque factor and the torque value corresponding to the current accelerator pedal opening; the target torque rise rate is determined based on the torque value, the requested torque and the torque rise rate factor; and the vehicle is controlled to change from the torque value to the requested torque at the target torque rise rate.

[0081] Therefore, it's necessary to first determine whether the vehicle is in load torque control mode. The vehicle can be considered in torque control mode when the vehicle's current operating state is in the ready state, the vehicle's current gear is in neutral, and the vehicle's load torque control mode button is activated. If any of the vehicle's current operating state, gear position, or load torque control mode button status fails to meet the conditions, the vehicle is not in load torque control mode. This allows for load-based torque control in conventional power mode. The vehicle's ignition is activated, indicating that the vehicle has entered the ready state.

[0082] The embodiment of the present invention provides an embodiment of a method for determining output torque. It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown here.

[0083] like Figure 3 As shown, the present application provides a system for determining an output torque, and the system for determining an output torque includes:

[0084] The acquisition module 10 is used to obtain the current vehicle mass and the current accelerator pedal opening.

[0085] The first determining module 20 is configured to determine a torque factor and a torque increase rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass.

[0086] Optionally, the output torque determination system also includes a calibration module, which is connected to the first determination module, and is used to obtain the vehicle mass of the vehicle under full load, and divide the vehicle mass under full load into multiple load mass intervals; determine the torque factor and torque rise rate factor corresponding to the accelerator pedal opening of the vehicle in each load mass interval; and establish a mapping relationship between the load mass interval and the torque factor and torque rise rate factor corresponding to the accelerator pedal opening.

[0087] Optionally, the first determination module is further used to determine the load mass interval in which the current vehicle mass is located; and determine the torque factor and torque rise rate factor corresponding to the current accelerator pedal opening based on the load mass interval and the mapping relationship.

[0088] The second determining module 30 is configured to determine the requested torque according to the torque factor and the torque value corresponding to the current accelerator pedal opening.

[0089] Optionally, the second determination module 30 is further configured to obtain an output torque corresponding to the current accelerator pedal opening; and determine a first product between the torque factor and the output torque as the requested torque.

[0090] The third determination module 40 is configured to determine a target torque increase rate according to the torque value, the requested torque, and the torque increase rate factor.

[0091] Optionally, the third determination module 40 is further configured to determine a torque increase rate according to the torque value and the requested torque; and determine a second product of the torque increase rate and the torque increase rate factor as the target torque increase rate.

[0092] The control module 50 is configured to control the vehicle to change from the torque value to the requested torque at the target torque increasing rate.

[0093] Optionally, the output torque determination system also includes a load torque control mode identification module, which is used to obtain the vehicle's current working state, gear position and button status of the load torque control mode; based on the working state, the gear position and the button status, determine whether the vehicle enters the load torque control mode; if so, obtain the vehicle's current vehicle mass and the current accelerator pedal opening.

[0094] Optionally, the load torque control mode identification module is further configured to determine that the vehicle enters the load torque control mode when the current working state of the vehicle is a ready state, the gear is in neutral, and the key state of the load torque control mode is in an activated state.

[0095] The specific implementation of the output torque determination system of the present invention is basically the same as the various embodiments of the output torque determination method described above, and will not be repeated here.

[0096] like Figure 4 As shown, Figure 4 This is a schematic diagram of the hardware operating environment involved in the embodiment of the present invention. Figure 4 That is, it is a structural diagram of the hardware operating environment of the device for determining the output torque.

[0097] like Figure 4 As shown, the output torque determination device may include: a controller 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned controller 1001.

[0098] Those skilled in the art will understand that Figure 4 The structure of the output torque determination device shown in the figure does not constitute a limitation on the output torque determination device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] like Figure 4 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an output torque determination program. The operating system is a program that manages and controls the hardware and software resources of the output torque determination device, and the output torque determination program and other software or programs.

[0100] exist Figure 4 In the output torque determination device shown, the user interface 1003 is mainly used to connect to the terminal and communicate data with the terminal; the network interface 1004 is mainly used for the background server and communicates data with the background server; the controller 1001 can be used to call the output torque determination program stored in the memory 1005.

[0101] In this embodiment, the output torque determination device includes: a memory 1005, a controller 1001, and an output torque determination program stored in the memory and executable on the controller, wherein:

[0102] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0103] Get the current vehicle mass and current accelerator pedal opening;

[0104] Determining a torque factor and a torque rise rate factor corresponding to the current accelerator pedal opening according to the current vehicle mass;

[0105] determining a requested torque according to the torque factor and a torque value corresponding to the current accelerator pedal opening;

[0106] determining a target torque increase rate according to the torque value, the requested torque, and the torque increase rate factor;

[0107] The vehicle is controlled to change from the torque value to the requested torque at the target torque increase rate.

[0108] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0109] Obtaining a fully loaded vehicle mass, and dividing the fully loaded vehicle mass into a plurality of load mass intervals;

[0110] Determining a torque factor and a torque rise rate factor corresponding to an accelerator pedal opening of the vehicle in each load mass range;

[0111] A mapping relationship is established between the load mass interval and the torque factor and torque increase rate factor corresponding to the accelerator pedal opening.

[0112] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0113] Determining a load mass range in which the current vehicle mass falls;

[0114] The torque factor and the torque increase rate factor corresponding to the current accelerator pedal opening are determined according to the load mass interval and the mapping relationship.

[0115] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0116] Obtaining the output torque corresponding to the current accelerator pedal opening;

[0117] A first product between the torque factor and the output torque is determined as the requested torque.

[0118] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0119] determining a torque increase rate according to the torque value and the requested torque;

[0120] A second product between the torque increase rate and the torque increase rate factor is determined as the target torque increase rate.

[0121] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0122] Obtaining the current operating state, gear position, and button status of the load torque control mode of the vehicle;

[0123] determining whether the vehicle enters a load torque control mode according to the working state, the gear position, and the button state;

[0124] If so, obtain the vehicle's current vehicle mass and current accelerator pedal opening.

[0125] When the controller 1001 calls the output torque determination program stored in the memory 1005, the following operations are performed:

[0126] When the current working state of the vehicle is a ready state, the gear is in neutral, and the key state of the load torque control mode is in an activated state, it is determined that the vehicle enters the load torque control mode.

[0127] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a program for determining the output torque. When the program for determining the output torque is executed by the controller, it implements the various steps of the output torque determination method described above and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0128] Since the storage medium provided in the embodiments of this application is the storage medium used to implement the method of the embodiments of this application, those skilled in the art will be able to understand the specific structure and variations of the storage medium based on the method described in the embodiments of this application, and therefore will not be described in detail here. All storage media used in the method of the embodiments of this application fall within the scope of protection to be provided by this application.

[0129] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0130] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a controller of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the controller of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0133] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third etc. does not indicate any order. These words may be interpreted as names.

[0134] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0135] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A method for determining output torque, characterized in that: The method comprises: Get the current vehicle mass and current accelerator pedal opening; Determining a load mass range in which the current vehicle mass falls; Determining the torque factor and torque increase rate factor corresponding to the current accelerator pedal opening according to the load mass interval and a pre-established mapping relationship between the load mass interval and the torque factor and torque increase rate factor corresponding to the accelerator pedal opening; Using the torque factor corresponding to the current accelerator pedal opening, correcting the torque value corresponding to the current accelerator pedal opening to obtain a requested torque; determining a torque increase rate according to a current torque value and the requested torque; Correcting the torque increase rate by using a torque increase rate factor corresponding to the current accelerator pedal opening to obtain a target torque increase rate; The vehicle is controlled to change from the current torque value to the requested torque at the target torque increase rate.

2. The method according to claim 1, wherein The method further comprises: Obtaining a fully loaded vehicle mass, and dividing the fully loaded vehicle mass into a plurality of load mass intervals; Determining a torque factor and a torque rise rate factor corresponding to an accelerator pedal opening of the vehicle in each load mass range; A mapping relationship is established between the load mass interval and the torque factor and torque increase rate factor corresponding to the accelerator pedal opening.

3. The method according to claim 1, wherein The step of using the torque factor corresponding to the current accelerator pedal opening to correct the torque value corresponding to the current accelerator pedal opening to obtain the requested torque includes: Obtaining the output torque corresponding to the current accelerator pedal opening; A first product between the torque factor and the output torque is determined as the requested torque.

4. The method according to claim 1, wherein The step of correcting the torque increase rate by using the torque increase rate factor corresponding to the current accelerator pedal opening to obtain a target torque increase rate includes: A second product between the torque increase rate and the torque increase rate factor is determined as the target torque increase rate.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Obtaining the current operating state, gear position, and button status of the load torque control mode of the vehicle; determining whether the vehicle enters a load torque control mode according to the working state, the gear position, and the button state; If so, obtain the vehicle's current vehicle mass and current accelerator pedal opening.

6. The method according to claim 5, wherein The determining whether the vehicle enters the load torque control mode according to the working state, the gear position, and the button state includes: When the current working state of the vehicle is a ready state, the gear is a neutral gear, and the key state of the load torque control mode is an activated state, it is determined that the vehicle enters the load torque control mode.

7. A system for determining output torque, characterized in that: The output torque determination system includes: The acquisition module is used to obtain the current vehicle mass and the current accelerator pedal opening; A first determining module is used to determine the load mass interval in which the current vehicle mass is located; Determining the torque factor and torque increase rate factor corresponding to the current accelerator pedal opening according to the load mass interval and a pre-established mapping relationship between the load mass interval and the torque factor and torque increase rate factor corresponding to the accelerator pedal opening; a second determining module, configured to correct the torque value corresponding to the current accelerator pedal opening by using a torque factor corresponding to the current accelerator pedal opening to obtain a requested torque; a third determining module, configured to determine a torque increase rate based on a current torque value and the requested torque; and to correct the torque increase rate using a torque increase rate factor corresponding to the current accelerator pedal opening to obtain a target torque increase rate; A control module is configured to control the vehicle to change from the current torque value to the requested torque at the target torque rising rate.

8. A device for determining output torque, characterized in that: The output torque determination device includes: a memory, a controller, and an output torque determination program stored in the memory and executable on the controller. When the output torque determination program is executed by the controller, the steps of the output torque determination method as described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an output torque determination program, and when the output torque determination program is executed by the controller, the steps of the output torque determination method according to any one of claims 1 to 6 are implemented.

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