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

Abstract

The application provides a vehicle torque control method and device, electronic equipment and storage medium, which are applied to a hybrid vehicle including an engine, a power battery and at least one driving motor, and include the following steps: acquiring a vehicle gear state, a vehicle request torque, a driving motor speed and a pre-distribution torque of the power battery; determining a driving target intention of the vehicle in a quadrant working condition based on the vehicle gear state, the vehicle request torque, the driving motor speed and a preset condition; determining a vehicle target torque based on the driving target intention; and controlling the pre-distribution torque to be output to the driving motor and the engine based on the vehicle target torque. The driving target intention of the quadrant working condition is determined first, then the vehicle target torque is determined according to the driving target intention, and then the pre-distribution torque is output to the driving motor and the engine according to the vehicle target torque, so that the vehicle torque control in all quadrant working conditions is consistent with the intention of the driver, and the experience of the driver is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicles, and particularly relates to a vehicle torque control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] Currently, vehicle torque control is mainly in two modes of driving and braking. When the driver steps on the accelerator, the vehicle torque enters the driving mode, the driving motor outputs positive torque to drive the vehicle forward. When the driver steps on the brake pedal, the vehicle torque enters the braking mode, the driving motor outputs negative torque to brake the vehicle.

[0003] However, in actual driving conditions, hybrid vehicles may encounter various situations. The above vehicle torque control does not match the driver's intention in some driving conditions.

[0004] The prior art has the problem that the vehicle torque control does not match the driver's intention in some driving conditions. SUMMARY

[0005] The embodiments of the present application provide a vehicle torque control method and device, an electronic device, and a storage medium, which can solve the problem that the vehicle torque control does not match the driver's intention in some driving conditions.

[0006] In a first aspect, the embodiments of the present application provide a vehicle torque control method applied to a hybrid vehicle including an engine, a power battery, and at least one driving motor, comprising:

[0007] Obtaining a vehicle gear state, a vehicle request torque, a driving motor speed, and a pre-allocated torque of the power battery;

[0008] Based on the vehicle gear state, the vehicle request torque, the driving motor speed, and a preset condition, determining a driving target intention of the vehicle in a quadrant condition;

[0009] Based on the driving target intention, determining a vehicle target torque;

[0010] Based on the vehicle target torque, controlling the pre-allocated torque to be output to the driving motor and the engine.

[0011] In one embodiment, based on the vehicle gear state, the vehicle request torque, the driving motor speed, and the preset condition, determining the driving target intention of the vehicle in the quadrant condition, comprises:

[0012] Based on the vehicle request torque, the driving motor speed, and the preset condition, determining the driving target intention of the vehicle in the quadrant condition.

[0013] In one of the embodiments, the vehicle gear state comprises a first vehicle gear state;

[0014] The determining the vehicle gear state based on the vehicle requested torque, the driving motor speed and the preset condition comprises:

[0015] If the first vehicle gear state is the forward gear, determining the driving target intention of the vehicle in the quadrant working condition based on the vehicle requested torque, the driving motor speed and the preset condition.

[0016] In one of the embodiments, the vehicle requested torque comprises a first vehicle requested torque and a second vehicle requested torque, the driving motor speed comprises a first driving motor speed and a second driving motor speed, the preset condition comprises a first preset condition, a second preset condition, a third preset condition and a fourth preset condition, and the quadrant working condition comprises a first quadrant working condition, a second quadrant working condition, a third quadrant working condition and a fourth quadrant working condition, wherein the vehicle requested torque forms the horizontal coordinate of the quadrant working condition, and the driving motor speed forms the vertical coordinate of the quadrant working condition.

[0017] The determining the driving target intention of the vehicle in the quadrant working condition based on the vehicle requested torque, the driving motor speed and the preset condition if the first vehicle gear state is the forward gear comprises:

[0018] If the vehicle requested torque is the first vehicle requested torque satisfying the first preset condition and the driving motor speed is the first driving motor speed, the vehicle is in the first quadrant working condition, and the driving target intention of the vehicle in the first quadrant working condition is forward if the first vehicle gear state is the forward gear.

[0019] If the vehicle requested torque is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition and the driving motor speed is the driving motor speed satisfying the third preset condition, the vehicle is in the second quadrant working condition, and the driving target intention of the vehicle in the second quadrant working condition is forward if the first vehicle gear state is the forward gear.

[0020] If the vehicle requested torque is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition and the driving motor speed is the driving motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is backward if the first vehicle gear state is the forward gear.

[0021] The first vehicle gear state is the forward gear, if the vehicle request torque is the first vehicle request torque satisfying the first preset condition, and the driving motor speed is the second driving motor speed, the vehicle is in the fourth quadrant working condition, and a driving target intention of the vehicle in the fourth quadrant working condition is forward driving;

[0022] The first vehicle request torque is a vehicle request positive torque, the second vehicle request torque is a vehicle request negative torque, the first driving motor speed is a driving motor positive speed, and the second driving motor speed is a driving motor negative speed.

[0023] In one of the embodiments, the vehicle gear state further includes a second vehicle gear state.

[0024] The judgment of the vehicle gear state, based on the vehicle request torque, the driving motor speed and the preset condition, determines the driving target intention of the vehicle in the quadrant working condition, and further includes:

[0025] If the second vehicle gear state is the reverse gear, based on the vehicle request torque, the driving motor speed and the preset condition, the driving target intention of the vehicle in the quadrant working condition is determined.

[0026] In one of the embodiments, the vehicle request torque includes a first vehicle request torque and a second vehicle request torque, the driving motor speed includes a first driving motor speed and a second driving motor speed, the preset condition includes a first preset condition, a second preset condition, a third preset condition and a fourth preset condition, and the quadrant working condition includes a first quadrant working condition, a second quadrant working condition, a third quadrant working condition and a fourth quadrant working condition, wherein the vehicle request torque forms the horizontal coordinate of the quadrant working condition, and the driving motor speed forms the vertical coordinate of the quadrant working condition.

[0027] If the second vehicle gear state is the reverse gear, based on the vehicle request torque, the driving motor speed and the preset condition, the driving target intention of the vehicle in the quadrant working condition is determined, including:

[0028] The second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque satisfying the first preset condition, and the driving motor speed is the first driving motor speed, the vehicle is in the first quadrant working condition, and the driving target intention of the vehicle in the first quadrant working condition is reverse driving.

[0029] The second vehicle gear state is the reverse gear, if the vehicle requested torque is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition, and the drive motor speed is the drive motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is reverse;

[0030] The second vehicle gear state is the reverse gear, if the vehicle requested torque is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition, and the drive motor speed is the drive motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is reverse;

[0031] The second vehicle gear state is the reverse gear, if the vehicle requested torque is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition, and the drive motor speed is the drive motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is reverse;

[0032] The first vehicle requested torque is a vehicle requested positive torque, the second vehicle requested torque is a vehicle requested negative torque, the first drive motor speed is a drive motor positive speed, and the second drive motor speed is a drive motor negative speed.

[0033] In one of the embodiments, the first preset condition is that the vehicle requested torque is greater than or equal to a requested torque threshold value;

[0034] The second preset condition is that the vehicle requested torque is less than the requested torque threshold value;

[0035] The third preset condition is that the drive motor speed is greater than or equal to a speed threshold value;

[0036] The fourth preset condition is that the drive motor speed is less than the speed threshold value.

[0037] In a second aspect, the embodiments of the present application provide a vehicle torque control device, applied to a hybrid vehicle including an engine, a power battery and at least one drive motor, and including:

[0038] The acquisition module is configured to acquire a vehicle gear state, a vehicle requested torque, a drive motor speed and a pre-allocated torque of the power battery;

[0039] The first determination module is configured to determine a driving target intention of the vehicle in a quadrant working condition based on the vehicle gear state, the vehicle requested torque, the drive motor speed and a preset condition;

[0040] a second determining module configured to determine a vehicle target torque based on the driving target intention;

[0041] a control module configured to control the pre-distribution torque output to the drive motor and the engine based on the vehicle target torque.

[0042] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method according to any one of the first aspect when executing the computer program.

[0043] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program, when executed by a processor, implements the method according to any one of the first aspect.

[0044] In a fifth aspect, a computer program product is provided, which, when executed on a terminal device, causes the terminal device to perform the method according to any one of the first aspect.

[0045] It can be understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, which will not be repeated here.

[0046] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0047] The present application is applied to a hybrid vehicle including an engine, a power battery and at least one drive motor, by obtaining a vehicle gear state, a vehicle request torque, a drive motor speed and a pre-distribution torque of the power battery; based on the vehicle gear state, the vehicle request torque, the drive motor speed and a preset condition, determining a driving target intention of the vehicle in a quadrant working condition; determining a vehicle target torque based on the driving target intention; controlling the pre-distribution torque output to the drive motor based on the vehicle target torque, since the vehicle gear state is first determined to determine the driving target intention of the quadrant working condition, then the vehicle target torque is determined according to the driving target intention, and then the pre-distribution torque is output to the drive motor and the engine according to the vehicle target torque, thereby realizing that the control of the vehicle torque in all quadrant working conditions is consistent with the intention of the driver, which is beneficial to improve the experience of the driver of the hybrid vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0049] Figure 1 is a flowchart of a vehicle torque control method provided by an embodiment of the present application;

[0050] Figure 2 is a flowchart of determining a driving target intention of a vehicle in a quadrant working condition based on a vehicle requested torque, a driving motor speed and a preset condition if a first vehicle gear state is a forward gear provided by an embodiment of the present application;

[0051] Figure 3 is a division diagram of the quadrant working condition when the vehicle gear state is the forward gear provided by an embodiment of the present application;

[0052] Figure 4 is a division diagram of the quadrant working condition when the vehicle gear state is the forward gear provided by another embodiment of the present application;

[0053] Figure 5 is a flowchart of determining a driving target intention of a vehicle in a quadrant working condition based on a vehicle requested torque, a driving motor speed and a preset condition if a second vehicle gear state is a reverse gear provided by an embodiment of the present application;

[0054] Figure 6 is a division diagram of the quadrant working condition when the vehicle gear state is the reverse gear provided by an embodiment of the present application;

[0055] Figure 7 is a division diagram of the quadrant working condition when the vehicle gear state is the reverse gear provided by another embodiment of the present application;

[0056] Figure 8 is a structural diagram of a vehicle torque control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0057] In the following description, specific details are set forth in order to provide a thorough understanding of embodiments of the present application. However, persons having ordinary skill in the art will readily understand that embodiments of the present application can be practiced without these specific details, and the present application is not limited to the embodiments described. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0058] It should be understood that the word "comprise" or "comprising" when used in this specification and appended claims specifies the presence of stated features, integers, steps, operations, elements, or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0059] It should also be understood that the term "and / or" when used in this specification and appended claims, that both individual components and combinations thereof are included.

[0060] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0061] In the present specification, the reference "one embodiment" or "some embodiments" and the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearance of the phrases "in one embodiment", "in some embodiments", "in other some embodiments", "in yet some embodiments" and the like in various places in the specification does not necessarily all refer to the same embodiment, but means "one or more but not all embodiments", unless otherwise specifically noted. The terms "include", "contain", "have" and their variants mean "including but not limited to", unless otherwise specifically noted.

[0062] From the traditional vehicle with only internal combustion engine as the driving source to the hybrid vehicle driven by the driving motor and the engine together, due to the different characteristics of the driving motor and the internal combustion engine, such as the torque characteristics of the driving motor forward and reverse rotation are basically the same, while the internal combustion engine cannot be reversed.

[0063] At present, the control of vehicle torque is mainly in two modes of driving and braking. When the driver steps on the accelerator pedal, the vehicle torque enters the driving mode, the driving motor outputs positive torque to drive the vehicle forward; when the driver steps on the brake pedal, the vehicle torque enters the braking mode, the driving motor outputs negative torque to brake the vehicle. But in the actual driving conditions of the hybrid vehicle, various situations will be encountered, and the above control of vehicle torque does not match the intention of the driver in some driving conditions.

[0064] This application applies to hybrid vehicles including an engine, a power battery, and at least one drive motor. It acquires the vehicle's gear position, requested torque, drive motor speed, and pre-allocated torque from the power battery. Based on these parameters, the driving intention for each quadrant is determined. A target torque is then determined based on this driving intention. Finally, the pre-allocated torque is controlled to be output to the drive motor and engine based on the target torque. Because the driving intention for each quadrant is determined first by judging the vehicle's gear position, and then the target torque is determined based on this intention, and finally the pre-allocated torque is controlled to be output to the drive motor based on the target torque, the control of the vehicle torque in all quadrant conditions is consistent with the driver's intention, thus improving the driver's experience in hybrid vehicles.

[0065] The technical solution of this application will be described below through specific embodiments.

[0066] Firstly, such as Figure 1 As shown, this embodiment provides a method for controlling vehicle torque, applied to a hybrid vehicle including an engine, a power battery, and at least one drive motor, including:

[0067] S100 obtains the vehicle's gear status, requested torque, drive motor speed, and pre-allocated torque of the power battery.

[0068] In one embodiment, the vehicle gear status, the vehicle requested torque, the drive motor speed, and the pre-allocated torque of the power battery are obtained to facilitate the determination of the driving target intention based on the driving conditions in order to control the vehicle torque.

[0069] S200 determines the vehicle's driving intention in quadrant conditions based on the vehicle's gear status, requested torque, drive motor speed, and preset conditions.

[0070] In one embodiment, the driving intention of the vehicle in quadrant conditions is determined based on the vehicle gear status, the requested torque of the vehicle, the speed of the drive motor, and preset conditions. The driving intention of the vehicle in quadrant conditions is determined first, and then the vehicle torque is controlled. This ensures that the control of the vehicle torque in all quadrant conditions is consistent with the driver's intention, which is beneficial to improving the driver's experience of hybrid vehicles.

[0071] The prior art takes the vehicle driving direction as the driving target intention, for example, when the vehicle gear state is in the forward gear and the vehicle driving direction is downhill, the torque control of the hybrid vehicle will misjudge the driving target intention as backward, while the driving target intention is still forward uphill, and the vehicle torque control will not match the driver's intention; for another example, when the vehicle gear state is in the reverse gear and the vehicle driving direction is uphill, the torque control of the hybrid vehicle will misjudge the driving target intention as forward, while the driving target intention is reverse uphill, and the vehicle torque control will not match the driver's intention.

[0072] In one embodiment, the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle gear state, the vehicle requested torque, the driving motor speed and the preset condition, comprising:

[0073] The vehicle gear state is determined, and the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition.

[0074] In one embodiment, since the vehicle gear state is determined first, and then the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition, it is more conducive to keeping the vehicle torque control consistent with the driving target intention.

[0075] In one embodiment, the vehicle gear state includes a first vehicle gear state and a second vehicle gear state, wherein the first vehicle gear state is the forward gear, and the second vehicle gear state is the reverse gear.

[0076] In one embodiment, the vehicle gear state is determined, and the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition, comprising:

[0077] If the first vehicle gear state is the forward gear, the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition.

[0078] In one embodiment, the first vehicle gear state is taken as the forward gear as a premise, and then the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition, which is further conducive to keeping the vehicle torque control consistent with the driving target intention, and improves the driving experience of the hybrid vehicle.

[0079] In one embodiment, the vehicle requested torque comprises a first vehicle requested torque and a second vehicle requested torque, the drive motor speed comprises a first drive motor speed and a second drive motor speed, the preset condition comprises a first preset condition, a second preset condition, a third preset condition and a fourth preset condition, and the quadrant working condition comprises a first quadrant working condition, a second quadrant working condition, a third quadrant working condition and a fourth quadrant working condition, wherein the vehicle requested torque forms the horizontal coordinate of the quadrant working condition, the drive motor speed forms the vertical coordinate of the quadrant working condition, the first vehicle requested torque is a positive vehicle requested torque, the second vehicle requested torque is a negative vehicle requested torque, the first drive motor speed is a positive drive motor speed, and the second drive motor speed is a negative drive motor speed.

[0080] In one embodiment, according to the feedback signal of the drive motor, for example, the speed direction of the drive motor is clockwise, which is a positive speed, and the speed direction of the drive motor is counterclockwise, which is a negative speed; for another example, the output torque of the drive motor is a positive torque, which indicates driving, and the output torque of the drive motor is a negative torque, which indicates driving or braking in the opposite direction, so the torque request of the vehicle requested torque to the drive motor also has a positive torque and a negative torque.

[0081] In one embodiment, the first preset condition is that the vehicle requested torque is greater than or equal to a requested torque threshold, the second preset condition is that the vehicle requested torque is less than the requested torque threshold, the third preset condition is that the drive motor speed is greater than or equal to a speed threshold, and the fourth preset condition is that the drive motor speed is less than the speed threshold. In this embodiment, the requested torque threshold and the speed threshold are not specifically limited in value, and the drive motor speed fluctuation caused by the mechanical play of the vehicle and the preset requested torque threshold are controlled, for example, the requested torque threshold is any torque value in 0Nm to 10Nm, and the speed threshold is any speed value in -6rpm to 20rpm.

[0082] In one embodiment, as shown in Figure 2 if the first vehicle gear state is a forward gear, the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the drive motor speed and the preset condition, comprising:

[0083] S210, the first vehicle gear state is a forward gear, if the vehicle requested torque is a first vehicle requested torque satisfying the first preset condition, and the drive motor speed is a first drive motor speed, the vehicle is in a first quadrant working condition, and the driving target intention of the vehicle in the first quadrant working condition is forward.

[0084] In one embodiment, as shown in Figure 3 , 4As shown, the first vehicle is in forward gear. If the vehicle's requested torque on the horizontal axis of the quadrant condition is the same as the first vehicle's requested torque that meets the first preset condition, and the drive motor speed on the vertical axis of the quadrant condition is the same as the first drive motor speed, that is, the vehicle's requested torque is a positive torque greater than or equal to the requested torque threshold, and the drive motor speed is the positive drive motor speed, then the vehicle is in the first quadrant condition. The driving intention of the vehicle in the first quadrant condition is to move forward. Furthermore, the driving intention of the vehicle in the first quadrant condition is to drive forward.

[0085] S211, the first vehicle is in forward gear. If the requested torque of the vehicle meets the first vehicle requested torque and the second vehicle requested torque that meet the second preset conditions, and the drive motor speed meets the drive motor speed that meets the third preset conditions, the vehicle is in the second quadrant working condition. The driving target intention of the vehicle in the second quadrant working condition is to move forward.

[0086] In one embodiment, the first vehicle is in forward gear. If the vehicle's requested torque on the horizontal axis of the quadrant condition is the first vehicle's requested torque and the second vehicle's requested torque that meet the second preset condition, and the drive motor speed is the drive motor speed that meets the third preset condition, that is, the vehicle's requested torque is a positive torque less than the requested torque threshold and a negative torque, and the drive motor speed is a drive motor speed greater than or equal to the speed threshold, then the vehicle is in the second quadrant condition. The driving intention of the vehicle in the second quadrant condition is to move forward. Furthermore, the driving intention of the vehicle in the second quadrant condition is to brake or coast forward.

[0087] In one embodiment, such as Figure 3 As shown, the first vehicle is in forward gear, and the speed threshold is any speed value between -6 rpm and 0 rpm. If the vehicle's requested torque on the horizontal axis of the quadrant condition is the first vehicle's requested torque and the second vehicle's requested torque that meet the second preset condition, and the drive motor speed is the second drive motor speed and the first drive motor speed that meet the third preset condition, that is, the vehicle's requested torque is the vehicle's requested positive torque that is less than the requested torque threshold and the vehicle's requested negative torque, and the drive motor speed is the drive motor's negative speed that is greater than or equal to the speed threshold and the drive motor's positive speed, then the vehicle is in the second quadrant condition. The driving intention of the vehicle in the second quadrant condition is to move forward. Furthermore, the driving intention of the vehicle in the second quadrant condition is to brake or coast forward.

[0088] In one embodiment, such as Figure 4As shown, the first vehicle is in forward gear, and the speed threshold is any speed value between 0 rpm and 20 rpm. If the vehicle's requested torque on the horizontal axis of the quadrant condition is the first vehicle's requested torque and the second vehicle's requested torque that meet the second preset condition, and the drive motor speed is the first drive motor speed that meets the third preset condition, that is, the vehicle's requested torque is a positive torque less than the requested torque threshold and a negative torque, and the drive motor speed is a positive drive motor speed greater than or equal to the speed threshold, then the vehicle is in the second quadrant condition. The driving intention of the vehicle in the second quadrant condition is to move forward. Furthermore, the driving intention of the vehicle in the second quadrant condition is to brake forward or coast.

[0089] S212, the first vehicle is in forward gear. If the requested torque of the vehicle meets the first vehicle requested torque and the second vehicle requested torque that meet the second preset condition, and the drive motor speed meets the drive motor speed that meets the fourth preset condition, the vehicle is in the third quadrant working condition. The driving target intention of the vehicle in the third quadrant working condition is to reverse.

[0090] In one embodiment, the first vehicle is in forward gear. If the vehicle's requested torque at the horizontal axis of the quadrant condition is the first vehicle's requested torque and the second vehicle's requested torque that meet the second preset condition, and the drive motor speed is the drive motor speed that meets the fourth preset condition, i.e., the vehicle's requested torque is a positive vehicle requested torque less than the requested torque threshold, and the vehicle's requested negative torque is a drive motor speed less than the speed threshold, then the vehicle is in the third quadrant condition. The driving intention of the vehicle in the third quadrant condition is to reverse. Furthermore, the driving intention of the vehicle in the third quadrant condition is to drive backward.

[0091] In one embodiment, such as Figure 3 As shown, the first vehicle is in forward gear, and the speed threshold is any speed value greater than or equal to -6 rpm and less than 0 rpm. If the vehicle's requested torque on the horizontal axis of the quadrant condition is the first vehicle's requested torque and the second vehicle's requested torque that meet the second preset condition, and the drive motor speed is the second drive motor speed that meets the fourth preset condition, that is, the vehicle's requested torque is a positive torque less than the requested torque threshold, and the vehicle's requested negative torque is a negative torque, and the drive motor speed is a negative speed less than the speed threshold, then the vehicle is in the third quadrant condition. The driving intention of the vehicle in the third quadrant condition is to reverse. Furthermore, the driving intention of the vehicle in the third quadrant condition is to drive backward.

[0092] In one embodiment, such as Figure 4As shown, the first vehicle is in forward gear, and the speed threshold is any speed value between 0 rpm and 20 rpm. If the vehicle's requested torque on the horizontal axis of the quadrant condition is the first vehicle's requested torque and the second vehicle's requested torque that meet the second preset condition, and the drive motor speed is the first drive motor speed and the second drive motor speed that meet the fourth preset condition, that is, the vehicle's requested torque is the vehicle's requested positive torque and the vehicle's requested negative torque that are less than the requested torque threshold, and the drive motor speed is the drive motor's positive speed and the drive motor's negative speed that are less than the speed threshold, then the vehicle is in the third quadrant condition. The driving intention of the vehicle in the third quadrant condition is to reverse. Furthermore, the driving intention of the vehicle in the third quadrant condition is to drive backward.

[0093] Unlike existing technologies that use the vehicle's direction of travel as the driving intention, in this embodiment, the vehicle is in forward gear. When going uphill, the vehicle rolls downhill. Although the vehicle's direction of travel is backward, the torque control of the hybrid vehicle in this embodiment still determines that the driving intention is forward. This is consistent with the driving intention of going forward uphill, and the control of the vehicle's torque matches the driver's intention, thereby improving the driving experience.

[0094] S213, the first vehicle is in forward gear. If the requested torque of the vehicle meets the first preset condition and the speed of the drive motor is the second drive motor speed, the vehicle is in the fourth quadrant working condition. The driving target intention of the vehicle in the fourth quadrant working condition is to move forward.

[0095] In one embodiment, such as Figure 3 , 4 As shown, the first vehicle is in forward gear. If the vehicle's requested torque on the horizontal axis of the quadrant is the same as the first vehicle's requested torque that meets the first preset condition, and the drive motor speed is the second drive motor speed, that is, the vehicle's requested torque is a positive torque that is greater than or equal to the requested torque threshold, and the drive motor speed is the negative drive motor speed, then the vehicle is in the fourth quadrant. The driving intention of the vehicle in the fourth quadrant is to move forward. Furthermore, the driving intention of the vehicle in the third quadrant is to brake forward or coast.

[0096] In one embodiment, determining the vehicle's gear status, based on the vehicle's requested torque, drive motor speed, and preset conditions, and further determining the vehicle's driving intention in the quadrant condition, also includes:

[0097] If the second vehicle is in reverse gear, the driving intention of the vehicle in the quadrant is determined based on the vehicle's requested torque, drive motor speed, and preset conditions.

[0098] In one embodiment, on the premise that the first vehicle gear state is the reverse gear, the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition, which is further beneficial to keep the vehicle torque control consistent with the driving target intention, and improves the driving experience of the hybrid vehicle.

[0099] In one embodiment, as shown in Figure 5 , if the second vehicle gear state is the reverse gear, the driving target intention of the vehicle in the quadrant working condition is determined based on the vehicle requested torque, the driving motor speed and the preset condition, which includes:

[0100] S220, if the second vehicle gear state is the reverse gear, and the vehicle requested torque is the first vehicle requested torque satisfying the first preset condition, and the driving motor speed is the first driving motor speed, the vehicle is in the first quadrant working condition, and the driving target intention of the vehicle in the first quadrant working condition is the reverse.

[0101] In one embodiment, as shown in Figure 6 , 7 , if the first vehicle gear state is the reverse gear, and the vehicle requested torque of the horizontal coordinate of the quadrant working condition is the first vehicle requested torque satisfying the first preset condition, and the driving motor speed of the vertical coordinate of the quadrant working condition is the first driving motor speed, i.e. the vehicle requested torque is the vehicle requested positive torque greater than or equal to the requested torque threshold, and the driving motor speed is the driving motor positive speed, at this time, the vehicle is in the first quadrant working condition, and the driving target intention of the vehicle in the first quadrant working condition is the reverse, further, the driving target intention of the vehicle in the first quadrant working condition is the reverse drive.

[0102] S221, if the second vehicle gear state is the reverse gear, and the vehicle requested torque is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition, and the driving motor speed is the driving motor speed satisfying the third preset condition, the vehicle is in the second quadrant working condition, and the driving target intention of the vehicle in the second quadrant working condition is the forward.

[0103] In one embodiment, if the first vehicle gear state is the reverse gear, and the vehicle requested torque of the horizontal coordinate of the quadrant working condition is the first vehicle requested torque and the second vehicle requested torque satisfying the second preset condition, and the driving motor speed is the driving motor speed satisfying the third preset condition, i.e. the vehicle requested torque is the vehicle requested positive torque less than the requested torque threshold and the vehicle requested negative torque, and the driving motor speed is the driving motor speed greater than or equal to the speed threshold, at this time, the vehicle is in the second quadrant working condition, and the driving target intention of the vehicle in the second quadrant working condition is the forward, further, the driving target intention of the vehicle in the second quadrant working condition is the forward brake or the coasting.

[0104] In one embodiment, as shown in Figure 6As shown, the first vehicle gear state is the reverse gear, the speed threshold value is any speed value greater than or equal to -6 rpm and less than 0 rpm, if the vehicle request torque of the abscissa of the quadrant working condition is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition, and the driving motor speed is the second driving motor speed and the first driving motor speed satisfying the third preset condition, that is, the vehicle request torque is the vehicle request positive torque less than the request torque threshold value, and the vehicle request negative torque, and the driving motor speed is the driving motor negative speed greater than or equal to the speed threshold value, and the driving motor positive speed, at this time, the vehicle is in the second quadrant working condition, the driving target intention of the vehicle in the second quadrant working condition is forward, further, the driving target intention of the vehicle in the second quadrant working condition is forward braking or sliding.

[0105] In one embodiment, as shown in Figure 7 As shown, the first vehicle gear state is the reverse gear, the speed threshold value is any speed value greater than or equal to -6 rpm and less than 0 rpm, if the vehicle request torque of the abscissa of the quadrant working condition is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition, and the driving motor speed is the second driving motor speed and the first driving motor speed satisfying the third preset condition, that is, the vehicle request torque is the vehicle request positive torque less than the request torque threshold value, and the vehicle request negative torque, and the driving motor speed is the driving motor negative speed greater than or equal to the speed threshold value, and the driving motor positive speed, at this time, the vehicle is in the second quadrant working condition, the driving target intention of the vehicle in the second quadrant working condition is forward, further, the driving target intention of the vehicle in the second quadrant working condition is forward braking or sliding.

[0106] S222, the second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition, and the driving motor speed is the driving motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is reverse.

[0107] In one embodiment, the first vehicle gear state is the reverse gear, if the vehicle request torque of the abscissa of the quadrant working condition is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition, and the driving motor speed is the driving motor speed satisfying the fourth preset condition, that is, the vehicle request torque is the vehicle request positive torque less than the request torque threshold value, and the vehicle request negative torque, and the driving motor speed is the driving motor speed less than the speed threshold value, at this time, the vehicle is in the third quadrant working condition, the driving target intention of the vehicle in the third quadrant working condition is reverse, further, the driving target intention of the vehicle in the third quadrant working condition is reverse drive.

[0108] In one embodiment, as shown in Figure 6As shown in the figure, the first vehicle gear state is the reverse gear, the speed threshold is any speed value greater than or equal to -6 rpm and less than 0 rpm, if the vehicle request torque of the abscissa of the quadrant working condition is the first vehicle request torque satisfying the second preset condition and the second vehicle request torque, and the driving motor speed is the second driving motor speed satisfying the fourth preset condition, that is, the vehicle request torque is the vehicle request positive torque less than the request torque threshold and the vehicle request negative torque, and the driving motor speed is the driving motor negative speed less than the speed threshold, at this time, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is the reverse driving.

[0109] In one embodiment, as shown in the figure, Figure 7 the first vehicle gear state is the reverse gear, the speed threshold is any speed value from 0 rpm to 20 rpm, if the vehicle request torque of the abscissa of the quadrant working condition is the first vehicle request torque satisfying the second preset condition and the second vehicle request torque, and the driving motor speed is the first driving motor speed and the second driving motor speed satisfying the fourth preset condition, that is, the vehicle request torque is the vehicle request positive torque less than the request torque threshold and the vehicle request negative torque, and the driving motor speed is the driving motor positive speed and the driving motor negative speed less than the speed threshold, at this time, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is the reverse driving.

[0110] Contrary to the prior art, in which the vehicle driving direction is the driving target intention, in the present embodiment, the vehicle gear state is in the reverse gear, and the vehicle is in the reverse uphill when it appears to slide downhill, although the vehicle driving direction is forward, the torque control of the hybrid vehicle in the present embodiment still judges the driving target intention to be reverse, which is consistent with the driving target intention of reverse uphill, at this time, the vehicle torque control is consistent with the intention of the driver, thereby improving the driving experience.

[0111] S223, the second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque satisfying the first preset condition and the driving motor speed is the second driving motor speed, the vehicle is in the fourth quadrant working condition, and the driving target intention of the vehicle in the fourth quadrant working condition is the reverse driving.

[0112] In one embodiment, as shown in the figure, Figure 6 , 7As shown, the first vehicle is in reverse gear. If the vehicle's requested torque on the horizontal axis of the quadrant is the same as the first vehicle's requested torque that meets the first preset condition, and the drive motor speed is the second drive motor speed, that is, the vehicle's requested torque is a positive torque that is greater than or equal to the requested torque threshold, and the drive motor speed is the negative drive motor speed, then the vehicle is in the fourth quadrant. The driving intention of the vehicle in the fourth quadrant is to reverse. Furthermore, the driving intention of the vehicle in the third quadrant is to reverse brake or coast.

[0113] In another embodiment, when determining the vehicle's gear status during actual driving conditions, the driving intention can still be determined based on the above method when the driving intention is transferred between adjacent or non-adjacent quadrants.

[0114] In another embodiment, when determining the vehicle's gear position, during the transition between adjacent or non-adjacent quadrant conditions, the driving intention is determined based on the above method. When a change in direction occurs during quadrant condition transition, torque filtering is used to reduce vehicle jerking, making the torque transfer a linear change and further improving the driving experience. The torque filtering in this embodiment is all prior art and will not be described in detail here.

[0115] S300 determines the target torque of the vehicle based on the driving intention.

[0116] In one embodiment, the target torque of the vehicle is determined to be either positive or negative based on the driving intention, thereby ensuring that the target torque of the vehicle is consistent with the driving intention and improving the driving experience.

[0117] The S400 pre-distributes torque output to the drive motor and engine based on the vehicle's target torque control.

[0118] In one embodiment, the pre-allocated torque output of the power battery is controlled to the drive motor and engine based on the vehicle's target torque, thereby aligning the vehicle's torque control with the driving intention and further enhancing the driving experience.

[0119] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0120] Secondly, such as Figure 8 As shown, this embodiment provides a vehicle torque control device, applied to a hybrid vehicle including an engine, a power battery, and at least one drive motor, comprising:

[0121] The acquisition module 100 is configured to acquire a vehicle gear state, a vehicle requested torque, a driving motor speed, and a pre-allocated torque of a power battery.

[0122] The first determination module 200 is configured to determine a driving target intention of the vehicle in a quadrant working condition based on the vehicle gear state, the vehicle requested torque, the driving motor speed, and a preset condition.

[0123] The second determination module 300 is configured to determine a vehicle target torque based on the driving target intention.

[0124] The control module 400 is configured to control the pre-allocated torque to be output to the driving motor and the engine based on the vehicle target torque.

[0125] It should be noted that the information interaction and execution process between the above apparatus / module are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects thereof can be referred to the method embodiments part, which will not be repeated here.

[0126] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software function unit. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the method embodiments, which will not be repeated here.

[0127] In a third aspect, the embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to realize the method in any of the above first aspect.

[0128] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the method in any of the above first aspect.

[0129] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when running on a terminal device, causes the terminal device to perform the method of any one of the first aspect.

[0130] It can be understood that the beneficial effects of the second aspect to the fifth aspect described above can be referred to the related description in the first aspect, which will not be repeated here.

[0131] The integrated unit, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the present application realizes all or part of the processes in the above-mentioned embodiment methods, which can be completed by instructing related hardware through a computer program. The computer program can be stored in a computer readable storage medium, and the computer program can realize the steps of the above-mentioned various method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form.

[0132] The computer readable medium can at least include any entity or device capable of carrying the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be electrical carrier signal and telecommunication signal.

[0133] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0134] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0135] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other manners. For example, the embodiments of the apparatus / network device described above are merely illustrative. For example, the division of the modules or units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0136] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0137] The above-described embodiments are merely used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method of vehicle torque, characterized by, Applied to a hybrid vehicle comprising an engine, a power battery and at least one drive motor, comprising: acquiring a vehicle gear state, a vehicle request torque, a drive motor speed and a pre-allocated torque of the power battery; determining a driving target intention of the vehicle in a quadrant working condition based on the vehicle gear state, the vehicle request torque, the drive motor speed and a preset condition; the vehicle request torque comprises a first vehicle request torque and a second vehicle request torque, the drive motor speed comprises a first drive motor speed and a second drive motor speed, the preset condition comprises a first preset condition, a second preset condition, a third preset condition and a fourth preset condition, the quadrant working condition comprises a first quadrant working condition, a second quadrant working condition, a third quadrant working condition and a fourth quadrant working condition, wherein the vehicle request torque forms a horizontal coordinate of the quadrant working condition, and the drive motor speed forms a vertical coordinate of the quadrant working condition; the vehicle gear state comprises a first vehicle gear state; the first preset condition is that the vehicle request torque is greater than or equal to a request torque threshold; the second preset condition is that the vehicle request torque is less than the request torque threshold; the third preset condition is that the drive motor speed is greater than or equal to a speed threshold; the fourth preset condition is that the drive motor speed is less than the speed threshold, and the speed threshold is [-6, 0); determining a vehicle target torque based on the driving target intention; controlling the pre-allocated torque to be output to the drive motor based on the vehicle target torque; the determining of the driving target intention of the vehicle in the quadrant working condition based on the vehicle gear state, the vehicle request torque, the drive motor speed and the preset condition comprises: if the vehicle request torque is the first vehicle request torque satisfying the first preset condition and the drive motor speed is the first drive motor speed, the vehicle is in the first quadrant working condition when the first vehicle gear state is a forward gear, and the driving target intention of the vehicle in the first quadrant working condition is forward driving; if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition and the drive motor speed is the drive motor speed satisfying the third preset condition, the vehicle is in the second quadrant working condition when the first vehicle gear state is the forward gear, and the driving target intention of the vehicle in the second quadrant working condition is forward driving; if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition and the drive motor speed is the drive motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition when the first vehicle gear state is the forward gear, and the driving target intention of the vehicle in the third quadrant working condition is reverse driving; The first vehicle gear state is the forward gear, if the vehicle request torque is the first vehicle request torque satisfying the first preset condition, and the driving motor speed is the second driving motor speed, the vehicle is in the fourth quadrant working condition, and a driving target intention of the vehicle in the fourth quadrant working condition is forward driving; Wherein, the first vehicle request torque is a vehicle request positive torque, the second vehicle request torque is a vehicle request negative torque, the first driving motor speed is a driving motor positive speed, and the second driving motor speed is a driving motor negative speed.

2. The method of claim 1, wherein, The vehicle gear state further includes a second vehicle gear state; The method further includes: If the second vehicle gear state is the reverse gear, determining the driving target intention of the vehicle in the quadrant working condition based on the vehicle request torque, the driving motor speed, and the preset condition.

3. The method of claim 2, wherein, The method further includes: The second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque satisfying the first preset condition, and the driving motor speed is the first driving motor speed, the vehicle is in the first quadrant working condition, and a driving target intention of the vehicle in the first quadrant working condition is reverse driving; The second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition, and the driving motor speed is the driving motor speed satisfying the third preset condition, the vehicle is in the second quadrant working condition, and a driving target intention of the vehicle in the second quadrant working condition is forward driving; The second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition, and the driving motor speed is the driving motor speed satisfying the fourth preset condition, the vehicle is in the third quadrant working condition, and a driving target intention of the vehicle in the third quadrant working condition is reverse driving; The second vehicle gear state is the reverse gear, if the vehicle request torque is the first vehicle request torque satisfying the first preset condition, and the driving motor speed is the second driving motor speed, the vehicle is in the fourth quadrant working condition, and a driving target intention of the vehicle in the fourth quadrant working condition is reverse driving; Wherein, the first vehicle request torque is a vehicle request positive torque, the second vehicle request torque is a vehicle request negative torque, the first driving motor speed is a driving motor positive speed, and the second driving motor speed is a driving motor negative speed.

4. A control device of a vehicle torque, characterized by, The method is applied to a hybrid vehicle including an engine, a power battery, and at least one driving motor. The acquisition module is configured to acquire a vehicle gear state, a vehicle request torque, a driving motor speed, and a pre-allocated torque of the power battery; The first determination module is configured to determine a driving target intention of the vehicle in a quadrant working condition based on the vehicle gear state, the vehicle request torque, the driving motor speed, and a preset condition; the vehicle request torque includes a first vehicle request torque and a second vehicle request torque, the driving motor speed includes a first driving motor speed and a second driving motor speed, the preset condition includes a first preset condition, a second preset condition, a third preset condition, and a fourth preset condition, and the quadrant working condition includes a first quadrant working condition, a second quadrant working condition, a third quadrant working condition, and a fourth quadrant working condition; the vehicle request torque forms a horizontal coordinate of the quadrant working condition, and the driving motor speed forms a vertical coordinate of the quadrant working condition; the vehicle gear state includes a first vehicle gear state; the first preset condition is that the vehicle request torque is greater than or equal to a request torque threshold; the second preset condition is that the vehicle request torque is less than the request torque threshold; the third preset condition is that the driving motor speed is greater than or equal to a speed threshold; and the fourth preset condition is that the driving motor speed is less than the speed threshold, and the speed threshold is [-6, 0); The second determination module is configured to determine a vehicle target torque based on the driving target intention; The control module is configured to control the pre-allocated torque to be output to the driving motor based on the vehicle target torque. The first determination module is further configured to: if the vehicle request torque is the first vehicle request torque satisfying the first preset condition and the driving motor speed is the first driving motor speed, the vehicle is in the first quadrant working condition, and the driving target intention of the vehicle in the first quadrant working condition is forward driving when the first vehicle gear state is the forward gear; if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition and the driving motor speed satisfies the third preset condition, the vehicle is in the second quadrant working condition, and the driving target intention of the vehicle in the second quadrant working condition is forward driving; if the vehicle request torque is the first vehicle request torque and the second vehicle request torque satisfying the second preset condition and the driving motor speed satisfies the fourth preset condition, the vehicle is in the third quadrant working condition, and the driving target intention of the vehicle in the third quadrant working condition is reverse driving; if the vehicle request torque is the first vehicle request torque satisfying the first preset condition and the driving motor speed is the second driving motor speed, the vehicle is in the fourth quadrant working condition, and the driving target intention of the vehicle in the fourth quadrant working condition is forward driving. The first vehicle request torque is a vehicle request positive torque, the second vehicle request torque is a vehicle request negative torque, the first drive motor speed is a drive motor positive speed, and the second drive motor speed is a drive motor negative speed.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The computer program is executed by the processor to implement the method of any one of claims 1 to 3.

6. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 5. The computer program is executed by the processor to implement the method of any one of claims 1 to 3.

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