Torque control method, system, and related components in adaptive cruise process

Abstract

The application discloses a torque control method and system in an adaptive cruise process and related components, relates to the field of adaptive cruise, and is applied to a target vehicle. The method comprises the following steps: obtaining a calculated torque obtained by an ACC control program; obtaining actual operation parameters of the target vehicle, wherein the actual operation parameters comprise an actual torque and an actual vehicle speed; determining a loss compensation torque based on a terminal transmission torque corresponding to the actual torque and the actual vehicle speed; and obtaining an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque. The torque control method in the application determines the loss compensation torque based on the terminal transmission torque corresponding to the actual torque and the actual vehicle speed of the engine, compensates the calculated torque by using the loss compensation torque, can reduce or eliminate the problem of incomplete response of the engine and the gearbox, so that a more stable and effective adaptive cruise control effect is achieved, and the user experience is more comfortable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of adaptive cruise, in particular to a torque control method and system in adaptive cruise process and related components. BACKGROUND

[0002] Currently, in the field of adaptive cruise (ACC), torque control is usually calculated according to the set speed, the set time distance, the front vehicle speed and the front vehicle distance to obtain the ACC demand acceleration, and then the ACC demand torque is obtained by closed-loop feedback adjustment according to the actual vehicle acceleration, and then the ACC demand torque is sent to the CAN (Controller Area Network) bus for vehicle control.

[0003] However, such torque control is based on the ACC function itself to calculate the torque, and rarely considers the execution ability of actuators such as engines and gearboxes. In the actual operation of the automobile, due to the wear of the engine and the gearbox in a long time operation, it may not be able to fully respond to the ACC demand torque, at which time the vehicle accelerates slowly and is not sufficient to achieve the desired effect.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that the technical personnel in the field need to solve at present. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a torque control method and system in adaptive cruise process with higher response efficiency and more effective control, and related components. The specific scheme is as follows:

[0006] A torque control method in adaptive cruise process, applied to a target vehicle, comprising:

[0007] obtaining a calculated torque obtained by an ACC control program;

[0008] obtaining actual running parameters of the target vehicle, the actual running parameters including actual torque and actual vehicle speed;

[0009] determining a loss compensation torque based on the end transmission torque corresponding to the actual torque and the actual vehicle speed;

[0010] obtaining an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque.

[0011] Preferably, before obtaining the output torque based on the loss compensation torque and the calculated torque, it further comprises:

[0012] performing PI operation on the difference between the calculated torque and the actual torque to obtain a delay compensation torque;

[0013] Correspondingly, based on the loss compensation torque and the calculated torque, a process of obtaining an output torque includes:

[0014] Based on the loss compensation torque, the delay compensation torque and the calculated torque, an output torque is obtained.

[0015] Preferably, the actual operating parameters further include an actual gear, and a process of determining a loss compensation torque based on the actual torque and the terminal transmission torque corresponding to the actual vehicle speed includes:

[0016] According to the actual torque and the actual vehicle speed, a loss compensation torque is determined based on the actual torque and the terminal transmission torque corresponding to the actual vehicle speed;

[0017] And / or,

[0018] By querying a response data table, a loss compensation torque corresponding to the actual operating parameters is determined.

[0019] The response data table specifically includes:

[0020] The compensation data corresponding to different gears and different vehicle speed sections are loss compensation torques or acceleration compensation amounts used to calculate the corresponding loss compensation torques.

[0021] Preferably, the determination process of the compensation data corresponding to any gear and any vehicle speed section in the response data table includes:

[0022] The average value of all historical compensation data meeting a calculation condition in the same gear and the same vehicle speed section is calculated as the compensation data corresponding to the gear and the vehicle speed section.

[0023] The historical compensation data is a loss compensation torque or an acceleration compensation amount applied before the current time; the calculation condition is that the historical compensation data has not exceeded a valid time period, and / or the historical compensation data is in a history data array with limited elements in a time line.

[0024] Preferably, the torque control method further includes:

[0025] According to the actual operating parameters, the response data table is updated.

[0026] Preferably, the process of updating the response data table according to the actual operating parameters includes:

[0027] updating the historical compensation data according to the actual operation parameter, and determining the compensation data in the response data table according to the historical compensation data.

[0028] Preferably, the process of updating the historical compensation data according to the actual operation parameter, and determining the compensation data in the response data table according to the historical compensation data comprises:

[0029] determining the latest historical compensation data according to the actual operation parameter;

[0030] recalculating the latest average value of all the historical compensation data meeting the calculation condition in the same gear and the same speed section;

[0031] performing α filtering on the latest average value and the original compensation data to obtain a filtering result to replace the original compensation data.

[0032] Preferably, the torque control method further comprises:

[0033] monitoring the change state of the compensation data in the response data table, and issuing a maintenance prompt when the change state reaches a maintenance requirement.

[0034] Preferably, the process of monitoring the change state of the compensation data in the response data table, and issuing a maintenance prompt when the change state reaches a maintenance requirement comprises:

[0035] monitoring the change state of all the compensation data in the response data table, and counting the limited number of the compensation data in the response data table exceeding a corresponding preset compensation value;

[0036] when the duration of the limited number in the response data table exceeding a preset number exceeds a preset time, determining that the change state reaches the maintenance requirement, and issuing a maintenance prompt.

[0037] Preferably, the process of calculating based on the actual torque and the actual speed to determine the loss compensation torque based on the terminal transmission torque corresponding to the actual torque and the actual speed comprises:

[0038] determining an acceleration loss compensation amount according to the actual operation parameter, and determining the loss compensation torque according to the acceleration loss compensation amount; the acceleration loss compensation amount is specifically the difference between the calculation acceleration corresponding to the actual torque and the actual acceleration corresponding to the actual speed.

[0039] Preferably, the process of determining the calculation acceleration comprises:

[0040] determining the calculation acceleration corresponding to the actual torque by using a calculation acceleration formula;

[0041] The calculation acceleration formula comprises:

[0042]

[0043] Wherein, A_pre is the calculation acceleration, T_act is the actual torque, G_ratio is the gear ratio corresponding to the actual gear, T_load is the current equivalent resistance torque of the target vehicle, Veh_mass is the mass of the target vehicle, Wheel_radius is the tire radius of the target vehicle.

[0044] Preferably, after determining the loss compensation torque based on the end-point transmission torque corresponding to the actual torque and the actual vehicle speed, the method further comprises:

[0045] clipping the loss compensation torque;

[0046] obtaining an output torque based on the loss compensation torque and the calculation torque, so that the target vehicle runs at the output torque.

[0047] obtaining an output torque based on the loss compensation torque and the calculation torque, and clipping the output torque, so that the target vehicle runs at the clipped output torque.

[0048] Correspondingly, the application also discloses a torque control system in an adaptive cruise process, applied to a target vehicle, comprising:

[0049] a first obtaining module, configured to obtain a calculation torque obtained by an ACC control program;

[0050] a second obtaining module, configured to obtain actual running parameters of the target vehicle, the actual running parameters comprising an actual torque and an actual vehicle speed;

[0051] a compensation calculation module, configured to determine a loss compensation torque based on an end-point transmission torque corresponding to the actual torque and the actual vehicle speed;

[0052] a determination module, configured to obtain an output torque based on the loss compensation torque and the calculation torque, so that the target vehicle runs at the output torque.

[0053] Correspondingly, the application also discloses an electronic device, comprising:

[0054] a memory, configured to store a computer program;

[0055] a processor, configured to execute the computer program to realize the steps of the torque control method in the adaptive cruise process according to any one of the above.

[0056] Correspondingly, the application further discloses a readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the torque control method in the adaptive cruise process according to any one of the above.

[0057] The torque control method in the application considers the case that the engine and the gearbox cannot fully respond to the demand torque, determines the loss compensation torque by using the end transmission torque corresponding to the actual torque of the engine and the actual vehicle speed, and compensates the calculated torque by using the loss compensation torque, so that the problem of incomplete response of the engine and the gearbox can be reduced or eliminated, thereby achieving more stable and effective adaptive cruise control effect and more comfortable user experience. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on the provided drawings.

[0059] Figure 1 The step flow chart of the torque control method in the adaptive cruise process in the embodiment of the present application is shown in the figure.

[0060] Figure 2 The control flow chart of the torque control method in the adaptive cruise process in the embodiment of the present application is shown in the figure.

[0061] Figure 3 The structure distribution diagram of the torque control system in the adaptive cruise process in the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0063] The conventional torque control is based on the ACC function itself to calculate the torque, and the execution ability of the actuator is less considered. In the actual running process of the automobile, due to the wear of the engine and the gearbox in long-time operation, the engine and the gearbox may not fully respond to the ACC demand torque, at this time, the vehicle accelerates slowly, which is not enough to achieve the expected effect.

[0064] The torque control method in the application considers the case that the engine and the gearbox cannot fully respond to the required torque, determines the loss compensation torque through the end transmission torque corresponding to the actual torque and the actual vehicle speed of the engine, compensates the calculated torque by using the loss compensation torque, can alleviate or eliminate the problem of incomplete response of the engine and the gearbox, so as to achieve more stable and effective adaptive cruise control effect, and the user experience is more comfortable.

[0065] The embodiment of the application discloses a torque control method in an adaptive cruise process, applied to a target vehicle, referring to Figure 1 as shown, comprising:

[0066] S1: obtaining the calculated torque T_req obtained by the ACC control program;

[0067] It can be understood that the embodiment is applied to the adaptive cruise process, and is usually realized by the car machine system on the target vehicle. If the car machine system does not start the adaptive cruise, the method is not implemented. Only when the car machine system starts the adaptive cruise, the method is executed in the adaptive cruise process.

[0068] Further, the calculated torque T_req here is the torque calculated by the ACC control program. The ACC control program follows the traditional ACC control scheme, and is usually calculated according to the target speed, the target time interval, the front vehicle speed and the front vehicle distance.

[0069] S2: obtaining the actual running parameters of the target vehicle, the actual running parameters including the actual torque T_act and the actual vehicle speed V_act;

[0070] It can be understood that the actual running parameters of the target vehicle can be obtained through the CAN bus. The actual torque T_act is specifically the torque currently actually responded by the EMS (Engine Management System, engine management system), and the actual vehicle speed V_act is specifically the speed of the current vehicle running.

[0071] S3: determining the loss compensation torque T_loss based on the end transmission torque corresponding to the actual torque T_act and the actual vehicle speed V_act;

[0072] It can be understood that, in the running process of the target vehicle, the actual torque T_act belongs to the execution torque of the engine, there is energy consumption in the process that the power of the engine is finally transmitted to the wheel shaft, the end transmission torque is the final torque of the actual torque T_act transmitted to the wheel shaft, the end transmission torque is less than the actual torque T_act, that is, the actual speed V_act corresponding to the wheel shaft cannot fully respond to the actual torque T_act, and the loss compensation torque T_loss can be obtained by subtracting the end transmission torque corresponding to the actual torque T_act and the real-time speed. The loss compensation torque T_loss is the part that is not responded in the previous control period and is also the compensation amount added to the control variable in the next control period.

[0073] Further, the loss compensation torque T_loss can be determined by calculating the current actual operating parameter or by looking up the loss compensation torque T_loss corresponding to the current actual operating parameter. Specifically, the process of determining the loss compensation torque T_loss based on the end transmission torque corresponding to the actual torque T_act and the actual speed V_act includes: calculating based on the actual torque T_act and the actual speed V_act to determine the loss compensation torque T_loss based on the end transmission torque corresponding to the actual torque T_act and the actual speed V_act; and / or, by querying the response data table, determining the loss compensation torque T_loss corresponding to the actual operating parameter; the response data table specifically includes: compensation data corresponding to different gears and different speed sections, and the compensation data is specifically the loss compensation torque T_loss or the acceleration compensation amount used to calculate the corresponding loss compensation torque T_loss, and the actual operating parameter further includes the actual gear.

[0074] It can be understood that the determination method of the loss compensation torque T_loss herein can be determined according to actual calculation capability and working conditions, which is not limited herein.

[0075] S4: Based on the loss compensation torque T_loss and the calculated torque T_req, the output torque T_out is obtained, so that the target vehicle runs at the output torque T_out.

[0076] Specifically, the output torque T_out will be output through the CAN bus, so that the target vehicle or the EMS in the target vehicle runs according to the output torque T_out.

[0077] It can be understood that, after adding the calculated torque T_req corresponding to the theoretical target and the compensation amount loss compensation torque T_loss, the output torque T_out can be obtained, and a closed-loop feedback control is completed. In the process that the target vehicle runs at the output torque T_out, even if there is a part in the output torque T_out that is not responded, the remaining part can still achieve the effect of the calculated torque T_req.

[0078] Further, for the torque control process described above, different limits can also be set for each torque, including the calculated torque T_req, the loss compensation torque T_loss and the output torque T_out, to improve driving safety and stability, and the specific limit values can be set according to the working conditions.

[0079] Specifically, after obtaining the calculated torque T_req from the ACC control program, the calculated torque T_req can be limited and processed;

[0080] Correspondingly, after determining the loss compensation torque T_loss based on the end transmission torque corresponding to the actual torque T_act and the actual vehicle speed V_act, the loss compensation torque T_loss is also limited and processed;

[0081] Correspondingly, based on the loss compensation torque T_loss and the calculated torque T_req, the output torque T_out is obtained, so that the target vehicle runs at the output torque T_out, and the process includes: based on the loss compensation torque T_loss and the calculated torque T_req, the output torque T_out is obtained, and the output torque T_out is limited and processed, so that the target vehicle runs according to the limited and processed output torque T_out.

[0082] The torque control method in the application considers the case that the engine and the gearbox cannot fully respond to the demand torque, determines the loss compensation torque based on the end transmission torque corresponding to the actual torque and the actual vehicle speed, compensates the calculated torque by using the loss compensation torque, can alleviate or eliminate the problem of incomplete response of the engine and the gearbox, so as to achieve more stable and effective adaptive cruise control effect, and the user experience is more comfortable.

[0083] The embodiment of the application discloses a specific torque control method in the adaptive cruise process, and relative to the previous embodiment, the technical scheme is further described and optimized.

[0084] Specifically, in addition to using the loss compensation torque T_loss for closed-loop feedback control, a delay feedback control corresponding to PI operation can also be set to improve the stability of the control.

[0085] Specifically, the delay feedback can be a PI operation realized by using the actual vehicle speed V_act and / or the actual torque T_act, and since the actual torque T_act more accurately reflects the operation state of the engine than the actual vehicle speed V_act, the actual torque T_act is preferably used to realize, and specifically, before obtaining the output torque T_out based on the loss compensation torque T_loss and the calculated torque T_req, it also includes:

[0086] PI operation is performed on the difference between the calculated torque T_req and the actual torque T_act to obtain the delay compensation torque T_delay;

[0087] Correspondingly, based on the loss compensation torque T_loss and the calculated torque T_req, the output torque T_out is obtained, including:

[0088] Based on the loss compensation torque T_loss, the delay compensation torque T_delay and the calculated torque T_req, the output torque T_out is obtained.

[0089] Specifically, the process of PI operation on the difference between the calculated torque T_req and the actual torque T_act to obtain the delay compensation torque T_delay includes:

[0090] The torque deviation T_delay_error = T_req - T_act is calculated;

[0091] PI operation is performed on the torque deviation T_delay_error:

[0092] P_Term = Kp x T_delay_error,

[0093] I_Term = Ki x T_delay_error x dt,

[0094] I_Term_Sum = I_Term_Sum + I_Term,

[0095] T_delay = P_Term + I_Term_Sum

[0096] Wherein, Kp and Ki are proportional and integral parameters respectively, P_Term and I_Term are gear period proportional component and unit period integral component respectively, I_Term_Sum is the cumulative integral component, the initial value is 0, and dt is the unit period.

[0097] It can be understood that the present embodiment can also use limiting processing, such as limiting processing on the delay compensation torque T_delay, limiting processing on the output torque T_out, etc., and the specific limiting processing object can be selected according to the actual working condition.

[0098] Specifically, the control flow among the parameters such as the calculated torque T_req, the loss compensation torque T_loss and the delay compensation torque T_delay can be referred to Figure 2 As shown, the whole control process is a double closed loop feedback, thereby further improving the control speed, accuracy and stability in the torque control process.

[0099] The embodiment of the application discloses a specific torque control method in an adaptive cruise process, and further describes and optimizes the technical scheme compared with the previous embodiment.

[0100] Specifically, it is known that for a certain target vehicle, there is a linear relationship between the acceleration and the corresponding torque, that is, torque = acceleration * Veh mass * Wheel radius, Veh mass is the mass of the target vehicle, and Wheel radius is the tire radius of the target vehicle. Therefore, according to the actual torque T_act and the actual vehicle speed V_act, the difference between the actual torque T_act and the terminal drive torque corresponding to the actual vehicle speed V_act is determined as the loss compensation torque T_loss. There are two schemes:

[0101] One is to determine the actual acceleration A_act according to the current actual vehicle speed V_act, then determine the terminal drive torque T_final corresponding to the actual acceleration A_act, and then subtract the actual torque T_act and the terminal drive torque T_final to obtain the loss compensation torque T_loss.

[0102] The other is to determine the corresponding calculation acceleration A_pre according to the current actual torque T_act, determine the corresponding actual acceleration A_act according to the current actual vehicle speed V_act, then subtract the calculation acceleration A_pre and the actual acceleration A_act to obtain the acceleration loss compensation amount A_loss, and then determine the loss compensation torque T_loss corresponding to the acceleration loss compensation amount A_loss according to the linear relationship, that is, the acceleration loss compensation amount A_loss is determined according to the actual operating parameters, and the loss compensation torque T_loss is determined according to the acceleration loss compensation amount A_loss. The acceleration loss compensation amount is specifically the difference between the calculation acceleration A_pre corresponding to the actual torque T_act and the actual acceleration A_act corresponding to the actual vehicle speed V_act.

[0103] Further, the determination process of the calculation acceleration A_pre includes:

[0104] The calculation acceleration corresponding to the actual torque T_act is determined by using the calculation acceleration formula.

[0105] The calculation acceleration formula includes:

[0106]

[0107] Wherein, A_pre is the calculated acceleration, T_act is the actual torque T_act, G_ratio is the gear ratio corresponding to the actual gear, T_load is the current equivalent resistance moment of the target vehicle, Veh mass is the mass of the target vehicle, Wheel radius is the tire radius of the target vehicle, and these parameters can be obtained according to the actual running parameters or state parameters of the target vehicle.

[0108] It can be understood that the two calculation methods in the embodiment are essentially the same, and the calculation of the terminal driving torque can be derived according to the same vehicle running principle as the calculation of the acceleration formula, which will not be repeated here. The selection of the two methods can be determined according to the actual situation, which is not limited here.

[0109] The embodiment of the application discloses a specific torque control method in the adaptive cruise process, and relative to the previous embodiment, the technical solution is further described and optimized.

[0110] It can be understood that the process of determining the difference between the terminal driving torque corresponding to the actual torque T_act and the actual vehicle speed V_act as the loss compensation torque T_loss includes querying the response data table to determine the loss compensation torque T_loss corresponding to the actual running parameter, wherein the response data table specifically includes: compensation data corresponding to different gears and different speed sections, and the compensation data is specifically the loss compensation torque T_loss or the acceleration compensation amount A_loss used to calculate the corresponding loss compensation torque T_loss.

[0111] It can be understood that the response data table includes two dimensions of settings, one is the gear and the other is the speed section, and different gears and / or different speed sections correspond to different compensation data. Assuming that the target vehicle has seven gears 1-7 gears, and the speed range is 0-150kph, which is evenly segmented by 10kph, 15 speed sections can be obtained, and 7x15 compensation data should be included in the response data table for table lookup to determine the compensation data corresponding to different real-time running parameters. Further, the segmentation and dispersion of the gears and the speed sections in the response data table can be determined according to the proximity of the compensation data in the actual situation, especially when the continuous speed is divided into multiple speed sections, which can be evenly divided, or the speed can be divided into multiple speed sections according to the embodiment of the compensation data, and the proximity of the clusters of the compensation data is divided into multiple speed sections of different lengths.

[0112] Further, the determination process of the compensation data corresponding to any gear and any speed section in the response data table includes:

[0113] The average value of all historical compensation data meeting the calculation condition corresponding to the same gear and the same speed section is calculated as the compensation data corresponding to the gear and the speed section.

[0114] The historical compensation data is a loss compensation torque T_loss or an acceleration compensation amount applied before the current time; the calculation condition is that the historical compensation data has not exceeded a valid time period, and / or the historical compensation data is in a history data array with a limited number of elements in a time line first-in-first-out manner.

[0115] Specifically, for the compensation data of any gear and any speed range, the historical compensation data in the range is averaged to obtain the current compensation data. The historical compensation data used for calculation has certain requirements in time and quantity, for example, the valid time period is 100h, and the historical compensation data that has occurred in the last 100 hours can be used for calculation, and for example, the element limit of the historical data array is 20, and only the 20 historical compensation data closest to the current time can be used for calculation according to the time line first-in-first-out principle. The historical compensation data exceeding the historical data array and / or exceeding the valid time period can be considered invalid and no longer used for calculating the average value.

[0116] It can be understood that the response data table can be determined by test data, but considering that there is device wear and power loss during vehicle operation, and it is this kind of wear and loss that leads to the need to compensate for torque in this embodiment, therefore, the response data table is generally generated based on the recent operation data of the target vehicle, and is also continuously updated during operation, that is, the torque control method further comprises:

[0117] Updating the response data table according to the actual operation parameters.

[0118] Further, the process of updating the response data table according to the actual operation parameters comprises:

[0119] Updating the historical compensation data according to the actual operation parameters, and determining the compensation data in the response data table according to the historical compensation data.

[0120] Specifically, the process of updating the historical compensation data according to the actual operation parameters, and determining the compensation data in the response data table according to the historical compensation data comprises:

[0121] Determining the latest historical compensation data according to the actual operation parameters;

[0122] Recalculating the latest average value of all historical compensation data corresponding to the same gear and the same speed range that meet the calculation condition;

[0123] Alpha filtering the latest average value and the original compensation data to obtain a filtering result to replace the original compensation data.

[0124] It can be understood that after determining the latest historical compensation data according to the actual operation parameters, the latest average value meeting the calculation condition is calculated again, and the historical compensation data used to calculate the average value in the last control period may change because it is out of the effective time period and is squeezed out of the historical data array by the latest historical compensation data.

[0125] Further, in order to avoid the pollution of compensation data caused by the mutation of the latest historical compensation data, α filtering can be used to realize more overall data statistics and reduce the influence of the latest historical compensation data on the compensation data, that is:

[0126] A_loss_mean_filter=α×A_loss_mean+(1-α)×A_loss_mean_filter_last;

[0127] Wherein, A_loss_mean is the current latest average value, A_loss_mean_filter is the filtering result of the new compensation data, and A_loss_mean_filter_last is the original compensation data. Obviously, since the update of each compensation data will be α filtered, the original compensation data is also the filtering result at the previous update.

[0128] It should be noted that the response data table needs to be written into the storage area before the target vehicle's machine is powered off to avoid data loss.

[0129] It can be understood that the calculation and use process of compensation data, the update and application process of the response data table can be performed synchronously, asynchronously, or in a specific order, as long as the timeliness of the loss compensation torque T_loss is good.

[0130] Further, regarding the response data table, the response data table can also be monitored to determine whether it needs to be repaired. Specifically, the torque control method further comprises:

[0131] Monitoring the change state of the compensation data in the response data table, and issuing a repair prompt when the change state meets the repair requirement.

[0132] Specifically, the process of monitoring the change state of the compensation data in the response data table and issuing a repair prompt when the change state meets the repair requirement comprises:

[0133] Monitoring the change state of all compensation data in the response data table, and counting the limit number of compensation data in the response data table that exceeds the corresponding preset compensation value;

[0134] When the duration of the limit number exceeding the preset number in the response data table exceeds the preset time, it is determined that the change state meets the repair requirement, and a repair prompt is issued.

[0135] Specifically, for each compensation data change state is monitored, once there is compensation data exceeds its corresponding preset compensation value is counted, when the counting result exceeds the limit number, then start timing, when the duration exceeds the preset time, it is considered to reach the maintenance requirements, send maintenance prompt.

[0136] It can be understood that if the compensation data exceeding the preset compensation value is restored to below the preset compensation value during the counting process, the corresponding value is removed from the counting result, and if the counting result drops from exceeding the limit number to not exceeding the limit number during the timing process, the duration is cleared, and the counting is restarted when the counting result exceeds the limit number next time. It should be noted that the duration generally does not break point accumulation, so there is a program setting that the time is cleared after the counting result is less than the limit number.

[0137] Correspondingly, the application also discloses a torque control system in an adaptive cruise process, which is applied to a target vehicle, as shown in Figure 3 , and includes:

[0138] A first acquisition module 1 is configured to acquire a calculated torque obtained by an ACC control program;

[0139] A second acquisition module 2 is configured to acquire actual running parameters of the target vehicle, wherein the actual running parameters include an actual torque and an actual vehicle speed;

[0140] A compensation calculation module 3 is configured to determine a loss compensation torque based on an end-point transmission torque corresponding to the actual torque and the actual vehicle speed;

[0141] A determination module 4 is configured to obtain an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque.

[0142] The application considers that the engine and the gearbox cannot completely respond to the demand torque, determines the loss compensation torque based on the end-point transmission torque corresponding to the actual torque and the actual vehicle speed, and compensates the calculated torque by using the loss compensation torque, so as to reduce or eliminate the problem that the engine and the gearbox do not completely respond, thereby achieving more stable and effective adaptive cruise control effect and more comfortable user experience.

[0143] In some specific embodiments, before the determination module 4 obtains the output torque based on the loss compensation torque and the calculated torque, the method further includes:

[0144] performing PI operation on the difference between the calculated torque and the actual torque to obtain a delay compensation torque;

[0145] Correspondingly, the determining module 4 determines the output torque based on the loss compensation torque and the calculated torque, including:

[0146] The output torque is determined based on the loss compensation torque, the delay compensation torque and the calculated torque.

[0147] In some specific embodiments, the actual operating parameters further include an actual gear, and the compensation calculating module 3 determines the loss compensation torque based on the actual torque and the terminal drive torque corresponding to the actual vehicle speed, including:

[0148] The loss compensation torque is determined based on the actual torque and the terminal drive torque corresponding to the actual vehicle speed through calculation;

[0149] And / or,

[0150] The loss compensation torque corresponding to the actual operating parameters is determined by querying the response data table;

[0151] The response data table specifically includes:

[0152] The compensation data corresponding to different gears and different vehicle speed sections, specifically the loss compensation torque or the acceleration compensation amount used to calculate the corresponding loss compensation torque.

[0153] In some specific embodiments, the determination process of the compensation data corresponding to any of the gears and any of the vehicle speed sections in the response data table includes:

[0154] The average value of all historical compensation data meeting the calculation condition in the same gear and the same vehicle speed section is calculated as the compensation data corresponding to the gear and the vehicle speed section;

[0155] The historical compensation data is the loss compensation torque or the acceleration compensation amount applied before the current time; the calculation condition is that the historical compensation data has not exceeded the valid time period, and / or the historical compensation data is in a history data array with limited elements in chronological order.

[0156] In some specific embodiments, the torque control system further includes:

[0157] The updating module 5 is configured to update the response data table according to the actual operating parameters.

[0158] In some specific embodiments, the updating process of the updating module 5 for updating the response data table according to the actual operating parameters includes:

[0159] updating the historical compensation data according to the actual operation parameter, and determining the compensation data in the response data table according to the historical compensation data.

[0160] In some specific embodiments, the updating module 5 updates the historical compensation data according to the actual operation parameter, and determines the compensation data in the response data table according to the historical compensation data, including:

[0161] determining the latest historical compensation data according to the actual operation parameter;

[0162] recalculating the latest average value of all the historical compensation data meeting the calculation condition in the same gear and the same speed section;

[0163] performing α filtering on the latest average value and the original compensation data to obtain a filtering result to replace the original compensation data.

[0164] In some specific embodiments, the torque control system further includes:

[0165] a monitoring module 6 for monitoring the change state of the compensation data in the response data table, and issuing a maintenance prompt when the change state reaches a maintenance requirement.

[0166] In some specific embodiments, the monitoring module 6 monitors the change state of the compensation data in the response data table, and issues a maintenance prompt when the change state reaches a maintenance requirement, including:

[0167] monitoring the change state of all the compensation data in the response data table, and counting the limited number of the compensation data in the response data table that exceeds the corresponding preset compensation value;

[0168] when the duration that the limited number in the response data table exceeds the preset number exceeds the preset time, determining that the change state reaches the maintenance requirement, and issuing a maintenance prompt.

[0169] In some specific embodiments, the compensation calculation module 3 calculates according to the actual torque and the actual vehicle speed to determine the loss compensation torque based on the terminal transmission torque corresponding to the actual torque and the actual vehicle speed, including:

[0170] determining the acceleration loss compensation amount according to the actual operation parameter, and determining the loss compensation torque according to the acceleration loss compensation amount; the acceleration loss compensation amount is specifically the difference between the calculated acceleration corresponding to the actual torque and the actual acceleration corresponding to the actual vehicle speed.

[0171] In some specific embodiments, the determination process of the calculated acceleration includes:

[0172] determining the calculated acceleration corresponding to the actual torque by using a calculated acceleration formula;

[0173] The calculated acceleration formula comprises:

[0174]

[0175] wherein A_pre is the calculated acceleration, T_act is the actual torque, G_ratio is the gear ratio corresponding to the actual gear, T_load is the current equivalent resistance torque of the target vehicle, Veh_mass is the mass of the target vehicle, and Wheel_radius is the tire radius of the target vehicle.

[0176] In some specific embodiments, after the compensation calculation module 3 determines the loss compensation torque based on the terminal drive torque corresponding to the actual torque and the actual vehicle speed, the compensation calculation module 3 further comprises:

[0177] clipping the loss compensation torque;

[0178] The determination module 4 obtains an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque, and the process comprises:

[0179] obtaining an output torque based on the loss compensation torque and the calculated torque, and clipping the output torque, so that the target vehicle runs at the clipped output torque.

[0180] Correspondingly, the present application also discloses an electronic device, comprising:

[0181] a memory for storing a computer program;

[0182] a processor for executing the computer program to implement the steps of the torque control method in the adaptive cruise process according to any one of the above.

[0183] Correspondingly, the present application also discloses a readable storage medium, wherein the readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the torque control method in the adaptive cruise process according to any one of the above.

[0184] Specific details of the torque control method in the adaptive cruise process can be referred to the description in the above embodiments, which will not be described here.

[0185] In the present embodiment, the electronic device and the readable storage medium have the same technical effects as the torque control method in the adaptive cruise process in the above embodiments, which will not be described here.

[0186] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. is used by way of example, and is merely used to distinguish one from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0187] The above describes in detail the torque control method in the adaptive cruise process, system and related components provided by the present application. The principles and implementation manners of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method of torque control in an adaptive cruise process, characterized by, The application is applied to a target vehicle, comprising: obtaining a calculated torque obtained by an ACC control program; obtaining actual operating parameters of the target vehicle, the actual operating parameters comprising an actual torque and an actual vehicle speed; determining a loss compensation torque based on an end transmission torque corresponding to the actual torque and the actual vehicle speed; obtaining an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle operates at the output torque; wherein the actual operating parameters further comprise an actual gear, and the process of determining the loss compensation torque based on the end transmission torque corresponding to the actual torque and the actual vehicle speed comprises: determining the loss compensation torque corresponding to the actual operating parameters by querying a response data table; the response data table specifically comprises compensation data corresponding to different gears and different vehicle speed sections, and the compensation data is specifically a loss compensation torque or an acceleration compensation amount used to calculate the corresponding loss compensation torque; wherein the determination process of the compensation data corresponding to any gear and any vehicle speed section in the response data table comprises: calculating an average value of all historical compensation data corresponding to the same gear and the same vehicle speed section that meet a calculation condition as the compensation data corresponding to the gear and the vehicle speed section; the historical compensation data is a loss compensation torque or an acceleration compensation amount applied before the current time; and the calculation condition is that the historical compensation data has not exceeded a valid time period, and / or the historical compensation data is in a historical data array with a limited number of elements in a time line in a first-in-first-out manner.

2. The torque control method according to claim 1, characterized by, Before obtaining the output torque based on the loss compensation torque and the calculated torque, the process further comprises: performing PI operation on the difference between the calculated torque and the actual torque to obtain a delay compensation torque; correspondingly, the process of obtaining the output torque based on the loss compensation torque and the calculated torque comprises: obtaining the output torque based on the loss compensation torque, the delay compensation torque and the calculated torque.

3. The torque control method of claim 1, wherein Further comprising: updating the response data table according to the actual operating parameters.

4. The torque control method according to claim 3, characterized by, The process of updating the response data table according to the actual operating parameters comprises: updating the historical compensation data according to the actual operating parameters, and determining the compensation data in the response data table according to the historical compensation data.

5. The torque control method according to claim 4, characterized by, The process of updating the historical compensation data according to the actual operating parameters, and determining the compensation data in the response data table according to the historical compensation data comprises: determining the latest historical compensation data according to the actual operating parameters; recalculating the latest average value of all historical compensation data corresponding to the same gear and the same vehicle speed section that meet the calculation condition; performing alpha filtering on the latest average value and the original compensation data to obtain a filtering result to replace the original compensation data.

6. The torque control method of claim 1, wherein, Further comprising: monitoring the change state of the compensation data in the response data table, and issuing a maintenance prompt when the change state reaches a maintenance requirement.

7. The torque control method according to claim 6, characterized by, The process of monitoring the change state of the compensation data in the response data table, and issuing a maintenance prompt when the change state reaches a maintenance requirement comprises: monitoring a change state of all the compensation data in the response data table, and counting a limited number of the compensation data in the response data table that exceeds a corresponding preset compensation value; when a duration in which the limited number exceeds a preset number exceeds a preset time, determining that the change state reaches a maintenance requirement, and issuing a maintenance prompt.

8. The torque control method of claim 1, wherein, The process of calculating based on the actual torque and the actual vehicle speed to determine the loss compensation torque based on the end transmission torque corresponding to the actual torque and the actual vehicle speed, comprises: determining an acceleration loss compensation amount based on the actual operating parameters, and determining the loss compensation torque based on the acceleration loss compensation amount; the acceleration loss compensation amount is specifically a difference between a calculated acceleration corresponding to the actual torque and an actual acceleration corresponding to the actual vehicle speed.

9. The torque control method according to claim 8, characterized by, The determination process of the calculated acceleration comprises: determining the calculated acceleration corresponding to the actual torque by using a calculated acceleration formula; The calculated acceleration formula comprises: ； wherein A_pre is the calculated acceleration, T_act is the actual torque, G_ratio is a gear ratio corresponding to an actual gear, T_load is a current equivalent resistance torque of the target vehicle, Veh_mass is a mass of the target vehicle, and Wheel_radius is a tire radius of the target vehicle.

10. The torque control method according to any one of claims 1 to 9, wherein, after determining the loss compensation torque based on the end transmission torque corresponding to the actual torque and the actual vehicle speed, the method further comprises: amplitude-limiting the loss compensation torque; obtaining an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque. The process of making the target vehicle run according to the amplitude-limited output torque, comprises: amplitude-limiting the output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the amplitude-limited output torque.

11. A torque control system in an adaptive cruise process, characterized by, application to a target vehicle, comprising: a first obtaining module configured to obtain a calculated torque obtained by an ACC control program; a second obtaining module configured to obtain actual operating parameters of the target vehicle, the actual operating parameters comprising an actual torque and an actual vehicle speed; a compensation calculating module configured to determine a loss compensation torque based on an end transmission torque corresponding to the actual torque and the actual vehicle speed; a determining module configured to obtain an output torque based on the loss compensation torque and the calculated torque, so that the target vehicle runs at the output torque. The actual operating parameters further comprise an actual gear, and the process of determining the loss compensation torque based on the end transmission torque corresponding to the actual torque and the actual vehicle speed by the compensation calculating module comprises: determining the loss compensation torque corresponding to the actual operating parameters by querying a response data table; the response data table specifically comprises compensation data corresponding to different gears and different vehicle speed sections, and the compensation data is specifically a loss compensation torque or an acceleration compensation amount used to calculate the corresponding loss compensation torque. The determination process of the compensation data corresponding to any gear and any vehicle speed section in the response data table comprises: calculating the average value of all historical compensation data meeting a calculation condition in the same gear and the same vehicle speed section as the compensation data corresponding to the gear and the vehicle speed section; the historical compensation data is the loss compensation torque or the acceleration compensation amount applied before the current time; the calculation condition is that the historical compensation data has not exceeded a valid time period and / or the historical compensation data is in a history data array with a limited number of elements in a time line.

12. An electronic device, comprising: Comprise: a memory for storing a computer program; a processor for executing the computer program to implement the steps of the torque control method in the adaptive cruise process according to any one of claims 1 to 10.

13. A readable storage medium, characterized by, The computer program is stored on the readable storage medium, and the computer program is executed by the processor to implement the steps of the torque control method in the adaptive cruise process according to any one of claims 1 to 10.

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