Torque control method, device and vehicle

Abstract

The application provides a torque control method, device and vehicle, and relates to the technical field of electric vehicle control. The torque control method comprises the following steps: obtaining driving mode indication information of the vehicle; in the case that the driving mode indication information indicates that the vehicle is in an all-terrain escape mode, determining the driving torque of the vehicle according to self-adaptive torque and Pedal Map required torque; or in the case that the driving mode indication information indicates that the vehicle is not in the all-terrain escape mode, determining the driving torque of the vehicle according to Pedal Map required torque and ESP (electronic stability program) reduced torque request torque. Compared with the existing torque control mode through Pedal Map required torque and ESP, the application can reduce the difficulty of escape in the all-terrain escape mode of the vehicle on a snowfield, a mudfield and a sandy road.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicle control, and in particular to a torque control method, device and vehicle. BACKGROUND

[0002] The current electric vehicle driving torque control method mainly obtains the throttle pedal characteristic (Pedal Map) required torque through the accelerator pedal opening degree and real-time vehicle speed. When the vehicle body electronic stability system (Electronic Stability Program, ESP) does not intervene, the driving torque of the vehicle is the Pedal Map required torque. If the vehicle encounters snow, sand, mud and other non-paved roads during driving, the ESP will intervene in real time to limit the driving wheel from slipping, but it will also limit the vehicle's escape ability. At this time, if the ESP is directly manually turned off, the vehicle's escape ability is enhanced, but it is highly dependent on the driving skills of the driver. Therefore, the method of controlling torque by Pedal Map required torque and ESP alone is difficult for the vehicle to escape when it is on actual snow, mud and sand roads. SUMMARY

[0003] The embodiments of the present application provide a torque control method, device and vehicle to solve the problem of difficulty in escaping in the all-terrain escape mode of the existing torque control method.

[0004] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0005] The embodiments of the present application provide a torque control method, comprising:

[0006] Obtaining driving mode indication information of a vehicle;

[0007] In a case where the driving mode indication information indicates that the vehicle is in an all-terrain escape mode, determining a driving torque of the vehicle according to an adaptive torque and a Pedal Map required torque;

[0008] Or, in a case where the driving mode indication information indicates that the vehicle is not in an all-terrain escape mode, determining a driving torque of the vehicle according to a Pedal Map required torque and an ESP torque reduction request torque.

[0009] Optionally, the determining of the driving torque of the vehicle according to the adaptive torque and the Pedal Map required torque comprises:

[0010] Taking the torque value smaller between the adaptive torque and the Pedal Map required torque as the driving torque of the vehicle.

[0011] Optionally, the driving torque of the vehicle is determined according to the Pedal Map demand torque and an ESP torque reduction request torque, and the method comprises the following steps of:

[0012] The smaller one of the Pedal Map demand torque and the ESP torque reduction request torque is taken as the driving torque of the vehicle.

[0013] Optionally, in the case that the current vehicle speed is greater than a preset safe vehicle speed, the driving mode indication information indicates that the vehicle exits the all-terrain escape mode.

[0014] Optionally, the method further comprises the following steps of:

[0015] According to a vehicle speed-target driving wheel speed corresponding curve, a target driving wheel speed corresponding to the current vehicle speed of the vehicle is determined; the target driving wheel speed is greater than the current vehicle speed of the vehicle.

[0016] According to the target driving wheel speed and an actual driving wheel speed of the vehicle, a vehicle speed deviation is determined.

[0017] According to the vehicle speed deviation and a proportional-integral-derivative (PID) control parameter, the adaptive torque is obtained.

[0018] The PID control parameter is determined according to the vehicle speed deviation and the current vehicle speed of the vehicle.

[0019] Optionally, the method further comprises the following steps of:

[0020] Every first preset time length, it is judged whether the current vehicle speed of the vehicle changes.

[0021] In the case that the current vehicle speed of the vehicle changes, the PID control parameter is updated according to the changed current vehicle speed of the vehicle and a corresponding vehicle speed deviation.

[0022] Optionally, in the case that the vehicle is a two-wheel drive vehicle, the current vehicle speed of the vehicle is determined according to a driven wheel speed.

[0023] In the case that the vehicle is a four-wheel drive vehicle, the current vehicle speed of the vehicle is determined according to a preset vehicle speed determination method and a vehicle speed-related sensor.

[0024] The embodiment of the application further provides a torque control device, comprising:

[0025] An acquisition module is configured to acquire driving mode indication information of a vehicle; the driving mode indication information is used to indicate that the vehicle is in an all-terrain escape mode or the vehicle is not in the all-terrain escape mode.

[0026] The first determining module is configured to determine the driving torque of the vehicle according to the adaptive torque and the Pedal Map required torque when the driving mode indication information indicates that the vehicle is in the all-terrain escape mode.

[0027] Alternatively, the first determining module is configured to determine the driving torque of the vehicle according to the Pedal Map required torque and an ESP torque reduction request torque of an electronic stability program (ESP) when the driving mode indication information indicates that the vehicle is not in the all-terrain escape mode.

[0028] Optionally, the first determining module comprises:

[0029] The first determining unit is configured to determine the driving torque of the vehicle as the torque with a smaller value between the adaptive torque and the Pedal Map required torque.

[0030] Optionally, the first determining module comprises:

[0031] The second determining unit is configured to determine the driving torque of the vehicle as the torque with a smaller value between the Pedal Map required torque and the ESP torque reduction request torque.

[0032] Optionally, the driving mode indication information indicates that the vehicle exits the all-terrain escape mode when the current vehicle speed of the vehicle is greater than a preset safety vehicle speed.

[0033] Optionally, the apparatus further comprises:

[0034] The second determining module is configured to determine a target driving wheel speed corresponding to the current vehicle speed of the vehicle according to a vehicle speed-target driving wheel speed corresponding curve, and the target driving wheel speed is greater than the current vehicle speed of the vehicle.

[0035] The third determining module is configured to determine a vehicle speed deviation according to the target driving wheel speed and an actual driving wheel speed of the vehicle.

[0036] The processing module is configured to obtain the adaptive torque according to the vehicle speed deviation and a proportional-integral-derivative (PID) control parameter.

[0037] The PID control parameter is determined according to the vehicle speed deviation and the current vehicle speed of the vehicle.

[0038] Optionally, the apparatus further comprises:

[0039] The judging module is configured to judge whether the current vehicle speed of the vehicle changes every interval of a first preset time length.

[0040] An updating module is configured to update the PID control parameter according to the changed current vehicle speed and the corresponding vehicle speed deviation when the current vehicle speed changes.

[0041] Optionally, in the case where the vehicle is a two-wheel drive vehicle, the current vehicle speed is determined according to the driven wheel speed;

[0042] In the case where the vehicle is a four-wheel drive vehicle, the current vehicle speed is determined according to a preset vehicle speed determination method and a vehicle speed related sensor.

[0043] The embodiment of the present application also provides a vehicle comprising the torque control device according to any one of the above.

[0044] The embodiment of the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed to implement the steps in the torque control method according to any one of the above.

[0045] The present application has the following advantages:

[0046] According to the present application, the driving torque of the vehicle is determined according to the adaptive torque and the Pedal Map required torque when the driving mode indication information indicates that the vehicle is in the all-terrain escape mode, or the driving torque of the vehicle is determined according to the Pedal Map required torque and the ESP torque reduction request torque when the driving mode indication information indicates that the vehicle is not in the all-terrain escape mode, so that the difficulty of escaping is reduced when the vehicle is in the all-terrain escape mode on a snow, mud or sand road surface, compared with the existing torque control method by using the Pedal Map required torque and the ESP. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 a flow chart of the torque control method provided by the embodiment of the present application;

[0048] Figure 2 a current vehicle speed and target driving wheel speed corresponding curve diagram provided by the embodiment of the present application;

[0049] Figure 3 a specific flow chart of the torque control method provided by the embodiment of the present application;

[0050] Figure 4 a structure diagram of the torque control device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] This invention addresses the problem that existing torque control methods face significant difficulties in all-terrain escape modes, by providing a torque control method, device, and vehicle.

[0053] like Figure 1 As shown, an embodiment of the present invention provides a torque control method, including:

[0054] Step 101: Obtain the vehicle's driving mode indication information.

[0055] In this step, the vehicle driving mode indication information is used to determine whether the vehicle is in all-terrain traction mode.

[0056] It should be noted that the torque control method provided in this embodiment of the invention is applicable to all pure electric vehicles, including but not limited to pure electric vehicles, range-extended electric vehicles, series hybrid electric vehicles, and fuel cell vehicles.

[0057] Step 102: When the driving mode indication information indicates that the vehicle is in all-terrain traction mode, determine the driving torque of the vehicle based on the adaptive torque and the Pedal Map required torque;

[0058] Alternatively, if the driving mode indication information indicates that the vehicle is not in all-terrain traction mode, the driving torque of the vehicle is determined based on the torque demanded by the Pedal Map and the torque reduction request by the Electronic Stability Program (ESP).

[0059] In this step, the driving mode indicator information indicates whether the vehicle is in all-terrain traction mode. Then, different torque determination methods are used to determine the vehicle's driving torque. Compared with the existing method of torque control based solely on Pedal Map torque demand and ESP, this step can reduce the difficulty of getting out of trouble in all-terrain traction modes on snow, mud, and sand.

[0060] Optionally, if the driving mode indication information indicates that the vehicle is in all-terrain traction mode, that is, if it is determined that the vehicle's driving mode is in all-terrain traction mode, then the smaller value between the adaptive torque and the Pedal Map required torque is used as the vehicle's driving torque (that is, the vehicle's required torque).

[0061] Optionally, in the case that the driving mode indication information indicates that the vehicle is not in the all-terrain escape mode, that is, it is determined that the driving mode of the vehicle is not in the all-terrain escape mode, the smaller one of the Pedal Map demand torque and the ESP torque reduction request torque is taken as the driving torque of the vehicle (that is, the demand torque of the vehicle).

[0062] As a preferred embodiment, in the case that the current vehicle speed (which can also be called the real vehicle speed) of the vehicle is greater than a preset safety vehicle speed v safe , the vehicle automatically exits the all-terrain escape mode to ensure the safety of the vehicle, that is, the driving mode indication information indicates that the vehicle exits the all-terrain escape mode.

[0063] The safety vehicle speed v safe is a certain scalar.

[0064] In the embodiment of the application, the safety vehicle speed is set, and when the vehicle speed is greater than the safety vehicle speed, the all-terrain escape mode is automatically exited, at this time the vehicle can still respond to the ESP torque reduction request torque, so that the safety of the vehicle can be ensured.

[0065] The following specifically describes the calculation method of the adaptive torque provided by the embodiment of the application:

[0066] First, the current vehicle speed v Ref of the vehicle is determined according to the vehicle speed-target driving wheel speed corresponding curve, and the corresponding target driving wheel speed v Tar is determined, specifically, the real vehicle speed signal of the vehicle is collected in real time, and the target driving wheel speed corresponding to the real vehicle speed (current vehicle speed) of the vehicle is obtained by querying the vehicle speed-target driving wheel speed corresponding curve.

[0067] The vehicle speed-target driving wheel speed corresponding curve is as shown in Figure 2 It should be noted that the corresponding relationship between the vehicle speed and the target driving wheel speed is not limited to as shown in Figure 2 , and the corresponding relationship between the vehicle speed and the target driving wheel speed can also be obtained by general real vehicle calibration, and at the same time, it is necessary to ensure that the target driving wheel speed of the vehicle is greater than the current vehicle speed of the vehicle.

[0068] In the case that the vehicle is a two-wheel drive vehicle, the current vehicle speed of the vehicle is determined according to the driven wheel speed, specifically, for a two-wheel drive vehicle, the real vehicle speed of the vehicle is approximately equal to the driven wheel speed.

[0069] In the case that the vehicle is a four-wheel drive vehicle, the current vehicle speed of the vehicle is determined according to a preset vehicle speed determination method and a sensor related to the vehicle speed, that is, for a four-wheel drive vehicle, the real vehicle speed of the vehicle needs to be obtained by a related logical algorithm.

[0070] Then, according to the target drive wheel speed and the actual drive wheel speed of the vehicle, a speed deviation is determined, that is, a difference between the target drive wheel speed and the actual drive wheel speed of the vehicle is taken as the speed deviation.

[0071] Then, according to the speed deviation and PID (Propotional, Integral, Differential) control parameters, the adaptive torque is obtained, specifically, the speed deviation is taken as a control target, and the adaptive torque is adjusted and output through PID control (PID control parameters), wherein the PID control is variable parameter PID control, that is, the PID control parameters are determined according to the speed deviation and the current speed of the vehicle.

[0072] Further, the PID control parameters can also be corrected through the actual speed of the vehicle (the current speed of the vehicle) and the speed deviation, and every first preset time interval, it is judged whether the current speed of the vehicle changes, and in the case that the current speed of the vehicle changes, the PID control parameters are updated according to the changed current speed of the vehicle and the corresponding speed deviation.

[0073] The final PID control parameters are finally determined through real vehicle calibration, which can ensure that the vehicle escape performance and driving performance on non-paved roads such as snow, mud and sand reach the optimum.

[0074] The torque control method provided by the embodiment of the application will be specifically described below in combination with Figure 3

[0075] It is judged whether the vehicle is in the all-terrain escape mode, in the case that the vehicle is in the all-terrain escape mode, the actual speed of the vehicle is obtained, the target drive wheel speed is obtained through a target drive wheel speed obtaining module according to the actual speed of the vehicle, the speed deviation is obtained according to the target drive wheel speed and the actual drive wheel speed of the vehicle, the adaptive torque is obtained through a PID control module by using the PID control parameters and the speed deviation, and the smaller value (Min) between the adaptive torque and the Pedal Map demand torque is taken as the demand torque of the vehicle, in the case that the vehicle is not in the all-terrain escape mode, the smaller value (Min) between the adaptive torque and the ESP reduction torque is taken as the demand torque of the vehicle.

[0076] In the specific operation, if the vehicle is trapped in snow, mud or sand, at this time, the driver can switch the driving mode to the all-terrain escape mode, and then only needs to press the accelerator pedal deeply, and the drive torque of the vehicle can be adaptively adjusted according to the dynamic parameters of the vehicle, so that the escape ability of the vehicle reaches the optimum, and the escape probability of the vehicle can be greatly improved.

[0077] ​The torque control method provided by the embodiment of the present application increases the all-terrain escape mode, and when the driver drives the vehicle on the non-paved road such as snow, mud and sand, the escape performance of the vehicle can be improved by only deep pressing the accelerator pedal, without considering how to drive at the limit of the driver; when the real vehicle speed is high, the vehicle can automatically exit the all-terrain escape mode, to ensure the safety of the vehicle. Therefore, in the all-terrain escape mode, the limit escape capability and safety of the vehicle can be considered, and the operation difficulty of the driver is greatly reduced.

[0078] As shown in Figure 4 The embodiment of the present application also provides a torque control device, which comprises:

[0079] The acquisition module 401 is configured to acquire driving mode indication information of the vehicle, wherein the driving mode indication information is used to indicate whether the vehicle is in the all-terrain escape mode or not.

[0080] The first determination module 402 is configured to determine the driving torque of the vehicle according to the adaptive torque and the Pedal Map demand torque when the driving mode indication information indicates that the vehicle is in the all-terrain escape mode.

[0081] Or, the first determination module 402 is configured to determine the driving torque of the vehicle according to the Pedal Map demand torque and the ESP torque reduction request torque when the driving mode indication information indicates that the vehicle is not in the all-terrain escape mode.

[0082] Optionally, the first determination module 402 comprises:

[0083] The first determination unit is configured to take the torque value smaller between the adaptive torque and the Pedal Map demand torque as the driving torque of the vehicle.

[0084] Optionally, the first determination module 402 comprises:

[0085] The second determination unit is configured to take the torque value smaller between the Pedal Map demand torque and the ESP torque reduction request torque as the driving torque of the vehicle.

[0086] Optionally, the driving mode indication information indicates that the vehicle exits the all-terrain escape mode when the current vehicle speed of the vehicle is greater than a preset safe vehicle speed.

[0087] Optionally, the device further comprises:

[0088] a second determining module configured to determine a target drive wheel speed corresponding to a current vehicle speed of the vehicle according to a vehicle speed-target drive wheel speed corresponding curve, wherein the target drive wheel speed is greater than the current vehicle speed of the vehicle;

[0089] a third determining module configured to determine a vehicle speed deviation according to the target drive wheel speed and an actual drive wheel speed of the vehicle;

[0090] a processing module configured to obtain the adaptive torque according to the vehicle speed deviation and a proportional-integral-derivative (PID) control parameter;

[0091] wherein the PID control parameter is determined according to the vehicle speed deviation and the current vehicle speed of the vehicle.

[0092] Optionally, the device further comprises:

[0093] a judging module configured to judge whether the current vehicle speed of the vehicle changes every first preset time interval;

[0094] an updating module configured to update the PID control parameter according to the changed current vehicle speed of the vehicle and the corresponding vehicle speed deviation in the case that the current vehicle speed of the vehicle changes.

[0095] Optionally, in the case that the vehicle is a two-wheel drive vehicle, the current vehicle speed of the vehicle is determined according to a driven wheel speed;

[0096] in the case that the vehicle is a four-wheel drive vehicle, the current vehicle speed of the vehicle is determined according to a preset vehicle speed determination method and a vehicle speed related sensor.

[0097] It should be noted that the torque control device provided by the embodiments of the present application is all the devices capable of executing the torque control method described above, and all the embodiments of the torque control method described above are applicable to the device and can achieve the same or similar technical effects.

[0098] The embodiments of the present application further provide a vehicle comprising the torque control device as described above.

[0099] It should be noted that the vehicle provided by the embodiments of the present application comprises the torque control device as described above, and all the embodiments of the torque control device described above are applicable to the vehicle and can achieve the same or similar technical effects.

[0100] It should be noted that the vehicle described in the present application is a pure electric drive automobile, including a pure electric vehicle, a range extended electric vehicle, a series hybrid electric vehicle and a fuel cell vehicle.

[0101] The embodiment of the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed to realize the steps in the torque control method.

[0102] The above is the preferred embodiment of the present application, it should be pointed out that for the ordinary person in the art, without departing from the principles described in the present application under the premise that can also make several improvements and refinements, these improvements and refinements are also within the scope of the present application.

Claims

1. A torque control method, characterized in that, include: Obtain vehicle driving mode indication information; When the driving mode indication information indicates that the vehicle is in all-terrain traction mode, the driving torque of the vehicle is determined according to the adaptive torque and the Pedal Map required torque; wherein, the all-terrain traction mode is added so that when the driver is driving the vehicle on snow, mud, or sand, the vehicle's traction performance can be improved simply by pressing the accelerator pedal deeply. When the driving mode indication information indicates that the vehicle is not in all-terrain traction mode, the driving torque of the vehicle is determined based on the PedalMap torque demand and the ESP torque reduction request. The step of determining the driving torque of the vehicle based on the adaptive torque and the Pedal Map required torque includes: taking the smaller torque value between the adaptive torque and the Pedal Map required torque as the driving torque of the vehicle. The step of determining the driving torque of the vehicle based on the Pedal Map required torque and the ESP torque reduction request torque includes: taking the smaller torque value between the Pedal Map required torque and the ESP torque reduction request torque as the driving torque of the vehicle. The method further includes: Based on the curve corresponding to the vehicle speed and the target driving wheel speed, the target driving wheel speed corresponding to the current vehicle speed is determined; the target driving wheel speed is greater than the current vehicle speed. The vehicle speed deviation is determined based on the target driving wheel speed and the actual driving wheel speed of the vehicle. The adaptive torque is obtained based on the vehicle speed deviation and the proportional-integral-derivative (PID) control parameters; wherein the PID control parameters are determined based on the vehicle speed deviation and the current vehicle speed. At each first preset time interval, it is determined whether the current speed of the vehicle has changed; When the vehicle's current speed changes, the PID control parameters are updated based on the changed current speed and the corresponding speed deviation. The final PID control parameters are determined through actual vehicle calibration, which ensures that the vehicle's off-road performance and driving performance are optimal on snow, mud, and sand. If the vehicle's current speed exceeds a preset safe speed, the driving mode indication information instructs the vehicle to exit the all-terrain traction mode; the safe speed v safe The safe speed is set to a certain scalar value. When the vehicle speed exceeds the safe speed, the all-terrain traction mode is automatically exited. At this time, the vehicle can still respond to the ESP torque reduction request. When the vehicle is a two-wheel drive vehicle, the current speed of the vehicle is determined based on the speed of the driven wheels; When the vehicle is a four-wheel drive vehicle, the current speed of the vehicle is determined according to a preset speed determination method and speed-related sensors.

2. A torque control device, characterized in that, The device, applied to the torque control method as described in claim 1, comprises: The acquisition module is used to acquire the vehicle's driving mode indication information; the driving mode indication information is used to indicate whether the vehicle is in all-terrain traction mode or not in all-terrain traction mode. The first determining module is used to determine the driving torque of the vehicle based on the adaptive torque and the Pedal Map required torque when the driving mode indication information indicates that the vehicle is in all-terrain traction mode; When the driving mode indication information indicates that the vehicle is not in all-terrain traction mode, the driving torque of the vehicle is determined based on the PedalMap torque demand and the ESP torque reduction request.

3. A vehicle, characterized in that, Includes the torque control device as described in claim 2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed, implements the steps of the torque control method as described in claim 1.

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