Vehicle torque zero-crossing control method, device, electronic equipment and vehicle

Abstract

The present application provides a vehicle torque zero-crossing control method, device, electronic device and vehicle. The method includes: collecting the vehicle's torque data and speed data to obtain real-time torque data and speed data; judging the trigger conditions of the preset vehicle torque zero-crossing interval based on the torque data and speed data; when the vehicle meets the trigger conditions corresponding to the torque zero-crossing interval, performing a query operation on the corresponding torque table based on the vehicle's torque change trend; determining the final motor request torque corresponding to the torque zero-crossing interval based on the query result, and using the final motor request torque to smoothly control the vehicle's drive motor to zero torque. The present application improves the use scenarios of torque zero-crossing control, realizes dynamic and smooth drive motor torque zero-crossing control, and improves the driver's driving experience.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a vehicle torque zero-crossing control method, device, electronic equipment and vehicle. Background Art

[0002] Amid the global energy and digital revolution, new energy vehicles (NEVs) are becoming more powerful and economical, thanks to the unique characteristics of their motors. However, due to the meshing characteristics of motor gears, when the gear rotation changes from forward to reverse, or vice versa, the transmission system inevitably experiences vibrations and other issues. This not only impacts vehicle reliability and drivability, but can also easily lead to driver complaints.

[0003] In the prior art, in order to avoid jitter in the transmission system, the drive motor torque is usually completed by using a preset torque zero-crossing gradient parameter to reduce the speed fluctuation caused by the change in torque direction. However, the torque zero-crossing gradient parameter is manually calibrated when the vehicle leaves the factory, so it is only applicable to new vehicles. Moreover, the calibrated torque zero-crossing gradient parameter cannot achieve dynamic and smooth torque zero-crossing control of the vehicle. Therefore, the existing torque zero-crossing control method has the problem of a narrow range of applicable scenarios and the inability to dynamically and smoothly control the torque zero-crossing of the drive motor. Summary of the Invention

[0004] In view of this, the embodiments of the present application provide a vehicle torque zero-crossing control method, device, electronic device and vehicle to solve the problems of the existing technology in that the scope of applicable scenarios is narrow and the torque zero-crossing control of the drive motor cannot be dynamically and smoothly performed.

[0005] In a first aspect of an embodiment of the present application, a vehicle torque zero-crossing control method is provided, comprising: collecting torque data and vehicle speed data of the vehicle to obtain real-time torque data and vehicle speed data; judging a preset trigger condition of a vehicle torque zero-crossing interval based on the torque data and vehicle speed data; when the vehicle meets the trigger condition corresponding to the torque zero-crossing interval, performing a query operation on a corresponding torque table based on the torque change trend of the vehicle, wherein the torque table includes a pre-torque table and a torque gradient table, the pre-torque table being used to characterize a preset value of a final motor request torque under different torque change trends that changes with vehicle speed, and the torque gradient table being used to characterize a preset value of a torque gradient value under different torque change trends that changes with motor demand torque and motor request torque of a previous cycle; determining a final motor request torque corresponding to the torque zero-crossing interval based on the query result, and using the final motor request torque to perform smooth torque zero-crossing control on the vehicle's drive motor.

[0006] According to a second aspect of an embodiment of the present application, a vehicle torque zero-crossing control device is provided, comprising: an acquisition module configured to acquire torque data and vehicle speed data of a vehicle to obtain real-time torque data and vehicle speed data; a judgment module configured to judge a trigger condition of a preset vehicle torque zero-crossing interval based on the torque data and vehicle speed data; a query module configured to perform a query operation on a corresponding torque table based on the torque change trend of the vehicle when the vehicle meets the trigger condition corresponding to the torque zero-crossing interval, wherein the torque table comprises a pre-torque table and a torque gradient table, the pre-torque table being used to characterize a preset value of a final motor request torque under different torque change trends as the vehicle speed changes, and the torque gradient table being used to characterize a preset value of a torque gradient value under different torque change trends as the motor demand torque and the motor request torque of the previous cycle change; a control module being configured to determine a final motor request torque corresponding to the torque zero-crossing interval based on the query result, and to perform smooth torque zero-crossing control on the vehicle's motor using the final motor request torque.

[0007] In a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned vehicle torque zero-crossing control method when executing the computer program.

[0008] In a fourth aspect of an embodiment of the present application, a vehicle is provided, comprising a vehicle controller, a motor controller, a drive motor and a transmission system; the vehicle controller is used to implement the steps of the above-mentioned vehicle torque zero-crossing control method to send the final motor request torque to the motor controller; the motor controller is used to perform smooth torque zero-crossing control on the drive motor through the transmission system according to the final motor request torque.

[0009] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0010] By collecting the vehicle's torque data and speed data to obtain real-time torque data and speed data; judging the trigger conditions of the vehicle's torque zero-crossing interval based on the torque data and speed data; when the vehicle meets the trigger conditions corresponding to the torque zero-crossing interval, performing a query operation on the corresponding torque table based on the vehicle's torque change trend, wherein the torque table includes a pre-torque table and a torque gradient table. The pre-torque table is used to represent the preset values ​​of the final motor request torque changing with vehicle speed under different torque change trends; the torque gradient table is used to represent the preset values ​​of the torque gradient value changing with the motor demand torque and the motor request torque of the previous cycle under different torque change trends; the final motor request torque corresponding to the torque zero-crossing interval is determined based on the query result, and the final motor request torque is used to smoothly control the torque zero-crossing of the vehicle's drive motor. Based on this solution, the determination of the torque zero-crossing interval can be automatically triggered, and the torque zero-crossing control can be dynamically completed in intervals according to the actual torque change trend of the vehicle, without relying on the factory-calibrated torque zero-crossing gradient parameters, thereby improving the application scenarios of the torque zero-crossing control, realizing dynamic and smooth drive motor torque zero-crossing control, and improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0012] Figure 1 1 is a flow chart of a vehicle torque zero-crossing control method provided in an embodiment of the present application;

[0013] Figure 2 Schematic diagram of torque change after torque filtering provided by an embodiment of the present application;

[0014] Figure 3 Schematic diagram of the structure of the vehicle torque zero-crossing control device provided in an embodiment of the present application;

[0015] Figure 4 It is a structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0017] New energy vehicles are typically driven by a drive motor. During the drive motor's operation, there's an energy recovery condition, where the vehicle's forward driving torque is positive and the recovery torque is negative. When the driver steps on the accelerator pedal, the positive torque drives the motor forward. When the accelerator pedal is released, the motor enters an energy recovery condition, responding with negative torque to recover energy. This produces positive and negative variations in torque, a phenomenon known as torque zero crossing. This is a fundamental, common issue that all new energy vehicles must consider.

[0018] For new energy vehicles, if there is no torque zero-crossing control, the vehicle will shake and be accompanied by gear knocking noise when switching between rapid deceleration and rapid acceleration. In the prior art, in order to solve the shaking and gear knocking problems caused by torque zero-crossing, the torque zero-crossing gradient parameters are manually calibrated when the vehicle leaves the factory to reduce the speed fluctuation caused by the change in torque direction when the vehicle is running. However, manual calibration of the torque zero-crossing gradient parameters is not only time-consuming and labor-intensive, but also has a narrow range of applicable scenarios and is only used for calibration of new vehicles. In addition, conventional torque zero-crossing control methods cannot achieve dynamic and smooth torque zero-crossing control of the vehicle.

[0019] In view of the problems existing in the prior art, an embodiment of the present application provides a vehicle torque zero-crossing control method. The present application automatically collects vehicle torque data and vehicle speed data to automatically determine whether the vehicle meets the trigger conditions of the torque zero-crossing interval. When it is detected that the vehicle has a torque zero-crossing phenomenon (that is, the vehicle enters a preset torque zero-crossing interval), it slowly processes the method in stages and intervals according to the actual torque change trend of the vehicle, thereby achieving dynamic and smooth torque zero-crossing control. On the premise of ensuring the vehicle's dynamic responsiveness, it optimizes the jitter and other problems caused by the vehicle's torque zero-crossing, thereby improving the driver's vehicle driving experience.

[0020] It should be noted that the technical solution of this application is applicable to torque zero-crossing jitter control for new energy two-wheel drive vehicles and four-wheel drive vehicles, wherein new energy two-wheel drive vehicles are not limited to front-wheel drive or rear-wheel drive scenarios. The following embodiments of this application are described in detail using the rear-wheel drive scenario as an example. In this case, the vehicle's motor torque request can be considered to be the rear motor torque request. It should be understood that the above application scenarios and changes in technical terms do not constitute limitations on the technical solution of this application.

[0021] The technical solution of this application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Figure 1 It is a flow chart of the vehicle torque zero-crossing control method provided in an embodiment of the present application. Figure 1 The vehicle torque zero-crossing control method can be executed by the vehicle controller of the new energy vehicle. Figure 1 As shown, the vehicle torque zero-crossing control method may specifically include:

[0023] S101, collecting torque data and vehicle speed data of the vehicle to obtain real-time torque data and vehicle speed data;

[0024] S102, judging a trigger condition of a preset vehicle torque zero-crossing interval based on the torque data and the vehicle speed data;

[0025] S103: When the vehicle meets the trigger condition corresponding to the torque zero-crossing interval, a query operation is performed on the corresponding torque table based on the torque change trend of the vehicle, wherein the torque table includes a pre-torque table and a torque gradient table. The pre-torque table is used to represent preset values ​​of the final motor request torque under different torque change trends as a function of vehicle speed. The torque gradient table is used to represent preset values ​​of the torque gradient value under different torque change trends as a function of the motor demand torque and the motor request torque in the previous cycle.

[0026] S104 , determining a final motor request torque corresponding to the torque zero-crossing interval according to the query result, and performing smooth torque zero-crossing control on the vehicle's drive motor using the final motor request torque.

[0027] The vehicles in the embodiments of the present application include new energy vehicles, such as pure electric vehicles, hybrid electric vehicles, plug-in hybrid vehicles, etc. The vehicle's torque data includes, but is not limited to, the following types of data: motor demand torque, motor request torque, motor request torque change rate, etc., wherein the motor request torque change rate is calculated based on the motor request torque of the previous cycle and the motor request torque of the current cycle; the vehicle speed data includes real-time vehicle speed information generated during vehicle driving. The torque zero-crossing interval in the embodiments of the present application can be considered as a time period or a torque change interval. The present application regards the process from the motor request torque to the motor demand torque as a complete torque zero-crossing process (a complete torque zero-crossing process can be considered to correspond to a complete torque zero-crossing interval), and divides the complete torque zero-crossing interval into multiple zero-crossing sub-intervals (for example, including a first torque zero-crossing interval, a second torque zero-crossing interval, and a third torque zero-crossing interval) according to the trigger conditions of different preset stages.

[0028] In some embodiments, the vehicle's torque data and speed data are collected, including: during vehicle operation, using the vehicle controller to collect the vehicle's motor demand torque, the motor request torque of the previous cycle, the motor request torque of the current cycle, and real-time vehicle speed information.

[0029] Specifically, in the embodiments of the present application, a VCU (Vehicle Control Unit) installed on the vehicle monitors the vehicle's torque and speed data in real time while the vehicle is in motion. The sensor transmits the collected torque and speed data to the VCU in real time via a CAN (Controller Area Network) bus, allowing the VCU to perform a torque zero-crossing determination based on the torque and speed data. In actual applications, the vehicle's torque data includes, but is not limited to, the motor's required torque (also known as the vehicle's required torque) and the motor's requested torque from the previous cycle. The speed data includes real-time vehicle speed information.

[0030] In some embodiments, before determining the triggering conditions of a preset vehicle torque zero-crossing interval, the method further includes: determining a torque change trend based on the motor request torque and the motor demand torque of the current cycle, and determining whether to perform torque zero-crossing control on the vehicle based on the torque change trend.

[0031] Specifically, after obtaining the vehicle's torque data and speed data, the VCU will determine the torque change trend based on the motor request torque of the current cycle and the obtained motor demand torque. For example, if the motor request torque of the current cycle is positive and the motor demand torque is negative, then the motor torque will change from positive to negative over the next period of time. In actual applications, when the torque change trend is determined to be from positive to negative or from negative to positive (that is, when it is determined that the vehicle has torque zero crossing), the vehicle needs to be subjected to torque zero crossing control.

[0032] In some embodiments, the torque zero-crossing interval includes a first torque zero-crossing interval, a second torque zero-crossing interval, and a third torque zero-crossing interval. Determining a preset trigger condition for the vehicle's torque zero-crossing interval based on the torque data and the vehicle speed data includes comparing the torque data and the vehicle speed data with a trigger condition corresponding to the first torque zero-crossing interval to determine whether the vehicle meets the trigger condition for the first torque zero-crossing interval, wherein the trigger condition corresponding to the first torque zero-crossing interval includes a first zero-crossing state trigger condition and a second zero-crossing state trigger condition.

[0033] Specifically, the embodiment of the present application divides the torque zero-crossing interval into three zero-crossing sub-intervals (i.e., the first torque zero-crossing interval, the second torque zero-crossing interval, and the third torque zero-crossing interval). Each zero-crossing sub-interval corresponds to its own trigger condition. By judging the trigger condition, it is possible to determine whether the vehicle has entered the corresponding zero-crossing sub-interval. It should be noted that the three zero-crossing sub-intervals provided in the embodiment of the present application are triggered in sequence, that is, the second torque zero-crossing interval will be activated only after the vehicle activates the first torque zero-crossing interval.

[0034] Furthermore, the first torque zero-crossing interval includes two trigger conditions: a first zero-crossing state trigger condition and a second zero-crossing state trigger condition. The first zero-crossing state trigger condition occurs when the vehicle's motor request torque crosses zero from positive to negative, while the second zero-crossing state trigger condition occurs when the vehicle's motor request torque crosses zero from negative to positive. When the vehicle's torque meets either of these trigger conditions, the vehicle is considered to have entered the first torque zero-crossing interval. These two zero-crossing state trigger conditions are described in detail below in conjunction with specific embodiments.

[0035] In some embodiments, the first zero-crossing state triggering condition includes the motor request torque being less than or equal to a first torque threshold, the motor request torque of a current cycle being within a first torque range, the difference between the motor request torque of a previous cycle and the motor request torque of a current cycle being less than or equal to a second torque threshold, and the vehicle speed being greater than or equal to a first vehicle speed threshold. The second zero-crossing state triggering condition includes the motor request torque being greater than or equal to a third torque threshold, the motor request torque of a current cycle being within a second torque range, the difference between the motor request torque of a previous cycle and the motor request torque of a current cycle being greater than or equal to a fourth torque threshold, and the vehicle speed being greater than or equal to the second vehicle speed threshold.

[0036] Specifically, the activation of the first zero-crossing state trigger condition requires that all of the following conditions are met:

[0037] (1)T ReAxlereqraw ≤Threshold A1, that is, the motor required torque is less than or equal to the first torque threshold;

[0038] (2) Threshold B1 + Threshold C1 ≤ T ReAxlereq ≤threshold B1-threshold C1, that is, the motor request torque of the current cycle is in the first torque range;

[0039] (3) ≤threshold D1, that is, the value obtained by derivation of the motor request torque in the current cycle (that is, the rate of change of the motor request torque) is less than or equal to the second torque threshold;

[0040] (4) V ≥ threshold E1, that is, the vehicle speed is greater than or equal to the first vehicle speed threshold.

[0041] Correspondingly, the activation of the second zero-crossing state trigger condition requires that all of the following conditions are met:

[0042] (1)T ReAxlereqraw ≥Threshold A2, that is, the motor demand torque is greater than or equal to the third torque threshold;

[0043] (2) Threshold B2 + Threshold C2 ≤ T ReAxlereq ≤threshold B2-threshold C2, that is, the motor request torque of the current cycle is in the second torque range;

[0044] (3) That is, the difference obtained by derivation of the motor request torque in the current cycle (that is, the rate of change of the motor request torque) is greater than or equal to the fourth torque threshold;

[0045] (4) V ≥ threshold E2, that is, the vehicle speed is greater than or equal to the second vehicle speed threshold.

[0046] It should be noted that the left and right thresholds for the first and second torque intervals are determined using both a base threshold and a floating threshold. In practice, thresholds B1 and B2 can serve as base thresholds, while thresholds C1 and C2 serve as floating thresholds. The vehicle automatically enters the zero-crossing control process for the first torque zero-crossing interval only when all zero-crossing activation conditions corresponding to either the first zero-crossing trend or the second zero-crossing trend are simultaneously met.

[0047] In practical applications, the various threshold parameters in the above judgment formula can be formulated based on actual vehicle tests, and the embodiments of the present application do not limit the specific values ​​of the threshold parameters.

[0048] The preceding embodiments describe the triggering conditions for the first torque zero-crossing interval. The following describes in detail, in conjunction with specific embodiments, the table lookup action performed after the first torque zero-crossing interval is triggered, as well as the process of calculating the final motor requested torque based on the table lookup value. In practical applications, after the first torque zero-crossing interval is triggered, the table lookup value (i.e., the pre-torque value, and thus the final motor requested torque) can be directly obtained by querying the pre-torque table. The pre-torque table is queried for both the first and third torque zero-crossing intervals. The format of the pre-torque table is described below.

[0049] In a specific example, as shown in Table 1 below, Table 1 is a pre-twist table generated in an actual application scenario in an embodiment of the present application.

[0050] Table 1 Pre-twist table

[0051] X: Vehicle speed 0 30 80 Y: Pre-torque value 1 0 0

[0052] The horizontal axis in Table 1 represents the vehicle speed, and the vertical axis represents the pre-torque value, that is, the final motor request torque. It can be seen that the pre-torque table generated by this application can represent the preset value of the final motor request torque changing with vehicle speed.

[0053] In some embodiments, a query operation is performed on a corresponding torque table according to a torque variation trend of the vehicle, and a final motor request torque corresponding to a torque zero-crossing interval is determined according to the query result, including:

[0054] When the vehicle meets the first zero-crossing state trigger condition, the vehicle's torque is in a trend of changing from positive to negative. A corresponding positive pre-torque table is selected based on the vehicle's driving mode, and the positive pre-torque table is queried using the vehicle's speed to obtain a final motor request torque corresponding to the first torque zero-crossing interval.

[0055] or,

[0056] When the vehicle meets the second zero-crossing state trigger condition, the vehicle's torque is in a trend of changing from negative to positive. The corresponding negative pre-torque table is selected based on the vehicle's driving mode, and the negative pre-torque table is queried using the vehicle's speed to obtain the final motor request torque corresponding to the first torque zero-crossing interval.

[0057] Specifically, when the first torque zero-crossing interval is activated, the VCU triggers the corresponding torque zero-crossing control strategy according to two different zero-crossing states (i.e., the first zero-crossing state and the second zero-crossing state). The torque zero-crossing control process under these two zero-crossing states will be described in detail below in conjunction with specific embodiments, which may include the following:

[0058] When the vehicle meets the first zero-crossing trigger condition (i.e., when the motor request torque crosses zero from positive to negative), the corresponding positive pre-torque table is selected based on the vehicle's current driving mode. The horizontal axis of the positive pre-torque table represents vehicle speed information, and the vertical axis represents torque value. The positive pre-torque table is queried based on the vehicle's current speed to obtain the final motor request torque for the first zero-crossing state. In other words, the final motor request torque is equal to the lookup value in the positive pre-torque table. In actual applications, the corresponding positive pre-torque table can also be configured based on both the road mode and the driving mode.

[0059] When the vehicle meets the second zero-crossing state trigger condition (i.e., when the motor request torque crosses zero from negative to positive), the corresponding negative pre-torque table is selected based on the vehicle's current driving mode. The abscissa in the negative pre-torque table represents vehicle speed information, and the ordinate represents torque value. The negative pre-torque table is queried using the vehicle's current speed to obtain the final motor request torque for the second zero-crossing state. In other words, the final motor request torque is equal to the lookup value in the negative pre-torque table. In actual applications, the corresponding negative pre-torque table can also be configured based on both the road mode and the driving mode.

[0060] The above embodiment describes in detail the torque zero-crossing control process when the first torque zero-crossing interval is activated. The triggering conditions and the zero-crossing control process of the second torque zero-crossing interval will be described in detail below in conjunction with specific embodiments.

[0061] In some embodiments, determining a trigger condition for a preset vehicle torque zero-crossing interval includes:

[0062] When the vehicle meets the first zero-crossing state trigger condition and the duration of the vehicle in the first torque zero-crossing interval reaches a first time threshold, the vehicle meets the second torque zero-crossing interval trigger condition;

[0063] or,

[0064] When the vehicle meets the second zero-crossing state trigger condition and the duration of the vehicle in the first torque zero-crossing interval reaches a second time threshold, the vehicle meets the trigger condition of the second torque zero-crossing interval.

[0065] Specifically, when the vehicle enters the first torque zero-crossing interval and meets certain conditions, it will automatically exit the first torque zero-crossing interval and enter the second torque zero-crossing interval. When the vehicle enters the second torque zero-crossing interval, it is necessary to use the above-mentioned trigger conditions to judge it to determine whether the vehicle meets the activation conditions (i.e., trigger conditions) of the second torque zero-crossing interval.

[0066] Furthermore, when the vehicle is in the first zero-crossing state within the first torque zero-crossing interval (i.e., when the motor request torque crosses zero from positive to negative), and t≥threshold B3, where t represents the duration of the vehicle in the first torque zero-crossing interval, it can also be understood as the timing time when the first torque zero-crossing interval is activated. In other words, when the duration of the vehicle in the first zero-crossing state within the first torque zero-crossing interval is greater than or equal to the first time threshold, it is considered that the vehicle meets the triggering conditions of the second torque zero-crossing interval, and the vehicle will automatically enter the second torque zero-crossing interval.

[0067] Similarly, when the vehicle is in the second zero-crossing state within the first torque zero-crossing interval (i.e., when the motor request torque crosses zero from negative to positive), and t≥threshold B4, where t represents the duration of the vehicle in the first torque zero-crossing interval, it can also be understood as the timing time when the first torque zero-crossing interval is activated. In other words, when the duration of the vehicle in the second zero-crossing state within the first torque zero-crossing interval is greater than or equal to the second time threshold, it is considered that the vehicle meets the triggering conditions of the second torque zero-crossing interval, and the vehicle will automatically enter the second torque zero-crossing interval.

[0068] If the vehicle triggers the second torque zero-crossing interval, the VCU automatically executes the corresponding torque zero-crossing control strategy. The following describes the torque zero-crossing control process when the second torque zero-crossing interval is activated, using specific embodiments. In practice, when the second torque zero-crossing interval is triggered, the torque gradient value is determined by querying a torque gradient table (either a torque gradient decreasing table or a torque gradient increasing table). A torque gradient correction factor based on vehicle speed is also determined. Ultimately, the final motor requested torque is calculated based on the torque gradient value and the torque gradient correction factor. The format of the torque gradient table is described below.

[0069] In a specific example, as shown in Table 2 below, Table 2 is a torque gradient rise table generated in an actual application scenario in an embodiment of the present application.

[0070] Table 2 Torque gradient rise table

[0071] -100 0 300 -50 1200 800 1000 0 1200 1000 1200 350 1200 1300 1300

[0072] In Table 2, the horizontal axis represents the motor's required torque, the vertical axis represents the motor's requested torque from the previous cycle, and the lookup value represents the torque gradient. This indicates that the torque gradient table can represent preset values ​​for torque gradients under different torque trends (Table 2 shows a negative to positive trend) as a function of the motor's required torque and the motor's requested torque from the previous cycle.

[0073] In some embodiments, a query operation is performed on a corresponding torque table according to a torque variation trend of the vehicle, and a final motor request torque corresponding to a torque zero-crossing interval is determined according to the query result, including:

[0074] Selecting a corresponding torque gradient descent table or torque gradient ascending table based on the vehicle's torque change trend and driving mode;

[0075] Using the motor demand torque and the motor request torque of the previous cycle to query the torque gradient down table or the torque gradient up table to obtain the torque gradient value and determine the torque gradient correction coefficient set based on the vehicle speed;

[0076] The final motor requested torque corresponding to the second torque zero-crossing interval is calculated based on the motor requested torque of the previous cycle, the torque gradient value, and the torque gradient correction coefficient.

[0077] Specifically, when the vehicle's motor request torque crosses zero and is in a trend of change from positive to negative, the corresponding torque gradient descent table is selected based on the vehicle's current driving mode. The horizontal axis in the torque gradient descent table represents the motor demand torque, and the vertical axis represents the motor request torque of the previous cycle. The torque gradient value is obtained by querying the torque gradient descent table, and the torque gradient correction coefficient set based on the vehicle speed is determined. The final motor request torque corresponding to the second torque zero-crossing interval is calculated using the motor request torque, torque gradient value and torque gradient correction coefficient of the previous cycle.

[0078] For example, in a specific example, when the rear motor request torque crosses zero from positive to negative, a torque gradient descent table ΔT1 is selected based on the road mode and driving mode. The horizontal axis of the table represents the rear motor request torque, and the vertical axis represents the rear motor request torque in the previous cycle. The torque gradient correction coefficient Factor1 is set based on the vehicle speed. The final calculation process of the motor request torque is:

[0079] T req =T reqZ +ΔT1×Factor1

[0080] Among them, T req Indicates the final motor request torque, T reqZ Indicates the motor requested torque in the previous cycle, ΔT1 indicates the torque gradient value when the torque change trend is from positive to negative, and Factor1 indicates the torque gradient correction coefficient when the torque change trend is from positive to negative.

[0081] Similarly, when the vehicle's motor request torque crosses zero and is in a trend of changing from negative to positive, the corresponding torque gradient rise table is selected based on the vehicle's current driving mode. The horizontal axis in the torque gradient rise table represents the motor demand torque, and the vertical axis represents the motor request torque of the previous cycle. The torque gradient value is obtained by querying the torque gradient rise table, and the torque gradient correction coefficient set based on the vehicle speed is determined at the same time; the motor request torque, torque gradient value and torque gradient correction coefficient of the previous cycle are used to calculate the final motor request torque corresponding to the second torque zero crossing interval.

[0082] For example, in a specific example, when the rear motor request torque crosses zero from negative to positive, a torque gradient increase table ΔT2 is selected based on the road mode and driving mode. The horizontal axis of the table represents the rear motor request torque, and the vertical axis represents the rear motor request torque in the previous cycle. The torque gradient correction coefficient Factor2 is set based on the vehicle speed. The final calculation process of the motor request torque is:

[0083] T req =T reqZ +ΔT2×Factor2

[0084] Among them, T reqIndicates the final motor request torque, T reqz represents the motor requested torque in the previous cycle, ΔT2 represents the torque gradient value when the torque change trend is from negative to positive, and Factor2 represents the torque gradient correction coefficient when the torque change trend is from negative to positive.

[0085] It should be noted that, in actual applications, a corresponding torque gradient descent table or torque gradient ascending table may be configured according to the road mode and the driving mode.

[0086] In some embodiments, determining a trigger condition for a preset vehicle torque zero-crossing interval includes:

[0087] When the vehicle's torque is in a changing trend from positive to negative, and the motor torque requested by the vehicle in the current cycle meets the judgment condition of the fifth torque threshold, or when the duration of the vehicle in the second torque zero-crossing interval reaches the third time threshold, the vehicle meets the triggering condition of the third torque zero-crossing interval;

[0088] or,

[0089] When the vehicle's torque is in a trend of changing from negative to positive, and the motor request torque of the vehicle's current cycle meets the judgment condition of the sixth torque threshold, or when the duration of the vehicle in the second torque zero-crossing interval reaches the fourth time threshold, the vehicle meets the trigger condition of the third torque zero-crossing interval.

[0090] Specifically, when the vehicle enters the second torque zero-crossing interval and meets certain conditions, it will automatically exit the second torque zero-crossing interval and enter the third torque zero-crossing interval. When the vehicle enters the third torque zero-crossing interval, it is necessary to use the above-mentioned trigger conditions to judge it to determine whether the vehicle meets the activation conditions (i.e., trigger conditions) of the third torque zero-crossing interval.

[0091] Furthermore, when the vehicle is in the second torque zero-crossing interval and the motor request torque crosses zero from positive to negative, the motor request torque of the current cycle is compared with the fifth torque threshold. ReAxlereq ≤threshold A5, that is, when the motor request torque in the current cycle is less than or equal to the fifth torque threshold, it is considered that the vehicle meets the trigger condition of the third torque zero-crossing interval, and the vehicle will automatically enter the third torque zero-crossing interval; alternatively, when the duration of the vehicle in the second torque zero-crossing interval reaches the third time threshold, that is, t≥threshold B5, it can also be judged that the vehicle meets the trigger condition of the third torque zero-crossing interval, and the vehicle will automatically enter the third torque zero-crossing interval.

[0092] Similarly, when the vehicle is in the second torque zero-crossing interval and the motor request torque crosses zero from negative to positive, the motor request torque of the current cycle is compared with the sixth torque threshold. ReAxlereq≥threshold A6, that is, when the motor request torque of the current cycle is greater than or equal to the sixth torque threshold, it is considered that the vehicle meets the trigger condition of the third torque zero-crossing interval, and the vehicle will automatically enter the third torque zero-crossing interval; alternatively, when the duration of the vehicle in the second torque zero-crossing interval reaches the fourth time threshold, that is, t≥threshold B6, it can also be judged that the vehicle meets the trigger condition of the third torque zero-crossing interval, and the vehicle will automatically enter the third torque zero-crossing interval.

[0093] If the vehicle triggers the third torque zero-crossing interval, the VCU will automatically execute the corresponding torque zero-crossing control strategy. The torque zero-crossing control process when the third torque zero-crossing interval is activated is described in detail below with reference to specific embodiments.

[0094] In some embodiments, a query operation is performed on a corresponding torque table according to a torque variation trend of the vehicle, and a final motor request torque corresponding to a torque zero-crossing interval is determined according to the query result, including:

[0095] When the vehicle's torque is changing from positive to negative, a corresponding negative pre-torque table is selected based on the vehicle's driving mode, and the negative pre-torque table is queried using the vehicle's speed to obtain a final motor request torque corresponding to the third torque zero-crossing interval;

[0096] or,

[0097] When the vehicle's torque is in a trend of changing from negative to positive, the corresponding positive pre-torque table is selected based on the vehicle's driving mode, and the positive pre-torque table is queried using the vehicle's speed to obtain the final motor request torque corresponding to the third torque zero-crossing interval.

[0098] Specifically, when the vehicle's motor requested torque crosses zero and is in a trend of changing from positive to negative, the corresponding negative pre-torque table is selected based on the vehicle's current driving mode. The horizontal axis in the negative pre-torque table represents the vehicle speed information, and the vertical axis represents the torque value. The negative pre-torque table is queried according to the vehicle's current speed to obtain the final motor requested torque corresponding to the third torque zero-crossing interval. That is, the final motor requested torque is equal to the look-up value of the positive pre-torque table.

[0099] When the vehicle's motor request torque crosses zero and is in a trend of changing from negative to positive, the corresponding positive pre-torque table is selected based on the vehicle's current driving mode. The horizontal axis in the positive pre-torque table represents the vehicle speed information, and the vertical axis represents the torque value. The positive pre-torque table is queried according to the vehicle's current speed to obtain the final motor request torque corresponding to the third torque zero-crossing interval. That is, the final motor request torque is equal to the look-up value of the positive pre-torque table.

[0100] In practical applications, corresponding negative and positive pre-torque tables can also be configured based on the road mode and driving mode. The pre-torque table queried when the third torque zero-crossing interval is activated is the same as the pre-torque table queried when the first torque zero-crossing interval is activated in the aforementioned embodiment, and will not be repeated here.

[0101] Furthermore, when the vehicle enters the third torque zero-crossing interval and meets certain conditions, it will automatically exit the third torque zero-crossing interval. The conditions for the vehicle to exit the third torque zero-crossing interval are described in detail below with reference to specific embodiments, and may specifically include the following:

[0102] When the vehicle is in the third torque zero-crossing interval and the motor requested torque crosses zero from positive to negative, when it is judged that t≥threshold B7, the VCU controls the vehicle to exit from the third torque zero-crossing interval, where t represents the duration of the vehicle in the third torque zero-crossing interval, which can also be understood as the timing time when the third torque zero-crossing interval is activated; in other words, when the duration of the vehicle in the first zero-crossing state in the third torque zero-crossing interval is greater than or equal to the fifth time threshold, the vehicle is controlled to exit from the third torque zero-crossing interval.

[0103] Similarly, when the vehicle is in the third torque zero-crossing interval and the motor requested torque crosses zero from negative to positive, when it is judged that t≥threshold B8, the VCU controls the vehicle to exit from the third torque zero-crossing interval, where t represents the duration of the vehicle in the third torque zero-crossing interval, which can also be understood as the timing time when the third torque zero-crossing interval is activated; in other words, when the duration of the vehicle in the second zero-crossing state in the third torque zero-crossing interval is greater than or equal to the sixth time threshold, the vehicle is controlled to exit from the third torque zero-crossing interval.

[0104] The above embodiments describe the activation conditions for the first, second, and third torque zero-crossing intervals of this application, as well as the torque zero-crossing control process during activation. To facilitate vehicle exit within any torque zero-crossing interval, this embodiment also provides a state determination mechanism. When the vehicle is within any torque zero-crossing interval and meets certain state conditions, the VCU controls the vehicle to exit the current torque zero-crossing interval.

[0105] In some embodiments, when the vehicle is in a zero-crossing trend from positive to negative, the exit condition corresponding to the torque zero-crossing interval includes any one of the following judgment conditions: the motor demand torque of the vehicle is greater than or equal to a seventh torque threshold, the difference between the motor request torque of the current cycle and the motor demand torque of the vehicle is greater than or equal to an eighth torque threshold, or the activation time of the torque zero-crossing interval is greater than or equal to a fifth time threshold;

[0106] When the vehicle is in a zero-crossing trend from negative to positive, the exit condition corresponding to the torque zero-crossing interval includes any one of the following judgment conditions: the vehicle's motor demand torque is less than or equal to the ninth torque threshold, the difference between the vehicle's motor demand torque and the motor request torque of the current cycle is greater than or equal to the tenth torque threshold, or the activation time of the torque zero-crossing interval is greater than or equal to the sixth time threshold.

[0107] The exit conditions of the torque zero-crossing interval under two different zero-crossing change trends are described in detail below with reference to specific embodiments, and may specifically include the following:

[0108] When the vehicle is in a zero-crossing trend from positive to negative, and the vehicle is in any torque zero-crossing interval and any of the following judgment conditions are met, the VCU controls the vehicle to automatically exit from the current torque zero-crossing interval. The exit conditions under the zero-crossing trend include:

[0109] (1)T ReAxlereqraw ≥Threshold A9, that is, the motor torque required by the vehicle is greater than or equal to the seventh torque threshold;

[0110] (2)T ReAxlereq -T ReAxlereqraw ≥threshold B9, that is, the difference between the motor request torque of the current cycle and the motor demand torque of the vehicle is greater than or equal to the eighth torque threshold;

[0111] (3) t≥threshold C9, that is, the activation time of the torque zero-crossing interval is greater than or equal to the fifth time threshold.

[0112] When the vehicle is in a zero-crossing trend from negative to positive, or when the vehicle is in any torque zero-crossing interval and any of the following judgment conditions are met, the VCU controls the vehicle to automatically exit the current torque zero-crossing interval. The exit conditions under the zero-crossing trend include:

[0113] (1)T ReAxlereqraw ≤threshold A10, that is, the motor torque required by the vehicle is less than or equal to the ninth torque threshold;

[0114] (2)T ReAxlereqraw -T ReAxlereq ≥threshold B10, that is, the difference between the motor demand torque of the vehicle and the motor request torque of the current cycle is greater than or equal to the tenth torque threshold;

[0115] (3) t≥threshold C10, that is, the activation time of the torque zero-crossing interval is greater than or equal to the sixth time threshold.

[0116] In some embodiments, in order to avoid torque mutations caused by the vehicle jumping between different torque zero-crossing intervals, the embodiments of the present application add filtering processing to the torque output at each stage. The process and principle of torque filtering processing are explained below in conjunction with the drawings and specific embodiments. Figure 2 FIG. 1 shows a schematic diagram of torque changes after torque filtering processing provided by an embodiment of the present application. The torque filtering processing process specifically includes the following contents:

[0117] When the vehicle's torque zero-crossing interval changes, the motor request torque of the current cycle is filtered using the motor request torque of the previous cycle and the filter coefficient to obtain the filtered motor request torque of the current cycle. In actual applications, the following formula can be used to filter the motor request torque of the current cycle:

[0118] y(t)=K·u(t)+(1-K)·y(t-1)

[0119] Where K represents the filter coefficient, u(t) represents the current sampling value (i.e., the motor requested torque in the current cycle), y(t-1) represents the filtered output value in the previous cycle (i.e., the motor requested torque in the previous cycle), and y(t) represents the output value after filtering (i.e., the motor requested torque in the current cycle after filtering).

[0120] According to the technical solution provided in the embodiment of the present application, the present application can quickly and effectively judge the zero-crossing state of the vehicle based on the real-time monitored vehicle torque data and vehicle speed data; the present application processes the zero-crossing interval of the motor request torque separately, and after identifying that the motor torque has crossed zero, it slows down the zero torque change slope in three stages in a manner that maintains pre-torque, thereby optimizing the jitter and other problems at the zero-crossing moment while ensuring the dynamic responsiveness as much as possible. The present application also queries the torque correction table by vehicle speed, and corrects the current torque according to the real-time speed of the vehicle, which can realize real-time control of the torque during the vehicle's zero crossing; based on the current vehicle state, the present application makes real-time judgments on the activation conditions and exit conditions of the three-stage torque zero-crossing interval, and adjusts the final motor request torque according to the torque zero-crossing control method corresponding to different torque zero-crossing intervals, ensuring that the vehicle can dynamically and smoothly perform torque zero-crossing control, and reducing the jitter and tooth knocking problems caused by the vehicle torque crossing zero.

[0121] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0122] Figure 3 Schematic diagram of the structure of the vehicle torque zero-crossing control device provided by the embodiment of the present application. Figure 3 As shown, the vehicle torque zero-crossing control device includes:

[0123] The acquisition module 301 is configured to acquire torque data and vehicle speed data of the vehicle to obtain real-time torque data and vehicle speed data;

[0124] The judgment module 302 is configured to judge a trigger condition of a preset vehicle torque zero-crossing interval based on the torque data and the vehicle speed data;

[0125] a query module 303 configured to query a corresponding torque table based on the vehicle's torque variation trend when the vehicle meets a trigger condition corresponding to a torque zero-crossing interval, wherein the torque table includes a pre-torque table and a torque gradient table. The pre-torque table is used to represent preset values ​​of the final motor request torque as a function of vehicle speed under different torque variation trends. The torque gradient table is used to represent preset values ​​of the torque gradient value as a function of the motor demand torque and the motor request torque in the previous cycle under different torque variation trends.

[0126] The control module 304 is configured to determine a final motor request torque corresponding to the torque zero-crossing interval according to the query result, and perform smooth torque zero-crossing control on the motor of the vehicle using the final motor request torque.

[0127] In some embodiments, Figure 3 During the operation of the vehicle, the acquisition module 301 uses the vehicle controller to collect the vehicle's motor demand torque, the motor request torque of the previous cycle, the motor request torque of the current cycle, and real-time vehicle speed information.

[0128] In some embodiments, Figure 3 Before determining the trigger condition of the preset vehicle torque zero crossing interval, the judgment module 302 determines the torque change trend according to the motor request torque and the motor demand torque of the current cycle, and determines whether to perform torque zero crossing control on the vehicle according to the torque change trend.

[0129] In some embodiments, the torque zero-crossing interval includes a first torque zero-crossing interval, a second torque zero-crossing interval, and a third torque zero-crossing interval; Figure 3 The judgment module 302 compares the torque data and the vehicle speed data with the trigger conditions corresponding to the first torque zero-crossing interval to determine whether the vehicle meets the trigger conditions of the first torque zero-crossing interval, wherein the trigger conditions corresponding to the first torque zero-crossing interval include a first zero-crossing state trigger condition and a second zero-crossing state trigger condition.

[0130] In some embodiments, the first zero-crossing state trigger condition includes the motor demand torque being less than or equal to the first torque threshold, the motor demand torque of the current cycle being in the first torque range, the value obtained by deriving the motor demand torque of the current cycle being less than or equal to the second torque threshold, and the vehicle speed being greater than or equal to the first vehicle speed threshold; the second zero-crossing state trigger condition includes the motor demand torque being greater than or equal to the third torque threshold, the motor demand torque of the current cycle being in the second torque range, the value obtained by deriving the motor demand torque of the current cycle being greater than or equal to the fourth torque threshold, and the vehicle speed being greater than or equal to the second vehicle speed threshold.

[0131] In some embodiments, Figure 3 The query module 303 of when the vehicle meets the first zero-crossing state trigger condition, the torque of the vehicle is in a trend of change from positive to negative, and the corresponding positive pre-torque table is selected based on the vehicle's driving mode, and the positive pre-torque table is queried using the vehicle's speed to obtain the final motor request torque corresponding to the first torque zero-crossing interval; or, when the vehicle meets the second zero-crossing state trigger condition, the torque of the vehicle is in a trend of change from negative to positive, and the corresponding negative pre-torque table is selected based on the vehicle's driving mode, and the negative pre-torque table is queried using the vehicle's speed to obtain the final motor request torque corresponding to the first torque zero-crossing interval.

[0132] In some embodiments, Figure 3 The judgment module 302 determines that when the vehicle meets the first zero-crossing state trigger condition and the duration of the vehicle in the first torque zero-crossing interval reaches a first time threshold, the vehicle meets the trigger condition of the second torque zero-crossing interval; or when the vehicle meets the second zero-crossing state trigger condition and the duration of the vehicle in the first torque zero-crossing interval reaches a second time threshold, the vehicle meets the trigger condition of the second torque zero-crossing interval.

[0133] In some embodiments, Figure 3 The query module 303 selects a corresponding torque gradient descent table or torque gradient ascending table based on the torque change trend and driving mode of the vehicle; uses the motor demand torque and the motor request torque of the previous cycle to query the torque gradient descent table or the torque gradient ascending table to obtain the torque gradient value, and determines the torque gradient correction coefficient set based on the vehicle speed; based on the motor request torque, torque gradient value and torque gradient correction coefficient of the previous cycle, calculates the final motor request torque corresponding to the second torque zero-crossing interval.

[0134] In some embodiments, Figure 3The judgment module 302 satisfies the triggering condition of the third torque zero-crossing interval when the torque of the vehicle is in a changing trend from positive to negative, and the motor request torque of the vehicle in the current cycle meets the judgment condition of the fifth torque threshold, or the duration of the vehicle in the second torque zero-crossing interval reaches the third time threshold; or, when the torque of the vehicle is in a changing trend from negative to positive, and the motor request torque of the vehicle in the current cycle meets the judgment condition of the sixth torque threshold, or the duration of the vehicle in the second torque zero-crossing interval reaches the fourth time threshold, the vehicle meets the triggering condition of the third torque zero-crossing interval.

[0135] In some embodiments, Figure 3 When the torque of the vehicle is in a trend of changing from positive to negative, the query module 303 selects a corresponding negative pre-torque table based on the driving mode of the vehicle, and uses the speed of the vehicle to query the negative pre-torque table to obtain the final motor request torque corresponding to the third torque zero-crossing interval; or, when the torque of the vehicle is in a trend of changing from negative to positive, the corresponding positive pre-torque table is selected based on the driving mode of the vehicle, and uses the speed of the vehicle to query the positive pre-torque table to obtain the final motor request torque corresponding to the third torque zero-crossing interval.

[0136] In some embodiments, Figure 3 The judgment module 302 judges the exit condition of the torque zero-crossing interval when the vehicle is in any torque zero-crossing interval, and controls the vehicle to exit the zero-crossing state when the vehicle meets the exit condition of the torque zero-crossing interval.

[0137] In some embodiments, when the vehicle is in a zero-crossing trend from positive to negative, the exit condition corresponding to the torque zero-crossing interval includes any one of the following judgment conditions: the vehicle's motor demand torque is greater than or equal to the seventh torque threshold, the difference between the motor request torque of the current cycle and the vehicle's motor demand torque is greater than or equal to the eighth torque threshold, or the activation time of the torque zero-crossing interval is greater than or equal to the fifth time threshold; when the vehicle is in a zero-crossing trend from negative to positive, the exit condition corresponding to the torque zero-crossing interval includes any one of the following judgment conditions: the vehicle's motor demand torque is less than or equal to the ninth torque threshold, the difference between the vehicle's motor demand torque and the motor request torque of the current cycle is greater than or equal to the tenth torque threshold, or the activation time of the torque zero-crossing interval is greater than or equal to the sixth time threshold.

[0138] In some embodiments, Figure 3 When the vehicle torque zero-crossing interval changes, the filtering module 305 uses the motor request torque of the previous cycle and the filter coefficient to filter the motor request torque of the current cycle to obtain the filtered motor request torque of the current cycle.

[0139] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean 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.

[0140] An embodiment of the present application also provides a vehicle, including a vehicle controller, a motor controller, a drive motor and a transmission system; the vehicle controller is used to implement the steps of the above-mentioned vehicle torque zero-crossing control method to send the final motor request torque to the motor controller; the motor controller is used to perform smooth torque zero-crossing control on the drive motor through the transmission system according to the final motor request torque.

[0141] Figure 4 Schematic diagram of the structure of the electronic device 4 provided in the embodiment of the present application. Figure 4 As shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps of the above-mentioned method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0142] For example, computer program 403 may be divided into one or more modules / units, which are stored in memory 402 and executed by processor 401 to implement the present application. One or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of computer program 403 in electronic device 4.

[0143] The electronic device 4 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 4 may include but is not limited to a processor 401 and a memory 402. Those skilled in the art will appreciate that Figure 4 It is only an example of the electronic device 4 and does not constitute a limitation of the electronic device 4. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0144] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0145] Memory 402 can be an internal storage unit of electronic device 4, such as a hard drive or memory of electronic device 4. Memory 402 can also be an external storage device of electronic device 4, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on electronic device 4. Furthermore, memory 402 can include both an internal storage unit of electronic device 4 and an external storage device. Memory 402 is used to store computer programs and other programs and data required by the electronic device. Memory 402 can also be used to temporarily store data that has been output or is about to be output.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0147] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0148] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0149] In the embodiments provided in this application, it should be understood that the disclosed apparatus / computer equipment and methods can be implemented in other ways. For example, the apparatus / computer equipment embodiments described above are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of the apparatus or unit, which may be electrical, mechanical or other forms.

[0150] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0151] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0152] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0153] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A vehicle torque zero-crossing control method, characterized in that: include: Collect the vehicle's torque data and speed data to obtain real-time torque data and speed data; Determining a trigger condition of a preset torque zero-crossing interval of the vehicle based on the torque data and the vehicle speed data; the torque zero-crossing interval includes a first torque zero-crossing interval, a second torque zero-crossing interval, and a third torque zero-crossing interval; The trigger conditions corresponding to the first torque zero-crossing interval include a first zero-crossing state trigger condition and a second zero-crossing state trigger condition, wherein the first zero-crossing state trigger condition includes that the motor demand torque is less than or equal to the first torque threshold, the motor request torque of the current cycle is within the first torque interval, a value obtained by derivation of the motor request torque of the current cycle is less than or equal to the second torque threshold, and the vehicle speed is greater than or equal to the first vehicle speed threshold; The second zero-crossing state triggering condition includes the motor demand torque being greater than or equal to the third torque threshold, the motor demand torque of the current cycle being within the second torque range, the value obtained by derivation of the motor demand torque of the current cycle being greater than or equal to the fourth torque threshold, and the vehicle speed being greater than or equal to the second vehicle speed threshold; When the vehicle meets the trigger condition corresponding to the torque zero-crossing interval, a query operation is performed on a corresponding torque table according to the torque change trend of the vehicle, wherein the torque table includes a pre-torque table and a torque gradient table, the pre-torque table is used to represent preset values ​​of the final motor request torque under different torque change trends as a function of vehicle speed, and the torque gradient table is used to represent preset values ​​of the torque gradient value under different torque change trends as a function of the motor demand torque and the motor request torque of the previous cycle; A final motor request torque corresponding to the torque zero-crossing interval is determined according to the query result, and a smooth torque zero-crossing control is performed on the driving motor of the vehicle using the final motor request torque.

2. The method according to claim 1, characterized in that Performing a query operation on a corresponding torque table according to the torque change trend of the vehicle, and determining a final motor requested torque corresponding to the torque zero-crossing interval according to the query result, including: When the vehicle meets the first zero-crossing state triggering condition, the torque of the vehicle is in a changing trend from positive to negative, a corresponding positive pre-torque table is selected based on the driving mode of the vehicle, and the positive pre-torque table is queried using the vehicle speed to obtain a final motor request torque corresponding to the first torque zero-crossing interval; or, When the vehicle meets the second zero-crossing state trigger condition, the torque of the vehicle is in a trend of changing from negative to positive. The corresponding negative pre-torque table is selected based on the driving mode of the vehicle, and the negative pre-torque table is queried using the speed of the vehicle to obtain the final motor request torque corresponding to the first torque zero-crossing interval.

3. The method according to claim 1, characterized in that The determining of the triggering condition of the preset vehicle torque zero-crossing interval includes: When the vehicle satisfies the first zero-crossing state triggering condition and the duration of the vehicle in the first torque zero-crossing interval reaches a first time threshold, the vehicle satisfies the second torque zero-crossing interval triggering condition; or, When the vehicle meets the second zero-crossing state triggering condition and the duration of the vehicle in the first torque zero-crossing interval reaches a second time threshold, the vehicle meets the triggering condition of the second torque zero-crossing interval.

4. The method according to claim 3, characterized in that Performing a query operation on a corresponding torque table according to the torque change trend of the vehicle, and determining a final motor requested torque corresponding to the torque zero-crossing interval according to the query result, including: Selecting a corresponding torque gradient descent table or torque gradient ascending table based on a torque variation trend and a driving mode of the vehicle; querying the torque gradient decreasing table or the torque gradient increasing table using the motor demand torque and the motor request torque of the previous cycle to obtain a torque gradient value, and determining a torque gradient correction coefficient set based on the vehicle speed; A final motor requested torque corresponding to the second torque zero-crossing interval is calculated based on the motor requested torque of the previous cycle, the torque gradient value, and the torque gradient correction coefficient.

5. The method according to claim 1, wherein The determining of the triggering condition of the preset vehicle torque zero-crossing interval includes: When the torque of the vehicle is in a changing trend from positive to negative, and the motor request torque of the vehicle in the current cycle meets the judgment condition of the fifth torque threshold, or when the duration of the vehicle in the second torque zero-crossing interval reaches a third time threshold, the vehicle meets the trigger condition of the third torque zero-crossing interval; or, When the torque of the vehicle is in a changing trend from negative to positive, and the motor request torque of the vehicle in the current cycle meets the judgment condition of the sixth torque threshold, or when the duration of the vehicle in the second torque zero-crossing interval reaches the fourth time threshold, the vehicle meets the trigger condition of the third torque zero-crossing interval.

6. The method according to claim 5, characterized in that Performing a query operation on a corresponding torque table according to the torque change trend of the vehicle, and determining a final motor requested torque corresponding to the torque zero-crossing interval according to the query result, including: When the torque of the vehicle is in a changing trend from positive to negative, a corresponding negative pre-torque table is selected based on the driving mode of the vehicle, and the negative pre-torque table is queried using the speed of the vehicle to obtain a final motor request torque corresponding to the third torque zero-crossing interval; or, When the torque of the vehicle is in a changing trend from negative to positive, a corresponding positive pre-torque table is selected based on the driving mode of the vehicle, and the positive pre-torque table is queried using the speed of the vehicle to obtain the final motor request torque corresponding to the third torque zero-crossing interval.

7. The method according to claim 1, characterized in that The method further comprises: When the vehicle is in any torque zero-crossing interval, an exit condition of the torque zero-crossing interval is judged, and when the vehicle satisfies the exit condition of the torque zero-crossing interval, the vehicle is controlled to exit the zero-crossing state.

8. The method according to claim 1, characterized in that When the vehicle is in a zero-crossing trend from positive to negative, the exit condition corresponding to the torque zero-crossing interval includes any one of the following judgment conditions: the motor demand torque of the vehicle is greater than or equal to a seventh torque threshold, the difference between the motor request torque of the current cycle and the motor demand torque of the vehicle is greater than or equal to an eighth torque threshold, or the activation time of the torque zero-crossing interval is greater than or equal to a fifth time threshold; When the vehicle is in a zero-crossing trend from negative to positive, the exit condition corresponding to the torque zero-crossing interval includes any one of the following judgment conditions: the vehicle's motor demand torque is less than or equal to the ninth torque threshold, the difference between the vehicle's motor demand torque and the motor request torque of the current cycle is greater than or equal to the tenth torque threshold, or the activation time of the torque zero-crossing interval is greater than or equal to the sixth time threshold.

9. The method according to claim 1, characterized in that When the torque zero-crossing interval of the vehicle changes, the motor request torque of the current cycle is filtered using the motor request torque of the previous cycle and a filter coefficient to obtain a filtered motor request torque of the current cycle.

10. A vehicle torque zero-crossing control device, characterized in that: include: The acquisition module is configured to collect torque data and vehicle speed data of the vehicle to obtain real-time torque data and vehicle speed data; a judgment module configured to judge a trigger condition of a preset torque zero-crossing interval of the vehicle based on the torque data and the vehicle speed data; the torque zero-crossing interval includes a first torque zero-crossing interval, a second torque zero-crossing interval, and a third torque zero-crossing interval; The trigger conditions corresponding to the first torque zero-crossing interval include a first zero-crossing state trigger condition and a second zero-crossing state trigger condition; the first zero-crossing state trigger condition includes that the motor demand torque is less than or equal to the first torque threshold, the motor request torque of the current cycle is within the first torque interval, the value obtained by derivation of the motor request torque of the current cycle is less than or equal to the second torque threshold, and the vehicle speed is greater than or equal to the first vehicle speed threshold; The second zero-crossing state triggering condition includes the motor demand torque being greater than or equal to the third torque threshold, the motor demand torque of the current cycle being within the second torque range, the value obtained by derivation of the motor demand torque of the current cycle being greater than or equal to the fourth torque threshold, and the vehicle speed being greater than or equal to the second vehicle speed threshold; a query module configured to, when the vehicle satisfies a trigger condition corresponding to the torque zero-crossing interval, query a corresponding torque table based on a torque change trend of the vehicle, wherein the torque table includes a pre-torque table and a torque gradient table, the pre-torque table being used to represent preset values ​​of final motor request torques varying with vehicle speed under different torque change trends, and the torque gradient table being used to represent preset values ​​of torque gradient values ​​varying with motor demand torque and motor request torque in a previous cycle under different torque change trends; The control module is configured to determine a final motor request torque corresponding to the torque zero-crossing interval according to a query result, and perform smooth torque zero-crossing control on the motor of the vehicle using the final motor request torque.

11. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the vehicle torque zero-crossing control method according to any one of claims 1 to 9 when executing the computer program.

12. A vehicle, characterized in that: Including vehicle controller, motor controller, drive motor and transmission system; The vehicle controller is used to implement the vehicle torque zero-crossing control method according to any one of claims 1 to 9, so as to send the final motor request torque to the motor controller; The motor controller is configured to perform smooth torque zero-crossing control on the drive motor through the transmission system according to the final motor request torque.

Images