A method for calculating cruise torque of heavy trucks based on multi-parameter control

Abstract

The present invention relates to the technical field of automobile cruise control, and specifically discloses a method for calculating cruise torque for heavy trucks based on multi-parameter control. When a driver operates a vehicle to enter a cruise state, a cruise torque calculation control unit calculates the cruise torque through multi-parameter control, thereby quickly reaching a target vehicle speed. The multi-parameters include a speed PI adjustment torque value, an acceleration PI adjustment torque value, a compensation torque value generated by a vehicle weight parameter, a base torque value, and a torque value at a previous moment. The cruise torque calculation control unit calculates the torque value required for the current target vehicle speed based on current vehicle condition information, thereby quickly reaching the target cruise speed while maintaining vehicle stability. This control method is autonomously applicable to cruise speed control under various vehicle conditions, eliminating the need for manual calibration of PI parameters under special working conditions, thereby improving the intelligent and precise control of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile cruise control, and in particular to a method for calculating the cruise torque of a heavy truck based on multi-parameter control. Background Art

[0002] Cruise control allows the driver to maintain a constant speed without having to step on the accelerator, significantly reducing fatigue during long journeys and lowering the chance of accidents. It also helps maintain a constant speed, reducing fuel consumption. Adaptive cruise control in intelligent driving ADAS systems is also based on cruise control.

[0003] When the driver activates cruise control or adjusts the speed via the cruise control switch, the current vehicle speed is adjusted to the target cruise speed. This process directly impacts the driving experience. Cruise speed control is typically implemented using a proportional-integral (PI) controller, and the setting of the PI parameters is crucial. A high proportional-integral (PI) controller accelerates control and reduces static error. However, an excessively high proportional-integral (PI) controller can reduce system stability and even cause instability. An integral (I) controller helps minimize overshoot and oscillation, increasing system stability, but it also increases the time it takes to eliminate static error. Therefore, appropriately adjusting the proportional-integral (PI) controller can both quickly reach the target speed and enhance vehicle stability.

[0004] Typically, the industry uses a fixed set of PI parameters for cruise control across different speed ranges. However, when the vehicle accelerates rapidly, the PI parameters are inappropriate, resulting in long speed adjustment times or, worse still, a persistent vehicle wandering state. Furthermore, different calibration parameters must be rewritten to stabilize the cruise speed under varying vehicle loads, hindering universality and exhibiting poor adaptability. Typically, when the vehicle speed is low and the load is light, the required torque is generally low. At higher speeds and higher loads, the required torque is higher. In these situations, torque adjustment is based solely on the vehicle speed Kp and Ki. When the required torque is low, excessively high Kp and Ki result in a high calculated cruise torque, causing the vehicle speed to exceed the target speed at the start of adjustment. When the required torque is high, excessively low Kp and Ki result in a low calculated cruise torque, preventing the vehicle speed from increasing at the start of adjustment. This results in a poor cruising driving experience, unstable control, and increased fuel consumption. Therefore, there is an urgent need to design a cruise torque calculation method for heavy-duty trucks based on multi-parameter control to address the existing problems of single-parameter cruise control and unstable speed control. Summary of the Invention

[0005] In view of the problems existing in the prior art, the object of the present invention is to provide a method for calculating the cruise torque of a heavy truck based on multi-parameter control.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a method for calculating the cruise torque of a heavy truck based on multi-parameter control, including a cruise torque calculation control unit, parameters collected by the cruise torque calculation control unit, and cruise torque output. The parameters collected by the cruise torque calculation control unit include the current vehicle speed, vehicle weight information, cruise target speed, cruise torque calculation enable signal, and torque value at the previous moment. The cruise torque calculation control unit is equipped with a torque calculation method enable module, a difference calculation module, a vehicle speed PI parameter calculation module, an acceleration PI parameter calculation module, and a vehicle weight state judgment module. The cruise torque calculation control unit calculates the vehicle speed PI adjustment torque value, the acceleration PI adjustment torque value, the vehicle weight compensation torque, and the basic torque according to the above modules;

[0007] The specific steps include:

[0008] S1: The driver turns on the cruise control switch. After the target vehicle speed is calculated, the cruise target torque calculation module is enabled.

[0009] S2, torque calculation method enable judgment: calculate the current vehicle speed difference based on the current vehicle speed and the cruise target speed, and determine whether the current vehicle speed difference is within a certain range;

[0010] Acceleration value: The current acceleration value is calculated by taking the average of the current speed value and the previous speed value;

[0011] Vehicle speed Kp parameter value: Kp value obtained by looking up the table based on the current vehicle speed one-dimensional curve;

[0012] Vehicle speed Ki parameter value: the Ki value obtained by looking up the table based on the current vehicle speed one-dimensional curve;

[0013] Acceleration Kp parameter value: Kp value obtained by looking up the table based on the current one-dimensional acceleration curve;

[0014] Acceleration Ki parameter value: the Ki value obtained by looking up the table based on the current one-dimensional acceleration curve;

[0015] Vehicle weight status calculation: Based on the vehicle weight information, determine whether the current vehicle weight status is empty, medium or heavy.

[0016] S3. Calculate the torque value:

[0017] Vehicle speed PI adjustment torque value: The current vehicle speed Kp and Ki values ​​are input and calculated through the PI regulator to calculate the vehicle speed PI adjustment torque value;

[0018] Acceleration PI adjusts torque value: The current acceleration Kp and Ki values ​​are input and calculated through the PI regulator to adjust the acceleration PI torque value;

[0019] Basic torque value: The basic torque value is obtained by looking up the table based on the one-dimensional curve of the current vehicle speed;

[0020] Vehicle weight compensation torque calculation: output compensation torque value according to vehicle weight status;

[0021] Torque value at the last moment: Get the torque output value at the last moment in real time;

[0022] S4, determining whether the torque calculation method is enabled, and using cruise torque calculation method 1 when the torque calculation method is determined to be within a certain range, and using cruise torque calculation method 2 when the torque calculation method is outside the certain range;

[0023] S5. The cruising torque is output to the engine torque controller of the heavy truck, and the heavy truck performs cruising.

[0024] Preferably, the torque calculation method is enabled to select the cruise torque calculation method, by judging whether the difference between the current vehicle speed and the cruise target speed is within a threshold range. When the difference between the current vehicle speed and the cruise target speed is ≤ the threshold, cruise torque calculation method 1 is selected, otherwise cruise torque calculation method 2 is selected.

[0025] Preferably, the difference calculation includes vehicle speed difference calculation and acceleration difference calculation. The vehicle speed difference is obtained by calculating the difference between the current vehicle speed and the cruise target speed. To calculate the vehicle acceleration difference, it is necessary to first calculate the vehicle acceleration. The acceleration is calculated by calculating the acceleration within a cycle by the difference between the current vehicle speed and the vehicle speed at the previous moment, and the average acceleration value within ten cycles is accumulated. The acceleration difference is obtained by subtracting the acceleration target value corresponding to the speed difference table from the current vehicle acceleration. The acceleration target value increases with the increase of the speed difference, and when the speed difference is a negative value, the acceleration target value is also a negative value.

[0026] Preferably, the vehicle speed PI parameter calculation is to collect the current vehicle speed and look up the table to calculate the Kp proportional parameter and Ki integral parameter at different vehicle speeds. When the vehicle speed is high, the required torque of the whole vehicle is relatively large. When the vehicle enters the cruising speed from the current speed, in order to reach the cruising target speed faster, the driver does not feel the speed drop or the vehicle wandering during the adjustment process, and the torque calculated for cruising needs to be increased accordingly. In order to achieve this purpose, when the vehicle speed is high, the Kp and Ki parameter values ​​are also larger. The Kp and Ki parameter values ​​can be set as calibration parameters, and the calibration changes are made according to the actual situation of the vehicle to formulate appropriate values.

[0027] Preferably, the acceleration PI parameter calculation is to calculate the Kp proportional parameter and Ki integral parameter under different accelerations by looking up the current acceleration table. When the acceleration is high, the required torque of the whole vehicle is relatively large, and the torque required for cruise calculation at this time also increases accordingly. When the acceleration is high, the Kp and Ki parameter values ​​are also larger. The Kp and Ki parameter values ​​can be set as calibration parameters, and the calibration changes are made according to the actual situation of the vehicle to formulate appropriate values.

[0028] Preferably, the vehicle weight status judgment is to obtain vehicle weight information transmitted by an external module, and judge whether the current vehicle is in one of the three states of no-load, medium-load, and heavy-load through different thresholds. The vehicle load affects the required torque. When the vehicle load is large, the required vehicle torque is also large, and the compensation torque corresponding to the vehicle weight also needs to be increased.

[0029] Preferably, the basic torque calculation is to collect the current vehicle speed and look up the table to calculate the basic torque value at different vehicle speeds. When the vehicle speed is high, the required torque of the whole vehicle is relatively large. When the vehicle enters the cruising speed from the current speed, in order to reach the cruising target speed more quickly, the driver does not feel the speed drop or the vehicle wandering during the adjustment process, and the torque calculated for cruising needs to be increased accordingly. To achieve this purpose, when the vehicle speed is high, the basic torque value demand is also large. The basic torque value can be set as a calibration parameter, and the calibration is changed to formulate an effective value according to the actual situation of the vehicle.

[0030] The present invention has the following beneficial effects:

[0031] The heavy-duty truck cruise torque calculation method based on multi-parameter control designed by the present invention is suitable for calculating the cruise torque under different vehicle speeds, different accelerations, and different loads, so as to achieve the goal of quickly reaching the cruise target speed and meet the current required torque of the entire vehicle. When entering the cruise, the vehicle state switches smoothly, the torque changes smoothly, and the fuel consumption rate is reduced; different PI parameter values ​​are calculated according to the current different vehicle speed states, and different torque calculation methods are adopted according to the current vehicle condition information to finally calculate the cruise required torque, so that the cruise target speed can be quickly reached while maintaining the stability of the vehicle; this control method can be independently applied to cruise speed control under various vehicle conditions, and there is no need to manually calibrate the PI parameters under special working conditions, thereby improving the intelligence and precision control of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is the block diagram of the cruise target torque calculation control system.

[0033] Figure 2 This is the cruise torque calculation flow chart. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] like Figure 1As shown, a heavy-duty truck cruise torque calculation and control system based on multi-parameter control includes a cruise torque calculation control unit, the parameters collected by the cruise torque calculation control unit and the cruise torque output. The parameters collected by the cruise torque calculation control unit include the current vehicle speed, vehicle weight information, cruise target speed, cruise torque calculation enable signal and the torque value at the previous moment. The cruise torque calculation control unit is provided with a torque calculation method enable module, a difference calculation module, a vehicle speed PI parameter calculation module, an acceleration PI parameter calculation module and a vehicle weight state judgment module. The cruise torque calculation control unit performs vehicle speed PI adjustment torque value calculation, acceleration PI adjustment torque value calculation, vehicle weight compensation torque calculation and basic torque calculation according to the above modules.

[0036] When the driver enters cruise control, the cruise torque calculation control unit calculates the cruise torque using a multi-parameter control method, allowing the target cruise speed to be reached quickly. These parameters include the speed-dependent PI torque value, the acceleration-dependent PI torque value, the compensation torque value generated by the vehicle weight parameter, the base torque value at different speeds, and the torque value at the previous moment. The control unit determines how to calculate the target torque value based on current vehicle conditions, including current vehicle speed, vehicle weight, cruise target speed, the cruise torque calculation module enable signal, and the torque value at the previous moment.

[0037] Torque calculation method enable: This enabling condition selects the cruise torque calculation method. By judging whether the difference between the current vehicle speed and the cruise target speed is within the threshold range, if the difference between the current vehicle speed and the cruise target speed is ≤ the threshold, cruise torque calculation method 1 is selected, otherwise cruise torque calculation method 2 is selected. There is no fixed corresponding relationship between the enabling condition selection and the cruise torque calculation method selection.

[0038] Difference calculation: This includes speed difference calculation and acceleration difference calculation. The speed difference is calculated by the difference between the current vehicle speed and the cruise target speed. To calculate the vehicle acceleration difference, the vehicle acceleration must be calculated first. The acceleration is calculated by calculating the acceleration within one cycle by the difference between the current speed and the previous speed, and then accumulating the average acceleration over ten cycles. The acceleration difference is obtained by subtracting the acceleration target value corresponding to the speed difference table from the current vehicle acceleration. The acceleration target value increases as the speed difference increases, and when the speed difference is negative, the acceleration target value is also negative.

[0039] Speed ​​PI parameter calculation: The Kp proportional parameter and Ki integral parameter are calculated by looking up the current vehicle speed table at different speeds. At higher speeds, the required vehicle torque is relatively large. When the vehicle enters the cruising speed from the current speed, in order to reach the cruising target speed more quickly and prevent the driver from noticing a speed drop or vehicle wandering during the adjustment process, the calculated torque for the cruise control needs to be increased. To achieve this, the Kp and Ki parameter values ​​are also larger at higher speeds. The Kp and Ki parameter values ​​can be set as calibration parameters, and the appropriate values ​​can be adjusted based on the actual vehicle conditions.

[0040] Acceleration PI parameter calculation: The Kp proportional parameter and Ki integral parameter are calculated using a table lookup based on the current acceleration. At higher accelerations, the vehicle's required torque is relatively high, and the torque required for cruise calculations also increases. At higher accelerations, the Kp and Ki values ​​also increase. Kp and Ki values ​​can be set as calibration parameters, and adjusted to appropriate values ​​based on the vehicle's actual conditions.

[0041] Vehicle Weight Status Assessing: This module obtains vehicle weight information transmitted from an external module and uses different thresholds to determine whether the vehicle is currently unloaded, moderately loaded, or heavily loaded. Vehicle load affects required torque. A higher load also requires greater torque, increasing the corresponding compensatory torque.

[0042] Vehicle speed PI adjustment torque value calculation: The current vehicle speed Kp and Ki values ​​are input through the PI regulator to calculate the vehicle speed PI adjustment torque value.

[0043] Acceleration PI adjustment torque value calculation: The current acceleration Kp and Ki values ​​are input through the PI regulator to calculate the acceleration PI adjustment torque value.

[0044] Vehicle weight compensation torque calculation: Calculate the current compensation torque based on the vehicle weight status.

[0045] Base torque calculation: The current vehicle speed is collected and a table is used to calculate base torque values ​​at different speeds. At higher speeds, the required torque is relatively high. When the vehicle enters cruising speed from the current speed, the torque required for cruising calculations must be increased to reach the target cruising speed more quickly and prevent the driver from noticing a speed drop or vehicle wandering during the adjustment process. To achieve this, the base torque required is also higher at higher speeds. The base torque value can be set as a calibration parameter, and the actual value can be adjusted based on the vehicle's actual conditions to determine an effective value.

[0046] When the torque is within a certain range, the calculation method 1 is used; when it is outside the certain range, the calculation method 2 is used.

[0047] like Figure 2As shown, a method for calculating the cruise torque of a heavy truck based on multi-parameter control includes the following steps:

[0048] The driver turns on the cruise switch, and after the target vehicle speed is calculated, the cruise target torque calculation module is enabled. The torque calculation flow chart is shown in Figure 2. The specific steps are as follows:

[0049] 1) Step 1 calculates the following values:

[0050] Torque calculation method enable judgment: calculate the current vehicle speed difference based on the current vehicle speed and the cruise target speed, and calculate whether the current vehicle speed difference is within a certain range;

[0051] Acceleration value: The current acceleration value is calculated by taking the average of the current speed value and the previous speed value;

[0052] Vehicle speed Kp parameter value: Kp value obtained by looking up the table based on the current vehicle speed one-dimensional curve;

[0053] Vehicle speed Ki parameter value: the Ki value obtained by looking up the table based on the current vehicle speed one-dimensional curve;

[0054] Acceleration Kp parameter value: Kp value obtained by looking up the table based on the current one-dimensional acceleration curve;

[0055] Acceleration Ki parameter value: the Ki value obtained by looking up the table based on the current one-dimensional acceleration curve;

[0056] Vehicle weight status calculation: Based on the vehicle weight information, determine whether the current vehicle weight status is empty, medium or heavy.

[0057] 2) Calculate the torque value according to the output of step 1, as follows:

[0058] Vehicle speed PI adjustment torque value: The current vehicle speed Kp and Ki values ​​are input and calculated through the PI regulator to calculate the vehicle speed PI adjustment torque value;

[0059] Acceleration PI adjusts torque value: The current acceleration Kp and Ki values ​​are input and calculated through the PI regulator to adjust the acceleration PI torque value;

[0060] Basic torque value: The basic torque value is obtained by looking up the table based on the one-dimensional curve of the current vehicle speed;

[0061] Vehicle weight compensation torque calculation: output compensation torque value according to vehicle weight status;

[0062] Torque value at the last moment: Get the torque output value at the last moment in real time.

[0063] 3) Determine whether the torque calculation method is enabled. When the enable is equal to 0, select torque calculation method 1. The specific method is as follows:

[0064] Torque value calculated by vehicle speed Kp + torque value calculated by vehicle speed Ki + vehicle weight compensation torque value + basic torque value

[0065] When enable is equal to 1, select torque calculation method 2, the specific method is as follows:

[0066] Torque value calculated by acceleration Kp + torque value calculated by acceleration Ki + vehicle weight compensation torque value + torque value at the previous moment.

[0067] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0068] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for calculating the cruise torque of a heavy truck based on multi-parameter control, characterized in that: The system comprises a cruise torque calculation control unit, parameters collected by the control unit, and cruise torque output. The parameters collected by the control unit include the current vehicle speed, vehicle weight information, cruise target speed, cruise torque calculation enable signal, and torque value at the previous moment. The control unit is provided with a torque calculation method enable module, a difference calculation module, a vehicle speed PI parameter calculation module, an acceleration PI parameter calculation module, and a vehicle weight status judgment module. The control unit calculates the vehicle speed PI adjustment torque value, the acceleration PI adjustment torque value, the vehicle weight compensation torque, and the basic torque according to the above modules. The specific steps include: S1: The driver turns on the cruise control switch. After the target vehicle speed is calculated, the cruise target torque calculation module is enabled. S2, torque calculation method enable judgment: calculate the current vehicle speed difference based on the current vehicle speed and the cruise target speed, and determine whether the current vehicle speed difference is within a certain range; Acceleration value: The current acceleration value is calculated by taking the average of the current speed value and the previous speed value; Vehicle speed Kp parameter value: Kp value obtained by looking up the table based on the current vehicle speed one-dimensional curve; Vehicle speed Ki parameter value: the Ki value obtained by looking up the table based on the current vehicle speed one-dimensional curve; Acceleration Kp parameter value: Kp value obtained by looking up the table based on the current one-dimensional acceleration curve; Acceleration Ki parameter value: the Ki value obtained by looking up the table based on the current one-dimensional acceleration curve; Vehicle weight status calculation: Based on the vehicle weight information, determine whether the current vehicle weight status is empty, medium or heavy. S3. Calculate the torque value: Vehicle speed PI adjustment torque value: The current vehicle speed Kp and Ki values ​​are input and calculated through the PI regulator to calculate the vehicle speed PI adjustment torque value; Acceleration PI adjusts torque value: The current acceleration Kp and Ki values ​​are input and calculated through the PI regulator to adjust the acceleration PI torque value; Basic torque value: The basic torque value is obtained by looking up the table based on the one-dimensional curve of the current vehicle speed; Vehicle weight compensation torque calculation: output compensation torque value according to vehicle weight status; Torque value at the last moment: Get the torque output value at the last moment in real time; S4. Determine whether the torque calculation method is enabled. If the torque calculation method is determined to be within a certain range, cruise torque calculation method 1 is used. If it is outside the certain range, cruise torque calculation method 2 is used. Calculation method 1 is the torque value calculated by vehicle speed Kp + torque value calculated by vehicle speed Ki + vehicle weight compensation torque value + base torque value. Calculation method 2 is the torque value calculated by acceleration Kp + torque value calculated by acceleration Ki + vehicle weight compensation torque value + torque value at the previous moment. S5. The cruising torque is output to the engine torque controller of the heavy truck, and the heavy truck performs cruising.

2. The method for calculating the cruise torque of a heavy truck based on multi-parameter control according to claim 1, characterized in that: The torque calculation method is enabled to select the cruise torque calculation method, by judging whether the difference between the current vehicle speed and the cruise target speed is within a threshold range. If the difference between the current vehicle speed and the cruise target speed is ≤ the threshold, cruise torque calculation method 1 is selected, otherwise cruise torque calculation method 2 is selected.

3. The method for calculating the cruise torque of a heavy truck based on multi-parameter control according to claim 1, characterized in that: The difference calculation includes vehicle speed difference calculation and acceleration difference calculation. The vehicle speed difference is obtained by calculating the difference between the current vehicle speed and the cruise target speed. To calculate the vehicle acceleration difference, it is necessary to first calculate the vehicle acceleration. The acceleration is calculated by calculating the acceleration within a cycle by the difference between the current vehicle speed and the vehicle speed at the previous moment, and the average acceleration value within ten cycles is accumulated. The acceleration difference is obtained by subtracting the acceleration target value corresponding to the speed difference table from the current vehicle acceleration. The acceleration target value increases with the increase of the speed difference, and when the speed difference is a negative value, the acceleration target value is also negative.

4. The method for calculating the cruise torque of a heavy truck based on multi-parameter control according to claim 1, characterized in that: The vehicle speed PI parameter calculation is to collect the current vehicle speed and look up the table to calculate the Kp proportional parameter and Ki integral parameter at different vehicle speeds. When the vehicle speed is high, the required torque of the whole vehicle is relatively large. When the vehicle enters the cruising speed from the current speed, in order to reach the cruising target speed faster, the driver does not feel the speed drop or the vehicle wandering during the adjustment process. The torque calculated for cruising at this time needs to be increased accordingly. In order to achieve this purpose, when the vehicle speed is high, the Kp and Ki parameter values ​​are also larger. The Kp and Ki parameter values ​​can be set as calibration parameters, and the calibration changes are made according to the actual situation of the vehicle to formulate appropriate values.

5. The method for calculating the cruise torque of a heavy truck based on multi-parameter control according to claim 1, characterized in that: The acceleration PI parameter calculation is to calculate the Kp proportional parameter and Ki integral parameter under different accelerations by looking up the current acceleration table. When the acceleration is high, the required torque of the whole vehicle is relatively large, and the torque required for cruise calculation at this time also increases accordingly. When the acceleration is high, the Kp and Ki parameter values ​​are also large. The Kp and Ki parameter values ​​can be set as calibration parameters, and the calibration changes are made according to the actual situation of the vehicle to formulate appropriate values.

6. The method for calculating the cruise torque of a heavy truck based on multi-parameter control according to claim 1, characterized in that: The vehicle weight status judgment is to obtain the vehicle weight information transmitted by the external module, and judge whether the current vehicle is in one of the three states of no-load, medium-load, and heavy-load through different thresholds. The vehicle load affects the required torque. When the vehicle load is large, the required vehicle torque is also large, and the compensation torque corresponding to the vehicle weight also needs to be increased.

7. The method for calculating the cruise torque of a heavy truck based on multi-parameter control according to claim 1, characterized in that: The basic torque calculation is to collect the current vehicle speed and look up the table to calculate the basic torque value at different vehicle speeds. When the vehicle speed is high, the required torque of the whole vehicle is relatively large. When the vehicle enters the cruising speed from the current speed, in order to reach the cruising target speed more quickly, the driver does not feel the speed drop or the vehicle wandering during the adjustment process. The torque calculated for cruising at this time needs to be increased accordingly. In order to achieve this purpose, when the vehicle speed is high, the basic torque value demand is also larger. The basic torque value can be set as a calibration parameter, and the calibration is changed to formulate an effective value according to the actual vehicle situation.

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