A torque control method, device, equipment and medium

Abstract

The application relates to a torque control method, device, equipment and medium. The torque control method comprises the following steps: monitoring the difference between the highest limit speed and the current speed of the automobile, and obtaining the user demand torque; if the difference is greater than or equal to the speed threshold value, the power is output according to the user demand torque; if the difference is less than the speed threshold value, the target whole vehicle torque is obtained by limiting the user demand torque according to the difference, and the target whole vehicle torque is output, so that the torque output of the automobile gradually decreases when the current speed approaches the highest limit speed. By adopting the torque control method provided by the application, the problem that the driving safety is low in the driving adaptation period in the prior art can be improved.

Description

Technical Field

[0001] This application relates to the field of automotive automatic control technology, and in particular to a torque control method, device, equipment and medium. Background Technology

[0002] With the global energy transformation and the continuous development of the economy and society, people's car purchase and replacement rates are constantly increasing. However, the driving performance of different car models varies greatly. Even experienced drivers may find it difficult to adapt quickly to a new car due to its overly sensitive power response, leading to a series of driving safety issues.

[0003] To reduce driving safety issues, existing technologies limit the output torque to a very low level after the car starts. However, this method is inefficient and only suitable for teaching novice drivers. Therefore, a torque control method suitable for the driving adaptation period is currently lacking. Summary of the Invention

[0004] Based on this, this application provides a torque control method, device, equipment, and medium to improve the problem of low driving safety during the driving adaptation period in the prior art.

[0005] In a first aspect, this application provides a torque control method, which includes: monitoring the difference between the maximum speed limit and the current speed of the vehicle, and obtaining the torque required by the user; if the difference is greater than or equal to a speed threshold, outputting power according to the torque required by the user; if the difference is less than the speed threshold, limiting the torque required by the user based on the difference to obtain the target vehicle torque, and outputting the target vehicle torque, so that the vehicle gradually reduces the torque output when the current speed approaches the maximum speed limit.

[0006] In conjunction with the first aspect, in the first possible implementation of the first aspect, the step of limiting the user-demanded torque based on the difference to obtain the target vehicle torque includes: comparing the magnitude of the difference with zero to determine the corresponding torque limitation coefficient; and using the torque limitation coefficient to weight the user-demanded torque to obtain the target vehicle torque.

[0007] In conjunction with the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the step of comparing the magnitude of the difference with zero to determine the corresponding torque limiting coefficient includes: if the difference is less than zero, the corresponding torque limiting coefficient is equal to zero; if the difference is equal to zero, the corresponding torque limiting coefficient is equal to a preset value, wherein the target vehicle torque obtained by weighting using the preset value is used to maintain the current vehicle speed; if the difference is greater than zero, the torque limiting coefficient corresponding to the difference within a preset range is determined based on the proportion of the difference in the speed threshold, wherein the difference and the torque limiting coefficient have a linear relationship, and the smaller the difference, the smaller the corresponding torque limiting coefficient.

[0008] In conjunction with the first aspect, in the third possible implementation of the first aspect, the step of outputting the target vehicle torque includes: weighting the preset torque gradient using a gradient limitation coefficient to obtain the target torque gradient; obtaining the current vehicle torque, and outputting the target vehicle torque based on the current vehicle torque and the target torque gradient, so that the vehicle gradually reduces the torque output when the current vehicle speed approaches the maximum limit speed.

[0009] In conjunction with the first aspect, in the fourth possible implementation of the first aspect, before the step of outputting the target vehicle torque, the method further includes: monitoring the status signals of the accelerator pedal and the brake pedal, and determining whether the accelerator pedal and the brake pedal are pressed based on the status information; if so, determining that the pedal is mistakenly pressed; and outputting zero torque in the case of the pedal being mistakenly pressed.

[0010] In conjunction with the first aspect, in the fifth possible implementation of the first aspect, before the step of monitoring the difference between the maximum speed limit and the current vehicle speed, the method further includes: monitoring at least one of the vehicle's gear position, power-on status, and fault status; determining whether the vehicle meets the opening conditions based on the status information, wherein the opening conditions include at least one of the following: the gear is in park, the high voltage is on, and the vehicle has no faults; if the opening conditions are met, displaying a setting interface, and receiving at least one of the user's mode activation command and maximum speed limit setting information through the setting interface; storing the maximum speed limit if the user's maximum speed limit is received; and performing the step of monitoring the difference between the maximum speed limit and the current vehicle speed if the user's mode activation command is received.

[0011] In conjunction with the fifth possible implementation of the first aspect, in the sixth possible implementation of the first aspect, after receiving at least one of the user's mode activation command and maximum speed limit setting information through the setting interface, the method further includes: illuminating the torque control indicator light when the user's activation command is received; and illuminating the vehicle speed limit indicator light when the user's maximum speed limit is received.

[0012] Secondly, this application provides a torque control device, which includes: a monitoring unit for monitoring the difference between the maximum speed limit and the current speed of the vehicle; an acquisition unit for acquiring the torque required by the user; an output unit for outputting power according to the torque required by the user if the difference is greater than or equal to a speed threshold; and the output unit is further configured to limit the torque required by the user based on the difference to obtain a target vehicle torque if the difference is less than the speed threshold, and output the target vehicle torque, so as to gradually reduce the torque output when the current speed of the vehicle approaches the maximum speed limit.

[0013] In conjunction with the second aspect, in the first possible implementation of the second aspect, the above-mentioned output unit is specifically used to: compare the magnitude relationship between the difference and zero to determine the corresponding torque limit coefficient; and use the torque limit coefficient to weight the user-demanded torque to obtain the target vehicle torque.

[0014] In conjunction with the first possible implementation of the second aspect, in the second possible implementation of the second aspect, the above-mentioned output unit is specifically used for: if the difference is less than zero, then the corresponding torque limiting coefficient is equal to zero; if the difference is equal to zero, then the corresponding torque limiting coefficient is equal to a preset value, wherein the target vehicle torque obtained by weighting using the preset value is used to maintain the current vehicle speed; if the difference is greater than zero, then the torque limiting coefficient corresponding to the difference within a preset range is determined according to the proportion of the difference in the speed threshold, wherein the difference and the torque limiting coefficient have a linear relationship, and the smaller the difference, the smaller the corresponding torque limiting coefficient.

[0015] In conjunction with the second aspect, in a second possible implementation of the first aspect, the above-mentioned output unit is further configured to: weight the preset torque gradient using a gradient limitation coefficient to obtain a target torque gradient; obtain the current vehicle torque, and output the target vehicle torque based on the current vehicle torque and the target torque gradient.

[0016] In conjunction with the second aspect, in the fourth possible implementation of the second aspect, the monitoring unit is further configured to monitor the status signals of the accelerator pedal and the brake pedal, and determine whether the accelerator pedal and the brake pedal are pressed based on the status information; if so, it is determined that the pedal is accidentally pressed. The output unit is further configured to output zero torque in the event that the pedal is accidentally pressed.

[0017] In conjunction with the second aspect, in the fifth possible implementation of the second aspect, the monitoring unit is further configured to: monitor at least one of the vehicle's gear position, power-on status, and fault status; determine whether the vehicle meets the opening conditions based on the status information, wherein the opening conditions include at least one of the following: the gear is in park, the high voltage is on, and the vehicle has no faults; if the opening conditions are met, display a setting interface and receive at least one of the user's mode activation command and maximum speed limit setting information through the setting interface; if the user's maximum speed limit is received, store the maximum speed limit; and if the user's mode activation command is received, perform the step of monitoring the difference between the maximum speed limit and the vehicle's current speed.

[0018] In conjunction with the fifth possible implementation of the second aspect, in the sixth possible implementation of the second aspect, the torque control device further includes an indicator unit, which is also used to: illuminate the torque control indicator light when a user's activation command is received; and illuminate the vehicle speed limit indicator light when a user's maximum speed limit is received.

[0019] Thirdly, this application also provides a torque control device, which includes a processor and a memory connected via a bus; the processor is used to execute multiple instructions; and a storage medium is used to store multiple instructions, which are adapted to be loaded by the processor and executed as a torque control method as described in the first aspect or any embodiment of the first aspect.

[0020] Fourthly, this application also provides a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing a torque control method as described in the first aspect or any embodiment of the first aspect.

[0021] In summary, this application provides a torque control method, apparatus, device, and medium. The torque control method monitors the difference between the maximum speed limit and the vehicle's current speed. When the difference is large, it outputs the torque requested by the user, thus ensuring driving efficiency at low speeds. When the difference is small, it limits the torque requested by the user before outputting it, causing the vehicle to gradually reduce torque output as its current speed approaches the maximum speed limit, reducing driving safety issues caused by sudden torque limiting. Therefore, this application provides a torque control method suitable for the driving adaptation period, improving driving safety while maintaining driving efficiency. Attached Figure Description

[0022] Figure 1 A flowchart illustrating a torque control method in one embodiment of this application;

[0023] Figure 2A flowchart illustrating the torque control method in another embodiment provided in this application;

[0024] Figure 3 A schematic block diagram of a torque control device provided in this application;

[0025] Figure 4 This application provides a structural block diagram of a torque control device. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] It should be noted that the torque control device / equipment mentioned below in this application may include, but is not limited to, dedicated torque control devices, vehicle control units (VCUs), terminal devices, computers, processors, etc., and may be a device integrated into the vehicle or a detachable independent device in the vehicle. The torque control device can interact with other devices in the vehicle, such as connecting to a single pedal, ESC, motor, etc. The processor may include, but is not limited to, a graphics processing unit (GPU), a central processing unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor can implement the methods described in this application, such as limiting the user's required torque based on the difference to obtain the target vehicle torque, and outputting the target vehicle torque, etc., which will not be elaborated further in this application.

[0028] It should also be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of the components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex. The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modification to the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention. Furthermore, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "lateral," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the present invention. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] Currently, there is a lack of torque control methods suitable for the driving adaptation period in existing technologies. To address this, this application proposes a torque control method suitable for the driving adaptation period. This method ensures driving efficiency by outputting the user-demanded torque at low speeds and reduces driving safety issues caused by sudden torque limiting at high speeds. Specifically: it monitors the difference between the maximum speed limit and the vehicle's current speed to obtain the user-demanded torque; if the difference is greater than or equal to a speed threshold, it outputs power according to the user-demanded torque; if the difference is less than the speed threshold, it limits the user-demanded torque based on the difference to obtain the target vehicle torque and outputs the target vehicle torque, so that the torque output gradually decreases as the vehicle's current speed approaches the maximum speed limit.

[0030] To better understand the torque control method of this application, an embodiment is proposed, such as... Figure 1 As shown. Next, this application, using a torque control device as the execution subject, will address, for example... Figure 1 The torque control method described herein will be explained. Specifically:

[0031] 101: Monitor the difference between the maximum speed limit and the vehicle's current speed, and obtain the torque required by the user.

[0032] The torque control device monitors the difference between the maximum speed limit and the vehicle's current speed, and obtains the user-required torque based on the vehicle speed and throttle opening. The user-required torque is the torque requested by the user. The maximum speed limit can be set by the user or be a default setting.

[0033] It should be noted that before starting monitoring, the torque control device can also determine whether the vehicle meets the starting conditions. If the starting conditions are met, it receives the mode activation command and the maximum speed limit through the setting interface. Specifically: the torque control device monitors at least one of the vehicle's gear position, power-on status, and fault status; based on the status information, it determines whether the vehicle meets the activation conditions, which include at least one of the following: the gear is in park, high voltage is on, and the vehicle has no faults; if the activation conditions are met, the setting interface is displayed, and at least one of the user's mode activation command and maximum speed limit setting information is received through the setting interface; if the user's maximum speed limit is received, the maximum speed limit is stored, and the speed limit indicator light can also be illuminated; if the user's mode activation command is received, the step of monitoring the difference between the maximum speed limit and the vehicle's current speed is executed, and the torque limit indicator light can also be illuminated. For example, if the car is in park, the power-on state is high voltage, and the fault state is no fault, then the car meets the starting conditions. The settings interface is then displayed, and the user's mode activation command and maximum speed limit are received through the settings interface. If the maximum speed limit and mode activation command are received, the maximum speed limit is stored and step 101 is executed. If only the mode activation command is received, the default speed limit is obtained as the maximum speed limit and step 101 is executed. If no mode activation command is received, the response stops and step 101 is not executed.

[0034] 102: If the above difference is greater than or equal to the speed threshold, then the torque output power will be adjusted according to the user's requirements.

[0035] Among them, when the vehicle speed is low, that is, when the difference between the maximum speed limit and the current speed of the car is greater than or equal to the speed threshold, the torque control device immediately responds to the acceleration request when the user presses the accelerator, that is, outputs power according to the torque required by the user, so as to ensure driving efficiency at low speeds.

[0036] 103: If the above difference is less than the speed threshold, the target vehicle torque is obtained by limiting the torque required by the user based on the difference, and the target vehicle torque is output so that the torque output gradually decreases when the current vehicle speed approaches the speed threshold.

[0037] Among them, when the vehicle speed is relatively high, that is, when the difference between the maximum speed limit and the current speed of the vehicle is less than the speed threshold, the torque control device first limits the torque required by the user based on the difference to obtain the target vehicle torque, and then outputs the torque according to the target vehicle torque.

[0038] It should be noted that the degree to which the user's demand torque is restricted is inversely proportional to the magnitude of the aforementioned difference; the smaller the difference, the greater the restriction. Therefore, at higher vehicle speeds, this application, by outputting a target vehicle torque, allows the vehicle to gradually reduce torque output as the current speed approaches the maximum speed limit. Specifically, when the torque control device restricts the user's demand torque based on the difference, it first obtains the torque restriction coefficient corresponding to the difference, and then uses this torque restriction coefficient to weight the user's demand torque to obtain the target vehicle torque. The torque restriction coefficient ranges from 0 to 1.

[0039] It should also be noted that as the difference decreases, the car's current speed approaches the maximum speed limit. At this point, in order to achieve a smooth reduction in torque output, the torque control device also gradually reduces the corresponding torque limit coefficient. In other words, the difference and the corresponding torque limit coefficient can also have a linear relationship. The torque control device can obtain the torque limit coefficient corresponding to the difference based on the linear relationship between the difference and the torque limit coefficient, and then use the corresponding torque limit coefficient to weight the torque required by the user to obtain the target vehicle torque.

[0040] Regarding step 103, which involves limiting the user-demanded torque based on the difference to obtain the target vehicle torque, this application embodiment proposes a specific implementation method to further improve the efficiency of torque control. Specifically, the torque control device compares the magnitude of the difference with zero to determine the corresponding torque limiting coefficient; the target vehicle torque is obtained by weighting the user-demanded torque using the torque limiting coefficient. For example, when the difference is less than zero, the corresponding torque limiting coefficient is set to zero; when the difference is greater than or equal to zero, the torque limiting coefficient corresponding to the difference within a preset range (e.g., 1 to 0.1) is determined based on the proportion of the difference in the speed threshold.

[0041] In summary, the torque limiting device ensures driving efficiency at low vehicle speeds and gradually reduces torque output as the vehicle approaches its maximum speed limit, thus reducing driving safety issues caused by sudden torque limiting. Therefore, this application provides a torque control method suitable for the driving adaptation period, improving driving safety while maintaining driving efficiency.

[0042] In addition, based on the foregoing embodiments, this application also provides another embodiment of the torque control method, such as... Figure 2 As shown. Next, this application will use a torque control device as the execution subject to... Figure 2 The torque control method described is explained. Specifically:

[0043] 201: Monitor the difference between the maximum speed limit and the vehicle's current speed, and obtain the torque required by the user.

[0044] 202: If the above difference is greater than or equal to the speed threshold, then the torque output power will be based on the user's requirements.

[0045] The specific implementation process of steps 201 to 202 can be referred to steps 101 to 102 of the previous embodiment, and will not be repeated here in the embodiments of this application.

[0046] 203: If the above difference is less than the speed threshold, the difference is compared with zero to determine the corresponding torque limit coefficient, and the target vehicle torque is obtained by weighting the user's required torque using the torque limit coefficient.

[0047] The torque control device uses different strategies to determine the corresponding torque limiting coefficient based on the relationship between the difference and zero. For example, if the difference is less than zero, it indicates that the current vehicle speed is exceeded, and the corresponding torque limiting coefficient is set to zero to interrupt power. If the difference is zero, it indicates that the maximum speed limit has been reached, and the corresponding torque limiting coefficient is set to a preset value to maintain the current vehicle speed at the maximum speed limit. If the difference is greater than zero, it indicates that the current vehicle speed is about to reach the maximum speed limit, and the linear difference method is used to limit the torque demanded by the user. That is, based on the proportion of the difference in the speed threshold, the torque limiting coefficient corresponding to the difference within a preset range is determined, so that the torque gradually decreases when approaching the maximum speed limit, ensuring a smooth transition of power limitation when the vehicle approaches the speed limit during acceleration, and solving the driving safety problem caused by sudden torque limitation. It should be noted that the difference and the torque limiting coefficient have a linear relationship; the smaller the difference, the smaller the torque limiting coefficient.

[0048] For example: if the difference is less than zero (v < 0), then set the corresponding torque limit coefficient to zero (i = 0); if the difference is equal to zero (v = 0), then set the corresponding torque limit coefficient to a preset value of 0.1 (i = 0.1); if the difference is greater than zero and less than the speed threshold (0... <v<v thd If the torque limiting coefficient is within a preset range (i = 0.1 to 1), then the torque limiting coefficient corresponding to the difference v is i = 0.9v / v. thd +0.1. Where the difference v is equal to the maximum speed limit v. lmt Subtracting the car's current speed v0, we get v = v lmt -v0, v thd It is the speed threshold.

[0049] 204: The preset torque gradient is weighted using the gradient constraint coefficient to obtain the target torque gradient, the current vehicle torque is obtained, and the target vehicle torque is output based on the current vehicle torque and the target torque gradient.

[0050] To further improve driving safety and ensure a smoother output of the target vehicle torque as the vehicle approaches its maximum speed limit, the torque control device of this application can also use a gradient limitation coefficient to weight a preset torque gradient to obtain a target torque gradient. Then, the torque control device outputs the target vehicle torque based on the current vehicle torque and the target torque gradient, causing the vehicle to gradually reduce torque output as its current speed approaches its maximum speed limit. It should be noted that the gradient limitation coefficient ranges from 0 to 1.

[0051] Regarding step 204, this application also proposes another possible implementation: after obtaining the target vehicle torque, the torque control device determines whether the difference between the target vehicle torque and the current vehicle torque is less than a torque threshold. If so, it outputs the target vehicle torque based on the current vehicle torque and a preset torque gradient; otherwise, it outputs the target vehicle torque based on the current vehicle torque and the target torque gradient. Next, this application will describe the aforementioned two scenarios in detail:

[0052] In the first scenario, when the difference between the target vehicle torque and the current vehicle torque is less than the torque threshold, it indicates a small jump from the current vehicle torque to the target vehicle torque. Passengers in the car will experience almost no torque limitation in this situation. To improve driving efficiency, the torque control device can output the target vehicle torque according to a preset torque gradient. This process can be mathematically expressed as Y = Y n-1 +min[(XY n-1 ),k], where Y represents the total vehicle torque to be output, Y n-1 X represents the current vehicle torque, X represents the target vehicle torque, and k represents the preset torque gradient.

[0053] In the second scenario, when the difference between the target vehicle torque and the current vehicle torque is greater than or equal to the torque threshold, it indicates a significant jump from the current vehicle torque to the target vehicle torque. Passengers in the car will experience a limited torque sensation in this situation. To improve driving safety, the torque control device can output the target vehicle torque according to the target torque gradient. This process can be mathematically expressed as Y = Y n-1 +min[(XY n-1 ),(k*α)], where Y represents the total vehicle torque to be output, Y n-1 X represents the current vehicle torque, k*α represents the target vehicle torque, α represents the gradient limit coefficient, and k represents the preset torque gradient.

[0054] It should be noted that the gradient limiting coefficient in the second scenario can be fixed (generally set to 0.6) or variable. In the variable case, the value of the gradient limiting coefficient depends on the difference between the target vehicle torque and the current vehicle torque. This difference is inversely proportional to the gradient limiting coefficient; the larger the difference, the smaller the gradient limiting coefficient. Therefore, when the gradient limiting coefficient is variable, the larger the difference between the target vehicle torque and the current vehicle torque, the slower the torque response rate of the torque control device, resulting in smoother acceleration and further improved driving safety.

[0055] In addition, this application provides another possible implementation method for realizing accidental pedal press detection. Specifically, before the step of outputting the target vehicle torque, the torque control device monitors the status signals of the accelerator pedal and brake pedal, and determines whether the accelerator pedal and brake pedal have been pressed based on the status information. If so, it is determined that the pedal has been accidentally pressed; in the case of accidental pedal press, zero torque is output.

[0056] The status information is obtained from sensors at the accelerator and brake pedals. These sensors include pressure sensors and stroke sensors, and the status information includes pressure and stroke data. The torque control device can determine whether the accelerator and brake pedals are depressed based on this status information. For example, if the pressure value in the pressure information is greater than zero, it can be determined that the pedal is depressed; similarly, if the stroke value in the stroke information is greater than zero, it can be determined that the pedal is depressed. After determining that the accelerator and brake pedals are depressed, the torque control device can determine that the pedals have been mistakenly depressed. In this case, for driving safety, zero torque is output, thereby interrupting power.

[0057] In summary, torque control devices not only gradually reduce torque output as the speed approaches the maximum limit, but also reduce the response rate of torque output, thereby further improving driving safety.

[0058] This invention also provides a torque control device, in one embodiment, see [link to embodiment]. Figure 3 The embodiments of the present invention can divide the device into functional units according to the above method examples. For example, each function can be divided into separate functional units, or two or more functions can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in the embodiments of the present invention is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. Figure 3As shown, the torque control device includes a monitoring unit 310, an acquisition unit 320, and an output unit 330. Specifically: the monitoring unit 310 is used to monitor the difference between the maximum speed limit and the current vehicle speed; the acquisition unit 320 is used to acquire the torque required by the user; the output unit 330 is used to output power according to the torque required by the user if the difference is greater than or equal to the speed threshold; the output unit 330 is also used to limit the torque required by the user according to the difference to obtain the target vehicle torque if the difference is less than the speed threshold, and output the target vehicle torque so as to gradually reduce the torque output when the current vehicle speed approaches the maximum speed limit.

[0059] In one feasible embodiment, the output unit 330 is specifically used to: compare the magnitude of the difference with zero to determine the corresponding torque limit coefficient; and use the torque limit coefficient to weight the user-demanded torque to obtain the target vehicle torque.

[0060] In one feasible embodiment, the output unit 330 is specifically used for: if the difference is less than zero, the corresponding torque limiting coefficient is equal to zero; if the difference is equal to zero, the corresponding torque limiting coefficient is equal to a preset value, wherein the target vehicle torque obtained by weighting using the preset value is used to maintain the current vehicle speed; if the difference is greater than zero, the torque limiting coefficient corresponding to the difference within a preset range is determined according to the proportion of the difference in the speed threshold, wherein the difference and the torque limiting coefficient have a linear relationship, and the smaller the difference, the smaller the corresponding torque limiting coefficient.

[0061] In one feasible embodiment, the output unit 330 is further configured to: weight the preset torque gradient using a gradient limitation coefficient to obtain a target torque gradient; acquire the current vehicle torque and output the target vehicle torque based on the current vehicle torque and the target torque gradient, so that the vehicle gradually reduces the torque output when the current vehicle speed approaches the maximum limit speed.

[0062] In one feasible embodiment, the monitoring unit 310 is further configured to monitor the status signals of the accelerator pedal and the brake pedal, and determine whether the accelerator pedal and the brake pedal are pressed based on the status information; if so, it is determined that the pedals are accidentally pressed. The output unit 330 is further configured to output zero torque in the event that the pedals are accidentally pressed.

[0063] In one feasible embodiment, the monitoring unit 310 is further configured to: monitor at least one of the vehicle's gear position, power-on status, and fault status; determine whether the vehicle meets the opening conditions based on the status information, wherein the opening conditions include at least one of the following: the gear is in park, the high voltage is on, and the vehicle is fault-free; if the opening conditions are met, display a setting interface and receive at least one of the user's mode activation command and maximum speed limit setting information through the setting interface; if the user's maximum speed limit is received, store the maximum speed limit; and if the user's mode activation command is received, perform the step of monitoring the difference between the maximum speed limit and the vehicle's current speed.

[0064] In one implementable embodiment, the torque control device further includes an indicator unit 340, which is also used to: illuminate a torque control indicator light upon receiving a user's activation command; and illuminate a vehicle speed limit indicator light upon receiving a user's maximum speed limit.

[0065] This application also provides a torque control device, in one embodiment, see [link to relevant documentation]. Figure 4 The torque control device can be, but is not limited to, various personal computers, laptops, smartphones, tablets, portable wearable devices, and servers. The server can be a standalone server or a server cluster consisting of multiple servers. As shown in the figure, the torque control device in this embodiment may include a processor 410 and a memory 420. The processor 410 and the memory 420 are connected via a bus 430. The processor 410 is used to execute multiple instructions; the memory 420 is used to store multiple instructions adapted to be loaded by the processor 410 and executed as in the torque control method described in the above embodiment.

[0066] The processor 410 can be an Electronic Control Unit (ECU), a Central Processing Unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 410 can also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. In this embodiment, the processor 410 can be a microcontroller. By programming the microcontroller, various control functions can be implemented. For example, in this embodiment, it can monitor the difference between the maximum speed limit and the current vehicle speed. The processor has the advantages of powerful computing capabilities and fast processing speed. Specifically, the processor 410 is used to execute the monitoring unit 310 to monitor the difference between the maximum speed limit and the current vehicle speed; it is also used to execute the function of the acquisition unit 320 to acquire the user's required torque; it is also used to execute the function of the output unit 330 to output power according to the user's required torque if the difference is greater than or equal to the speed threshold; and it is also used to limit the user's required torque according to the difference to obtain the target vehicle torque if the difference is less than the speed threshold, and output the target vehicle torque, so as to gradually reduce the torque output when the current vehicle speed approaches the maximum speed limit.

[0067] In one feasible embodiment, the processor 410 is specifically used to: compare the magnitude of the difference with zero to determine the corresponding torque limit coefficient; and use the torque limit coefficient to weight the user-demanded torque to obtain the target vehicle torque.

[0068] In one feasible embodiment, the processor 410 is specifically configured to: if the difference is less than zero, then the corresponding torque limiting coefficient is equal to zero; if the difference is equal to zero, then the corresponding torque limiting coefficient is equal to a preset value, wherein the target vehicle torque obtained by weighting using the preset value is used to maintain the current vehicle speed; if the difference is greater than zero, then the torque limiting coefficient corresponding to the difference within a preset range is determined based on the proportion of the difference in the speed threshold, wherein the difference and the torque limiting coefficient have a linear relationship, and the smaller the difference, the smaller the corresponding torque limiting coefficient.

[0069] In one feasible embodiment, the processor 410 is further configured to: weight a preset torque gradient using a gradient limitation coefficient to obtain a target torque gradient; acquire the current vehicle torque and output the target vehicle torque based on the current vehicle torque and the target torque gradient, so that the vehicle gradually reduces torque output when the current vehicle speed approaches the maximum limit speed.

[0070] In one implementable manner, the processor 410 is further configured to monitor the status signals of the accelerator pedal and the brake pedal, and determine whether the accelerator pedal and the brake pedal are pressed based on the status information; if so, it is determined that the pedals are accidentally pressed. The output unit 330 is further configured to output zero torque in the event that the pedals are accidentally pressed.

[0071] In one implementable embodiment, the processor 410 is further configured to: monitor at least one of the vehicle's gear position, power-on status, and fault status; determine whether the vehicle meets the opening conditions based on the status information, wherein the opening conditions include at least one of the following: the gear is in park, the high voltage is on, and the vehicle is fault-free; if the opening conditions are met, display a setting interface and receive at least one of the user's mode activation command and maximum speed limit setting information through the setting interface; if the user's maximum speed limit is received, store the maximum speed limit; and if the user's mode activation command is received, perform the step of monitoring the difference between the maximum speed limit and the vehicle's current speed.

[0072] In one implementable manner, the processor 410 is further configured to: illuminate the torque control indicator light upon receiving a user's activation command; and illuminate the vehicle speed limit indicator light upon receiving a user's maximum speed limit.

[0073] In one embodiment, this application also provides a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing the methods in any of the foregoing embodiments. A processor 410 is configured to execute the plurality of instructions; a memory 420 is configured to store the plurality of instructions adapted for loading by the processor 410 and executing the torque control method as described in the above embodiments.

[0074] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A torque control method, characterized in that, include: Monitor the difference between the maximum speed limit and the vehicle's current speed, and obtain the torque required by the user; If the difference is greater than or equal to the speed threshold, then power is output according to the torque required by the user. If the difference is less than the speed threshold, the target vehicle torque is obtained by limiting the user's required torque based on the difference, and the target vehicle torque is output so that the torque output gradually decreases when the vehicle speed approaches the maximum limit speed. The step of outputting the target vehicle torque includes: The target torque gradient is obtained by weighting the preset torque gradient using a gradient constraint coefficient; wherein the gradient constraint coefficient ranges from 0 to 1. Obtain the current vehicle torque and determine whether the difference between the target vehicle torque and the current vehicle torque is less than a torque threshold. If yes, then the target vehicle torque is output based on the current vehicle torque and the preset torque gradient; if no, then the target vehicle torque is output based on the current vehicle torque and the target torque gradient.

2. The method according to claim 1, characterized in that, The step of limiting the user's required torque based on the difference to obtain the target vehicle torque includes: The magnitude of the difference is compared with that of zero to determine the corresponding torque limit coefficient; The target vehicle torque is obtained by weighting the user-demanded torque using the torque limitation coefficient.

3. The method according to claim 2, characterized in that, The step of comparing the difference with zero to determine the corresponding torque limiting coefficient includes: If the difference is less than zero, then the corresponding torque limiting coefficient is equal to zero; If the difference is equal to zero, the corresponding torque limiting coefficient is equal to a preset value, wherein the target vehicle torque obtained by weighting using the preset value is used to maintain the current vehicle speed; If the difference is greater than zero, the torque limiting coefficient corresponding to the difference in the preset range is determined according to the proportion of the difference in the speed threshold. The difference and the torque limiting coefficient are linearly related, and the smaller the difference, the smaller the corresponding torque limiting coefficient.

4. The method according to claim 1, characterized in that, Prior to the step of outputting the target vehicle torque, the method further includes: Monitor the status information of the accelerator pedal and brake pedal, and determine whether the accelerator pedal and brake pedal have been pressed based on the status information. If so, determine that the pedal has been accidentally pressed. In the event that the pedal is accidentally pressed, zero torque is output.

5. The method according to claim 1, characterized in that, Prior to the step of monitoring the difference between the maximum speed limit and the vehicle's current speed, the method further includes: Monitor at least one of the following status information of the vehicle: gear position, power status, and fault status; The status information is used to determine whether the vehicle meets the opening conditions, wherein the opening conditions include at least one of the following: the gear is in park, the high voltage is on, and the vehicle has no faults. If the activation conditions are met, the settings interface is displayed, and at least one of the user's mode activation command and maximum speed limit settings is received through the settings interface. Upon receiving the user's maximum speed limit, the maximum speed limit is stored; upon receiving the user's mode activation command, the step of monitoring the difference between the maximum speed limit and the vehicle's current speed is executed.

6. The method according to claim 5, characterized in that, After receiving at least one of the user's mode activation command and maximum speed limit settings through the settings interface, the system further includes: Upon receiving a user's activation command, the torque control indicator light illuminates; Upon receiving the user's stated maximum speed limit, the speed limit indicator light will illuminate.

7. A torque control device, characterized in that, The torque control device includes: The monitoring unit is used to monitor the difference between the maximum speed limit and the vehicle's current speed; The acquisition unit is used to acquire the torque required by the user. The output unit is configured to output power according to the user's required torque if the difference is greater than or equal to the speed threshold; if the difference is less than the speed threshold, the user's required torque is limited according to the difference to obtain the target vehicle torque, and the target vehicle torque is output to gradually reduce the torque output when the current vehicle speed approaches the maximum limit speed. The output unit is specifically used for: The target torque gradient is obtained by weighting the preset torque gradient using a gradient constraint coefficient; wherein the gradient constraint coefficient ranges from 0 to 1. Obtain the current vehicle torque and determine whether the difference between the target vehicle torque and the current vehicle torque is less than a torque threshold. If yes, then the target vehicle torque is output based on the current vehicle torque and the preset torque gradient; if no, then the target vehicle torque is output based on the current vehicle torque and the target torque gradient.

8. A torque control device, characterized in that, The device includes a processor and a memory connected via a bus; the processor is used to execute multiple instructions; the memory is used to store the multiple instructions, which are adapted to be loaded by the processor and executed as the torque control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted for loading by a processor and executing the torque control method as described in any one of claims 1-6.

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