Vehicle motor torque determination method, device, system, vehicle and storage medium

Abstract

This application discloses a method, apparatus, system, vehicle, and storage medium for determining vehicle motor torque, relating to the field of vehicle technology, to reduce the response time of ESP to torque adjustment. The method includes: upon receiving a torque adjustment request from the electronic stability controller, acquiring vehicle driving parameters; determining a first prediction result and a second prediction result for the motor torque; the first prediction result is determined based on the vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and the speed ratio of the vehicle's final drive; the second prediction result is determined based on the vehicle motor's historical torque and the requested torque from the vehicle motor; weighting the first and second prediction results to obtain the vehicle motor torque, and sending the vehicle motor torque to the electronic stability controller.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and specifically to a method, apparatus, system, vehicle, and storage medium for determining vehicle motor torque. Background Technology

[0002] New energy vehicles are more prone to wheel slippage when driving on low-traction surfaces. Vehicles equipped with Electronic Stability Program (ESP) can reduce torque through the Traction Control System (TCS) to prevent wheel slippage. When the motor regenerates power, the vehicle's wheels are prone to lock-up or even reverse rotation. ESP can prevent this by increasing torque.

[0003] To achieve the above functions, ESP requires a relatively fast response time for torque adjustment, approximately 90 milliseconds (ms) to 110 ms. For example... Figure 1 As shown, the existing vehicle electrical architecture includes a motor controller, a vehicle controller (also known as a vehicle domain controller), and ESP. Since the motor controller and ESP are not directly connected, the torque transmission route is relatively long (ESP—vehicle controller—motor controller—vehicle controller—ESP), which takes a long time to communicate. If the ESP's response time to torque adjustment is long, driving safety issues may arise. Summary of the Invention

[0004] One of the objectives of this invention is to provide a method, apparatus, system, vehicle, and storage medium for determining vehicle motor torque, so as to reduce the response time of ESP to torque adjustment.

[0005] In a first aspect, a method for determining vehicle motor torque is provided, applied to a vehicle controller connected to an electronic stability controller. The method includes: upon receiving a torque adjustment request from the electronic stability controller, acquiring vehicle driving parameters, wherein the torque adjustment request requests adjustment of the vehicle torque, and the vehicle driving parameters include vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC converter power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, vehicle final drive ratio, historical vehicle motor torque, and requested vehicle motor torque; determining a first prediction result and a second prediction result for the motor torque; wherein the first prediction result is determined based on the vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC converter power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and vehicle final drive ratio, and the second prediction result is determined based on the historical vehicle motor torque and the requested vehicle motor torque; weighting the first prediction result and the second prediction result to obtain the vehicle motor torque, and sending the vehicle motor torque to the electronic stability controller.

[0006] Based on the technical solution provided in this application, upon receiving a torque adjustment request from the electronic stability controller, vehicle driving parameters are acquired, and a first prediction result and a second prediction result of the motor torque are determined. The first prediction result is determined based on the vehicle battery output power, vehicle DC-DC power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and the speed ratio of the vehicle's main reducer. The second prediction result is determined based on the vehicle motor's historical torque and the requested torque from the vehicle motor. Thus, the vehicle motor torque can be predicted from multiple angles based on multiple vehicle driving parameters. Furthermore, the first and second prediction results are weighted to obtain the vehicle motor torque, which is then sent to the electronic stability controller. This reduces the error in individual vehicle driving parameters, improves the accuracy of predicting vehicle motor torque, and because the vehicle controller is connected to the electronic stability controller, compared to the existing torque transmission route (electronic stability controller—vehicle controller—motor controller—vehicle controller—electronic stability controller), it is not necessary to determine the vehicle torque through the motor controller. The torque transmission route is shorter, reducing the time for transmitting vehicle torque, which in turn reduces the response time of the electronic stability controller to torque adjustments. This allows the electronic stability controller to stabilize the vehicle in a timely manner based on torque adjustments, thus improving vehicle driving safety.

[0007] Further, determining the first prediction result includes: determining the ratio of the first value to the second value, and defining the ratio of the first value to the second value as the first prediction result; the first value is the product of the target power, the vehicle tire radius, the vehicle torque transmission efficiency, and a preset coefficient; the target power is the difference between the vehicle battery output power and the conversion power consumption, and the conversion power consumption is the sum of the vehicle DC-DC conversion power consumption, the vehicle DC-AC power consumption, and the vehicle thermal management power consumption; the second value is the product of the vehicle speed and the speed ratio of the vehicle's main reducer.

[0008] Based on the aforementioned technical means, a first prediction result of the vehicle motor torque can be determined based on the vehicle's power angle.

[0009] Furthermore, determining the second prediction result includes: determining the sum of the vehicle motor's historical torque and the third value, and determining the sum of the vehicle motor's historical torque and the third value as the second prediction result; the third value is the product of a preset delay coefficient and the torque increment, and the torque increment is the difference between the vehicle motor's requested torque and the vehicle motor's historical torque.

[0010] Based on the aforementioned technical means, a second prediction result of the vehicle motor torque can be determined from the perspective of the vehicle motor's historical torque and the vehicle motor's requested torque. Determining the vehicle motor torque from multiple perspectives can improve the accuracy of predicting the vehicle motor torque.

[0011] Furthermore, the method also includes: acquiring the DC voltage of the vehicle motor controller; when the DC voltage of the motor controller is greater than or equal to a preset voltage, determining a preset delay coefficient based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a first mapping relationship; the first mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; when the DC voltage of the motor controller is less than the preset voltage, determining a preset delay coefficient based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a second mapping relationship; the second mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the second mapping relationship is different from the first mapping relationship.

[0012] Based on the above technical means, the preset delay coefficient can be dynamically determined according to the DC voltage of the motor controller, which reduces the impact of response time delay and thus improves the accuracy of determining the vehicle motor torque.

[0013] Further, the first prediction result and the second prediction result are weighted to obtain the vehicle motor torque, including: obtaining the vehicle motor speed; determining the weight of the first prediction result and the weight of the second prediction result based on the vehicle motor speed and a third mapping relationship; the third mapping relationship includes different vehicle motor speeds and their corresponding weights; and weighting the first prediction result and the second prediction result based on the weight of the first prediction result and the weight of the second prediction result to obtain the vehicle motor torque.

[0014] Based on the above technical means, since the accuracy of the first prediction result and the second prediction result are related to the vehicle motor speed, the accuracy of determining the vehicle motor torque can be improved by dynamically adjusting the weights of the first prediction result and the second prediction result according to the vehicle motor speed.

[0015] Secondly, a vehicle motor torque determination device is provided, applied to a vehicle controller. The vehicle controller is connected to an electronic stability controller. The device includes: an acquisition unit, a determination unit, and a processing unit. The acquisition unit is used to acquire vehicle driving parameters upon receiving a torque adjustment request from the electronic stability controller. The torque adjustment request requests adjustment of the vehicle torque. The vehicle driving parameters include vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, vehicle final drive ratio, vehicle motor historical torque, and vehicle motor requested torque. The determination unit is used to determine a first prediction result and a second prediction result for the motor torque. The first prediction result is determined based on the vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and vehicle final drive ratio. The second prediction result is determined based on the vehicle motor historical torque and vehicle motor requested torque. The processing unit is used to weight the first prediction result and the second prediction result to obtain the vehicle motor torque and send the vehicle motor torque to the electronic stability controller.

[0016] Furthermore, the determining unit is specifically used to: determine the ratio of the first value to the second value, and determine the ratio of the first value to the second value as the first prediction result; the first value is the product of the target power, the vehicle tire radius, the vehicle torque transmission efficiency, and a preset coefficient; the target power is the difference between the vehicle battery output power and the conversion power consumption, and the conversion power consumption is the sum of the vehicle DC-DC conversion power consumption, the vehicle DC-AC power consumption, and the vehicle thermal management power consumption; the second value is the product of the vehicle speed and the speed ratio of the vehicle's main reducer.

[0017] Furthermore, the unit is specifically used to: determine the sum of the vehicle motor's historical torque and the third value, and determine the sum of the vehicle motor's historical torque and the third value as the second prediction result; the third value is the product of a preset delay coefficient and the torque increment, and the torque increment is the difference between the vehicle motor's requested torque and the vehicle motor's historical torque.

[0018] Furthermore, the acquisition unit is also used to acquire the DC voltage of the vehicle motor controller; the determination unit is also used to determine a preset delay coefficient based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a first mapping relationship when the DC voltage of the motor controller is greater than or equal to a preset voltage; the first mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the determination unit is also used to determine the preset delay coefficient based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a second mapping relationship when the DC voltage of the motor controller is less than the preset voltage; the second mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the second mapping relationship is different from the first mapping relationship.

[0019] Furthermore, the processing unit is specifically used for: acquiring the vehicle motor speed; determining the weight of the first prediction result and the weight of the second prediction result based on the vehicle motor speed and the third mapping relationship; the third mapping relationship includes different vehicle motor speeds and their corresponding weights; and weighting the first prediction result and the second prediction result according to the weight of the first prediction result and the weight of the second prediction result to obtain the vehicle motor torque.

[0020] Thirdly, a vehicle controller is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to execute instructions, functions performed in the first aspect or any possible design of the first aspect.

[0021] Fourthly, a vehicle motor torque determination system is provided, the vehicle motor torque determination system including a vehicle motor torque determination device for performing the method as described in the first aspect or any possible design of the first aspect.

[0022] Fifthly, a vehicle is provided, including a vehicle motor torque determination system as provided in the fourth aspect.

[0023] In a sixth aspect, a vehicle motor torque determining device is provided. This vehicle motor torque determining device can realize the functions performed by the vehicle motor torque determining device in the above aspects or possible designs. The functions can be implemented by hardware. For example, in one possible design, the vehicle motor torque determining device may include a processor and a communication interface. The processor can be used to support the vehicle motor torque determining device in realizing the functions involved in the first aspect or any possible design of the first aspect.

[0024] In another possible design, the vehicle motor torque determining device may further include a memory for storing necessary computer execution instructions and data. When the vehicle motor torque determining device is running, the processor executes the computer execution instructions stored in the memory to cause the vehicle motor torque determining device to perform the first aspect or any of the possible vehicle motor torque determining methods described above.

[0025] In a seventh aspect, a computer-readable storage medium is provided, which may be a readable non-volatile storage medium storing computer instructions or programs that, when executed on a computer, enable the computer to perform the vehicle motor torque determination method described in the first aspect or any of the possible methods described in the first aspect.

[0026] Eighthly, a computer program product containing instructions is provided, which, when run on a computer, enables the computer to execute the vehicle motor torque determination method of the first aspect or any possible design of the above aspects.

[0027] The beneficial effects of this invention are:

[0028] (1) Upon receiving a torque adjustment request from the electronic stability controller, the vehicle's driving parameters are acquired, and a first prediction result and a second prediction result for the motor torque are determined. The first prediction result is determined based on the vehicle's battery output power, DC-DC power consumption, DC-AC power consumption, thermal management power consumption, vehicle speed, tire radius, torque transmission efficiency, and the speed ratio of the vehicle's main reducer. The second prediction result is determined based on the vehicle motor's historical torque and the requested torque. This allows for multi-angle prediction of the vehicle motor torque based on multiple driving parameters. Furthermore, the first and second prediction results are weighted to obtain the vehicle motor torque, which is then sent to the electronic stability controller. This reduces the error in individual vehicle driving parameters, improves the accuracy of predicting vehicle motor torque, and because the vehicle controller is connected to the electronic stability controller, compared to the existing torque transmission route (electronic stability controller—vehicle controller—motor controller—vehicle controller—electronic stability controller), it is not necessary to determine the vehicle torque through the motor controller. The torque transmission route is shorter, reducing the time for transmitting vehicle torque, which in turn reduces the response time of the electronic stability controller to torque adjustments. This allows the electronic stability controller to stabilize the vehicle in a timely manner based on torque adjustments, thus improving vehicle driving safety.

[0029] (2) The first prediction result of the vehicle motor torque can be determined based on the vehicle's power angle.

[0030] (3) The second prediction result of the vehicle motor torque can be determined based on the vehicle motor's historical torque and the vehicle motor's requested torque. Determining the vehicle motor torque from multiple perspectives can improve the accuracy of predicting the vehicle motor torque.

[0031] (4) The preset delay coefficient can be dynamically determined based on the DC voltage of the motor controller, which reduces the impact of response time delay and thus improves the accuracy of determining the vehicle motor torque.

[0032] (5) Since the accuracy of the first prediction result and the second prediction result are related to the vehicle motor speed, the accuracy of determining the vehicle motor torque can be improved by dynamically adjusting the weight of the first prediction result and the weight of the second prediction result according to the vehicle motor speed.

[0033] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

[0035] Figure 1 This is a schematic diagram of a vehicle motor torque determination system provided in an embodiment of this application;

[0036] Figure 2 A schematic diagram of another vehicle motor torque determination system provided in this application embodiment;

[0037] Figure 3 This is a schematic diagram of the structure of a vehicle motor torque determination device provided in an embodiment of this application;

[0038] Figure 4 A flowchart illustrating a method for determining vehicle motor torque provided in an embodiment of this application;

[0039] Figure 5 A flowchart illustrating another method for determining vehicle motor torque provided in this application embodiment;

[0040] Figure 6 A flowchart illustrating another method for determining vehicle motor torque provided in this application embodiment;

[0041] Figure 7 A flowchart illustrating another method for determining vehicle motor torque provided in this application embodiment;

[0042] Figure 8 This is a schematic diagram of another vehicle motor torque determination device provided in an embodiment of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0044] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0045] It should also be understood that the term "comprising" indicates the presence of the described feature, whole, step, operation, element and / or component, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements and / or components.

[0046] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the 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.

[0047] New energy vehicles are more prone to wheel slippage when driving on low-traction surfaces. Vehicles equipped with ESP can reduce torque through TCS to prevent wheel slippage. When the motor energy is regenerated, the vehicle's wheels are prone to lock-up or even reverse rotation. ESP can prevent lock-up by increasing torque.

[0048] To achieve the above functions, ESP requires a relatively fast response time for torque adjustment, approximately 90 milliseconds (ms) to 110 ms. For example... Figure 1 As shown, the existing vehicle electrical architecture includes a motor controller, a vehicle controller (also known as a vehicle domain controller), and ESP. Since the motor controller and ESP are not directly connected, the torque transmission route is relatively long (ESP—vehicle controller—motor controller—vehicle controller—ESP), which takes a long time to communicate. If the ESP's response time to torque adjustment is long, driving safety issues may arise.

[0049] In view of this, this application provides a method for determining vehicle motor torque. The method includes: upon receiving a torque adjustment request from an electronic stability controller, acquiring vehicle driving parameters, including vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC converter power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, vehicle final drive ratio, vehicle motor historical torque, and vehicle motor requested torque; determining a first prediction result and a second prediction result for the motor torque; the first prediction result is determined based on the vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC converter power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and vehicle final drive ratio, and the second prediction result is determined based on the vehicle motor historical torque and vehicle motor requested torque; weighting the first prediction result and the second prediction result to obtain the vehicle motor torque, and sending the vehicle motor torque to the electronic stability controller.

[0050] The methods provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0051] It should be noted that the vehicle motor torque determination system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of vehicle motor torque determination systems and the emergence of other vehicle motor torque determination systems, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0052] The vehicle motor torque determination system provided in this application can be applied to the vehicle controller or the electronic stability controller in a vehicle. For example, the vehicle can be a new energy vehicle or a hybrid vehicle. This application does not limit the specific technology, quantity, or form of equipment used in the vehicle.

[0053] Figure 2 This is a schematic diagram of the composition of a vehicle motor torque determination system 20 provided in an embodiment of this application, as shown below. Figure 2 As shown, the vehicle motor torque determination system 20 may include ESP 11, vehicle controller 12, and motor controller 13.

[0054] The ESP11, vehicle controller 12, and motor controller 13 are connected. For example, the ESP11, vehicle controller 12, and motor controller 13 can be connected wirelessly or wiredly. This embodiment of the invention does not limit the connection in this way.

[0055] ESP11 is used to send torque adjustment requests to the vehicle controller 12, receive vehicle motor torque sent by the vehicle controller 12, and control the actuator according to the vehicle motor torque to achieve better smoothness while ensuring safety.

[0056] The vehicle controller 12 is used to acquire vehicle driving parameters, determine a first prediction result and a second prediction result of motor torque based on the vehicle driving parameters, and perform weighted processing on the first prediction result and the second prediction result to obtain the vehicle motor torque.

[0057] The motor controller 13 is used to disable the anti-torsional vibration function to suppress speed fluctuations, adjust torque automatically, and not respond to motor torque requests.

[0058] It should be noted that, Figure 2 This is just an example framework diagram. Figure 2 The names of the modules included are unrestricted, and except for Figure 2 In addition to the functional modules shown, other modules may also be included, but this application embodiment does not limit this.

[0059] In practical implementation, Figure 2The controller in the middle can be adopted Figure 3 The shown composition structure, or including Figure 3 The components shown. Figure 3 This is a schematic diagram of the structure of a vehicle motor torque determining device 200 provided in an embodiment of this application. The vehicle motor torque determining device 200 can be a controller in a vehicle motor torque determining system, or it can be a chip or system-on-a-chip in the controller. Figure 3 As shown, the vehicle motor torque determining device 200 includes a processor 201, a communication interface 202, and a communication line 203.

[0060] Furthermore, the vehicle motor torque determining device 200 may also include a memory 204. The processor 201, memory 204, and communication interface 202 can be connected via a communication line 203.

[0061] The processor 201 can be a CPU, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 can also be other devices with processing capabilities, such as circuits, devices, or software modules, without limitation.

[0062] Communication interface 202 is used to communicate with other devices or other communication networks. Communication interface 202 can be a module, circuit, communication interface, or any device capable of enabling communication.

[0063] Communication line 203 is used to transmit information between the components included in the vehicle motor torque determining device 200.

[0064] Memory 204 is used to store instructions executable by processor 201. These instructions may be computer programs.

[0065] The memory 204 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions; it can also be a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions; it can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0066] It should be noted that the memory 204 can exist independently of the processor 201 or can be integrated with the processor 201. The memory 204 can be used to store instructions, program code, or some data, etc. The memory 204 can be located inside or outside the vehicle motor torque determining device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 204 to implement the vehicle motor torque determining method provided in the following embodiments of this application.

[0067] In one example, processor 201 may include one or more CPUs, for example, Figure 3 CPU0 and CPU1 in the CPU.

[0068] As an optional implementation, the vehicle motor torque determining device 200 includes multiple processors, for example, in addition to Figure 3 In addition to processor 201, it may also include processor 205.

[0069] It should be pointed out that, Figure 3 The composition shown does not constitute a basis for the interpretation of this invention. Figure 2 The limitations of each device in the process, except Figure 3 In addition to the components shown, Figure 2 The various controllers in the system can include ratios Figure 3 More or fewer components, or combinations of certain components, or different arrangements of components.

[0070] In this embodiment of the application, the chip system may be composed of chips or may include chips and other discrete devices.

[0071] Furthermore, the actions, terms, etc., involved in the various embodiments of this application can be referenced interchangeably without limitation. The message names or parameter names in the messages between the various devices in the embodiments of this application are merely examples, and other names may be used in specific implementations without limitation.

[0072] The following is combined Figure 2 The vehicle motor torque determination system shown herein describes the vehicle motor torque determination method provided in the embodiments of this application.

[0073] This application uses an example of a device for determining the torque of a vehicle motor as an example for illustration. For instance, the device for determining the torque of a vehicle motor can be... Figure 2 The vehicle controller 12 in the middle can also be Figure 2 ESP11 in the example. Figure 4 As shown, the method includes the following steps S301-S303:

[0074] S301. Upon receiving a torque adjustment request from the electronic stability controller, obtain vehicle driving parameters.

[0075] The torque adjustment request is used to request an adjustment to the vehicle's torque. For example, it can request an increase or decrease in vehicle torque. Vehicle driving parameters include vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, vehicle final drive ratio, vehicle motor historical torque, and requested vehicle motor torque.

[0076] Among them, the historical torque of the vehicle motor can be the vehicle motor torque corresponding to the previous moment of the current moment, or the vehicle motor torque corresponding to the previous cycle of the current cycle.

[0077] As one possible implementation, when the vehicle is traveling on a low-traction surface, the electronic stability controller can send a torque adjustment request to the vehicle controller to reduce torque and prevent drive slippage. Correspondingly, the vehicle controller receives the torque adjustment request from the electronic stability controller and obtains the vehicle's driving parameters.

[0078] As another possible implementation, when the vehicle's motor power is regenerated, the electronic stability controller can send a torque adjustment request to the vehicle controller to increase torque and prevent drive lock-up. Correspondingly, the vehicle controller receives the torque adjustment request from the electronic stability controller and obtains the vehicle's driving parameters.

[0079] S302, Determine the first and second prediction results of the motor torque.

[0080] The first prediction result is determined based on the vehicle battery output power, vehicle DC-DC power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and the speed ratio of the vehicle's main reducer. The second prediction result is determined based on the vehicle motor's historical torque and the vehicle motor's requested torque.

[0081] As one possible implementation, the vehicle controller can determine the ratio of a first value to a second value and use this ratio as a first prediction result. It can also determine the sum of the vehicle motor's historical torque and a third value and use this sum as a second prediction result.

[0082] It should be noted that the first value is the product of the target power, the vehicle tire radius, the vehicle torque transmission efficiency, and a preset coefficient; the target power is the difference between the vehicle battery output power and the conversion power consumption, and the conversion power consumption is the sum of the vehicle's DC-DC conversion power consumption, DC-AC conversion power consumption, and thermal management power consumption; the second value is the product of the vehicle speed and the speed ratio of the vehicle's main reducer. The third value is the product of a preset delay coefficient and the torque increment, where the torque increment is the difference between the vehicle motor's requested torque and the vehicle motor's historical torque.

[0083] For example, the vehicle controller can determine the first predicted result of the motor torque according to the following formula 1, and determine the second predicted result of the motor torque according to the following formula 2.

[0084]

[0085] Tq2=Tq0+k×(Tq req -Tq0) Formula 2

[0086] Where P represents the vehicle battery output power, P = U × I, U represents the vehicle battery voltage, and I represents the vehicle battery current. dcdc This indicates the power consumed by the vehicle's direct current / direct current (DC / DC) conversion. P dcac This indicates the power consumed by the vehicle's direct current / alternating current (DC / AC). P tms This represents the power consumed by the vehicle's thermal management. r represents the vehicle's tire radius. θ represents the vehicle's torque transmission efficiency. V represents the vehicle's speed. i0 represents the speed ratio of the vehicle's final drive. Tq0 represents the historical torque of the vehicle's electric motor. Tq req This indicates the requested torque of the vehicle motor. 'k' represents the preset delay factor, which is related to the requested torque of the vehicle motor, the historical torque of the vehicle motor, and the DC voltage of the motor controller.

[0087] S303. The first prediction result and the second prediction result are weighted and processed to obtain the vehicle motor torque, and the vehicle motor torque is sent to the electronic stability controller.

[0088] The preset state of charge (SOC) value and target temperature range can be set as needed. For example, the preset SOC value can be 95%, 100%, etc. The target temperature range can be 15 degrees Celsius to 35 degrees Celsius, etc. (In practical applications, it can also be flexibly adjusted according to the battery characteristics).

[0089] As one possible implementation, the vehicle controller can determine the weights of the first prediction result and the second prediction result, and determine the product of the first prediction result and the corresponding weight, as well as the sum of the products of the second prediction result and the corresponding weight, to obtain the vehicle motor torque, and send the vehicle motor torque to the electronic stability controller via the control bus.

[0090] It should be noted that the specific process for determining the weights of the first and second prediction results can be found in the following explanations, and will not be elaborated here.

[0091] Based on the technical solution provided in this application, upon receiving a torque adjustment request from the electronic stability controller, vehicle driving parameters are acquired, and a first prediction result and a second prediction result of the motor torque are determined. The first prediction result is determined based on the vehicle battery output power, vehicle DC-DC power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and the speed ratio of the vehicle's main reducer. The second prediction result is determined based on the vehicle motor's historical torque and the requested torque from the vehicle motor. Thus, the vehicle motor torque can be predicted from multiple angles based on multiple vehicle driving parameters. Furthermore, the first and second prediction results are weighted to obtain the vehicle motor torque, which is then sent to the electronic stability controller. This reduces the error in individual vehicle driving parameters, improves the accuracy of predicting vehicle motor torque, and because the vehicle controller is connected to the electronic stability controller, compared to the existing torque transmission route (electronic stability controller—vehicle controller—motor controller—vehicle controller—electronic stability controller), it is not necessary to determine the vehicle torque through the motor controller. The torque transmission route is shorter, reducing the time for transmitting vehicle torque, which in turn reduces the response time of the electronic stability controller to torque adjustments. This allows the electronic stability controller to stabilize the vehicle in a timely manner based on torque adjustments, thus improving vehicle driving safety.

[0092] In some embodiments, such as Figure 5 As shown, in order to determine the first prediction result and the second prediction result, the vehicle motor torque determination method of this application may further include the following S401-S402.

[0093] S401. Determine the ratio of the first value to the second value, and set the ratio of the first value to the second value as the first prediction result.

[0094] The specific steps for this step can be found in the description of S302 above, and will not be repeated here.

[0095] S402. Determine the sum of the vehicle motor's historical torque and the third value, and use the sum of the vehicle motor's historical torque and the third value as the second prediction result.

[0096] The specific steps for this step can be found in the description of S302 above, and will not be repeated here.

[0097] In some embodiments, such as Figure 6 As shown, in order to determine the preset delay coefficient, the vehicle motor torque determination method of this application may further include the following S501-S503.

[0098] S501, Obtain the DC voltage of the vehicle motor controller.

[0099] As one possible implementation, the vehicle controller can obtain the DC voltage signal of the vehicle motor controller from the interface of the vehicle motor controller, and obtain the DC voltage of the vehicle motor controller based on the DC voltage signal of the vehicle motor controller.

[0100] S502. When the DC voltage of the motor controller is greater than or equal to the preset voltage, a preset delay coefficient is determined based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and the first mapping relationship.

[0101] The preset voltage can be set as needed. For example, it can be 48 volts (V). The first mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient.

[0102] As one possible implementation, the vehicle controller can determine the corresponding preset delay coefficient from the first mapping relationship based on the vehicle motor's historical torque and the vehicle motor's requested torque.

[0103] S503. When the DC voltage of the motor controller is less than the preset voltage, a preset delay coefficient is determined based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and the second mapping relationship.

[0104] The second mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the second mapping relationship is different from the first mapping relationship. For example, if the historical torque of the vehicle motor is a1 and the requested torque of the vehicle motor is a2, the preset delay coefficient in the first mapping relationship is b1, and the preset delay coefficient in the second mapping relationship is b2.

[0105] As one possible implementation, the vehicle controller can determine the corresponding preset delay coefficient from the second mapping relationship based on the vehicle motor's historical torque and the vehicle motor's requested torque.

[0106] For example, the vehicle controller can determine the preset delay coefficient according to the following formula three.

[0107]

[0108] Where f1() represents the first mapping relationship, and f2() represents the second mapping relationship. ipu This indicates the preset voltage.

[0109] Based on the above technical means, the preset delay coefficient can be dynamically determined according to the DC voltage of the motor controller, which reduces the impact of response time delay and thus improves the accuracy of determining the vehicle motor torque.

[0110] One possible implementation, such as Figure 7 As shown, the method for determining the vehicle motor torque of this application may further include the following S601-S603.

[0111] S601, Obtain vehicle motor speed.

[0112] As one possible implementation, the vehicle controller can obtain a speed signal from a speed sensor connected to the vehicle controller, and obtain the vehicle motor speed based on the speed signal.

[0113] S602. Determine the weight of the first prediction result and the weight of the second prediction result based on the vehicle motor speed and the third mapping relationship.

[0114] The third mapping relationship includes the motor speeds of different vehicles and their corresponding weights.

[0115] As one possible implementation, the vehicle controller can determine the weight of the first prediction result and the weight of the second prediction result from the second mapping relationship based on the vehicle motor speed.

[0116] As one possible implementation, the vehicle controller can determine the weight of the first prediction result corresponding to the vehicle motor speed from the second mapping relationship, and determine the weight of the second prediction result based on the weight of the first prediction result.

[0117] For example, if the weight of the first prediction result corresponding to the vehicle motor speed is determined from the second mapping relationship as α, the weight of the second prediction result can be 1-α.

[0118] S603. Based on the weight of the first prediction result and the weight of the second prediction result, the first prediction result and the second prediction result are weighted to obtain the vehicle motor torque.

[0119] As one possible implementation, the vehicle controller can determine the vehicle motor torque according to the following formula four.

[0120] Formula 4: Tq = α × Tq1 + (1 - α) × Tq2

[0121] Where Tq represents the vehicle motor torque. α represents the weight of the first prediction result. (1-α) represents the weight of the second prediction result.

[0122] Based on the above technical means, since the accuracy of the first prediction result and the second prediction result are related to the vehicle motor speed, the accuracy of determining the vehicle motor torque can be improved by dynamically adjusting the weights of the first prediction result and the second prediction result according to the vehicle motor speed.

[0123] The various solutions in the above embodiments of this application can be combined without contradiction.

[0124] This application embodiment can divide the vehicle motor torque determining device into functional modules or functional units according to the above method examples. For example, each function can be divided into its own functional modules or functional units, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module or functional unit. The module or unit division in this application embodiment is illustrative and represents only one logical functional division; other division methods may be used in actual implementation.

[0125] When dividing each function into modules according to its corresponding function. Figure 8 A schematic diagram of a vehicle motor torque determination device 800 is shown. The vehicle motor torque determination device 800 can be a vehicle controller or a chip applied in the vehicle controller. The vehicle motor torque determination device 800 can be used to perform the functions of the vehicle controller involved in the above embodiments. Figure 8The vehicle motor torque determination device 800 shown may include: an acquisition unit 801, a determination unit 802, and a processing unit 803; the acquisition unit 801 is used to acquire vehicle driving parameters upon receiving a torque adjustment request sent by the electronic stability controller. The torque adjustment request is used to request adjustment of the vehicle torque. The vehicle driving parameters include vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, vehicle final drive ratio, vehicle motor historical torque, and vehicle motor requested torque; the determination unit 802 is used to determine a first prediction result and a second prediction result for the motor torque; the first prediction result is determined based on the vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, and vehicle final drive ratio, and the second prediction result is determined based on the vehicle motor historical torque and vehicle motor requested torque; the processing unit 803 is used to weight the first prediction result and the second prediction result to obtain the vehicle motor torque, and send the vehicle motor torque to the electronic stability controller.

[0126] Furthermore, the determining unit 802 is specifically used to: determine the ratio of the first value to the second value, and determine the ratio of the first value to the second value as the first prediction result; the first value is the product of the target power, the vehicle tire radius, the vehicle torque transmission efficiency, and a preset coefficient; the target power is the difference between the vehicle battery output power and the conversion power consumption, and the conversion power consumption is the sum of the vehicle DC-DC conversion power consumption, the vehicle DC-AC power consumption, and the vehicle thermal management power consumption; the second value is the product of the vehicle speed and the speed ratio of the vehicle's main reducer.

[0127] Furthermore, the determining unit 802 is specifically used to: determine the sum of the vehicle motor's historical torque and the third value, and determine the sum of the vehicle motor's historical torque and the third value as the second prediction result; the third value is the product of a preset delay coefficient and the torque increment, and the torque increment is the difference between the vehicle motor's requested torque and the vehicle motor's historical torque.

[0128] Furthermore, the acquisition unit 801 is also used to acquire the DC voltage of the vehicle motor controller; the determination unit 802 is also used to determine a preset delay coefficient based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a first mapping relationship when the DC voltage of the motor controller is greater than or equal to a preset voltage; the first mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the determination unit 802 is also used to determine a preset delay coefficient based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a second mapping relationship when the DC voltage of the motor controller is less than the preset voltage; the second mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the second mapping relationship is different from the first mapping relationship.

[0129] Furthermore, the processing unit 803 is specifically used for: obtaining the vehicle motor speed; determining the weight of the first prediction result and the weight of the second prediction result based on the vehicle motor speed and the third mapping relationship; the third mapping relationship includes different vehicle motor speeds and their corresponding weights; and weighting the first prediction result and the second prediction result according to the weight of the first prediction result and the weight of the second prediction result to obtain the vehicle motor torque.

[0130] This application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be implemented by a computer program instructing related hardware. This program can be stored in the computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be an internal storage unit of the vehicle motor torque determining device or controller (including a data transmitter and / or data receiver) in any of the foregoing embodiments, such as a hard disk or memory of the vehicle motor torque determining device. The computer-readable storage medium can also be an external storage device of the vehicle motor torque determining device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the vehicle motor torque determining device. Further, the computer-readable storage medium can include both internal storage units and external storage devices of the vehicle motor torque determining device. The computer-readable storage medium is used to store the computer program and other programs and data required by the vehicle motor torque determining device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0131] This application also provides a vehicle, including the vehicle motor torque determination system, controller, or vehicle motor torque determination device involved in the above method embodiments.

[0132] Furthermore, the actions, terms, etc., involved in the various embodiments of this application can be referenced interchangeably without limitation. The message names or parameter names in the messages between the various devices in the embodiments of this application are merely examples, and other names may be used in specific implementations without limitation.

[0133] It should be noted that the terms "first" and "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0134] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0136] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0137] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0138] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0139] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0140] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining the torque of a vehicle motor, characterized in that, Applied to a vehicle controller, wherein the vehicle controller is connected to an electronic stability controller, the method includes: Upon receiving a torque adjustment request from the electronic stability controller, the vehicle driving parameters are obtained. The torque adjustment request is used to request an adjustment of the vehicle torque. The vehicle driving parameters include the vehicle battery output power, the vehicle DC-DC converter power consumption, the vehicle DC-AC power consumption, the vehicle thermal management power consumption, the vehicle speed, the vehicle tire radius, the vehicle torque transmission efficiency, the speed ratio of the vehicle main reducer, the vehicle motor historical torque, and the vehicle motor requested torque. A first prediction result for determining the motor torque is determined based on the vehicle battery output power, the vehicle DC-DC converter power consumption, the vehicle DC-AC power consumption, the vehicle thermal management power consumption, the vehicle speed, the vehicle tire radius, the vehicle torque transmission efficiency, and the speed ratio of the vehicle's main reducer. The sum of the vehicle motor's historical torque and the third value is determined, and the sum of the vehicle motor's historical torque and the third value is determined as the second prediction result; The third value is the product of a preset delay coefficient and a torque increment, where the torque increment is the difference between the requested torque of the vehicle motor and the historical torque of the vehicle motor. The first prediction result and the second prediction result are weighted to obtain the vehicle motor torque, and the vehicle motor torque is sent to the electronic stability controller. Obtain the DC voltage of the vehicle motor controller; When the DC voltage of the motor controller is greater than or equal to a preset voltage, the preset delay coefficient is determined based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a first mapping relationship; the first mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient. When the DC voltage of the motor controller is less than the preset voltage, the preset delay coefficient is determined based on the historical torque of the vehicle motor, the requested torque of the vehicle motor, and a second mapping relationship; the second mapping relationship includes the historical torque of different vehicle motors, the requested torque of different vehicle motors, and the corresponding preset delay coefficient; the second mapping relationship is different from the first mapping relationship.

2. The method for determining vehicle motor torque according to claim 1, characterized in that, Determining the first prediction result includes: Determine the ratio of the first value to the second value, and use the ratio of the first value to the second value as the first prediction result; The first value is the product of the target power, the vehicle tire radius, the vehicle torque transmission efficiency, and a preset coefficient; the target power is the difference between the vehicle battery output power and the conversion power consumption, and the conversion power consumption is the sum of the vehicle DC-DC conversion power consumption, the vehicle DC-AC power consumption, and the vehicle thermal management power consumption; the second value is the product of the vehicle speed and the speed ratio of the vehicle's main reducer.

3. The method for determining vehicle motor torque according to claim 1, characterized in that, The vehicle motor torque is obtained by weighting the first prediction result and the second prediction result, including: Obtain the vehicle motor speed; The weights of the first prediction result and the second prediction result are determined based on the vehicle motor speed and the third mapping relationship; the third mapping relationship includes different vehicle motor speeds and their corresponding weights. Based on the weights of the first prediction result and the second prediction result, the first prediction result and the second prediction result are weighted to obtain the vehicle motor torque.

4. A vehicle motor torque determining device, characterized in that, The device is applied to a vehicle controller, which is connected to an electronic stability controller, and includes: an acquisition unit, a determination unit, and a processing unit. The acquisition unit is used to acquire vehicle driving parameters when it receives a torque adjustment request sent by the electronic stability controller. The torque adjustment request is used to request adjustment of the vehicle torque. The vehicle driving parameters include vehicle battery output power, vehicle DC-DC converter power consumption, vehicle DC-AC power consumption, vehicle thermal management power consumption, vehicle speed, vehicle tire radius, vehicle torque transmission efficiency, vehicle main reducer speed ratio, vehicle motor historical torque, and vehicle motor requested torque. The determining unit is used to determine a first prediction result of the motor torque; the first prediction result is determined based on the vehicle battery output power, the vehicle DC-DC converter power consumption, the vehicle DC-AC power consumption, the vehicle thermal management power consumption, the vehicle speed, the vehicle tire radius, the vehicle torque transmission efficiency, and the speed ratio of the vehicle main reducer; The determining unit is further configured to determine the sum of the historical torque of the vehicle motor and the third value, and to determine the sum of the historical torque of the vehicle motor and the third value as the second prediction result; The third value is the product of a preset delay coefficient and a torque increment, where the torque increment is the difference between the requested torque of the vehicle motor and the historical torque of the vehicle motor. The processing unit is used to weight the first prediction result and the second prediction result to obtain the vehicle motor torque, and send the vehicle motor torque to the electronic stability controller. The acquisition unit is also used to acquire the DC voltage of the vehicle motor controller; The determining unit is further configured to determine the preset delay coefficient based on the vehicle motor's historical torque, the vehicle motor's requested torque, and a first mapping relationship when the DC voltage of the motor controller is greater than or equal to a preset voltage; the first mapping relationship includes different vehicle motor historical torques, different vehicle motor requested torques, and corresponding preset delay coefficients. The determining unit is further configured to determine the preset delay coefficient based on the vehicle motor's historical torque, the vehicle motor's requested torque, and a second mapping relationship when the DC voltage of the motor controller is less than the preset voltage; the second mapping relationship includes different vehicle motor historical torques, different vehicle motor requested torques, and corresponding preset delay coefficients; the second mapping relationship is different from the first mapping relationship.

5. The vehicle motor torque determining device according to claim 4, characterized in that, The determining unit is specifically used for: Determine the ratio of the first value to the second value, and use the ratio of the first value to the second value as the first prediction result; The first value is the product of the target power, the vehicle tire radius, the vehicle torque transmission efficiency, and a preset coefficient; the target power is the difference between the vehicle battery output power and the conversion power consumption, and the conversion power consumption is the sum of the vehicle DC-DC conversion power consumption, the vehicle DC-AC power consumption, and the vehicle thermal management power consumption; the second value is the product of the vehicle speed and the speed ratio of the vehicle's main reducer.

6. A vehicle motor torque determination system, characterized in that, The vehicle motor torque determination system includes a vehicle motor torque determination device. The vehicle motor torque determining device is used to perform the method as described in any one of claims 1 to 3.

7. A vehicle, characterized in that, Includes the vehicle motor torque determination system as described in claim 6.

8. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the processor of the electronic device, the electronic device is capable of performing the method as described in any one of claims 1 to 3.

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