Vehicle torque control methods, devices, storage media, processors, and electronic devices

Abstract

This invention discloses a vehicle torque control method, apparatus, storage medium, processor, and electronic device. The method includes: acquiring a first target torque; performing low-pass filtering on the first target torque to obtain a second target torque, and performing low-pass filtering on a first required torque to obtain a second required torque; limiting the torque change rate of the second target torque to obtain a third target torque, and limiting the torque change rate of the second required torque to obtain a third required torque; performing torque compensation using the third target torque and the third required torque to obtain a first output torque; and controlling the target vehicle to output torque based on the first output torque. This invention solves the technical problem in related technologies where the difference in acceleration before and after switching vehicle drive modes leads to a poor driving experience.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and more specifically, to a vehicle torque control method, apparatus, storage medium, processor, and electronic device. Background Technology

[0002] Currently, pure electric vehicles have two different powertrain modes under the same driving mode (e.g., Sport, Eco, Comfort): two-wheel drive and four-wheel drive. However, ensuring consistent acceleration performance between two-wheel drive and four-wheel drive modes, and ensuring consistent torque demand from the driver during mode switching, are among the main concerns.

[0003] The existing technology aims to improve vehicle performance by individually controlling the torque demand of the front and rear motors. However, when maintaining a steady speed with low to medium throttle or accelerating while switching from two-wheel drive to four-wheel drive, the driver will clearly feel a drop in acceleration. Furthermore, the driver can also clearly feel the difference in acceleration between two-wheel drive and four-wheel drive modes. Therefore, this technology still cannot solve the problems of acceleration drop-offs and acceleration differences.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a vehicle torque control method, apparatus, storage medium, processor, and electronic device to at least solve the technical problem in the related art of poor driving experience caused by the difference in acceleration before and after switching vehicle drive modes.

[0006] According to one embodiment of the present invention, a vehicle torque control method is provided, comprising: obtaining a first target torque, wherein the first target torque is used to represent the torque required by a driver, the first target torque includes a first demand torque, and the first demand torque is used to represent the torque required by a first motor; performing low-pass filtering on the first target torque to obtain a second target torque, and performing low-pass filtering on the first demand torque to obtain a second demand torque; limiting the torque change rate of the second target torque to obtain a third target torque, and limiting the torque change rate of the second demand torque to obtain a third demand torque; performing torque compensation using the third target torque and the third demand torque to obtain a first output torque, wherein the first output torque is used to represent the torque required by a second motor when switching drive modes; and controlling the target vehicle to output torque based on the first output torque.

[0007] Optionally, to obtain the first output torque by using the third target torque and the third demand torque for torque compensation includes: determining the second output torque by using the third target torque and the third demand torque; using the third target torque and the third demand torque for torque compensation to obtain the first torque change rate; and limiting the torque change rate of the second output torque based on the first torque change rate to obtain the first output torque.

[0008] Optionally, determining the second output torque using the third target torque and the third required torque includes: acquiring the vehicle battery power, first motor speed, second motor speed, and the preset torque value corresponding to the second motor of the target vehicle; determining the target limiting torque based on the vehicle battery power, first motor speed, second motor speed, preset torque value, and third required torque; calculating the difference between the third target torque and the third required torque to obtain the target difference torque; and determining the second output torque using the target limiting torque and the target difference torque.

[0009] Optionally, torque compensation using the third target torque and the third demand torque to obtain the first torque change rate includes: determining the second torque change rate using the third target torque and determining the third torque change rate using the third demand torque; determining the fourth torque change rate based on the second torque change rate; and determining the first torque change rate using the second torque change rate, the third torque change rate, and the fourth torque change rate.

[0010] Optionally, determining the third torque change rate using the third demand torque includes: obtaining the third demand torque corresponding to the current period, the third demand torque corresponding to the historical period, and the target task period; and determining the third torque change rate based on the third demand torque corresponding to the current period, the third demand torque corresponding to the historical period, and the target task period.

[0011] Optionally, the vehicle torque control method further includes: obtaining a torque distribution coefficient; and determining a first required torque based on the torque distribution coefficient and a first target torque.

[0012] According to one embodiment of the present invention, a vehicle torque control device is also provided, comprising: an acquisition module for acquiring a first target torque, wherein the first target torque represents the torque required by the driver, the first target torque includes a first demand torque, and the first demand torque represents the torque required by a first motor; a filtering module for performing low-pass filtering on the first target torque to obtain a second target torque, and performing low-pass filtering on the first demand torque to obtain a second demand torque; a limiting module for limiting the torque change rate of the second target torque to obtain a third target torque, and limiting the torque change rate of the second demand torque to obtain a third demand torque; a compensation module for performing torque compensation using the third target torque and the third demand torque to obtain a first output torque, wherein the first output torque represents the torque required by the second motor when switching drive modes; and a control module for controlling the target vehicle to output torque based on the first output torque.

[0013] Optionally, the compensation module is further configured to determine the second output torque using the third target torque and the third demand torque; perform torque compensation using the third target torque and the third demand torque to obtain the first torque change rate; and limit the torque change rate of the second output torque based on the first torque change rate to obtain the first output torque.

[0014] Optionally, the compensation module is also used to obtain the vehicle battery power, first motor speed, second motor speed, and the preset torque value corresponding to the second motor of the target vehicle; determine the target limiting torque based on the vehicle battery power, first motor speed, second motor speed, preset torque value, and third required torque; perform difference processing on the third target torque and the third required torque to obtain the target difference torque; and determine the second output torque using the target limiting torque and the target difference torque.

[0015] Optionally, the compensation module is also used to determine a second torque change rate using a third target torque, and to determine a third torque change rate using a third demand torque; to determine a fourth torque change rate based on the second torque change rate; and to determine a first torque change rate using the second torque change rate, the third torque change rate, and the fourth torque change rate.

[0016] Optionally, the compensation module is also used to obtain the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle; and to determine the third torque change rate based on the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle.

[0017] Optionally, the acquisition module is also used to acquire the torque distribution coefficient; the vehicle torque control device also includes a determination module for determining the first required torque based on the torque distribution coefficient and the first target torque.

[0018] According to one embodiment of the present invention, a non-volatile storage medium is also provided, wherein a computer program is stored in the storage medium, and the computer program is configured to execute the vehicle torque control method described above when running.

[0019] According to one embodiment of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program is configured to execute the vehicle torque control method described in any of the preceding claims when running.

[0020] According to one embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the vehicle torque control method described in any of the preceding claims.

[0021] In this embodiment of the invention, a first target torque is obtained, and then a second target torque is obtained by low-pass filtering the first target torque. A second required torque is also obtained by low-pass filtering the first required torque. The torque change rate of the second target torque is then limited to obtain a third target torque. The torque change rate of the second required torque is also limited to obtain a third required torque. Subsequently, torque compensation is performed using the third target torque and the third required torque to obtain a first output torque. Finally, the target vehicle is controlled to output torque based on the first output torque. This achieves the goal of ensuring consistent vehicle acceleration in different modes and during mode switching, thereby improving the driving experience and solving the technical problem of poor driving experience caused by differences in acceleration before and after vehicle drive mode switching in related technologies. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a flowchart of a vehicle torque control method according to one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of a ramp according to one embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of a pure electric configuration of a vehicle according to one embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of a torque change rate limitation according to one embodiment of the present invention;

[0027] Figure 5This is a structural block diagram of a vehicle torque control device according to one embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] According to an embodiment of the present invention, a method embodiment for vehicle torque control is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] This method embodiment can be executed in an electronic device or similar computing device that includes a memory and a processor. Taking operation on a vehicle terminal as an example, the vehicle terminal may include one or more processors (processors may include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microcontroller units (MCUs), field-programmable gate arrays (FPGAs), neural network processors (NPUs), tensor processors (TPUs), artificial intelligence (AI) type processors, etc.) and a memory for storing data. Optionally, the vehicle terminal may also include transmission devices, input / output devices, and display devices for communication functions. Those skilled in the art will understand that the above structural description is merely illustrative and does not limit the structure of the vehicle terminal. For example, the vehicle terminal may include more or fewer components than described above, or have a different configuration than described above.

[0032] The memory can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the vehicle torque control method in this embodiment of the invention. The processor executes various functional applications and data processing by running the computer program stored in the memory, thereby implementing the aforementioned vehicle torque control method. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] The transmission device is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0034] Display devices can be, for example, touchscreen liquid crystal displays (LCDs) and touch displays (also referred to as "touchscreens" or "touch displays"). The LCD allows users to interact with the user interface of the mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), which allows users to interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. Optional human-computer interaction functions include: creating web pages, drawing, word processing, creating electronic documents, playing games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital video, playing digital music, and / or web browsing, etc. Executable instructions for performing the above human-computer interaction functions are configured / stored in one or more processor-executable computer program products or readable storage media.

[0035] Figure 1 This is a flowchart of a vehicle torque control method according to one embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0036] Step S10: Obtain the first target torque.

[0037] In step S10 above, the first target torque is used to represent the torque required by the driver, and can be denoted as T. Ramp The required torque for the driver is included in the first target torque, which represents the required torque of the first motor. The first motor can be the front motor of the target vehicle, and its required torque can be denoted as T. Ramp前的前电机需求扭矩 The front motor includes a disconnect device for controlling the engagement and disengagement of the front motor from the front axle wheel. For example, the driver's required torque can be obtained, where the driver's required torque includes the required torque of the front motor.

[0038] Step S12: Perform low-pass filtering on the first target torque to obtain the second target torque, and perform low-pass filtering on the first required torque to obtain the second required torque.

[0039] In step S12 above, a low-pass filter can be used to filter out the high-frequency jitter components in the first target torque and the first required torque, thereby making the first target torque and the first required torque smoother and more stable. The second target torque mentioned above is the driver's required torque after low-pass filtering, which can be denoted as T. Filter后的驾驶员需求扭矩 The second required torque mentioned above is the required torque of the front motor after low-pass filtering, which can be denoted as T. Filter后的前电机需求扭矩 .

[0040] For example, by performing a first-order low-pass filter on the driver's required torque, we can obtain the driver's required torque after low-pass filtering; similarly, by performing a first-order low-pass filter on the required torque of the front motor, we can obtain the front motor's required torque after low-pass filtering.

[0041] Step S14: Limit the rate of change of the second target torque to obtain the third target torque, and limit the rate of change of the second required torque to obtain the third required torque.

[0042] In step S14 above, the torque change rate is limited (Ramp) on the second target torque, which can include a four-stage Ramp, to obtain the third target torque. The third target torque is the torque required by the driver after the Ramp, and can be denoted as T. Ramp后的驾驶员需求扭矩 The four-stage ramp includes two parts: a normal ascent or descent ramp and a ramp approaching the target torque. Figure 2 As shown, Figure 2 This is a schematic diagram of a ramp according to one embodiment of the present invention.

[0043] For example, for T Filter后的驾驶员需求扭矩 A four-stage ramp can yield T. Ramp后的驾驶员需求扭矩 , among which, T Ramp后的驾驶员需求扭矩 The desired torque zero-crossing ramp is designed to account for assembly clearance and is primarily used at the assembly level. The T... Ramp后的驾驶员需求扭矩 To ensure the target (desired) drivability, there is no need to consider torque crossing zero.

[0044] Assembly clearance refers to the gap existing in the transmission system where the motor is located. When the motor torque crosses zero (i.e., the sign of the torque changes), the gears will engage from one side to the other. Zero-crossing ramp refers to limiting the speed (slope) of the change in the sign of the motor torque to prevent rapid engagement that could cause gear knocking. Assembly-level use refers to stages such as the motor / engine that ultimately need to output torque to the wheel ends; that is, the output torque directly affects the zero-crossing of the transmission system clearance.

[0045] The aforementioned limitation on the rate of change of the second required torque can include a five-stage ramp, which yields the third required torque. This third required torque is the required torque of the front motor after the ramp, and can be denoted as T. Ramp后的前电机需求扭矩 .

[0046] Specifically, the five-stage ramp includes positive / negative zero-crossing ramps, normal climb / descent ramps, and ramps with smaller slopes when approaching the target value, such as... Figure 2 As shown, the five-stage ramp system allows for precise control of acceleration and deceleration without producing any shock or vibration effects.

[0047] The five-stage ramp is designed to ensure that the target torque meets driving requirements. For example, the positive / negative torque zero-crossing ramp is to prevent the transmission gears from engaging rapidly and causing knocking vibrations; the normal climb / descent ramp is to adapt to different driving styles at different throttles, speeds, and driving modes; and the approaching target torque ramp is designed to provide a smooth transition when the torque approaches the target torque, preventing a sudden decrease in the torque slope from causing the transmission system to vibrate due to a step-like excitation.

[0048] Step S16: Use the third target torque and the third required torque to perform torque compensation to obtain the first output torque.

[0049] In step S16 above, the first output torque is used to represent the required torque of the second motor when switching drive modes. The second motor is the rear motor of the target vehicle, and it is always connected to the rear axle wheel end. The first output torque can be denoted as T. Ramp后的后电机需求扭矩 .

[0050] The aforementioned drive modes may include two-wheel drive mode and four-wheel drive mode, and drive mode switching may include switching from four-wheel drive mode to two-wheel drive mode and switching from four-wheel drive mode to two-wheel drive mode.

[0051] For example, the driver's required torque T after utilizing the torque change rate limit. Ramp后的驾驶员需求扭矩 The required torque T of the front motor after the torque change rate limit Ramp后的前电机需求扭矩 By performing torque compensation, the required torque T of the vehicle's rear motor can be obtained when the drive mode is switched. Ramp后的后电机需求扭矩 .

[0052] Step S18: Control the target vehicle to output torque based on the first output torque.

[0053] In step S18 above, after obtaining the first output torque, the target vehicle can be controlled to output torque based on the first output torque. For example, the torque T required by the rear motor of the vehicle when switching drive modes can be used as a basis. Ramp后的后电机需求扭矩 Control the vehicle to output torque.

[0054] Based on the above steps S10 to S18, by obtaining the first target torque, then performing low-pass filtering on the first target torque to obtain the second target torque, and performing low-pass filtering on the first required torque to obtain the second required torque, then limiting the torque change rate of the second target torque to obtain the third target torque, and then limiting the torque change rate of the second required torque to obtain the third required torque, then using the third target torque and the third required torque for torque compensation to obtain the first output torque, and finally controlling the target vehicle to output torque based on the first output torque, the goal of ensuring that the acceleration of the vehicle before and after the driving mode switch remains consistent is achieved, thereby realizing the technical effect of improving the driving experience, and thus solving the technical problem of poor driving experience caused by the difference in acceleration before and after the vehicle driving mode switch in related technologies.

[0055] Figure 3 This is a schematic diagram of a pure electric configuration of a vehicle according to one embodiment of the present invention, as shown below. Figure 3 As shown, the electric configuration mainly includes a front axle, a rear axle, a jaw-type disconnect device, two reducers, and two drive motors.

[0056] Optionally, in step S16 above, torque compensation is performed using the third target torque and the third required torque to obtain the first output torque, including:

[0057] Step S161: Determine the second output torque using the third target torque and the third required torque.

[0058] In step S161 above, when the first output torque is obtained by using the third target torque and the third required torque for torque compensation, the second output torque can be determined using the third target torque and the third required torque. The second output torque is the required torque of the rear motor, which can be denoted as T. Ramp The front and rear motors require torque.

[0059] For example, the required torque of the rear motor can be determined by using the driver's required torque after the ramp and the required torque of the front motor after the ramp.

[0060] Step S162: Use the third target torque and the third required torque to perform torque compensation to obtain the first torque change rate.

[0061] In step S162 above, torque compensation is performed using the third target torque and the third required torque to obtain the first torque change rate, where the first torque change rate is the slope of the normal climbing or descending ramp segment of the rear motor, which can be denoted as R1.

[0062] For example, by using the driver's required torque after the ramp and the front motor's required torque after the ramp for torque compensation, the slope of the normal climbing or descending ramp segment of the rear motor can be obtained.

[0063] Step S163: Based on the first torque change rate, the torque change rate of the second output torque is limited to obtain the first output torque.

[0064] In step S163 above, the first output torque can be obtained by performing a five-stage ramp for the rear motor before the TRamp based on the first torque change rate, which is different from the aforementioned five-stage ramp.

[0065] Specifically, the rear motor five-stage ramp differs from the aforementioned five-stage ramp, primarily in the ramp segment near the target torque, when T... Ramp后的前电机需求扭矩 When the change is small, T Ramp前的后电机需求扭矩 rate of change and T Ramp后的驾驶员需求扭矩 Very close, which will lead to T Ramp前的后电机需求扭矩 When approaching the target torque ramp, a significant secondary ramp delay will occur. Therefore, the approaching target torque ramp needs to be calibrated based on the actual situation of the rear motor assembly (i.e., ensuring the maximum slope threshold when approaching the target torque ramp under NVH conditions). The principle is to maximize the slope of this ramp.

[0066] Based on the above steps S161 to S163, the second output torque is determined by using the third target torque and the third demand torque, and then torque compensation is performed using the third target torque and the third demand torque to obtain the first torque change rate. Based on the first torque change rate, the torque change rate of the second output torque is limited to obtain the first output torque.

[0067] Optionally, in step S161 above, determining the second output torque using the third target torque and the third required torque includes:

[0068] Step S1611: Obtain the vehicle battery power, first motor speed, second motor speed, and the preset torque value corresponding to the second motor of the target vehicle.

[0069] In step S1611 above, when determining the second output torque using the third target torque and the third required torque, the vehicle battery power, the first motor speed, the second motor speed, and the preset torque value corresponding to the second motor of the target vehicle can be obtained.

[0070] Specifically, the battery power of the aforementioned vehicle can be denoted as P, which represents the battery's allowable power. 电池许用功率 The speed of the first motor can be the speed of the front motor, denoted as N. 前电机转速 The speed of the second motor can be the speed of the rear motor, denoted as N.后电机转速 The preset torque value corresponding to the second motor can be the external characteristic torque corresponding to the rear motor, which can be denoted as T. 后电外特性扭矩 It can reflect the maximum torque capability of the rear motor.

[0071] Step S1612: Determine the target limiting torque based on the vehicle battery power, the first motor speed, the second motor speed, the preset torque value, and the third required torque.

[0072] In step S1612 above, based on the vehicle battery power, the first motor speed, the second motor speed, the preset torque value, and the third required torque, the target limiting torque can be determined. The target limiting torque can be the rear axle capacity limiting torque, denoted as T. 后轴能力限制扭矩 .

[0073] Specifically, the rear axle capacity limiting torque T can be determined according to formula (1):

[0074]

[0075] Step S1613: The difference between the third target torque and the third required torque is calculated to obtain the target difference torque.

[0076] In step S1613 above, the target difference torque is obtained by subtracting the third target torque from the third required torque. For example, the target difference torque T can be obtained by subtracting the required torque of the front motor after the ramp from the required torque of the driver after the ramp. 目标差值 =(T Ramp后的驾驶员需求扭矩 -T Ramp后的前电机需求扭矩 ).

[0077] Step S1614: Determine the second output torque using the target limiting torque and the target difference torque.

[0078] In step S1614 above, after obtaining the target limiting torque and the target difference torque, the second output torque can be determined using the target limiting torque and the target difference torque.

[0079] Specifically, the torque T can be limited by utilizing the rear axle's capacity. 后轴能力限制 The difference in torque T with the target 目标差值 Once determined, the required motor torque T Ramp前的后电机需求扭矩 The calculation formula is shown in equation (2).

[0080] T Ramp前的后电机需求扭矩 =Min(T) 后轴能力限制 ,T 目标差值 (2)

[0081] Based on steps S1611 to S1614 above, the vehicle battery power, first motor speed, second motor speed, and the preset torque value corresponding to the second motor of the target vehicle are obtained. Then, based on the vehicle battery power, first motor speed, second motor speed, preset torque value, and third required torque, the target limiting torque is determined. Subsequently, the difference between the third target torque and the third required torque is calculated to obtain the target difference torque. Finally, the second output torque is determined using the target limiting torque and the target difference torque, so that the torque change rate is limited based on the second output torque to obtain the third required torque.

[0082] Optionally, in step S162, torque compensation is performed using the third target torque and the third required torque to obtain the first torque change rate, including:

[0083] Step S1621: Determine the second torque change rate using the third target torque, and determine the third torque change rate using the third demand torque.

[0084] In step S1621, the aforementioned second torque change rate is the ramp slope of the driver's required torque, which can be denoted as R. 驾驶员需求扭矩正常爬升或下降Ramp , where R 驾驶员需求扭矩正常爬升或下降Ramp It can be calibrated based on different driving modes, different throttle openings, and different vehicle speeds.

[0085] The aforementioned third torque change rate is the actual ramp-up or ramp-down slope of the front motor's required torque, which can be denoted as R. 前电机需求扭矩实际爬升或下降Ramp , where R 前电机需求扭矩实际爬升或下降Ramp According to T Ramp后的前电机需求扭矩 get.

[0086] Step S1622: Determine the fourth torque change rate based on the second torque change rate.

[0087] Specifically, the fourth torque change rate mentioned above is the slope of the normal rise or fall of the rear motor's required torque, which can be denoted as R. 后电机需求扭矩正常爬升或下降Ramp , where R 后电机需求扭矩正常爬升或下降Ramp According to R 驾驶员需求扭矩正常爬升或下降Ramp The calculation results are shown in equation (3).

[0088] R 后电机需求扭矩正常爬升或下降Ramp =1 / 2×R 驾驶员需求扭矩正常爬升或下降Ramp (3)

[0089] R is obtained through formula (3) 后电机需求扭矩正常爬升或下降Ramp This ensures that the vehicle's acceleration is consistent between two-wheel drive and four-wheel drive modes, meaning that the rate of increase / decrease of the total wheel torque is consistent in both two-wheel drive and four-wheel drive modes.

[0090] Step S1623: Determine the first torque change rate using the second torque change rate, the third torque change rate, and the fourth torque change rate.

[0091] Specifically, R can be used 驾驶员需求扭矩正常爬升或下降Ramp R 前电机需求扭矩实际爬升或下降Ramp and R 后电机需求扭矩正常爬升或下降Ramp Once the slope R1 of the normal climbing or descending Ramp segment of the motor is determined, the specific calculation formula is shown in equation (4).

[0092] R1 = Max[R 后电机需求扭矩正常爬升或下降Ramp ,(R 驾驶员需求扭矩正常爬升或下降Ramp -R 前电机需求扭矩实际爬升或下降Ramp (4)

[0093] Based on the above steps S1621 to S1623, by using the third target torque to determine the second torque change rate, and using the third demand torque to determine the third torque change rate, and then using the second torque change rate to determine the fourth torque change rate, and finally using the second torque change rate, the third torque change rate, and the fourth torque change rate to determine the first torque change rate, it is possible to ensure that the vehicle acceleration is consistent in two-wheel drive and four-wheel drive modes.

[0094] Optionally, in step S1621 above, determining the third torque change rate using the third demand torque includes:

[0095] Step S16211: Obtain the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle.

[0096] In step S16211, the third required torque corresponding to the current cycle, the third required torque corresponding to the historical cycle, and the target task cycle can be obtained, wherein the target task cycle is the task cycle of the vehicle control unit (VCU).

[0097] Step S16212: Determine the rate of change of the third torque based on the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle.

[0098] In step S16212, after obtaining the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle, the third torque change rate can be determined based on the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle. The specific calculation formula is shown in equation (5).

[0099]

[0100] Specifically, the aforementioned third torque change rate can be used to calculate how quickly the required torque of the front motor changes after being subject to the torque change rate limit, such as... Figure 4 (2) The slope of the curve in the stage indicated by the arrow.

[0101] Based on the above steps S16211 to S16212, by obtaining the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle, the third torque change rate is determined based on the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle, so as to determine the first torque change rate based on the third torque change rate.

[0102] Optionally, the vehicle torque control method further includes:

[0103] Step S101: Obtain the torque distribution coefficient.

[0104] Step S102: Determine the first required torque based on the torque distribution coefficient and the first target torque.

[0105] In steps S101 to S102, a torque distribution coefficient is obtained, and then a first required torque can be determined based on the torque distribution coefficient and a first target torque. Specifically, the required torque of the front motor can be determined based on the torque distribution coefficient and the driver's required torque.

[0106] Based on the above steps S101 to S102, by obtaining the torque distribution coefficient, the first required torque can be determined based on the torque distribution coefficient and the first target torque.

[0107] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0108] This embodiment also provides a vehicle torque control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0109] Figure 5 This is a structural block diagram of a vehicle torque control device according to one embodiment of the present invention, such as... Figure 5 As shown, the device includes: an acquisition module 501, used to acquire a first target torque, wherein the first target torque represents the torque required by the driver, the first target torque includes a first demand torque, and the first demand torque represents the torque required by the first motor; a filtering module 502, used to perform low-pass filtering on the first target torque to obtain a second target torque, and to perform low-pass filtering on the first demand torque to obtain a second demand torque; a limiting module 503, used to limit the torque change rate of the second target torque to obtain a third target torque, and to limit the torque change rate of the second demand torque to obtain a third demand torque; a compensation module 504, used to perform torque compensation using the third target torque and the third demand torque to obtain a first output torque, wherein the first output torque represents the torque required by the second motor when switching drive modes; and a control module 505, used to control the target vehicle to output torque based on the first output torque.

[0110] Optionally, the compensation module 504 is further configured to determine the second output torque using the third target torque and the third demand torque; perform torque compensation using the third target torque and the third demand torque to obtain the first torque change rate; and limit the torque change rate of the second output torque based on the first torque change rate to obtain the first output torque.

[0111] Optionally, the compensation module 504 is further configured to acquire the vehicle battery power, first motor speed, second motor speed, and preset torque value corresponding to the second motor of the target vehicle; determine the target limiting torque based on the vehicle battery power, first motor speed, second motor speed, preset torque value, and third required torque; perform difference processing on the third target torque and the third required torque to obtain the target difference torque; and determine the second output torque using the target limiting torque and the target difference torque.

[0112] Optionally, the compensation module 504 is further configured to determine a second torque change rate using a third target torque, and a third torque change rate using a third demand torque; determine a fourth torque change rate based on the second torque change rate; and determine a first torque change rate using the second torque change rate, the third torque change rate, and the fourth torque change rate.

[0113] Optionally, the compensation module 504 is also used to obtain the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle; and to determine the third torque change rate based on the third demand torque corresponding to the current cycle, the third demand torque corresponding to the historical cycle, and the target task cycle.

[0114] Optionally, the acquisition module 501 is also used to acquire the torque distribution coefficient; the vehicle torque control device further includes a determination module 506, used to determine the first required torque based on the torque distribution coefficient and the first target torque.

[0115] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0116] This embodiment also provides a non-volatile storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0117] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0118] Step S1, obtain the first target torque, wherein the first target torque is used to represent the torque required by the driver, the first target torque includes the first required torque, and the first required torque is used to represent the torque required by the first motor;

[0119] Step S2: Perform low-pass filtering on the first target torque to obtain the second target torque, and perform low-pass filtering on the first required torque to obtain the second required torque.

[0120] Step S3: Limit the rate of change of the second target torque to obtain the third target torque, and limit the rate of change of the second required torque to obtain the third required torque.

[0121] Step S4: Use the third target torque and the third required torque to perform torque compensation to obtain the first output torque, wherein the first output torque is used to represent the required torque of the second motor when the drive mode is switched.

[0122] Step S5: Control the target vehicle to output torque based on the first output torque.

[0123] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0124] This embodiment also provides a processor for running a program, wherein the program is configured to execute the steps in any of the above method embodiments during runtime.

[0125] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0126] Step S1, obtain the first target torque, wherein the first target torque is used to represent the torque required by the driver, the first target torque includes the first required torque, and the first required torque is used to represent the torque required by the first motor;

[0127] Step S2: Perform low-pass filtering on the first target torque to obtain the second target torque, and perform low-pass filtering on the first required torque to obtain the second required torque.

[0128] Step S3: Limit the rate of change of the second target torque to obtain the third target torque, and limit the rate of change of the second required torque to obtain the third required torque.

[0129] Step S4: Use the third target torque and the third required torque to perform torque compensation to obtain the first output torque, wherein the first output torque is used to represent the required torque of the second motor when the drive mode is switched.

[0130] Step S5: Control the target vehicle to output torque based on the first output torque.

[0131] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0132] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0133] Step S1, obtain the first target torque, wherein the first target torque is used to represent the torque required by the driver, the first target torque includes the first required torque, and the first required torque is used to represent the torque required by the first motor;

[0134] Step S2: Perform low-pass filtering on the first target torque to obtain the second target torque, and perform low-pass filtering on the first required torque to obtain the second required torque.

[0135] Step S3: Limit the rate of change of the second target torque to obtain the third target torque, and limit the rate of change of the second required torque to obtain the third required torque.

[0136] Step S4: Use the third target torque and the third required torque to perform torque compensation to obtain the first output torque, wherein the first output torque is used to represent the required torque of the second motor when the drive mode is switched.

[0137] Step S5: Control the target vehicle to output torque based on the first output torque.

[0138] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0139] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0140] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] Furthermore, the functional units in the various embodiments of the present invention 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.

[0144] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0145] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle torque control method characterized by, The method comprises: obtaining a first target torque, wherein the first target torque is used to represent a driver demand torque, and the first target torque comprises a first demand torque used to represent a demand torque of a first motor; performing low-pass filtering on the first target torque to obtain a second target torque, and performing low-pass filtering on the first demand torque to obtain a second demand torque; performing torque change rate limiting on the second target torque to obtain a third target torque, and performing torque change rate limiting on the second demand torque to obtain a third demand torque; performing torque compensation on the third target torque and the third demand torque to obtain a first output torque, wherein the first output torque is used to represent a demand torque of a second motor during driving mode switching; controlling a target vehicle to output torque based on the first output torque; wherein performing torque compensation on the third target torque and the third demand torque to obtain the first output torque comprises: determining a second output torque using the third target torque and the third demand torque; performing torque compensation on the third target torque and the third demand torque to obtain a first torque change rate; and performing torque change rate limiting on the second output torque based on the first torque change rate to obtain the first output torque. Performing torque compensation on the third target torque and the third demand torque to obtain the first torque change rate comprises: determining a second torque change rate using the third target torque, and determining a third torque change rate using the third demand torque; determining a fourth torque change rate based on the second torque change rate; and determining the first torque change rate using the second torque change rate, the third torque change rate, and the fourth torque change rate.

2. The vehicle torque control method according to claim 1, characterized by, Determining the second output torque using the third target torque and the third demand torque comprises: obtaining a vehicle battery power of a target vehicle, a first motor speed, a second motor speed, and a preset torque value corresponding to the second motor; determining a target limit torque based on the vehicle battery power, the first motor speed, the second motor speed, the preset torque value, and the third demand torque; performing difference processing on the third target torque and the third demand torque to obtain a target difference torque; determining the second output torque using the target limit torque and the target difference torque.

3. The vehicle torque control method according to claim 2, characterized by, Determining the third torque change rate using the third demand torque comprises: obtaining the third demand torque corresponding to a current period, the third demand torque corresponding to a historical period, and a target task period; determining the third torque change rate based on the third demand torque corresponding to the current period, the third demand torque corresponding to the historical period, and the target task period.

4. The vehicle torque control method according to claim 1, characterized by, The method further comprises: obtaining a torque distribution coefficient; and determining the first demand torque based on the torque distribution coefficient and the first target torque.

5. A vehicle torque control device characterized by comprising: The method comprises: The acquisition module is configured to acquire a first target torque, wherein the first target torque is used to represent a driver demand torque, and the first target torque includes a first demand torque used to represent a demand torque of a first motor. The filtering module is configured to perform low-pass filtering on the first target torque to obtain a second target torque, and perform low-pass filtering on the first demand torque to obtain a second demand torque. The limiting module is configured to limit a torque change rate of the second target torque to obtain a third target torque, and limit a torque change rate of the second demand torque to obtain a third demand torque. The compensation module is configured to perform torque compensation on the third target torque and the third demand torque to obtain a first output torque, wherein the first output torque is used to represent a demand torque of a second motor during driving mode switching. The control module is configured to control a target vehicle to output torque based on the first output torque. The compensation module is further configured to determine a second output torque based on the third target torque and the third demand torque, perform torque compensation on the third target torque and the third demand torque to obtain a first torque change rate, and limit a torque change rate of the second output torque based on the first torque change rate to obtain the first output torque. The compensation module is further configured to determine a second torque change rate based on the third target torque and determine a third torque change rate based on the third demand torque, determine a fourth torque change rate based on the second torque change rate, and determine the first torque change rate based on the second torque change rate, the third torque change rate, and the fourth torque change rate.

6. A non-volatile storage medium, characterized by, The storage medium stores a computer program, wherein the computer program is configured to execute the vehicle torque control method described in any one of claims 1 to 4 when running.

7. A processor, comprising: The processor is configured to run a program, wherein the program is configured to execute the vehicle torque control method described in any one of claims 1 to 4 when running. 8.An electronic device comprising a memory and a processor, the electronic device comprising: The memory stores a computer program, and the processor is configured to run the computer program to execute the vehicle torque control method described in any one of claims 1 to 4.

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