Vehicle torque zero-crossing control method, device and storage medium

Abstract

This invention discloses a method, device, and storage medium for zero-crossing torque control of a vehicle. The method includes: during vehicle operation, in response to receiving a condition switching command, determining the current driving condition and a target driving condition based on the command; determining the transition torque change information based on the current and target driving conditions; obtaining the torque demand change information of the rear motor and the front motor based on the transition torque change information, wherein the rear motor torque demand change information meets a preset torque value, and the front motor torque demand change information does not meet the preset torque value; and performing torque control on the vehicle based on the rear and front motor torque demand change information. This invention solves the technical problem of transmission system shock and vibration that occurs in pure electric vehicles during condition switching in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a method, apparatus, and storage medium for controlling the torque zero crossing of a vehicle. Background Technology

[0002] In related technologies, due to the gap in the transmission system of pure electric vehicles, when switching between driving and recovery modes, the change in the direction of motor torque (torque crossing zero) causes the transmission gears to quickly engage from one side of the gap to the other side, resulting in impact vibration after a knock.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method, device, and storage medium for controlling the torque zero crossing of a vehicle, in order to at least solve the technical problem of shock vibration in the transmission system of pure electric vehicles during operating condition switching in related technologies.

[0005] According to one aspect of the present invention, a method for zero-crossing torque control of a vehicle is provided, comprising: during vehicle operation, in response to receiving a condition switching command, determining a current driving condition and a target driving condition of the vehicle based on the condition switching command, wherein the target driving condition represents the condition obtained after switching the current driving condition based on the condition switching command; determining transitional driving condition torque change information of the vehicle based on the current driving condition and the target driving condition, wherein the transitional driving condition torque change information represents the torque demand change information during the transition from the current driving condition to the target driving condition; obtaining rear motor torque demand change information and front motor torque demand change information of the vehicle based on the transitional driving condition torque change information, wherein the rear motor torque demand change information satisfies a preset torque value, and the front motor torque demand change information does not satisfy the preset torque value; and performing torque control on the vehicle based on the rear motor torque demand change information and the front motor torque demand change information.

[0006] Furthermore, based on the torque change information under the transition condition, the torque demand change information of the vehicle's rear motor and front motor are obtained, including: obtaining the first torque demand corresponding to a first moment and the second torque demand corresponding to a second moment based on the torque change information under the transition condition, wherein the first moment represents the moment before the transition condition and the second moment represents the moment after the transition condition; determining the torque demand change information of the rear motor based on the first torque demand and the minimum torque demand of the front motor, wherein the torque demand change information of the rear motor represents the change information of the rear motor torque from the minimum torque demand of the rear motor; and determining the torque demand change information of the front motor based on the second torque demand and the minimum torque demand of the rear motor, wherein the torque demand change information of the front motor represents the change information of the front motor torque starting from the minimum torque demand of the front motor.

[0007] Furthermore, the method includes: in response to the current driving condition being a driving condition, calibrating the minimum torque requirement of the vehicle's front motor to obtain the minimum torque requirement of the front motor; and determining the torque requirement of the rear motor corresponding to the current driving condition based on the minimum torque requirement of the front motor and the driving torque corresponding to the driving condition.

[0008] Furthermore, the method includes: responding to the current driving condition being a recovery condition, calibrating the minimum torque demand of the vehicle's rear motor to obtain the minimum torque demand of the rear motor; and determining the torque demand of the front motor corresponding to the current driving condition based on the minimum torque demand of the rear motor and the recovery torque corresponding to the recovery condition.

[0009] Furthermore, the sum of the minimum torque requirements of the front motor and the minimum torque requirements of the rear motor satisfies the preset torque value.

[0010] Furthermore, based on the torque demand change information of the rear motor and the torque demand change information of the front motor, torque control is performed on the vehicle, including: in response to the switching from the current driving condition to the target driving condition, acquiring the pedal change trend of the vehicle, wherein the pedal change trend includes the change trend of the accelerator pedal and the change trend of the brake pedal; based on the pedal change trend, and the torque demand change information of the rear motor and the front motor, torque control is performed on the vehicle, wherein the time difference between the change time of the pedal change trend and the response time of the torque response meets a preset time difference.

[0011] Further, the method includes: in response to a failure of the vehicle's front motor, determining that the current driving condition of the vehicle's rear motor includes either a drive condition or a regenerative braking condition, and limiting the speed under the current driving condition based on a first preset speed, wherein the first preset speed represents the minimum permissible rotational speed in the event of a failure of the front motor; in response to a failure of the vehicle's rear motor, determining that the current driving condition of the vehicle's front motor includes either a regenerative braking condition or a drive condition, and limiting the speed under the current driving condition based on a second preset speed, wherein the second preset speed represents the minimum permissible rotational speed in the event of a failure of the rear motor.

[0012] According to another aspect of the present invention, a vehicle torque zero-crossing control device is also provided, comprising: a first determining module, configured to, during vehicle operation, in response to receiving a working condition switching command, determine the current driving working condition and a target driving working condition of the vehicle based on the working condition switching command, wherein the target driving working condition represents the working condition obtained after switching the current driving working condition based on the working condition switching command; a second determining module, configured to determine the transitional working condition torque change information of the vehicle based on the current driving working condition and the target driving condition, wherein the transitional working condition torque change information represents the torque demand change information when transitioning from the current driving working condition to the target driving condition; an obtaining module, configured to obtain the rear motor torque demand change information and the front motor torque demand change information of the vehicle based on the transitional working condition torque change information, wherein the rear motor torque demand change information satisfies a preset torque value, and the front motor torque demand change information does not satisfy the preset torque value; and a control module, configured to perform torque control on the vehicle based on the rear motor torque demand change information and the front motor torque demand change information.

[0013] According to a third aspect of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is executed, the above-described vehicle torque zero-crossing control method is executed in the processor of the device.

[0014] According to a fourth aspect of the present invention, a vehicle is also provided, comprising: one or more processors; a storage device for storing one or more programs; wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the above-described torque zero-crossing control method for the vehicle.

[0015] In this embodiment of the invention, during vehicle operation, in response to receiving a condition switching command, the current driving condition and a target driving condition of the vehicle are determined based on the condition switching command. The target driving condition represents the condition obtained after switching the current driving condition based on the condition switching command. Based on the current driving condition and the target driving condition, transitional torque change information of the vehicle is determined. This transitional torque change information represents the torque demand change information during the transition from the current driving condition to the target driving condition. Based on the transitional torque change information, the torque demand change information of the rear motor and the front motor is obtained. The rear motor torque demand change information meets a preset torque value, while the front motor torque demand change information does not meet the preset torque value. Based on the rear motor torque demand change information and the front motor torque demand change information, torque control is performed on the vehicle. It is noteworthy that by acquiring the torque demand changes of the rear motor and front motor corresponding to the torque change information of the transition condition during the vehicle's transition from the current driving condition to the target driving condition, and simultaneously calibrating the torque demand changes of the rear motor and front motor by pre-setting torque values, the problem of motor torque crossing to zero during the vehicle's condition transition is prevented. This achieves the technical effect of avoiding the shock and vibration of the transmission system in pure electric vehicles during condition transition, thereby improving the driving experience and solving the technical problem of shock and vibration of the transmission system in pure electric vehicles during condition transition in related technologies. Attached Figure Description

[0016] 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:

[0017] Figure 1 This is a flowchart of a vehicle torque zero-crossing control method according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of an optional transmission configuration for a pure electric vehicle according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of an optional driver torque demand zero crossing in the prior art;

[0020] Figure 4 This is a schematic diagram of an optional variation in the torque demand of the front and rear axle motors according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of a vehicle torque zero-crossing control device according to an embodiment of the present invention. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] Example 1

[0025] According to an embodiment of the present invention, an embodiment of a torque zero-crossing control method for a vehicle 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.

[0026] Figure 1 This is a flowchart of a vehicle torque zero-crossing control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0027] Step S102: During vehicle operation, in response to receiving a working condition switching command, the current driving working condition and the target driving working condition of the vehicle are determined based on the working condition switching command. The target driving working condition is used to represent the working condition obtained after switching the current driving working condition based on the working condition switching command.

[0028] Specifically, the aforementioned operating condition switching command is used to indicate the command to switch the vehicle's current driving condition to the target driving condition.

[0029] The aforementioned current driving condition can be used to indicate the current driving condition of the vehicle, which can be either driving condition or recovery condition. No specific limitation is made to the current driving condition here.

[0030] The target driving condition mentioned above can be used to represent the driving condition obtained after switching the current driving condition based on the driving condition switching command. It can be either the recovery driving condition or the driving driving condition. Here, the current driving condition is not specifically limited.

[0031] The aforementioned vehicles can be used to refer to vehicles that are purely electric, where the energy recovery function is handled by the front axle motor and the driving function is handled by the rear axle motor.

[0032] In one optional embodiment, during the process of torque zero-crossing control of the vehicle, it is necessary to obtain the torque change of the vehicle during the process of switching from the current driving condition to the target driving condition. Therefore, it is first necessary to determine the current driving condition and the target driving condition of the vehicle.

[0033] Figure 2 This is a schematic diagram of an optional transmission configuration for a pure electric vehicle according to an embodiment of the present invention. Figure 2 As shown, the front axle of the vehicle is responsible for energy recovery, while the rear axle is responsible for driving.

[0034] Step S104: Based on the current driving conditions and the target driving conditions, determine the transition torque change information of the vehicle, wherein the transition torque change information is used to represent the torque demand change information when transitioning from the current driving conditions to the target driving conditions.

[0035] Specifically, the aforementioned torque change information under transitional operating conditions can be used to represent the change in torque demand as the vehicle transitions from the driver's torque demand under the current driving condition to the driver's torque demand under the target driving condition.

[0036] In one alternative embodiment, in response to the vehicle transitioning from a driving mode to a regeneration mode, the torque demand of the vehicle's rear motor gradually decreases, but does not exceed the calibrated minimum torque demand of the rear motor, while the torque demand of the vehicle's front motor gradually increases from the minimum torque demand of the front motor.

[0037] In another alternative embodiment, in response to the vehicle transitioning from recovery mode to drive mode, the torque demand of the vehicle's rear motor gradually increases from the minimum value of the rear motor torque demand, while the torque demand of the vehicle's front motor gradually decreases, but does not exceed the calibrated minimum value of the front motor torque demand.

[0038] Step S106: Based on the torque change information under transition conditions, obtain the torque demand change information of the rear motor and the torque demand change information of the front motor of the vehicle. The torque demand change information of the rear motor meets the preset torque value, while the torque demand change information of the front motor does not meet the preset torque value.

[0039] Specifically, the aforementioned information on the change in torque demand of the rear motor is used to represent the change in torque demand of the rear motor during the process of switching the vehicle from the current driving condition to the target driving condition.

[0040] The aforementioned information on changes in front motor torque demand is used to represent the changes in front motor torque demand during the process of switching the vehicle from the current driving condition to the target driving condition.

[0041] The aforementioned preset torque value can be used to represent the pre-set threshold for the change in torque demand of the front and rear motors. For example, the preset torque value can be represented as 0, that is, during the process of switching the vehicle from the current driving condition to the target driving condition, the change in torque demand of the rear motor is always greater than or equal to 0, and the change in torque demand of the front motor is always less than or equal to 0. It should be noted that the above is only an example and the preset torque value is not specifically limited here.

[0042] In one optional embodiment, after obtaining the aforementioned torque change information under transitional operating conditions, it is necessary to determine the torque demand change information of the vehicle's rear motor and the torque demand change information of the front motor, respectively. In response to the vehicle transitioning from a driving condition to a regenerative braking condition, i.e., when the driver releases the accelerator pedal and depresses the brake pedal, the torque demand of the vehicle's rear motor needs to change from the torque demand corresponding to the driving condition to the minimum torque demand of the rear motor, and the torque demand of the vehicle's front motor needs to change from the minimum torque demand of the front motor to the torque demand corresponding to the regenerative braking condition.

[0043] Step S108: Based on the information on the change in torque demand of the rear motor and the information on the change in torque demand of the front motor, torque control is performed on the vehicle.

[0044] Specifically, during the process of switching the vehicle from the current driving condition to the target driving condition, after obtaining the corresponding information on the change in torque demand of the rear motor and the front motor, the rear wheels of the vehicle can be controlled through the information on the change in torque demand of the rear motor, and the front wheels of the vehicle can be controlled through the information on the change in torque demand of the front motor, thereby achieving torque control of the vehicle.

[0045] In summary, during vehicle operation, in response to a received operating condition switching command, the current driving operating condition and the target driving operating condition are determined based on the command. The target driving operating condition represents the operating condition obtained after switching from the current driving operating condition based on the switching command. Based on the current and target driving conditions, the transition torque change information is determined, representing the torque demand change information during the transition from the current to the target driving condition. Based on the transition torque change information, the torque demand change information for the rear motor and the front motor is obtained. The rear motor torque demand change information meets a preset torque value, while the front motor torque demand change information does not. Based on the rear and front motor torque demand change information, torque control is performed on the vehicle. It is noteworthy that by acquiring the torque demand changes of the rear motor and front motor corresponding to the torque change information of the transition condition during the vehicle's transition from the current driving condition to the target driving condition, and simultaneously calibrating the torque demand changes of the rear motor and front motor by pre-setting torque values, the problem of motor torque crossing to zero during the vehicle's driving condition transition is prevented. This achieves the technical effect of avoiding the impact and vibration of the transmission system in pure electric vehicles during driving condition transitions, thus solving the technical problem of impact and vibration of the transmission system in pure electric vehicles during driving condition transitions in related technologies.

[0046] Optionally, based on the torque change information under the transition condition, the torque demand change information of the vehicle's rear motor and front motor are obtained, including: obtaining the first torque demand corresponding to a first moment and the second torque demand corresponding to a second moment based on the torque change information under the transition condition, wherein the first moment represents the moment before the transition condition and the second moment represents the moment after the transition condition; determining the torque demand change information of the rear motor based on the first torque demand and the minimum value of the front motor torque demand, wherein the torque demand change information of the rear motor represents the change information of the rear motor torque from the minimum value of the rear motor torque demand; and determining the torque demand change information of the front motor based on the second torque demand and the minimum value of the rear motor torque demand, wherein the torque demand change information of the front motor represents the change information of the front motor torque starting from the minimum value of the front motor torque demand.

[0047] Specifically, the aforementioned first moment can be used to represent the moment before the transition from the current driving condition to the target driving condition, and can be denoted as T. 正a时刻 .

[0048] The aforementioned first torque requirement can be used to represent the driver's required torque before transitioning from the current driving condition to the target driving condition.

[0049] The second time point mentioned above can be denoted as T.负b时刻 It can be used to indicate the moment after the transition from the current driving condition to the target driving condition.

[0050] The aforementioned second torque requirement can be used to represent the driver's required torque after transitioning from the current driving condition to the target driving condition.

[0051] The aforementioned minimum torque requirement for the front motor can be used to represent the pre-calibrated minimum torque requirement T for the front axle motor of a vehicle. FMIN .

[0052] The aforementioned information on the change in rear motor torque demand can be used to represent the change from the sum of the first torque demand at the first moment and the minimum negative front motor torque demand to the minimum rear motor torque demand.

[0053] The aforementioned minimum torque requirement for the rear motor can be used to represent the pre-calibrated minimum torque requirement T for the rear axle motor of a vehicle. RMIN .

[0054] The aforementioned information on the change in front motor torque demand can be used to represent the difference between the second torque demand at the second moment and the minimum torque demand of the rear motor, which is the change from the minimum front motor torque demand to the second moment.

[0055] In one optional embodiment, in the process of obtaining the torque demand change information of the rear motor and the front motor of the vehicle based on the torque change information of the transition condition, it is necessary to obtain the driver's required torque before transitioning from the current driving condition to the target driving condition, and the driver's required torque after transitioning from the current driving condition to the target driving condition. At the same time, the minimum torque demand of the front motor and the minimum torque demand of the rear motor before the condition transition are determined. Then, based on the driver's required torque before transitioning from the current driving condition to the target driving condition and the minimum torque demand of the front motor, the torque demand change information of the rear motor can be obtained. At the same time, based on the driver's required torque after transitioning from the current driving condition to the target driving condition and the minimum torque demand of the rear motor, the torque demand change information of the front motor can be obtained.

[0056] In another alternative embodiment, in response to the vehicle's driving condition switching to regenerative braking, i.e., the driver releasing the accelerator pedal and depressing the brake pedal, the driver's required torque sign changes from positive to negative (assuming it starts from T). 正a时刻 >0 changes to T with the pedal. 负b时刻 If <0), then the calculated change in the motor torque demand information is from [T 正a时刻 +(-T FMIN Change to T RMIN Simultaneously, the calculated information on the change in the front motor torque demand is from T. FMIN Change to [T] 负b时刻 -T RMINThroughout the entire process, the change in torque demand of the rear motor is greater than or equal to 0, while the change in torque demand of the front motor is less than or equal to 0. This means that the driver's torque demand is met while ensuring that there is no zero-crossing clearance between the front and rear axles.

[0057] Optionally, the method includes: in response to the current driving condition being a driving condition, calibrating the minimum torque requirement of the vehicle's front motor to obtain the minimum torque requirement of the front motor; and determining the torque requirement of the rear motor corresponding to the current driving condition based on the minimum torque requirement of the front motor and the driving torque corresponding to the driving condition.

[0058] Specifically, the aforementioned minimum front motor torque requirement can be used to represent the minimum value obtained by pre-calibrating the minimum front motor torque requirement, denoted as T. FMIN And T FMIN ≤0, generally, T FMIN The calibration principle is to ensure that the gears of the front axle drive system can always engage with the minimum clearance at the rear end under driving conditions, which can be -2Nm, etc. The minimum torque requirement of the front motor is not specifically set here.

[0059] The aforementioned driving torque can be used to represent the driver's torque demand under driving conditions, and can be denoted as T. 驾驶员驱动扭矩需求 And the vehicle's T under driving conditions 驾驶员驱动扭矩需求 >0.

[0060] The aforementioned rear motor torque requirement can be used to represent the torque requirement of the rear motor of a vehicle under driving conditions, and can be denoted as T. 后电机扭矩需求 Generally, this can be achieved through the aforementioned T. 驾驶员驱动扭矩需求 And the T mentioned above FMIN To determine, i.e., T 后电机扭矩需求 =T 驾驶员驱动扭矩需求 +(-T FMIN ).

[0061] In one optional embodiment, in response to the current driving condition being a driving condition, the vehicle is driven by its rear motor. Therefore, it is necessary to calibrate the minimum torque requirement of the vehicle's front motor. Furthermore, based on obtaining the minimum front motor torque requirement, it is necessary to calculate the rear motor torque requirement of the vehicle under the driving condition by considering the driving torque corresponding to the current driving condition. Since T... FMIN ≤0, therefore, T 后电机扭矩需求 =T 驾驶员驱动扭矩需求 +(-T FMIN ).

[0062] Optionally, the method includes: in response to the current driving condition being a recovery condition, calibrating the minimum torque demand of the vehicle's rear motor to obtain the minimum torque demand of the rear motor; and determining the torque demand of the front motor corresponding to the current driving condition based on the minimum torque demand of the rear motor and the recovery torque corresponding to the recovery condition.

[0063] Specifically, the aforementioned minimum rear motor torque requirement can be used to represent the minimum value obtained by pre-calibrating the minimum rear motor torque requirement, denoted as T. RMIN And T FMIN ≥0, generally, T RMIN The calibration principle is to ensure that the gears of the rear axle drive system can always engage with the minimum value at the front end of the gap under the recovery condition, which can be 2Nm, etc. The minimum torque requirement of the rear motor is not specifically set here.

[0064] The aforementioned regenerative torque can be used to represent the driver's torque requirement under regenerative braking conditions, and can be denoted as T. 驾驶员回收扭矩需求 And the vehicle under recycling conditions T 驾驶员回收扭矩需求 <0.

[0065] The aforementioned front motor torque requirement can be used to represent the torque requirement of the vehicle's front motor under regeneration conditions, and can be denoted as T. 前电机扭矩需求 Generally, this can be achieved through the aforementioned T. 驾驶员回收扭矩需求 And the T mentioned above RMIN To determine, i.e., T 前电机扭矩需求 =T 驾驶员回收扭矩需求 -T RMIN .

[0066] In one optional embodiment, in response to the current driving condition being a regeneration condition, energy recovery is performed via the vehicle's front motor. Therefore, it is necessary to calibrate the minimum torque requirement of the vehicle's rear motor. Furthermore, based on obtaining the minimum rear motor torque requirement, it is necessary to comprehensively consider the regeneration torque corresponding to the regeneration condition and calculate the torque requirement of the vehicle's front motor under the regeneration condition. That is, it is only necessary to ensure that the transmission system clearance does not reverse. Therefore, T 前电机扭矩需求 =T 驾驶员回收扭矩需求 -T RMIN .

[0067] It is important to note that during the calibration of the minimum torque requirements for the front and rear motors of the vehicle, the sum of the minimum torque requirements for the front and rear motors must satisfy a preset torque value, i.e., T. FMIN +T RMIN =0.

[0068] Optionally, based on the torque demand change information of the rear motor and the torque demand change information of the front motor, torque control of the vehicle is performed, including: in response to the switching from the current driving condition to the target driving condition, acquiring the pedal change trend of the vehicle, wherein the pedal change trend includes the change trend of the accelerator pedal and the change trend of the brake pedal; based on the pedal change trend, and the torque demand change information of the rear motor and the front motor, torque control of the vehicle is performed, wherein the time difference between the change time of the pedal change trend and the response time of the torque response satisfies a preset time difference.

[0069] Specifically, the aforementioned pedal change trends can be used to represent the change trends of the accelerator pedal and the brake pedal during the vehicle's driving condition switching process.

[0070] Figure 3 This is a schematic diagram of an optional driver torque demand zero-crossing method in the prior art. For example... Figure 3 As shown, during the driver's switching between driving and energy recovery modes, the accelerator pedal state changes from 100% to 0%, while the brake pedal state changes from not depressed to depressed. During the switching between driving and recovery modes, the change in motor torque direction (torque crossing zero) causes the transmission gears to rapidly engage from one side of the gap to the other, resulting in a steep slope for the zero-crossing segment of the motor torque, causing a jolt and vibration after impact. Related technologies primarily aim to slow down the slope of the zero-crossing segment of the motor torque, reducing the rate of torque sign commutation and thus lowering the impact. However, this method increases the delay time in the motor torque response following the pedal action, resulting in a poor driving experience. Furthermore, it only reduces the zero-crossing impact, not eliminates it, and it can still be felt during low-speed acceleration. Therefore, to solve the problem of transmission system impact and vibration caused by the change in motor torque direction (torque crossing zero) during the switching between driving and recovery modes, calculating the torque requirements of the front and rear axle motors of the vehicle can effectively avoid the above problems.

[0071] Figure 4 This is a schematic diagram illustrating an optional variation in the torque demand of the front and rear axle motors according to an embodiment of the present invention. Figure 4 As shown, the accelerator pedal state changes from 100% to 0%, while the corresponding brake pedal state changes from not depressed to depressed. To avoid a large slope in the zero-crossing segment of the motor torque, this application calculates the torque requirements of the front and rear axle motors of the vehicle. During the vehicle's operating condition switching process, the change trend of the rear motor torque requirement is limited to a minimum value, and the change trend of the front motor torque requirement is limited to a minimum value, thereby avoiding the problem of the total motor torque crossing to zero.

[0072] In one alternative embodiment, the conventional motor torque ramp (controlling the rate of change of motor torque) uses a five-stage filtering method: zero-crossing torque filtering, normal torque rise / fall filtering, and torque rise / fall near the target range filtering. Since this application eliminates the zero-crossing torque stage on the front and rear axles, the front and rear axle motor torque demand ramps only require four stages. This results in a more linear motor torque response following pedal action, significantly reducing the time difference between pedal action and torque response. Traditional methods, to ensure shock-free zero-crossing of the transmission torque, calibrate the motor torque demand ramp, resulting in a time difference between 0.25 and 0.35 seconds. This application guarantees this time difference is less than or equal to 0.1 seconds.

[0073] Simultaneously, the time difference Δt between the change time of the pedal change trend and the response time of the torque response is defined. 踏板动作与扭矩响应的时间差 The moment when the accelerator is fully depressed while stationary is recorded as A(T). A时刻 The first significant inflection point in the vehicle's acceleration is recorded as time B(T). B时刻 ),but:

[0074] Δt 踏板动作与扭矩响应的时间差 =|T B时刻 -T A时刻 |

[0075] Optionally, the method includes: in response to a failure of the front motor of the vehicle, determining the current driving condition of the rear motor of the vehicle, including a drive condition or a regenerative braking condition, and limiting the speed under the current driving condition based on a first preset speed, wherein the first preset speed is used to represent the minimum speed allowed in the event of a failure of the front motor; in response to a failure of the rear motor of the vehicle, determining the current driving condition of the front motor of the vehicle, including a regenerative braking condition or a drive condition, and limiting the speed under the current driving condition based on a second preset speed, wherein the second preset speed is used to represent the minimum speed allowed in the event of a failure of the rear motor.

[0076] Specifically, the aforementioned first preset speed can be used to represent the minimum speed allowed in the event of a pre-set front motor failure. Generally, it corresponds to the vehicle speed converted from the minimum speed allowed to cause uncontrollable charging of the battery due to the back electromotive force generated after the front motor is shut down in a serious failure.

[0077] The aforementioned second preset speed can be used to represent the minimum speed allowed in the event of a rear motor failure. Generally, it corresponds to the vehicle speed converted from the minimum speed allowed to cause uncontrollable charging of the battery due to the back electromotive force generated after the rear motor is shut down in a serious failure.

[0078] In one optional embodiment, when the current motor has a serious fault, the front motor torque is reset to zero and the power supply is shut off. The rear motor, in addition to its driving function, resumes its energy recovery function, and the torque demand is changed from four-stage filtering to five-stage filtering. Simultaneously, the vehicle speed is limited to a target speed V. limitF V limitF This refers to the vehicle speed calculated from the minimum speed at which the back electromotive force generated after a severe front motor failure causes uncontrollable charging of the battery. When the rear motor has a severe failure, its torque is reset to zero and it is shut down. The front motor, in addition to its energy recovery function, resumes its driving function (limp-walk) while limiting the vehicle speed. <V limitR V limitR The vehicle speed is calculated from the minimum permissible speed of the vehicle due to the back electromotive force generated after a serious motor failure and shutdown, which causes uncontrollable charging of the battery.

[0079] Example 2

[0080] According to an embodiment of the present invention, a vehicle torque zero-crossing control device is also provided. This device can execute a vehicle torque zero-crossing control method provided in Embodiment 1 above. The specific implementation method and preferred application scenario are the same as those in Embodiment 1 above, and will not be repeated here.

[0081] Figure 5 This is a schematic diagram of a vehicle torque zero-crossing control device according to an embodiment of the present invention, as shown below. Figure 5 As shown, the device includes:

[0082] The first determining module 502 is used to determine the current driving condition and the target driving condition of the vehicle in response to receiving a driving condition switching command during the vehicle's operation. The target driving condition is used to represent the driving condition obtained after switching the current driving condition based on the driving condition switching command.

[0083] The second determining module 504 is used to determine the transition torque change information of the vehicle based on the current driving condition and the target driving condition, wherein the transition torque change information is used to represent the torque demand change information when the current driving condition is transitioned to the target driving condition.

[0084] The module 506 is used to obtain the torque demand change information of the rear motor and the torque demand change information of the vehicle based on the torque change information under the transition condition. The torque demand change information of the rear motor meets the preset torque value, while the torque demand change information of the front motor does not meet the preset torque value.

[0085] The control module 508 is used to perform torque control on the vehicle based on the torque demand change information of the rear motor and the torque demand change information of the front motor.

[0086] Optionally, module 506 includes: an acquisition module, used to acquire a first torque demand corresponding to a first moment and a second torque demand corresponding to a second moment based on the torque change information of the transition condition, wherein the first moment represents the moment before the transition condition and the second moment represents the moment after the transition condition; a rear motor torque demand information determination module, used to determine the rear motor torque demand change information based on the first torque demand and the minimum value of the front motor torque demand, wherein the rear motor torque demand change information represents the change information of the rear motor torque from the minimum value of the rear motor torque demand; and a front motor torque demand information determination module, used to determine the front motor torque demand change information based on the second torque demand and the minimum value of the rear motor torque demand, wherein the front motor torque demand change information represents the change information of the front motor torque starting from the minimum value of the front motor torque demand.

[0087] Optionally, the device further includes: a first calibration module, used to calibrate the minimum torque requirement of the vehicle's front motor in response to the current driving condition being a driving condition, to obtain the minimum torque requirement of the front motor; and a rear motor torque requirement determination module, used to determine the torque requirement of the rear motor corresponding to the current driving condition based on the minimum torque requirement of the front motor and the driving torque corresponding to the driving condition.

[0088] Optionally, the device further includes: a second calibration module, used to calibrate the minimum torque requirement of the vehicle's rear motor in response to the current driving condition being a regeneration condition, to obtain the minimum torque requirement of the rear motor; and a front motor torque requirement determination module, used to determine the front motor torque requirement corresponding to the current driving condition based on the minimum torque requirement of the rear motor and the regeneration torque corresponding to the regeneration condition.

[0089] Optionally, the control module 508 includes: a pedal change acquisition module, used to acquire the pedal change trend of the vehicle in response to the switching from the current driving condition to the target driving condition, wherein the pedal change trend includes the change trend of the accelerator pedal and the change trend of the brake pedal; and a torque control module, used to perform torque control on the vehicle based on the pedal change trend, and the torque demand change information of the rear motor and the torque demand change information of the front motor, wherein the time difference between the change time of the pedal change trend and the response time of the torque response meets a preset time difference.

[0090] Optionally, the device further includes: a first speed limiting module, configured to, in response to a failure of the vehicle's front motor, determine the current driving condition of the vehicle's rear motor, including a drive condition or a regenerative braking condition, and limit the speed under the current driving condition based on a first preset speed, wherein the first preset speed represents the minimum permissible speed when the front motor fails; and a second speed limiting module, configured to, in response to a failure of the vehicle's rear motor, determine the current driving condition of the vehicle's front motor, including a regenerative braking condition or a drive condition, and limit the speed under the current driving condition based on a second preset speed, wherein the second preset speed represents the minimum permissible speed when the rear motor fails.

[0091] Example 3

[0092] According to an embodiment of the present invention, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is running, it controls the execution of the above-described vehicle torque zero-crossing control method in the processor of the device.

[0093] Example 4

[0094] According to an embodiment of the present invention, a vehicle is also provided, comprising: one or more processors; a storage device for storing one or more programs; and when the one or more programs are executed by the one or more processors, causing the one or more processors to execute the above-described torque zero-crossing control method for the vehicle.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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 method for controlling the torque zero crossing of a vehicle, characterized in that, include: During vehicle operation, in response to receiving a condition switching command, the current driving condition and target driving condition of the vehicle are determined based on the condition switching command, wherein the target driving condition is used to represent the condition obtained after switching the current driving condition based on the condition switching command. Based on the current driving condition and the target driving condition, the transition torque change information of the vehicle is determined, wherein the transition torque change information is used to represent the torque demand change information when the current driving condition transitions to the target driving condition. Based on the torque change information under the transitional operating conditions, the torque demand change information of the rear motor and the torque demand change information of the front motor of the vehicle are obtained. The torque demand change information of the rear motor meets a preset torque value, and the torque demand change information of the front motor does not meet the preset torque value. The preset torque value is zero. The torque demand change information of the rear motor is greater than the preset torque value, and the torque demand change information of the front motor is less than the preset torque value. Based on the information on the change in torque demand of the rear motor and the information on the change in torque demand of the front motor, torque control is performed on the vehicle. Specifically, based on the torque change information under the transitional operating conditions, the torque demand change information of the vehicle's rear motor and front motor are obtained, including: Based on the torque change information under the transition condition, the first torque demand corresponding to the first moment and the second torque demand corresponding to the second moment are obtained, wherein the first moment is used to represent the moment before the transition condition and the second moment is used to represent the moment after the transition condition. Based on the first torque requirement and the minimum torque requirement of the front motor, the torque requirement change information of the rear motor is determined, wherein the torque requirement change information of the rear motor is used to represent the change information of the rear motor torque from the minimum torque requirement of the rear motor. Based on the second torque requirement and the minimum value of the rear motor torque requirement, the change information of the front motor torque requirement is determined, wherein the change information of the front motor torque requirement is used to represent the change information of the front motor torque starting from the minimum value of the front motor torque requirement; The method further includes: In response to the current driving condition being a driving condition, the minimum torque requirement of the vehicle's front motor is calibrated to obtain the minimum torque requirement of the front motor. Based on the minimum front motor torque requirement and the driving torque corresponding to the driving condition, the rear motor torque requirement corresponding to the current driving condition is determined. In response to the current driving condition being a recovery condition, the minimum torque requirement of the vehicle's rear motor is calibrated to obtain the minimum torque requirement of the rear motor. Based on the minimum torque requirement of the rear motor and the recovery torque corresponding to the recovery condition, the torque requirement of the front motor corresponding to the current driving condition is determined.

2. The torque zero-crossing control method according to claim 1, characterized in that, The sum of the minimum torque requirement of the front motor and the minimum torque requirement of the rear motor satisfies the preset torque value.

3. The torque zero-crossing control method according to claim 1, characterized in that, Based on the information regarding the change in torque demand of the rear motor and the information regarding the change in torque demand of the front motor, torque control is performed on the vehicle, including: In response to the switching from the current driving condition to the target driving condition, the pedal change trend of the vehicle is acquired, wherein the pedal change trend includes the change trend of the accelerator pedal and the change trend of the brake pedal. Based on the pedal change trend, the torque demand change information of the rear motor and the torque demand change information of the front motor, torque control is performed on the vehicle, wherein the time difference between the change time of the pedal change trend and the response time of the torque response meets a preset time difference.

4. The torque zero-crossing control method according to claim 1, characterized in that, include: In response to a failure of the front motor of the vehicle, the current driving condition of the rear motor of the vehicle is determined to include either a driving condition or a regeneration condition, and the speed under the current driving condition is limited based on a first preset speed, wherein the first preset speed is used to represent the minimum speed allowed in the event of a failure of the front motor. In response to a failure of the rear motor of the vehicle, the current driving condition of the front motor of the vehicle is determined to include either a regeneration condition or a drive condition, and the speed under the current driving condition is limited based on a second preset speed, wherein the second preset speed is used to represent the minimum speed allowed in the event of a failure of the rear motor.

5. A torque zero-crossing control device for a vehicle, characterized in that, include: The first determining module is used to, during vehicle operation, respond to receiving a working condition switching instruction, and determine the current driving working condition and the target driving working condition of the vehicle based on the working condition switching instruction, wherein the target driving working condition is used to represent the working condition obtained after switching the current driving working condition based on the working condition switching instruction. The second determining module is used to determine the transition torque change information for the vehicle based on the current driving condition and the target driving condition, wherein the transition torque change information is used to represent the torque demand change information when the current driving condition transitions to the target driving condition. The module is used to obtain the torque demand change information of the rear motor and the torque demand change information of the front motor of the vehicle based on the torque change information of the transition condition. The rear motor torque demand change information meets a preset torque value, the front motor torque demand change information does not meet the preset torque value, the preset torque value is zero, the rear motor torque demand change information is greater than the preset torque value, and the front motor torque demand change information is less than the preset torque value. The control module is used to perform torque control on the vehicle based on the torque demand change information of the rear motor and the torque demand change information of the front motor; The obtaining module is further configured to: acquire a first torque demand corresponding to a first moment and a second torque demand corresponding to a second moment based on the torque change information of the transition condition, wherein the first moment represents the moment before the transition condition and the second moment represents the moment after the transition condition; determine the torque demand change information of the rear motor based on the first torque demand and the minimum torque demand of the front motor, wherein the torque demand change information of the rear motor represents the change information of the rear motor torque from the minimum torque demand of the rear motor; and determine the torque demand change information of the front motor based on the second torque demand and the minimum torque demand of the rear motor, wherein the torque demand change information of the front motor represents the change information of the front motor torque from the minimum torque demand of the front motor. The device is further configured to: respond to the current driving condition being a driving condition, calibrate the minimum torque requirement of the vehicle's front motor to obtain the minimum torque requirement of the front motor; determine the torque requirement of the rear motor corresponding to the current driving condition based on the minimum torque requirement of the front motor and the driving torque corresponding to the driving condition; respond to the current driving condition being a regeneration condition, calibrate the minimum torque requirement of the vehicle's rear motor to obtain the minimum torque requirement of the rear motor; and determine the torque requirement of the front motor corresponding to the current driving condition based on the minimum torque requirement of the rear motor and the regeneration torque corresponding to the regeneration condition.

6. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, the torque zero-crossing control method of the vehicle according to any one of claims 1 to 4 is executed in the processor of the device.

7. A vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the torque zero-crossing control method for the vehicle as described in any one of claims 1 to 4.

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