A method, device, equipment and storage medium for vehicle torque zero-crossing control

Abstract

The present application discloses a vehicle torque zero-crossing control method, device, equipment and storage medium, relating to the technical field of vehicles. The method includes: in response to a calibration instruction, obtaining the EPB state of a target vehicle; if the EPB state of the target vehicle is in a clamped state, controlling the target vehicle to increase or decrease torque in a torque zero-crossing interval according to a preset gradient, and determining the target clearance of the transmission system of the target vehicle through a resolver sensor; determining the target torque zero-crossing gradient parameter corresponding to the target clearance according to the corresponding relationship between the clearance and the torque zero-crossing gradient parameter configured in advance and the target clearance; modifying the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter; and controlling the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter. This method can reduce the probability of knocking in the transmission system of the vehicle and improve the comfort and driving experience of the vehicle when the torque passes through zero.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a method, device, equipment and storage medium for controlling zero-crossing of vehicle torque. Background Art

[0002] Torque zero-crossing means that the direction of torque changes from positive to negative or from negative to positive. Torque zero-crossing of a vehicle generally refers to the torque of the drive motor of a new energy vehicle changing from positive to negative or from negative to positive. For example, during the kinetic energy recovery process of a vehicle, a torque zero-crossing phenomenon will occur.

[0003] When the drive motor has torque zero-crossing, it will cause speed fluctuations, and then the vehicle's transmission system will make knocking noises, which not only reduces the reliability of the whole vehicle but also reduces the driving experience. To avoid the transmission system from jittering, usually, the torque zero-crossing gradient parameter is calibrated to reduce the speed fluctuations caused by torque zero-crossing.

[0004] However, the torque zero-crossing gradient parameter is calibrated when the vehicle leaves the factory. Due to wear of parts, the calibration result of this torque zero-crossing gradient parameter only applies to new vehicles. After the parts are worn, if the torque zero-crossing gradient parameter corresponding to the new vehicle is still used for torque zero-crossing processing, speed fluctuations will still occur, and then the vehicle's transmission system will make knocking noises, affecting the comfort and driving experience of the vehicle. Summary of the Invention

[0005] The present application provides a method, device, equipment and storage medium for controlling zero-crossing of vehicle torque, which can reduce the probability of knocking of the vehicle's transmission system and improve the comfort and driving experience of the vehicle during torque zero-crossing.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a method for controlling zero-crossing of vehicle torque, including:

[0008] Responding to a calibration instruction, obtaining the state of the electronic parking brake system (EPB) of the target vehicle;

[0009] If the EPB state of the target vehicle is in a clamped state, controlling the target vehicle to increase or decrease torque at a preset gradient in the torque zero-crossing interval to determine the target clearance of the target vehicle's transmission system;

[0010] Determining the target torque zero-crossing gradient parameter corresponding to the target clearance according to the pre-configured correspondence between the clearance and the torque zero-crossing gradient parameter and the target clearance;

[0011] Modify the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter;

[0012] Control the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter.

[0013] Optionally, the responding to the calibration instruction includes:

[0014] Respond to the calibration instruction at each preset period or preset driving mileage.

[0015] Optionally, the method further includes:

[0016] Obtain the calibration operation triggered by the user;

[0017] The responding to the calibration instruction includes:

[0018] Respond to the calibration instruction according to the calibration operation.

[0019] Optionally, the method further includes:

[0020] Obtain the sound data of the transmission system of the target vehicle;

[0021] The responding to the calibration instruction includes:

[0022] If the sound data indicates that there is a knock in the transmission system, respond to the calibration instruction.

[0023] Optionally, if the EPB state of the target vehicle is in the clamped state, the method further includes:

[0024] Present a first prompt message for prompting the user to prohibit triggering a gear shift operation.

[0025] Optionally, the method further includes:

[0026] If the EPB state of the target vehicle is in the unclamped state, present a second prompt message for prompting the user to shift the gear of the target vehicle to the P gear.

[0027] Optionally, the target torque zero-crossing gradient parameter includes a first mapping relationship and a second mapping relationship; the first mapping relationship is the mapping relationship between the driving speed, the torque demand value of the previous cycle, and the gradient value, and the second mapping relationship is the mapping relationship between the current torque demand value, the adjusted torque value, and the influence factor; the method further includes:

[0028] Obtain the target driving speed, the target torque demand value of the previous cycle, the current target torque demand value, and the adjusted target torque value;

[0029] Controlling the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter includes:

[0030] Determining a target gradient value according to the first mapping relationship, the target driving speed, and the target torque demand value in the previous cycle; determining a target influence factor according to the second mapping relationship, the current target torque demand value, and the adjusted target torque value;

[0031] Using the target gradient value and the target influence factor to control the target vehicle to perform torque zero-crossing processing.

[0032] In a second aspect, the present application provides a vehicle torque zero-crossing control device, including:

[0033] An acquisition module, configured to acquire the state of the electronic parking brake system (EPB) of the target vehicle in response to a calibration instruction;

[0034] A self-learning module, configured to, if the EPB state of the target vehicle is in a clamped state, control the target vehicle to increase or decrease torque at a preset gradient within the torque zero-crossing interval to determine the target clearance of the transmission system of the target vehicle; determining the target torque zero-crossing gradient parameter corresponding to the target clearance according to the corresponding relationship between the preset clearance and the torque zero-crossing gradient parameter and the target clearance; modifying the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter;

[0035] A control module, configured to control the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter.

[0036] Optionally, the acquisition module is specifically configured to respond to a calibration instruction every preset period or preset driving mileage.

[0037] Optionally, the acquisition module is further configured to acquire a calibration operation triggered by a user, and the acquisition module is specifically configured to respond to the calibration instruction according to the calibration operation.

[0038] Optionally, the acquisition module is further configured to acquire sound data of the transmission system of the target vehicle; the acquisition module is specifically configured to respond to a calibration instruction if the sound data indicates that there is a knock in the transmission system.

[0039] Optionally, the device further includes a prompt module, and the prompt module is configured to present a first prompt message for prompting the user to prohibit triggering a gearshift operation.

[0040] Optionally, the device further includes a prompting module, configured to present a second prompting message if the EPB state of the target vehicle is in a non-clamped state, where the second prompting message is used to prompt the user to switch the gear of the target vehicle to the P gear.

[0041] Optionally, the target torque zero-crossing gradient parameter includes a first mapping relationship and a second mapping relationship; the first mapping relationship is a mapping relationship among the driving speed, the torque demand value of the previous cycle, and the gradient value, and the second mapping relationship is a mapping relationship among the current torque demand value, the adjusted torque value, and the influence factor; the obtaining module is further configured to obtain the target driving speed, the target torque demand value of the previous cycle, the current target torque demand value, and the adjusted target torque value, and the control module is specifically configured to determine a target gradient value according to the first mapping relationship, the target driving speed, and the target torque demand value of the previous cycle; determine a target influence factor according to the second mapping relationship, the current target torque demand value, and the adjusted target torque value; and control the target vehicle to perform torque zero-crossing processing by using the target gradient value and the target influence factor.

[0042] In a third aspect, the present application provides a control device, including a memory and a processor;

[0043] wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the control device is caused to execute the method according to any one of the first aspect.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium, which is used to store a computer program, and the computer program is used to execute the method according to any one of the first aspect.

[0045] In a fifth aspect, the present application provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the method according to any one of the first aspect is executed.

[0046] It can be seen from the above technical solutions that the present application has at least the following beneficial effects:

[0047] The present application provides a vehicle torque zero-crossing control method, which includes: in response to a calibration instruction, obtaining the state of the electronic parking brake system (EPB, Electrical Park Brake) of the target vehicle. If the EPB state of the target vehicle is in the clamped state, controlling the target vehicle to increase or decrease the torque at a preset gradient within the torque zero-crossing interval to determine the target clearance of the transmission system of the target vehicle. After obtaining the target clearance of the transmission system of the target vehicle, based on the pre-configured correspondence between the clearance and the torque zero-crossing gradient parameter and the target clearance, determining the target torque zero-crossing gradient parameter corresponding to the target clearance, and then modifying the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter, so as to achieve self-learning and active correction. Finally, based on the target torque zero-crossing gradient parameter, controlling the target vehicle to perform torque zero-crossing processing.

[0048] It can be seen that in this method, after obtaining the calibration instruction, the corresponding torque zero-crossing gradient parameter is configured based on the characteristics of the transmission system of the vehicle itself. In this way, calibrating the target vehicle based on the characteristics of the target vehicle itself can improve the calibration accuracy. Moreover, in this method, by means of self-learning, calibrating the torque zero-crossing gradient parameter can reduce the problem of inaccurate calibration caused by component wear. Through the above method, the probability of the transmission system of the vehicle making a knocking sound can be reduced, and the comfort and driving experience of the vehicle when the torque crosses zero can be improved.

[0049] It should be understood that the description of technical features, technical solutions, beneficial effects or similar languages in the present application does not imply that all features and advantages can be achieved in any single embodiment. On the contrary, it can be understood that the description of features or beneficial effects means that at least one embodiment includes specific technical features, technical solutions or beneficial effects. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in this embodiment can be combined in any appropriate manner. Those skilled in the art will understand that an embodiment can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in specific embodiments that do not embody all embodiments. Description of the Drawings

[0050] Figure 1 It is a schematic diagram of an application scenario provided by an embodiment of the present application;

[0051] Figure 2 It is a flowchart of a vehicle torque zero-crossing control method provided by an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a prompt interface provided by an embodiment of the present application;

[0053] Figure 4 Another schematic diagram of a prompt interface provided by an embodiment of the present application;

[0054] Figure 5 Another schematic diagram of a prompt interface provided by an embodiment of the present application;

[0055] Figure 6 A schematic diagram of a first mapping relationship provided by an embodiment of the present application;

[0056] Figure 7 A schematic diagram of a second mapping relationship provided by an embodiment of the present application;

[0057] Figure 8 A schematic diagram of a vehicle torque zero-crossing control device provided by an embodiment of the present application;

[0058] Figure 9 A schematic diagram of a control device provided by an embodiment of the present application. Detailed implementation manners

[0059] Terms such as "first", "second", and "third" in the description and drawings of the present application are used to distinguish different objects, rather than to limit a specific order.

[0060] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0061] For the sake of clear and concise description of the following embodiments, a brief introduction to the related art is given first:

[0062] Torque zero-crossing means that the direction of torque changes from positive to negative, or from negative to positive. With the increasing demands for environmental protection and energy conservation, new energy vehicles have gradually become the main means of transportation. New energy vehicles are driven by drive motors. Generally, new energy vehicles have kinetic energy recovery. When the driver steps on the accelerator pedal, the torque of the drive motor is positive, and the vehicle accelerates. When the driver releases the accelerator pedal or steps on the brake, the torque of the drive motor is negative, and the vehicle decelerates. It can be seen that during the kinetic energy recovery process, the torque of the drive motor changes from positive to negative, and this phenomenon is called the torque zero-crossing phenomenon.

[0063] When torque passes through zero, it will cause speed fluctuations, which in turn trigger knocking in the vehicle's transmission system, reducing the driving experience. Therefore, the industry generally uses a calibration method to determine the torque zero-crossing gradient parameter of the vehicle to reduce the knocking in the transmission system caused by torque passing through zero.

[0064] However, the above torque zero-crossing gradient parameter is generally only calibrated when the vehicle leaves the factory. This calibration process is based on a new vehicle, and the parts of a new vehicle generally do not have wear. Therefore, this torque zero-crossing gradient parameter only applies to new vehicles. After the parts are worn, the above torque zero-crossing gradient parameter will no longer apply. Therefore, when the vehicle's torque passes through zero, knocking will still occur in the vehicle's transmission system, affecting the comfort and driving experience of the vehicle.

[0065] In view of this, the embodiment of the present application provides a vehicle torque zero-crossing control method. This method first calibrates the torque zero-crossing gradient parameter of the vehicle based on a self-learning method, and then performs torque zero-crossing processing based on the torque zero-crossing gradient parameter obtained after self-learning.

[0066] Specifically, the method includes: in response to a calibration instruction, obtaining the EPB state of the target vehicle. If the EPB state of the target vehicle is in a clamped state, controlling the target vehicle to increase or decrease torque at a preset gradient in the torque zero-crossing interval to determine the target clearance of the transmission system of the target vehicle. Then, according to the pre-configured correspondence between the clearance and the torque zero-crossing gradient parameter, and the target clearance, determining the target torque zero-crossing gradient parameter corresponding to the target clearance. Then, modifying the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter. Finally, based on this target torque zero-crossing gradient parameter, controlling the target vehicle to perform torque zero-crossing processing.

[0067] It can be seen that in this method, first, through a self-learning method, the target torque zero-crossing gradient parameter matching the target vehicle is determined, and the original calibrated or default torque zero-crossing gradient parameter is modified to this target torque zero-crossing gradient parameter, realizing the self-learning of the torque zero-crossing gradient parameter. Through the self-learning method, even if the parts of the target vehicle are worn, since the target torque zero-crossing gradient parameter is obtained through self-learning after the parts are worn, that is, the calibration vehicle at this time is the target vehicle after the parts are worn. In this way, the target torque zero-crossing gradient parameter obtained through self-learning still matches the target vehicle. Therefore, based on this target torque zero-crossing gradient parameter for torque zero-crossing processing can improve the comfort and driving experience of the vehicle when torque passes through zero.

[0068] To make the technical solution of the present application clearer and easier to understand, the corresponding application scenario of the present application will be introduced below.

[0069] Such as Figure 1As shown in the figure, this figure is a schematic diagram of an application scenario provided by an embodiment of the present application.

[0070] In this application scenario, the vehicle can be a new energy vehicle, such as a hybrid vehicle or a pure electric vehicle. The vehicle includes a drive motor and an accelerator pedal 101. The user can step on the accelerator pedal 101, and the drive motor provides positive torque to accelerate or keep the vehicle 102 running at a constant speed. Then, the user can release the accelerator pedal 101, and the vehicle 102 enters the kinetic energy recovery state. The torque provided by the drive motor changes from positive to negative, that is, the torque crosses zero. Then, the user can also step on the accelerator pedal 101, and the torque provided by the drive motor changes from negative to positive, that is, the torque crosses zero.

[0071] In this scenario, when the vehicle is crossing zero torque, the target torque zero-crossing gradient parameter provided by the embodiment of the present application can be adopted for torque zero-crossing processing, which can reduce the probability of knocking in the vehicle's transmission system and improve the comfort and driving experience of the vehicle when crossing zero torque.

[0072] It should be noted that the above-introduced application scenario is only an example among many application scenarios, and the technical solution of the present application is not limited to the above application scenario.

[0073] In order to make the technical solution of the present application clearer and easier to understand, the vehicle torque zero-crossing control method provided by the embodiment of the present application will be introduced below with reference to the accompanying drawings.

[0074] It should be noted that this method can be executed by the vehicle or jointly executed by the vehicle's vehicle domain controller (VDC), motor control unit (MCU), and instrument. For the sake of easy understanding, this method will be introduced from the perspectives of VDC, MCU, and instrument below.

[0075] As Figure 2 shown in the figure, this figure is a flowchart of a vehicle torque zero-crossing control method provided by an embodiment of the present application. Specifically, the method includes:

[0076] S201. The VDC enters the self-learning mode.

[0077] The self-learning mode refers to the mode of self-correcting the torque zero-crossing gradient parameter. In the present application, the VDC can self-correct the torque zero-crossing gradient parameter, for example, modify the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter, so as to achieve self-learning.

[0078] In some embodiments, the VDC can enter the self-learning mode in response to a calibration instruction. The calibration instruction refers to an instruction for recalibrating the torque zero-crossing gradient parameter. The VDC can trigger the calibration instruction in various ways, which are introduced separately below.

[0079] Method 1: Respond to the calibration instruction every preset period.

[0080] The preset period can be determined based on empirical values. For example, it can be half a year or one year, and the present application does not limit this. The preset period can also be determined based on the wear condition of the parts in the transmission system. For example, the time required for the parts to reach a preset wear level (e.g., 10%) from the factory is used as the preset period.

[0081] In this method, the VDC responds to the calibration instruction every preset period, thereby realizing self-learning every preset period, so as to ensure that the target torque zero-crossing gradient parameter obtained by self-learning matches the target vehicle, thereby reducing the probability of knocking in the vehicle's transmission system and improving the comfort and driving experience of the vehicle when the torque crosses zero.

[0082] Method 2: Respond to the calibration instruction every preset driving mileage.

[0083] The preset driving mileage can be determined based on empirical values. For example, it can be 5000 kilometers or 10000 kilometers, and the present application does not limit this. The preset driving mileage can also be determined based on the wear condition of the parts in the transmission system. For example, the driving mileage of the vehicle required for the parts to reach a preset wear level (e.g., 10%) from the factory is used as the preset driving mileage.

[0084] In this method, the VDC responds to the calibration instruction every preset driving mileage, thereby realizing self-learning every preset driving mileage, so as to ensure that the target torque zero-crossing gradient parameter obtained by self-learning matches the target vehicle, thereby reducing the probability of knocking in the vehicle's transmission system and improving the comfort and driving experience of the vehicle when the torque crosses zero.

[0085] Method 3: Respond to the calibration instruction according to a calibration operation.

[0086] The calibration operation can be an operation triggered by the user. For example, when the user feels the knocking of the transmission system caused by the torque crossing zero during driving, the user can actively trigger the calibration operation to make the VDC enter the self-learning mode. The VDC can obtain the calibration operation triggered by the user and respond to the calibration instruction according to this calibration operation.

[0087] In this manner, the VDC can perform self-learning at any time based on the calibration operation triggered by the user, so as to ensure that the target torque zero-crossing gradient parameter obtained by self-learning matches the target vehicle, thereby reducing the probability of knocking in the vehicle's transmission system and improving the comfort and driving experience of the vehicle when the torque crosses zero.

[0088] Method 4: According to the sound data of the transmission system, in response to the calibration instruction.

[0089] The VDC can actively detect and obtain the sound data of the transmission system. If the sound data indicates that there is knocking in the transmission system, it responds to the calibration instruction. In some examples, the VDC can compare the sound data of the transmission system with the preset sound data. Among them, the preset sound data can be the data corresponding to the sound when there is knocking in the transmission system. If the comparison result indicates that the similarity between the detected sound data of the transmission system and the preset sound data is greater than the preset similarity threshold, it is determined that there is knocking in the transmission system; otherwise, it is determined that there is no knocking in the transmission system.

[0090] In this manner, after the VDC detects that there is knocking in the transmission system, it can actively enter the self-learning mode, so as to ensure that the target torque zero-crossing gradient parameter obtained by self-learning matches the target vehicle, thereby reducing the probability of knocking in the vehicle's transmission system and improving the comfort and driving experience of the vehicle when the torque crosses zero.

[0091] S202. The VDC obtains the EPB state.

[0092] The EPB state can be divided into a clamped state and a non-clamped state, and the VDC can obtain the EPB state.

[0093] S203. The VDC determines whether the EPB state is the clamped state; if not, it executes S204; if so, it executes S206.

[0094] After obtaining the EPB state, the VDC can determine whether the EPB state is the clamped state. If so, it executes S206; if not, it executes S204.

[0095] S204. The VDC sends a second prompt instruction to the instrument.

[0096] If the EPB state is not the clamped state, the VDC can send a second prompt instruction to the instrument. The second prompt instruction is an instruction for prompting the user. For example, it prompts the user to switch the gear to the P gear, so that the EPB state switches to the clamped state for the VDC to perform self-learning.

[0097] It should be noted that in this application, the instrument can be an in-vehicle terminal, such as a central control screen, which has display and playback functions.

[0098] S205. The instrument presents the second prompt message according to the second prompt instruction.

[0099] The second prompt message is used to prompt the user to switch the gear of the target vehicle to the P gear. As Figure 3 shown, this figure is a schematic diagram of a prompt interface provided by an embodiment of the present application.

[0100] This prompt interface includes the second prompt message, and the second prompt message can be "Please switch the gear to the P gear first". Of course, the second prompt message can also be other texts with similar semantics.

[0101] In some other embodiments, the instrument can also present the second prompt message to the user through sound, such as playing the prompt sound corresponding to "Please switch the gear to the P gear first". The instrument can also present the second prompt message through sound while presenting the second prompt message through the interface.

[0102] In this way, through the second prompt message, the user can be timely reminded to switch the gear to the P gear, so that the EPB state enters the clamping state for the VDC to perform self-learning.

[0103] Then, it can return to S203 to judge the EPB state again to determine whether the user has switched to the P gear and make the EPB state enter the clamping state.

[0104] It should be noted that S204 - S205 are optional steps. In some embodiments, S204 - S205 may not be executed.

[0105] S206. The VDC sends a first prompt instruction to the instrument.

[0106] If the EPB state is the clamping state, the VDC can send a first prompt instruction to the instrument, and the first prompt instruction is an instruction for prompting the user. For example, it prompts the user not to switch the gear again, so as to affect the self-learning.

[0107] S207. The instrument presents the first prompt message according to the first prompt instruction.

[0108] The first prompt message is used to prompt the user to prohibit triggering the gear shifting operation. As Figure 4 shown, this figure is a schematic diagram of another prompt interface provided by an embodiment of the present application.

[0109] This prompt interface includes the first prompt message, and the first prompt message can be "During self-learning, do not switch the gear". Of course, the first prompt message can also be other texts with similar semantics.

[0110] In some other embodiments, the instrument can also present the first prompt message to the user by voice, for example, play the prompt tone corresponding to "Do not shift gears during the self-learning process". The instrument can also present the first prompt message by voice while presenting the first prompt message through the interface.

[0111] It should be noted that S206 - S207 are optional steps. In some embodiments, S206 - S207 may not be executed.

[0112] S208. The VDC controls the target vehicle to increase or decrease the torque at a preset gradient in the torque zero-crossing interval.

[0113] The torque zero-crossing interval refers to the interval where the torque crosses zero, for example, it can be [-5 Nm to 5 Nm]. The preset gradient can be the amplitude of the torque change over time determined based on empirical values. For example, the preset gradient can be 0.1 Nm / s or 0.5 Nm / s. The present application does not limit this.

[0114] When the EPB state is the clamping state, the VDC can increase or decrease the torque at a preset gradient in the torque zero-crossing interval. In some examples, the VDC can generate a torque adjustment request, and this torque adjustment request can include a torque increase request and a torque decrease request.

[0115] It should be noted that the present application does not specifically limit the execution order of S206 and S208. In some other embodiments, S208 can also be executed first and then S206.

[0116] S209. The VDC sends a torque adjustment request to the MCU.

[0117] After generating the torque adjustment request, the VDC can send the torque adjustment request to the MCU. The torque adjustment request can carry a first torque value to request the torque to be adjusted to the first torque value in the torque adjustment request.

[0118] S210. The MCU feeds back a torque adjustment response to the VDC.

[0119] After receiving the torque adjustment request sent by the VDC, the MCU can feed back a torque adjustment response to the VDC. This torque adjustment response can carry a second torque value.

[0120] S211. The VDC determines whether the torque values carried in the torque adjustment request and the torque adjustment response are the same; if so, execute S212, if not, continue to judge.

[0121] After the VDC receives the torque adjustment response fed back by the MCU, it can compare the first torque value with the second torque value. If the first torque value is consistent with the second torque value, it indicates that there is no error or the error is small at present, and S212 is executed; if the first torque value is inconsistent with the second torque value, it indicates that there is an error at present, and continue to judge.

[0122] Among them, the first torque value being consistent with the second torque value can mean that the difference between the first torque value and the second torque value is less than or equal to a preset threshold. For example, the preset threshold can be 1, the first torque value is 2, and the second torque value is 1, then it can be considered that the first torque value is consistent with the second torque value.

[0123] It should be noted that the above S209 - S211 are optional steps. In some embodiments, S209 - S211 may not be executed.

[0124] S212. The VDC receives the target clearance of the transmission system of the target vehicle fed back by the MCU.

[0125] The clearance of the transmission system can be characterized by an angle or by an amplitude. This application does not limit this.

[0126] In some embodiments, the MCU can perform at least one output of negative and positive given torques, then control the change of the resolver position, so that the clearance of the transmission system changes, and collect the real - time torque, time, and real - time resolver position. Finally, based on the real - time torque, time, and real - time resolver position, determine the clearance of the transmission system. In some other examples, the VDC can also control the target vehicle to increase or decrease the torque according to a preset gradient in the torque - zero crossing interval, and determine the target clearance of the transmission system of the target vehicle through the resolver sensor.

[0127] It should be noted that the above - mentioned methods are only examples of determining the clearance of the transmission system. Those skilled in the art can choose other methods to determine the clearance of the transmission system based on actual needs.

[0128] After the MCU obtains the target clearance of the transmission system, it can feed back the target clearance to the VDC.

[0129] S213. The VDC determines the target torque - zero crossing gradient parameter corresponding to the target clearance according to the pre - configured correspondence between the clearance and the torque - zero crossing gradient parameter and the target clearance.

[0130] Different clearances correspond to different torque - zero crossing gradient parameters. Therefore, the correspondence between the clearance and the torque - zero crossing gradient parameter can be pre - configured, so that the vehicle can perform torque - zero crossing processing based on the pre - configured torque - zero crossing gradient parameter, which can reduce the probability of knocking in the transmission system.

[0131] In some examples, gap 1 may correspond to torque zero-crossing gradient parameter 1, gap 2 may correspond to torque zero-crossing gradient parameter 2, gap 3 may correspond to torque zero-crossing gradient parameter 3, and so on. When the gap in the vehicle's powertrain is gap 1, performing torque zero-crossing processing based on torque zero-crossing gradient parameter 1 can reduce the probability of knocking in the powertrain.

[0132] Thus, after determining the target gap of the target vehicle's powertrain, the VDC can determine the target torque zero-crossing gradient parameter that matches the target gap based on the above correspondence.

[0133] S214. The VDC modifies the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter.

[0134] After determining the target torque zero-crossing gradient parameter, the VDC can modify the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter. In some examples, the historical torque zero-crossing gradient parameter may be the parameter calibrated when the vehicle leaves the factory, and the target torque zero-crossing gradient parameter may be the parameter calibrated after the parts are worn. Since the target torque zero-crossing gradient parameter is calibrated based on the worn parts, the target torque zero-crossing gradient parameter matches the target vehicle. Performing torque zero-crossing processing based on this target torque zero-crossing gradient parameter can reduce the probability of knocking in the vehicle's powertrain and improve the comfort and driving experience of the vehicle when the torque crosses zero.

[0135] S215. The VDC sends a completion instruction to the instrument.

[0136] After the VDC completes modifying the torque zero-crossing gradient parameter of the target vehicle, it can send a completion instruction to the instrument.

[0137] It should be noted that this application does not specifically limit the execution order of S215 and S217. In some other embodiments, S217 may also be executed first and then S215.

[0138] S216. The instrument presents a completion message according to the completion instruction.

[0139] The completion message is used to prompt the user that the self-learning has been completed. As Figure 5 shown, this figure is a schematic diagram of another prompt interface provided by the embodiment of this application.

[0140] This prompt interface includes a completion message, where the completion message may be "Self-learning has been completed". Of course, the completion message may also be other words with a similar semantics.

[0141] In some other embodiments, the instrument can also present the completion information to the user by voice, for example, playing the prompt tone corresponding to "self-learning completed". The instrument can also present the completion information by voice while presenting the completion information through the interface.

[0142] S217. The VDC exits the self-learning mode.

[0143] After the VDC completes self-learning, it can exit the self-learning mode.

[0144] It should be noted that the above steps S215 - S217 are optional steps. In some embodiments, S215 - S217 may not be executed.

[0145] S218. The VDC controls the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter.

[0146] After the VDC completes self-learning to obtain the target torque zero-crossing gradient parameter, it can control the target vehicle to perform torque zero-crossing processing based on this target torque zero-crossing gradient parameter.

[0147] Among them, the target torque zero-crossing gradient parameter may include a first mapping relationship and a second mapping relationship. Among them, the first mapping relationship is the mapping relationship between the driving speed, the torque demand value of the previous cycle, and the gradient value.

[0148] As Figure 6 shown, this figure is a schematic diagram of a first mapping relationship provided by an embodiment of the present application.

[0149] Among them, x1 represents the driving speed (unit: km / h), and y1 represents the torque demand value of the previous cycle (unit: Nm).

[0150] The second mapping relationship is the mapping relationship between the current torque demand value, the adjusted torque value, and the influence factor.

[0151] As Figure 7 shown, this figure is a schematic diagram of a second mapping relationship provided by an embodiment of the present application.

[0152] Among them, x2 represents the adjusted torque value (unit: Nm), and y2 represents the current torque demand value (unit: Nm).

[0153] It should be noted that Figure 6 and Figure 7 the data in are only for illustration and example.

[0154] In some embodiments, the VDC can also obtain the target driving speed, the target torque demand value of the previous cycle, the current target torque demand value, and the adjusted target torque value. Then, based on the above first mapping relationship, the target driving speed, and the target torque demand value of the previous cycle, the target gradient value is determined. According to the second mapping relationship, the current target torque demand value, and the adjusted target torque value, the target influence factor is determined. Then, the target gradient value and the target influence factor are used to perform torque zero-crossing processing. After obtaining the target gradient value and the target influence factor, the VDC can control the torque change rate output by the drive motor in the torque zero-crossing interval based on the product of the target gradient value and the target influence factor, thereby reducing the fluctuation of the transmission system.

[0155] Since the target torque zero-crossing gradient parameter is obtained through self-learning, performing torque zero-crossing processing based on the target gradient value and the target influence factor determined based on the target torque zero-crossing gradient parameter and vehicle data can reduce the probability of knocking in the vehicle's transmission system and improve the comfort and driving experience of the vehicle when the torque crosses zero.

[0156] Based on the above description, the embodiments of the present application provide a vehicle torque zero-crossing control method. In this method, first, through self-learning, the target torque zero-crossing gradient parameter matching the target vehicle is determined, and the original calibrated or default torque zero-crossing gradient parameter is modified to the target torque zero-crossing gradient parameter to achieve self-learning of the torque zero-crossing gradient parameter. Through self-learning, even if the parts of the target vehicle are worn, since the target torque zero-crossing gradient parameter is obtained through self-learning after the parts are worn, that is, the calibrated vehicle at this time is the target vehicle after the parts are worn. Thus, the target torque zero-crossing gradient parameter obtained through self-learning is still matched with the target vehicle. Furthermore, performing torque zero-crossing processing based on the target torque zero-crossing gradient parameter can improve the comfort and driving experience of the vehicle when the torque crosses zero.

[0157] As described above in conjunction with Figures 1 to 7 the vehicle torque zero-crossing control method provided by the embodiments of the present application has been introduced in detail. Next, the devices and equipment provided by the embodiments of the present application will be introduced in conjunction with the accompanying drawings.

[0158] See Figure 8 , which is a schematic diagram of a vehicle torque zero-crossing control device provided by the embodiments of the present application. The vehicle torque zero-crossing control device 800 includes:

[0159] An acquisition module 801, configured to obtain the status of the electronic parking brake system (EPB) of the target vehicle in response to a calibration instruction;

[0160] A self-learning module 802, configured to, if the EPB state of the target vehicle is in a clamped state, control the target vehicle to increase or decrease the torque at a preset gradient within a torque zero-crossing interval, so as to determine a target clearance of the drive system of the target vehicle; determine a target torque zero-crossing gradient parameter corresponding to the target clearance according to a pre-configured correspondence between the clearance and the torque zero-crossing gradient parameter and the target clearance; and modify the torque zero-crossing gradient parameter of the target vehicle from a historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter.

[0161] A control module 803, configured to control the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter.

[0162] Optionally, the acquisition module 801 is specifically configured to respond to a calibration instruction every preset period or preset driving mileage.

[0163] Optionally, the acquisition module 801 is further configured to acquire a calibration operation triggered by a user. Specifically, the acquisition module is configured to respond to the calibration instruction according to the calibration operation.

[0164] Optionally, the acquisition module 801 is further configured to acquire sound data of the drive system of the target vehicle. Specifically, the acquisition module is configured to respond to the calibration instruction if the sound data indicates that there is a knock in the drive system.

[0165] Optionally, the device further includes a prompt module, configured to present a first prompt message for prompting a user to prohibit triggering a gearshift operation.

[0166] Optionally, the device further includes a prompt module, configured to, if the EPB state of the target vehicle is in a non-clamped state, present a second prompt message for prompting the user to switch the gear of the target vehicle to the P gear.

[0167] Optionally, the target torque zero-crossing gradient parameter includes a first mapping relationship and a second mapping relationship; the first mapping relationship is a mapping relationship among the driving speed, the torque demand value in the previous cycle, and the gradient value, and the second mapping relationship is a mapping relationship among the current torque demand value, the adjusted torque value, and the influence factor; the obtaining module is further configured to obtain the target driving speed, the target torque demand value in the previous cycle, the current target torque demand value, and the adjusted target torque value, and the control module is specifically configured to determine the target gradient value according to the first mapping relationship, the target driving speed, and the target torque demand value in the previous cycle; determine the target influence factor according to the second mapping relationship, the current target torque demand value, and the adjusted target torque value; and use the target gradient value and the target influence factor to control the target vehicle to perform torque zero-crossing processing.

[0168] The vehicle torque zero-crossing control device 800 according to an embodiment of the present application can correspond to executing the method described in the embodiment of the present application, and the above and other operations and / or functions of each module / unit of the vehicle torque zero-crossing control device 800 are respectively for implementing Figure 2 the corresponding processes of the respective methods in the illustrated embodiments, and for the sake of brevity, will not be described herein again.

[0169] As Figure 9 shown, this figure is a schematic diagram of a control device provided by an embodiment of the present application. The control device 900 includes a bus 901, a processor 902, a communication interface 903, and a memory 904. The processor 902, the memory 904, and the communication interface 903 communicate with each other through the bus 901.

[0170] The bus 901 may be a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 9 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0171] The processor 902 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0172] The communication interface 903 is used for external communication.

[0173] The memory 904 may include volatile memory, such as random access memory (RAM). The memory 904 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0174] The memory 904 stores executable code, and the processor 902 executes the executable code to perform the foregoing control method.

[0175] Specifically, in the case of implementing Figure 8 the illustrated embodiment, and Figure 8 when each module or unit of the vehicle torque zero-crossing control device 800 described in the embodiment is implemented by software, the software or program code required to execute the functions of each module / unit in Figure 8 may be partially or entirely stored in the memory 904. The processor 902 executes the program code corresponding to each unit stored in the memory 904 to perform the foregoing control method.

[0176] An embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium may be any available medium that can be stored by a computing device or a data storage device such as a data center including one or more available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state drive), etc. The computer-readable storage medium includes instructions that direct the computing device to execute the control method applied to the vehicle torque zero-crossing control device 800.

[0177] An embodiment of the present application also provides a computer program product that includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the processes or functions described in the embodiments of the present application are fully or partially generated.

[0178] The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from a website, computer, or data center to another website, computer, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.).

[0179] When the computer program product is executed by a computer, the computer executes any of the foregoing control methods. The computer program product may be a software installation package. In the case where any of the foregoing control methods needs to be used, the computer program product may be downloaded and executed on the computer.

[0180] The descriptions of the processes or structures corresponding to the above respective drawings each have their own focuses. For parts not detailed in a certain process or structure, reference may be made to the relevant descriptions of other processes or structures.

[0181] As described above, the foregoing are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be covered by the protection scope of the present application.

Claims

1. A vehicle torque zero-crossing control method, characterized in that, Including: In response to a calibration instruction, obtain the status of the electronic parking brake system (EPB) of the target vehicle; If the EPB status of the target vehicle is the clamping state, control the target vehicle to increase or decrease the torque at a preset gradient in the torque zero-crossing interval to determine the target clearance of the transmission system of the target vehicle; According to the pre-configured correspondence between the clearance and the torque zero-crossing gradient parameter and the target clearance, determine the target torque zero-crossing gradient parameter corresponding to the target clearance; Modify the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter; According to the target torque zero-crossing gradient parameter, control the target vehicle to perform torque zero-crossing processing; The target torque zero-crossing gradient parameter includes a first mapping relationship and a second mapping relationship; the first mapping relationship is the mapping relationship between the driving speed, the torque demand value of the previous cycle, and the gradient value, and the second mapping relationship is the mapping relationship between the current torque demand value, the adjusted torque value, and the influence factor; The method further includes: Obtain the target driving speed, the target torque demand value of the previous cycle, the current target torque demand value, and the adjusted target torque value; The step of controlling the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter includes: Determine the target gradient value according to the first mapping relationship, the target driving speed, and the target torque demand value of the previous cycle; determine the target influence factor according to the second mapping relationship, the current target torque demand value, and the adjusted target torque value; Use the target gradient value and the target influence factor to control the target vehicle to perform torque zero-crossing processing.

2. The method according to claim 1, wherein The step of responding to the calibration instruction includes: Respond to the calibration instruction every preset cycle or preset driving mileage.

3. The method according to claim 1, wherein The method further includes: Obtain the calibration operation triggered by the user; The step of responding to the calibration instruction includes: Respond to the calibration instruction according to the calibration operation.

4. The method according to claim 1, characterized in that, The method further includes: Obtain the sound data of the transmission system of the target vehicle; The step of responding to the calibration instruction includes: If the sound data indicates that there is a knock in the transmission system, respond to the calibration instruction.

5. The method according to claim 1, wherein If the EPB status of the target vehicle is the clamping state, the method further includes: Present a first prompt message for prompting the user to prohibit triggering a gear shift operation.

6. The method according to claim 1, wherein The method further includes: If the EPB status of the target vehicle is the non-clamping state, present a second prompt message for prompting the user to switch the gear of the target vehicle to the P gear.

7. A vehicle torque zero-crossing control device, characterized in that Including: An acquisition module, configured to obtain the status of the electronic parking brake system (EPB) of the target vehicle in response to a calibration instruction; A self-learning module, which is used to control the target vehicle to increase or decrease torque at a preset gradient in the torque zero-crossing interval if the EPB state of the target vehicle is in a clamped state, so as to determine the target clearance of the drive system of the target vehicle; determine the target torque zero-crossing gradient parameter corresponding to the target clearance according to the corresponding relationship between the preset clearance and the torque zero-crossing gradient parameter and the target clearance; modify the torque zero-crossing gradient parameter of the target vehicle from the historical torque zero-crossing gradient parameter to the target torque zero-crossing gradient parameter; A control module, which is used to control the target vehicle to perform torque zero-crossing processing according to the target torque zero-crossing gradient parameter; The target torque zero-crossing gradient parameter includes a first mapping relationship and a second mapping relationship; the first mapping relationship is the mapping relationship among the driving speed, the torque demand value of the previous cycle and the gradient value, and the second mapping relationship is the mapping relationship among the current torque demand value, the adjusted torque value and the influence factor; the acquisition module is further used to acquire the target driving speed, the target torque demand value of the previous cycle, the current target torque demand value and the adjusted target torque value, and the control module is specifically used to determine the target gradient value according to the first mapping relationship, the target driving speed and the target torque demand value of the previous cycle; Determine the target influence factor according to the second mapping relationship, the current target torque demand value and the adjusted target torque value; use the target gradient value and the target influence factor to control the target vehicle to perform torque zero-crossing processing.

8. A control device, characterized in that, It includes a memory and a processor; Wherein, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the control device is enabled to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 6.

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