Vehicle acceleration method, vehicle acceleration device, and vehicle

Abstract

The present application relates to the technical field of new energy vehicles, and particularly to a vehicle acceleration method, a vehicle acceleration device, and a vehicle. The vehicle acceleration method includes: obtaining the torque states of a first motor and a second motor; determining that in a first stage, performing a first constraint on the target torque of the main motor to obtain a first target torque, and performing a first compensation on the target torque of the slave motor to obtain a second target torque; the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state; in response to the main motor completing torque zero-crossing, determining to enter a second stage, performing a second compensation on the target torque of the main motor to obtain a third target torque, and performing a second constraint on the target torque of the slave motor to obtain a fourth target torque. By using this method, when the torque of one motor crosses zero, part of the target of the motor in the excessive state is transferred to the other motor, thereby improving the vehicle ride comfort while reducing the impact on the power responsiveness.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and particularly to a vehicle acceleration method, a vehicle acceleration device, and a vehicle. Background Art

[0002] Due to the motor characteristics of new energy vehicles, they have advantages such as power performance and economy. However, due to the meshing characteristics of the motor gears, when the rotation direction of the gears changes from positive to negative or from negative to positive, problems such as vehicle body vibration may occur, posing risks to vehicle reliability and drivability, and also affecting the use experience of drivers and passengers.

[0003] Generally, the torque change rate is reduced when the actual torque is near zero crossing to help reduce noise and meet ride comfort. However, due to the reduction of torque, the power response of the vehicle is weakened, and it is easy to have insufficient power response when the vehicle torque crosses zero. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a vehicle acceleration method, a vehicle acceleration device, and a vehicle that can transfer part of the target of the motor in an excessive state to another motor when the torque of one motor crosses zero, thereby improving the ride comfort of the vehicle while reducing the impact on power response.

[0005] On the one hand, a vehicle acceleration method is provided. The vehicle acceleration method includes: obtaining the torque states of a first motor and a second motor; in response to the torque state of one of them being in a zero-crossing state and the torque state of the other not being in a zero-crossing state, determining that it is in the first stage, performing a first constraint on the target torque of the main motor to obtain a first target torque, performing a first compensation on the target torque of the slave motor to obtain a second target torque, and sending a first torque request to the control module; where the main motor is the one in the zero-crossing state and the slave motor is the one not in the zero-crossing state; in response to the main motor completing torque zero-crossing, determining to enter the second stage, performing a second compensation on the target torque of the main motor to obtain a third target torque, performing a second constraint on the target torque of the slave motor to obtain a fourth target torque, and sending a second torque request to the control module.

[0006] In an embodiment of the present application, performing a first constraint on the target torque of the main motor to obtain a first target torque and performing a first compensation on the target torque of the slave motor to obtain a second target torque includes: subtracting a first transfer torque from the initial target torque of the main motor to obtain a first target torque; adding the first transfer torque to the initial target torque of the slave motor to obtain a second target torque.

[0007] In an embodiment of the present application, the first constraint and the first compensation are performed periodically; the first transfer torque is the difference between the previous initial target torque of the main motor and the previous requested torque of the main motor.

[0008] In an embodiment of the present application, performing a second compensation on the target torque of the main motor to obtain a third target torque, and performing a second constraint on the target torque of the slave motor to obtain a fourth target torque includes: transferring the second transfer torque from the initial target torque of the slave motor to the initial target torque of the main motor to obtain the third target torque of the main motor and the fourth target torque of the slave motor.

[0009] In an embodiment of the present application, the second transfer torque is the difference between the torque factor and the cumulative transfer torque; wherein, the cumulative transfer torque is the torque amount of the slave motor compensated to in the first stage; the torque factor is the product of the cumulative transfer torque and the time factor, and the time factor is the ratio of the preset duration threshold of the second stage to the operating frequency of the vehicle controller.

[0010] In an embodiment of the present application, the vehicle acceleration method further includes:

[0011] Analyzing a smoothness factor matching the vehicle speed and the previous requested torque;

[0012] Analyzing a correction factor matching the target torque; wherein, the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque;

[0013] Performing a third constraint on the target torque by combining the correction factor and the smoothness factor to obtain the current requested torque; wherein, when the current requested torque is obtained based on the first target torque or the second target torque, sending a first torque request to the control module using the current requested torque; when the current requested torque is obtained based on the third target torque or the fourth target torque, sending a second torque request to the control module using the current requested torque.

[0014] In an embodiment of the present application, the vehicle acceleration method further includes: in response to one of the first motor and the second motor entering the zero-crossing state, starting to accumulate the running duration of the torque zero-crossing; when the running duration exceeds the preset duration or the initial target torque of the main motor is less than the preset torque, triggering the zero-crossing exit state, and sending a third torque request to the motor control module using the initial target torque as the requested torque.

[0015] In an embodiment of the present application, the vehicle acceleration method further includes: in response to the torque amount compensated for the main motor in the first stage and / or the second stage being matched with the torque amount compensated for the slave motor in the first stage, performing filtering processing on the target torque until the difference between the target torque and the requested torque is less than the torque threshold; wherein the target torque includes at least one of a first target torque, a second target torque, a third target torque, and a fourth target torque.

[0016] On the other hand, a vehicle acceleration device is provided. The vehicle acceleration device includes: an acquisition module and a control module; the acquisition module is configured to acquire the torque states of the first motor and the second motor; the control module is connected to the acquisition module and is configured to implement the vehicle acceleration method in any of the above embodiments; and implement the following steps: acquiring the torque states of the first motor and the second motor; in response to the torque state of one of them being in the zero-crossing state and the torque state of the other not being in the zero-crossing state, determining that it is in the first stage, performing a first constraint on the target torque of the main motor to obtain a first target torque, performing a first compensation on the target torque of the slave motor to obtain a second target torque, and sending a first torque request to the control module; wherein the main motor is the one in the zero-crossing state and the slave motor is the one not in the zero-crossing state; in response to the main motor completing torque zero-crossing, determining to enter the second stage, performing a second compensation on the target torque of the main motor to obtain a third target torque, performing a second constraint on the target torque of the slave motor to obtain a fourth target torque, and sending a second torque request to the control module.

[0017] In yet another aspect, a vehicle is provided. The vehicle includes: a vehicle acceleration device, a first motor, a second motor, and a motor control module; the vehicle acceleration device is as described in the above embodiments; the motor control module is connected to the vehicle acceleration device, the first motor, and the second motor, and the motor control module receives the first torque request and the second torque request and adjusts the torques of the first motor and the second motor according to the first torque request and the second torque request.

[0018] The above vehicle acceleration method, vehicle acceleration device, and vehicle have a first motor and a second motor, and trigger acceleration adjustment when one of the first motor and the second motor is in the zero-crossing state and the other is not. The one that needs to have torque zero-crossing is used as the main motor, and the other is used as the slave motor. The acceleration adjustment includes a first stage and a second stage. In the first stage, a first constraint is performed on the target torque of the main motor to improve the smoothness of the vehicle, and a first compensation is performed on the target torque of the slave motor to reduce the torque difference between the first motor and the second motor, so as to compensate for the power responsiveness and thus reduce the impact on the power responsiveness. After the main motor completes torque zero-crossing, it enters the second stage, where a second compensation is performed on the target torque of the main motor and a second constraint is performed on the slave motor to make the torques of the main motor and the slave motor match the working condition requirements and meet the power requirements of the vehicle. Brief Description of the Drawings

[0019] Figure 1 is a schematic flowchart of an embodiment of the vehicle acceleration method of the present application;

[0020] Figure 2 is a schematic flowchart of another embodiment of the vehicle acceleration method of the present application;

[0021] Figure 3 is a schematic structural diagram of an embodiment of the vehicle acceleration device of the present application;

[0022] Figure 4 is a schematic structural diagram of an embodiment of the vehicle of the present application;

[0023] Figure 5 is a schematic structural diagram of an embodiment of the computer device of the present application. Detailed Description of the Embodiments

[0024] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] To solve the technical problem in the prior art that the vehicle affects the power response when improving the ride comfort, the present application provides a vehicle acceleration method, a vehicle acceleration device and a vehicle. The present application will be elaborated in detail below.

[0026] In one embodiment, as Figure 1 shown, a vehicle acceleration method is provided, Figure 1 which is a schematic flowchart of an embodiment of the vehicle acceleration method of the present application.

[0027] S101: Obtain the torque states of the first motor and the second motor.

[0028] In this embodiment, the torque state indicates whether the motor has a tendency of torque passing through zero. When the motor has a tendency of torque passing through zero, it is considered that its torque state is in the zero-crossing state; otherwise, it is considered that its torque state is not in the zero-crossing state.

[0029] There are two drive motors in this embodiment, namely the first motor and the second motor. The torque states of the first motor and the second motor are obtained respectively.

[0030] S102: In response to the torque state of one of them being in the zero-crossing state and the torque state of the other not being in the zero-crossing state, it is determined that it is in the first stage. The target torque of the main motor is first constrained to obtain the first target torque, the target torque of the slave motor is first compensated to obtain the second target torque, and a first torque request is sent to the control module. Herein, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state.

[0031] In this embodiment, when one of the first motor and the second motor is in the zero-crossing state, acceleration adjustment is performed. The one in the zero-crossing state is called the main motor, and the other is called the slave motor. It should be noted that the main motor and the slave motor are only names used to distinguish the motor in the zero-crossing state from the motor not in the zero-crossing state, and do not limit the two to have a subordinate relationship.

[0032] The target torque of the main motor is first constrained, that is, the target torque of the main motor is reduced, so that the torque of the main motor crosses zero relatively smoothly, which is beneficial to improving the smoothness of the vehicle when the torque crosses zero.

[0033] The target torque of the slave motor is first compensated, that is, the target torque of the slave motor is increased, so as to make up for the reduced torque of the main motor and reduce the torque difference between the first motor and the second motor, which is beneficial to ensuring the power response.

[0034] S103: In response to the main motor completing torque zero-crossing, it is determined to enter the second stage. The target torque of the main motor is second compensated to obtain the third target torque, the target torque of the slave motor is second constrained to obtain the fourth target torque, and a second torque request is sent to the control module.

[0035] In this embodiment, it is easy to understand that torque zero-crossing is a torque zero-crossing action. For example, the torque has changed from a negative value to a positive value or from a positive value to a negative value, that is, the sign change of the torque can be considered as completing the torque zero-crossing action.

[0036] In response to the main motor completing torque zero-crossing, it is determined to enter the second stage. The target torque of the main motor is second compensated, and the target torque of the slave motor is second constrained, so as to compensate for the torque reduced by the main motor in the first stage and make the torque conditions of the main motor and the slave motor match the actual working conditions.

[0037] It can be seen that in this embodiment, when one of the first motor and the second motor is in the zero-crossing state and the other is not in the zero-crossing state, the acceleration adjustment is triggered. The one that needs to have zero-crossing torque is used as the main motor, and the other is used as the slave motor. The acceleration adjustment includes a first stage and a second stage. In the first stage, a first constraint is imposed on the target torque of the main motor to improve the ride comfort of the vehicle, and a first compensation is made for the target torque of the slave motor to reduce the torque difference between the first motor and the second motor, so as to compensate for the power responsiveness and thus reduce the impact on the power responsiveness. After the main motor completes torque zero-crossing, it enters the second stage, where a second compensation is made for the target torque of the main motor and a second constraint is imposed on the slave motor to make the torques of the main motor and the slave motor match the working condition requirements and meet the power requirements of the vehicle.

[0038] In one embodiment, as Figure 2 shown, a vehicle acceleration method is provided. Figure 2 FIG. is a schematic flowchart of another embodiment of the vehicle acceleration method of the present application.

[0039] S201: Obtain the torque states of the first motor and the second motor.

[0040] In this embodiment, an example of identifying whether it is in the zero-crossing state is given:

[0041] When identifying whether the torque state of the first motor is in the zero-crossing state, the first motor can be considered to be in the zero-crossing state when the following conditions are met:

[0042] The initial target torque of the first motor is greater than the first preset value, and the previous requested torque is within the first preset range; the trend of the actual torque of the first motor is from negative to positive and the initial target change rate is positive, then it is considered that the first motor is in the zero-crossing state. Among them, the first preset value and the first preset range are set based on the actual working condition of Tip-In (throttle change rate) for the purpose of identifying the zero-crossing interval.

[0043] Similarly, when identifying whether the torque state of the second motor is in the zero-crossing state, the second motor can be considered to be in the zero-crossing state when the following conditions are met:

[0044] The initial target torque of the first motor is greater than the first preset value, and the previous requested torque is within the first preset range; the trend of the actual torque of the first motor is from negative to positive and the initial target change rate is positive, then it is considered that the first motor is in the zero-crossing state. Among them, the first preset value and the first preset range are set based on the actual working condition of Tip-In (throttle change rate) for the purpose of identifying the zero-crossing interval.

[0045] S202: Determine whether the first motor and the second motor meet the acceleration adjustment conditions.

[0046] In this embodiment, the acceleration adjustment condition includes: the torque state of one of the first motor and the second motor is in a zero-crossing state, and the torque state of the other is not in a zero-crossing state.

[0047] In response to meeting the acceleration adjustment condition, step S203 is executed. In response to not meeting the acceleration adjustment condition, step S201 is executed.

[0048] Moreover, if the current torque of the one in the zero-crossing state has not crossed zero, it is determined to be in the first stage.

[0049] In this embodiment, the two are described in the manner of a main motor and a slave motor. Among them, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state.

[0050] S203: Perform a first constraint on the target torque of the main motor to obtain a first target torque.

[0051] In this embodiment, the first target torque can be obtained by subtracting the first transfer torque from the initial target torque of the main motor.

[0052] Optionally, the first transfer torque is the difference between the previous initial target torque of the main motor and the previous requested torque of the main motor.

[0053] When the main motor is the first motor and the slave motor is the second motor, the specific calculation formula is as follows:

[0054] T ReTarget = T ReTargetRaw -(T ReTargetRawz - T Rereqz ) Equation 1-1

[0055] In Equation 1-1, T ReTarget is the first target torque; T ReTargetRaw is the initial target torque of the first motor; T ReTargetRawz is the previous initial target torque of the first motor; T Rereqz is the previous requested torque of the first motor.

[0056] When the main motor is the second motor and the slave motor is the first motor, the specific calculation formula is as follows:

[0057] T FrntTarget = T FrntTargetRaw -(T FrntTargetRawz - T Frntreqz ) Equation 2-1

[0058] In Equation 2-1, T FrntTarget is the first target torque; T FrntTargetRaw is the initial target torque of the second motor; T FrntTargetRawz is the previous initial target torque of the second motor; TFrntreqz is the previous requested torque of the second motor.

[0059] The first constraint can be performed periodically.

[0060] S204: Apply a second constraint to the target torque of the slave motor to obtain a second target torque.

[0061] In this embodiment, the initial target torque of the slave motor is superimposed with the first transfer torque to obtain the second target torque.

[0062] When the main motor is the first motor and the slave motor is the second motor, the specific calculation formula is as follows:

[0063] T FrntTarget = T FrntTargetRaw + (T ReTargetRawz - T Rereqz ) Equation 1-2

[0064] In Equation 1-2, T FrntTarget is the second target torque; T FrntTargetRaw is the initial target torque of the second motor; T FrntTargetRawz is the previous initial target torque of the second motor; T Frntreqz is the previous requested torque of the second motor.

[0065] When the main motor is the second motor and the slave motor is the first motor, the specific calculation formula is as follows:

[0066] T ReTarget = T ReTargetRaw + (T ReTargetRawz - T Rereqz ) Equation 2-2

[0067] In Equation 2-2, T ReTarget is the second target torque; T ReTargetRaw is the initial target torque of the first motor; T ReTargetRawz is the previous initial target torque of the first motor; T Rereqz is the previous requested torque of the first motor.

[0068] Optionally, the first compensation is performed periodically.

[0069] S205: Send a first torque request to the control module.

[0070] In this embodiment, the first target torque and the second target torque can be directly used as the request torque to send a first torque request to the control module. Or, at least one of the first target torque and the second torque can be corrected to form a request torque and send a first torque request to the control module.

[0071] S206: Determine whether the main motor has completed torque zero crossing.

[0072] In this embodiment, in response to the main motor completing torque zero crossing, it is considered that it can be determined to enter the second stage, and then step S207 is executed. In response to the main motor not completing torque zero crossing, step S203 is executed.

[0073] Furthermore, a flag bit that can identify whether it is the first stage can also be preset, and the flag bit of the first stage can be directly recognized in step S206. Or, when the first stage changes from the trigger state to the exit state, the second stage activates the trigger state.

[0074] S207: Perform a second compensation on the target torque of the main motor to obtain a third target torque.

[0075] In this embodiment, the initial target torque of the main motor can be subtracted by the second transfer torque to obtain the third target torque.

[0076] Optionally, the second transfer torque is the difference between the torque factor and the cumulative transfer torque.

[0077] Among them, the cumulative transfer torque is the torque amount of the slave motor cumulatively compensated in the first stage; the torque factor is the product of the cumulative transfer torque and the time factor, and the time factor is the ratio of the preset duration threshold of the second stage to the working frequency of the vehicle controller.

[0078] When the main motor is the first motor and the slave motor is the second motor, the specific calculation formula is as follows:

[0079] T ReTarget =T ReTargetRaw +(T Change *Per t -T Change ) Equation 1-3

[0080] In Equation 1-3, T ReTarget is the third target torque; T ReTargetRaw is the initial target torque of the first motor; (T Change *Per t -T Change ) is the second transfer torque; T Change *Per t is the torque factor; T Change is the cumulative transfer torque; Per t is the time factor.

[0081] When the main motor is the second motor and the slave motor is the first motor, the specific calculation formula is as follows:

[0082] T FrntTarget =T FrntTargetRaw +(TChange *Per t -T Change ) Formula 2-3

[0083] In Formula 2-3, T FrntTarget is the third requested torque; T FrntTargetRaw is the initial target torque of the second motor; (T Change *Per t -T Change ) is the second transfer torque; T Change *Per t is the torque factor; T Change is the cumulative transfer torque; Per t is the time factor.

[0084] That is to say, based on the third target torque, subtract the cumulative transfer torque transferred in the first stage, and gradually increase the torque on this subtracted part to reduce the risk that the torque mutation affects the vehicle ride comfort.

[0085] S208: Perform a second constraint on the target torque of the slave motor to obtain a fourth target torque.

[0086] In this embodiment, add the second transfer torque to the initial target torque of the slave motor to obtain a second target torque.

[0087] In other words, transfer the second transfer torque from the initial target torque of the slave motor to the initial target torque of the main motor to obtain the third target torque of the main motor and the fourth target torque of the slave motor.

[0088] When the main motor is the first motor and the slave motor is the second motor, the specific calculation formula is as follows:

[0089] T FrntTarget = T FrntTargetRaw -(T Change *Per t -T Change ) Formula 1-4

[0090] In Formula 1-4, T FrntTarget is the fourth requested torque; T FrntTargetRaw is the initial target torque of the second motor; (T Change *Per t -T Change ) is the second transfer torque; T Change *Per t is the torque factor; T Change is the cumulative transfer torque; Per t is the time factor.

[0091] When the main motor is the second motor and the slave motor is the first motor, the specific calculation formula is as follows:

[0092] T ReTarget = T ReTargetRaw -(T Change *Per t -T Change ) Equation 2-4

[0093] In Equation 2-4, T ReTarget is the fourth target torque; T ReTargetRaw is the initial target torque of the first motor; (T Change *Per t -T Change ) is the second transfer torque; T Change *Per t is the torque factor; T Change is the cumulative transfer torque; Per t is the time factor.

[0094] Thus, the torque of the slave motor can be transferred more smoothly, reducing the risk that the sudden change in the torque of the slave motor affects the ride comfort of the vehicle.

[0095] S209: Send a second torque request to the control module.

[0096] In this embodiment, the third target torque and the fourth target torque can be directly used as the request torque to send a first torque request to the control module. Alternatively, at least one of the third target torque and the fourth target torque can be corrected to form a request torque, and a second torque request is sent to the control module.

[0097] Optionally, in this embodiment, at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque can be corrected to optimize the ride comfort of the vehicle. Optionally, all four of the first target torque, the second target torque, the third target torque, and the fourth target torque can be corrected.

[0098] Specifically, a ride factor matching the vehicle speed and the previous request torque can be parsed. Optionally, a two-dimensional table of vehicle speed, previous request torque, and ride factor can be preset, and the ride factor can be obtained through a table lookup operation. The following is an example through Table 1:

[0099] Table 1 Two-dimensional table of vehicle speed, previous request torque, and ride factor

[0100]

[0101] Parse a correction factor matching the target torque. Among them, the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque.

[0102] Optionally, a preset table of the target torque and the correction factor can be preset, and the correction factor can be obtained through a table look-up operation. The following is an example using Table 2:

[0103] Table 2 Preset Table of Target Torque and Correction Factor

[0104] Target torque 0 100 200 Correction factor 1 1 1.5

[0105] In an alternative embodiment, the smoothness factor and the correction factor can be analyzed through an algorithm model, a calculation formula, etc., which are not limited herein.

[0106] Combining the correction factor and the smoothness factor to perform a third constraint on the target torque to obtain the current requested torque. An example of the calculation formula for the third constraint is as follows:

[0107] T ReqStep = T ReqStepRaw * T ReqStepCorrect Equation 3-1

[0108] T Req = T Target ± T ReqStep Equation 3-2

[0109] In Equation 3-1 and Equation 3-2, T ReqStep is the torque change gradient; T ReqStepRaw is the smoothness factor; T ReqStepCorrect is the correction factor, T Req is the current requested torque, and T Target is the target torque.

[0110] Among them, when the current requested torque is obtained based on the first target torque or the second target torque, the first torque request is sent to the control module using the current requested torque; when the current requested torque is obtained based on the third target torque or the fourth target torque, the second torque request is sent to the control module using the current requested torque.

[0111] Furthermore, an automatic zero-crossing exit state can be set to adapt to the weakening of the vehicle acceleration request and reduce the risk of excessive or abnormal acceleration adjustment.

[0112] Specifically, in response to one of the first motor and the second motor entering the zero-crossing state, the running duration of the torque zero-crossing is started to be accumulated; when the running duration exceeds the preset duration or the initial target torque of the main motor is less than the preset torque, the zero-crossing exit state is triggered, and the initial target torque is used as the requested torque to send a third torque request to the motor control module.

[0113] In this embodiment, at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque can also be filtered.

[0114] Specifically, the torque amount for compensating the main motor in response to the initial determination in the first stage and / or the second stage can be matched with the torque amount for compensating the slave motor in the first stage, and the target torque is filtered until the difference between the target torque and the requested torque is less than the torque threshold; wherein the target torque includes at least one of a first target torque, a second target torque, a third target torque, and a fourth target torque.

[0115] For example, the formula for the specific filtering process is as follows:

[0116] y(t) = K * u(t) + (1 - K) * y(t - 1)

[0117] where y(t) is the filtered target torque; K is the filtering coefficient; y(t - 1) is the target torque after the previous filtering. Among them, the filtering coefficient can be obtained based on the vehicle speed and the difference between the initial target torque and the previous requested torque.

[0118] In an alternative embodiment, within the first stage, the torque amount reduced by the first constrained main motor and the torque amount increased by the first compensated slave motor can be different. And / or, within the second stage, the torque amount increased by the second compensated main motor and the torque amount reduced by the second constrained slave motor can be different.

[0119] Or, the first transfer torque and / or the second transfer torque can be empirical values or obtained based on iterative training, which is not limited herein.

[0120] It should be understood that although Figure 1 - Figure 2 the steps in the flowchart of Figure 1 - Figure 2 are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover,

[0121] In one embodiment, as Figure 3 shown, a vehicle acceleration device is provided, Figure 3 which is a schematic structural diagram of an embodiment of the vehicle acceleration device of the present application.

[0122] The vehicle acceleration device includes an acquisition module 31 and a control module 32.

[0123] The acquisition module 31 is configured to acquire the torque states of both the first motor and the second motor.

[0124] The control module 32 is connected to the acquisition module 31 and is configured to implement the vehicle acceleration method in any of the above embodiments.

[0125] The control module 32 may determine that it is in the first stage in response to the torque state of one of them being in the zero-crossing state and the torque state of the other not being in the zero-crossing state, perform a first constraint on the target torque of the main motor to obtain a first target torque, perform a first compensation on the target torque of the slave motor to obtain a second target torque, and send a first torque request to the control module 32; wherein, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state; in response to the main motor completing torque zero-crossing, it is determined to enter the second stage, perform a second compensation on the target torque of the main motor to obtain a third target torque, perform a second constraint on the target torque of the slave motor to obtain a fourth target torque, and send a second torque request to the control module 32.

[0126] In one embodiment, as Figure 4 shown, a vehicle is provided, Figure 4 which is a schematic structural diagram of an embodiment of the vehicle in the present application.

[0127] The vehicle includes a vehicle acceleration device 30, a motor control module 41, a first motor 42, and a second motor 43.

[0128] The vehicle acceleration device 30 is as described in the above embodiment and will not be elaborated here.

[0129] The motor control module 41 is connected to the vehicle acceleration device 30, the first motor 42, and the second motor 43. The motor control module 41 receives the first torque request and the second torque request, and adjusts the torques of the first motor 42 and the second motor 43 according to the first torque request and the second torque request.

[0130] For the specific limitations of the vehicle acceleration device and the vehicle, reference may be made to the limitations on the vehicle acceleration method in the foregoing text, which will not be elaborated here. Each module in the above vehicle acceleration device and vehicle can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0131] In one embodiment, as Figure 5 shown, a computer device is provided, Figure 5 which is a schematic structural diagram of an embodiment of the computer device in the present application.

[0132] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the vehicle acceleration method described in the above embodiments.

[0133] Those skilled in the art can understand that Figure 5 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0134] When the processor executes the computer program, the following steps are implemented:

[0135] S101: Obtain the torque states of the first motor and the second motor.

[0136] S102: In response to the torque state of one of them being in the zero-crossing state and the torque state of the other not being in the zero-crossing state, determine that it is in the first stage, perform a first constraint on the target torque of the main motor to obtain a first target torque, perform a first compensation on the target torque of the slave motor to obtain a second target torque, and send a first torque request to the control module; where the main motor is the one in the zero-crossing state and the slave motor is the one not in the zero-crossing state.

[0137] S103: In response to the main motor completing torque zero-crossing, determine to enter the second stage, perform a second compensation on the target torque of the main motor to obtain a third target torque, perform a second constraint on the target torque of the slave motor to obtain a fourth target torque, and send a second torque request to the control module.

[0138] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0139] S201: Obtain the torque states of the first motor and the second motor.

[0140] S202: Determine whether the first motor and the second motor meet the acceleration adjustment conditions.

[0141] In this embodiment, the acceleration adjustment conditions include: the torque state of one of the first motor and the second motor is in the zero-crossing state, and the torque state of the other is not in the zero-crossing state.

[0142] In response to meeting the acceleration adjustment conditions, step S203 is executed. In response to not meeting the acceleration adjustment conditions, step S201 is executed.

[0143] Moreover, if the current torque of the one in the zero-crossing state has not crossed zero, it is determined that it is in the first stage.

[0144] In this embodiment, the main motor and the slave motor are described in this way. Among them, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state.

[0145] S203: Perform a first constraint on the target torque of the main motor to obtain a first target torque.

[0146] In this embodiment, the initial target torque of the main motor can be subtracted by a first transfer torque to obtain the first target torque.

[0147] Optionally, the first transfer torque is the difference between the previous initial target torque of the main motor and the previous requested torque of the main motor.

[0148] The first constraint can be performed periodically.

[0149] S204: Perform a second constraint on the target torque of the slave motor to obtain a second target torque.

[0150] In this embodiment, the initial target torque of the slave motor is superimposed with the first transfer torque to obtain the second target torque.

[0151] Optionally, the first compensation is performed periodically.

[0152] S205: Send a first torque request to the control module.

[0153] S206: Determine whether the main motor has completed torque zero-crossing.

[0154] In this embodiment, in response to the main motor completing torque zero-crossing, it is considered that it can be determined to enter the second stage, and then step S207 is executed. In response to the main motor not completing torque zero-crossing, step S203 is executed.

[0155] S207: Perform a second compensation on the target torque of the main motor to obtain a third target torque.

[0156] In this embodiment, the initial target torque of the main motor can be subtracted by a second transfer torque to obtain the third target torque.

[0157] Optionally, the second transfer torque is the difference between the torque factor and the cumulative transfer torque.

[0158] Among them, the cumulative transfer torque is the torque amount of the slave motor accumulated and compensated in the first stage; the torque factor is the product of the cumulative transfer torque and the time factor, and the time factor is the ratio of the preset duration threshold of the second stage to the working frequency of the vehicle controller.

[0159] S208: Perform a second constraint on the target torque of the slave motor to obtain a fourth target torque.

[0160] In this embodiment, the second transfer torque is superimposed on the initial target torque of the slave motor to obtain the second target torque.

[0161] In other words, the second transfer torque is transferred from the initial target torque of the slave motor to the initial target torque of the main motor, obtaining the third target torque of the main motor and the fourth target torque of the slave motor.

[0162] S209: Send a second torque request to the control module.

[0163] Optionally, in this embodiment, at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque may be corrected.

[0164] Specifically, a smoothness factor matching the vehicle speed and the previous requested torque can be parsed.

[0165] Parse a correction factor matching the target torque; where the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque.

[0166] Combine the correction factor and the smoothness factor to perform a third constraint on the target torque to obtain the current requested torque.

[0167] Among them, when the current requested torque is obtained based on the first target torque or the second target torque, the first torque request is sent to the control module using the current requested torque; when the current requested torque is obtained based on the third target torque or the fourth target torque, the second torque request is sent to the control module using the current requested torque.

[0168] Furthermore, an automatic zero-crossing exit state can be set to adapt to the weakening of the vehicle acceleration request and reduce the risk of excessive or abnormal acceleration adjustment.

[0169] Specifically, in response to one of the first motor and the second motor entering the zero-crossing state, the running duration of the torque zero-crossing is started to be accumulated; when the running duration exceeds the preset duration or the initial target torque of the main motor is less than the preset torque, the zero-crossing exit state is triggered, and the initial target torque is used as the requested torque to send a third torque request to the motor control module.

[0170] In this embodiment, at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque can also be filtered.

[0171] Specifically, the torque amount for compensating the main motor in response to the initial determination being in the first stage and / or the second stage can be matched with the torque amount for compensating the slave motor in the first stage, and the target torque can be filtered until the difference between the target torque and the requested torque is less than the torque threshold; wherein, the target torque includes at least one of a first target torque, a second target torque, a third target torque, and a fourth target torque.

[0172] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0173] S101: Obtain the torque states of the first motor and the second motor.

[0174] S102: In response to the torque state of one of them being in the zero-crossing state and the torque state of the other not being in the zero-crossing state, determine that it is in the first stage, perform a first constraint on the target torque of the main motor to obtain a first target torque, perform a first compensation on the target torque of the slave motor to obtain a second target torque, and send a first torque request to the control module; wherein, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state.

[0175] S103: In response to the main motor completing torque zero-crossing, determine to enter the second stage, perform a second compensation on the target torque of the main motor to obtain a third target torque, perform a second constraint on the target torque of the slave motor to obtain a fourth target torque, and send a second torque request to the control module.

[0176] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0177] S201: Obtain the torque states of the first motor and the second motor.

[0178] S202: Determine whether the first motor and the second motor meet the acceleration adjustment conditions.

[0179] In this embodiment, the acceleration adjustment conditions include: the torque state of one of the first motor and the second motor is in the zero-crossing state, and the torque state of the other is not in the zero-crossing state.

[0180] In response to meeting the acceleration adjustment conditions, step S203 is executed. In response to not meeting the acceleration adjustment conditions, step S201 is executed.

[0181] Moreover, if the current torque of the one in the zero-crossing state has not crossed zero, it is determined to be in the first stage.

[0182] In this embodiment, the two are described in the manner of a main motor and a slave motor. Among them, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state.

[0183] S203: Apply a first constraint to the target torque of the main motor to obtain a first target torque.

[0184] In this embodiment, the first target torque can be obtained by subtracting a first transfer torque from the initial target torque of the main motor.

[0185] Optionally, the first transfer torque is the difference between the previous initial target torque of the main motor and the previous requested torque of the main motor.

[0186] The first constraint can be performed periodically.

[0187] S204: Apply a second constraint to the target torque of the slave motor to obtain a second target torque.

[0188] In this embodiment, the second target torque is obtained by adding the first transfer torque to the initial target torque of the slave motor.

[0189] Optionally, the first compensation is performed periodically.

[0190] S205: Send a first torque request to the control module.

[0191] S206: Determine whether the main motor has completed torque zero crossing.

[0192] In this embodiment, in response to the main motor completing torque zero crossing, it is considered that it can be determined to enter the second stage, and then step S207 is executed. In response to the main motor not completing torque zero crossing, step S203 is executed.

[0193] S207: Apply a second compensation to the target torque of the main motor to obtain a third target torque.

[0194] In this embodiment, the third target torque can be obtained by subtracting a second transfer torque from the initial target torque of the main motor.

[0195] Optionally, the second transfer torque is the difference between a torque factor and an accumulated transfer torque.

[0196] Among them, the accumulated transfer torque is the torque amount of the slave motor accumulated and compensated in the first stage; the torque factor is the product of the accumulated transfer torque and a time factor, and the time factor is the ratio of the preset duration threshold of the second stage to the working frequency of the vehicle controller.

[0197] S208: Apply a second constraint to the target torque of the slave motor to obtain a fourth target torque.

[0198] In this embodiment, the second target torque is obtained by adding the second transfer torque to the initial target torque of the slave motor.

[0199] In other words, by transferring the second transfer torque from the initial target torque of the motor to the initial target torque of the main motor, the third target torque of the main motor and the fourth target torque of the slave motor are obtained.

[0200] S209: Send a second torque request to the control module.

[0201] Optionally, in this embodiment, at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque can also be corrected.

[0202] Specifically, a smoothness factor matching the vehicle speed and the previous requested torque can be parsed.

[0203] Parse a correction factor matching the target torque; wherein the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque.

[0204] Combine the correction factor and the smoothness factor to perform a third constraint on the target torque to obtain the current requested torque.

[0205] Wherein, when the current requested torque is obtained based on the first target torque or the second target torque, use the current requested torque to send a first torque request to the control module; when the current requested torque is obtained based on the third target torque or the fourth target torque, use the current requested torque to send a second torque request to the control module.

[0206] Furthermore, an automatic zero-crossing exit state can be set to adapt to the weakening of the vehicle acceleration request and reduce the risk of excessive or abnormal acceleration adjustment.

[0207] Specifically, in response to one of the first motor and the second motor entering the zero-crossing state, start accumulating the running duration of the torque zero-crossing; when the running duration exceeds the preset duration or the initial target torque of the main motor is less than the preset torque, trigger the zero-crossing exit state, and use the initial target torque as the requested torque to send a third torque request to the motor control module.

[0208] In this embodiment, at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque can also be filtered.

[0209] Specifically, in response to the torque amount for compensating the main motor in the first stage and / or the second stage being matched with the torque amount for compensating the slave motor in the first stage, filter the target torque until the difference between the target torque and the requested torque is less than the torque threshold; wherein the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque.

[0210] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0211] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0212] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A vehicle acceleration method, characterized in that, The vehicle acceleration method includes: Obtaining the torque states of the first motor and the second motor; In response to the torque state of one of them being in a zero-crossing state and the torque state of the other not being in a zero-crossing state, determining that it is in the first stage, performing a first constraint on the target torque of the main motor to obtain a first target torque, performing a first compensation on the target torque of the slave motor to obtain a second target torque, and sending a first torque request to the control module; wherein, the main motor is the one in the zero-crossing state, and the slave motor is the one not in the zero-crossing state; In response to the main motor completing torque zero-crossing, determining to enter the second stage, performing a second compensation on the target torque of the main motor to obtain a third target torque, performing a second constraint on the target torque of the slave motor to obtain a fourth target torque, and sending a second torque request to the control module; The performing a first constraint on the target torque of the main motor to obtain a first target torque and performing a first compensation on the target torque of the slave motor to obtain a second target torque includes: Subtracting a first transfer torque from the initial target torque of the main motor to obtain the first target torque; adding the first transfer torque to the initial target torque of the slave motor to obtain the second target torque; The first constraint and the first compensation are performed periodically; The first transfer torque is the difference between the previous initial target torque of the main motor and the previous requested torque of the main motor.

2. The vehicle acceleration method according to claim 1, wherein The performing a second compensation on the target torque of the main motor to obtain a third target torque and performing a second constraint on the target torque of the slave motor to obtain a fourth target torque includes: Transferring a second transfer torque from the initial target torque of the slave motor to the initial target torque of the main motor to obtain the third target torque of the main motor and the fourth target torque of the slave motor.

3. The vehicle acceleration method according to claim 2, wherein The second transfer torque is the difference between a torque factor and an accumulated transfer torque; Wherein, the accumulated transfer torque is the torque amount of the slave motor accumulated and compensated in the first stage; the torque factor is the product of the accumulated transfer torque and a time factor, and the time factor is the ratio of a preset duration threshold of the second stage to the operating frequency of the vehicle controller.

4. The vehicle acceleration method according to claim 1, wherein The vehicle acceleration method further includes: Analyzing a smoothness factor matching the vehicle speed and the previous requested torque; Analyzing a correction factor matching the target torque; wherein, the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque; Combining the correction factor and the smoothness factor to perform a third constraint on the target torque to obtain the current requested torque; Wherein, when the current requested torque is obtained based on the first target torque or the second target torque, using the current requested torque to send a first torque request to the control module; when the current requested torque is obtained based on the third target torque or the fourth target torque, using the current requested torque to send a second torque request to the control module.

5. The vehicle acceleration method according to claim 1, characterized in that, The vehicle acceleration method further includes: In response to one of the first motor and the second motor entering a zero-crossing state, start accumulating the running duration of the torque zero-crossing. When the running duration exceeds a preset duration or the initial target torque of the main motor is less than a preset torque, trigger a zero-crossing exit state, and send a third torque request to the motor control module with the initial target torque as the requested torque.

6. The vehicle acceleration method according to claim 1, characterized in that, The vehicle acceleration method further includes: In response to initially determining that the torque compensation amount of the main motor in the first stage and / or the second stage matches the torque compensation amount of the slave motor in the first stage, filter the target torque until the difference between the target torque and the requested torque is less than a torque threshold; wherein the target torque includes at least one of the first target torque, the second target torque, the third target torque, and the fourth target torque.

7. A vehicle acceleration device, characterized in that, The vehicle acceleration device includes: An acquisition module for acquiring the torque states of the first motor and the second motor. A control module, connected to the acquisition module, for implementing the vehicle acceleration method according to any one of claims 1 to 6.

8. A vehicle, characterized in that, The vehicle includes: The vehicle acceleration device according to claim 7; A first motor, a second motor, and a motor control module, the motor control module is connected to the vehicle acceleration device, the first motor, and the second motor, the motor control module receives the first torque request and the second torque request, and adjusts the torques of the first motor and the second motor according to the first torque request and the second torque request.

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