Torque recovery method, torque recovery device, vehicle, and computer device

Abstract

This application relates to the technical field of vehicle torque, and particularly to a torque recovery method, a torque recovery device, a vehicle, and a computer device. The torque recovery method includes: the vehicle is in a low-power working condition; calculating a recovery constraint torque based on the recovery constraint power and the motor speed, and comparing the initial target torque with the recovery constraint torque; in response to the initial target torque exceeding the recovery constraint torque, using the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque, and sending a first torque request to the motor control module; in response to the initial target torque not exceeding the recovery constraint torque, analyzing a binding torque by combining the vehicle speed and the recovery constraint power, and using the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque, and sending a second torque request to the motor control module. By adopting this method, the vehicle working condition can be identified, and while optimizing the smoothness of the vehicle's low-power state, the impact on energy consumption can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle torque, and particularly to a torque recovery method, a torque recovery device, a vehicle, and a computer device. Background Art

[0002] When the battery of a new energy vehicle is at a low temperature or a high SOC (State of Charge), the available power of the vehicle is low, and it is easy to have a situation where the available torque limits the motor torque, resulting in problems such as insufficient vehicle ride comfort and difficulty in achieving the expected effect of driving actions. Usually, a hydraulic supplement method is used to make up for the lost deceleration, which affects the energy consumption of the vehicle. Summary of the Invention

[0003] Based on this, in view of the above technical problems, it is necessary to provide a torque recovery method, a torque recovery device, a vehicle, and a computer device that can identify vehicle working conditions and, while optimizing the ride comfort of the vehicle in a low-power state, reduce the impact on energy consumption.

[0004] On the one hand, a torque recovery method is provided. The torque recovery method includes: obtaining the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; where the vehicle is in a low-power working condition; calculating the recovery constraint torque based on the recovery constraint power and the motor speed, and comparing the initial target torque with the recovery constraint torque; in response to the initial target torque exceeding the recovery constraint torque, using the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque, and sending a first torque request to the motor control module; in response to the initial target torque not exceeding the recovery constraint torque, parsing the binding torque by combining the vehicle speed and the recovery constraint power, and using the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque, and sending a second torque request to the motor control module.

[0005] In an embodiment of the present application, using the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque includes: taking the larger of the recovery constraint torque and the initial target torque as the first target torque; adjusting the first target torque by combining the current state of the vehicle and the previous torque parameter to obtain the first requested torque.

[0006] In an embodiment of the present application, the previous torque parameter is the previous recovery constraint torque; adjusting the first target torque by combining the current state of the vehicle and the previous torque parameter to obtain the first requested torque includes: obtaining the vehicle speed and the previous recovery constraint torque; parsing the adjustment factor by combining the vehicle speed and the previous recovery constraint torque; subtracting the adjustment factor from the first target torque to obtain the first requested torque.

[0007] In an embodiment of the present application, performing a second constraint on an initial target torque by using a binding torque to obtain a second requested torque includes: selecting the larger one of the binding torque and the initial target torque as the second target torque; combining the current state of the vehicle and a previous torque parameter adjustment to analyze and determine a constraint factor, and using the constraint factor to reduce the second target torque to form the second requested torque.

[0008] In an embodiment of the present application, the initial target torque exceeding the recovery constraint torque includes: the difference between the recovery constraint torque and the initial target torque being greater than a first threshold.

[0009] In an embodiment of the present application, the torque recovery method further includes: obtaining a previous requested torque, and comparing the initial target torque and the previous requested torque; in response to the difference between the initial target torque and the previous requested torque being less than a second threshold, determining that the torque recovery is completed, and requesting the initial target torque from the motor control module.

[0010] In an embodiment of the present application, the torque recovery method further includes: analyzing and determining a filtering factor by combining the vehicle speed and the difference between the initial target torque and the previous requested torque; performing weighted fusion on the second requested torque and the previous requested torque by using the filtering factor and an adjustment factor to obtain a current requested torque; wherein, the filtering factor and the adjustment factor are balance numbers with respect to a preset value, and the second torque request is to request the current requested torque from the motor control module.

[0011] On the other hand, a torque recovery device is provided. The torque recovery device includes: a collection module and a control module; the collection module is used to obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; the control module is connected to the collection module and is used to implement the torque recovery method in any one of the above embodiments.

[0012] On yet another hand, a vehicle is provided. The vehicle includes a torque recovery device, a drive motor, and a motor control module; the torque recovery device is as described in the above embodiments; the motor control module is connected to the torque recovery device and the drive motor, and the motor control module receives the first torque request and the second torque request, and adjusts the torque of the drive motor according to the first torque request and the second torque request.

[0013] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented: obtaining the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; wherein the vehicle is in a low-power working condition; calculating the recovery constraint torque based on the recovery constraint power and the motor speed, comparing the initial target torque with the recovery constraint torque; in response to the initial target torque exceeding the recovery constraint torque, using the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque, and sending a first torque request to the motor control module; in response to the initial target torque not exceeding the recovery constraint torque, parsing the binding torque by combining the vehicle speed and the recovery constraint power, using the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque, and sending a second torque request to the motor control module.

[0014] The above torque recovery method, torque recovery device, vehicle, and computer device generate a recovery constraint torque for restricting the initial target torque based on the current recovery constraint power when the vehicle is in a low-power working condition, so as to achieve smooth processing of the recovery torque. And when the initial target torque does not exceed the recovery constraint torque, the method of constraining the initial target torque is changed, and the binding torque is used to constrain it to meet the recovery expectation. At the same time, in this application, the recovery function is used to limit the requested torque to optimize the smoothness of the vehicle in the low-power state, and the intervention of the hydraulic replenishment method can be reduced, which is also beneficial to reducing the impact on the vehicle energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic flowchart of an embodiment of the torque recovery method of the present application;

[0016] Figure 2 It is a schematic flowchart of another embodiment of the torque recovery method of the present application;

[0017] Figure 3 It is a schematic structural diagram of an embodiment of the torque recovery device of the present application;

[0018] Figure 4 It is a schematic structural diagram of an embodiment of the vehicle of the present application;

[0019] Figure 5 It is a schematic structural diagram of an embodiment of the computer device of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to make the objectives, technical solutions, and advantages of the present application clearer, 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.

[0021] To solve the technical problem of affecting vehicle energy consumption when optimizing ride comfort in the prior art, the present application provides a torque recovery method, a torque recovery device, a vehicle, and a computer device. The technical solutions of the present application are elaborated in detail below.

[0022] In one embodiment, as Figure 1 shown, a torque recovery method is provided. Figure 1 FIG. is a schematic flowchart of an embodiment of the torque recovery method of the present application.

[0023] S101: Obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; wherein, the vehicle is in a low-power working condition.

[0024] In this embodiment, when the vehicle is in a low-power working condition, low-power recovery control needs to be performed to make up for the loss of deceleration.

[0025] The recovery constraint power of the vehicle is equivalent to the recovery limit power, and the use of the recovery constraint power can optimize the ride comfort of the vehicle.

[0026] The motor speed can be fed back by the motor control module. The initial target torque is the target torque generated by a control module such as a VCU (Vehicle Control Unit).

[0027] S102: Calculate the recovery constraint torque based on the recovery constraint power and the motor speed, and compare the initial target torque with the recovery constraint torque.

[0028] In this embodiment, using the correlation between power, speed, and torque, the theoretically recovery limit torque can be derived from the recovery constraint power and the motor speed. The recovery constraint torque can adapt to the current working condition of the vehicle. Using the recovery constraint torque to limit the requested torque is beneficial to reducing the risk of affecting the ride comfort of the vehicle.

[0029] Compare the initial target torque with the recovery constraint torque to achieve adaptive adjustment of the requested torque.

[0030] S103: In response to the initial target torque exceeding the recovery constraint torque, use the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque, and send a first torque request to the motor control module.

[0031] In this embodiment, in response to the initial target torque exceeding the recovery constraint torque, the recovery constraint torque is used to perform a first constraint on the initial torque to obtain a first requested torque. Based on the first requested torque, a first torque request is sent to the motor control module. That is, the first torque request is to request the motor control module to adjust the drive motor according to the first requested torque. Thus, it is beneficial to optimize the ride comfort of the vehicle.

[0032] S104: In response to the initial target torque not exceeding the recovery constraint torque, analyze the binding torque by combining the vehicle speed and the recovery constraint power, use the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque, and send a second torque request to the motor control module.

[0033] In this embodiment, in response to the fact that after adjustment based on the first constraint, the initial target torque does not exceed the recovery constraint torque, it is considered that the torque limitation method can be adjusted to perform torque recovery flexibly and efficiently.

[0034] Re-analyze a limit adjustment, that is, the binding torque, in combination with the current state of the vehicle and the recovery constraint power. Use the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque for requesting to the motor control module, so that the motor control module adjusts the torque of the drive motor based on the second requested torque.

[0035] It can be seen that when the vehicle is in a low-power working condition, a recovery constraint torque for limiting the initial target torque is generated based on the current recovery constraint power to achieve smooth processing of the recovery torque. And when the initial target torque does not exceed the recovery constraint torque, the method of constraining the initial target torque is changed, and the binding torque is used to constrain it to meet the recovery expectation. At the same time, in this application, the recovery function is used to limit the requested torque to optimize the smoothness of the vehicle's low-power state, and the intervention of the hydraulic supplement method can be reduced, which is also beneficial to reducing the impact on the vehicle's energy consumption.

[0036] In one embodiment, as Figure 2 shown, a torque recovery method is provided, Figure 2 which is a schematic flowchart of another embodiment of the torque recovery method of this application.

[0037] S201: Obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque.

[0038] In this embodiment, the vehicle is in a low-power working condition, and the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque are obtained for the analysis of torque recovery.

[0039] S202: Calculate the recovery constraint torque based on the recovery constraint power and the motor speed.

[0040] In this embodiment, the recovery constraint torque can be calculated based on the calculation formulas of power, speed, and torque. The specific calculation formula is as follows:

[0041]

[0042] In Equation 1-1, T LimitTo recover the restricted torque; P Limit To recover the restricted power; n is the motor speed.

[0043] In an alternative embodiment, a two-dimensional table of the recovered restricted power, the motor speed, and the recovered restricted torque may also be established in advance, and a table look-up operation is performed based on the obtained recovered restricted power and the motor speed to read the recovered restricted torque that matches the two.

[0044] S203: Compare the initial target torque with the recovered restricted torque.

[0045] In this embodiment, it may be determined whether the initial target torque exceeds the recovered restricted torque.

[0046] In response to the initial target torque exceeding the recovered restricted torque, it is considered that the recoverable torque is exceeded and there is a risk of affecting the vehicle ride comfort. The initial target torque is first constrained by the recovered restricted torque, and then step S204 is executed. In response to the initial target torque not exceeding the recovered restricted torque, step S201 is executed.

[0047] Torque can be recovered under low-power conditions, that is, both the initial target torque and the recovered restricted torque are negative values.

[0048] Further, the situation where the initial target torque exceeds the recovered restricted torque may be that the difference between the recovered restricted torque and the initial target torque is greater than a first threshold.

[0049] Wherein, the first threshold may be a preset fixed value, or the first threshold may be optimized using an algorithm model, which is not limited herein. The specific calculation formula may be as follows:

[0050] T Limit -T CrRaw >A1 Equation 1-2

[0051] In Equation 1-2, T Limit is the recovered restricted torque; T CrRaw is the initial target torque; A1 is the first threshold. Since the vehicle is in a low-power state, the values of the recovered restricted torque and the initial target torque are both negative.

[0052] In an alternative embodiment, the magnitudes of the initial target torque and the recovered restricted torque may be compared, and based on the numerical magnitudes of the two, it is determined whether the initial target torque exceeds the recovered restricted torque. If the numerical value of the initial target torque is less than the numerical value of the recovered restricted torque, it is considered that the initial target torque exceeds the recovered restricted torque. Or, the absolute values of the initial target torque and the recovered restricted torque are compared. If the absolute value of the initial target torque is greater than the absolute value of the recovered restricted torque, it is considered that the initial target torque exceeds the recovered restricted torque.

[0053] S204: Select the larger value between the recovered constraint torque and the initial target torque as the first target torque.

[0054] In this embodiment, after comparing the initial target torque with the recovered constraint torque, the larger value is selected as the first target torque. The specific calculation formula can be:

[0055] T Raw1 = Max[T Limit , T CrRaw Equation 1-3

[0056] In Equation 1-3, T Raw1 is the first target torque; Max[x, y] is to select the larger value from x and y; T Limit is the recovered constraint torque; T CrRaw is the initial target torque.

[0057] Combined with what was described above, when the initial target torque exceeds the recovered constraint torque, the recovered constraint torque is greater than the initial target torque, and the recovered constraint torque can also be directly used as the first target torque.

[0058] S205: Adjust the first target torque in combination with the current state of the vehicle and the previous torque parameter to obtain the first requested torque.

[0059] In this embodiment, the previous torque parameter can be the previous recovered constraint torque.

[0060] Specifically, the vehicle speed and the previous recovered constraint torque can be obtained. Analyze the adjustment factor in combination with the vehicle speed and the previous recovered constraint torque. Further, the adjustment factor is inversely proportional to the absolute value of the previous recovered constraint torque to achieve smooth processing of the recovered torque.

[0061] The adjustment factor can be analyzed using an algorithm model, a calculation formula, etc. Or, a two-dimensional table of vehicle speed, previous recovered constraint torque, and adjustment factor can also be established in advance, and the adjustment factor can be obtained through a table lookup operation. The two-dimensional table of vehicle speed, previous recovered constraint torque, and adjustment factor is shown by Example 1 in Table 1:

[0062] Table 1 First Preset Table

[0063]

[0064] Subtract the adjustment factor from the first target torque to obtain the first requested torque. The specific calculation formula can be as follows:

[0065] T Req1 = T Raw - T Step Equation 1-4

[0066] In Equation 1-4, TReq1 is the first requested torque; T Raw is the first target torque; T Step is the adjustment factor.

[0067] S206: Send the first torque request to the motor control module.

[0068] In this embodiment, the first torque request is generated using the first requested torque and sent to the motor control module.

[0069] In an alternative embodiment, S205 can also be omitted, and the first torque request can be directly generated using the first target torque.

[0070] S207: Determine whether the initial target torque exceeds the recovery constraint torque.

[0071] In this embodiment, in response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be secondarily constrained, and step S204 is then executed. In response to the initial target torque not exceeding the recovery constraint torque, step S208 is executed.

[0072] Further, a flag bit can be preset. When the initial target torque exceeds the recovery constraint torque, the first flag bit is controlled to be in an active state. In step S207, it can be identified whether the first flag bit is in an active state. When the first flag bit is not in an active state, step S208 is executed.

[0073] S208: Analyze the binding torque by combining the vehicle speed and the recovery constraint power.

[0074] In this embodiment, the binding torque can be analyzed by means of an algorithm model or the like. Or, a two-dimensional table of vehicle speed, recovery constraint power, and binding torque can be preset, and a table lookup operation can be performed to obtain the binding torque to reduce the calculation burden.

[0075] Among them, the binding torque is directly proportional to the absolute value of the recovery constraint power, thereby meeting a higher recovery expectation. The two-dimensional table of vehicle speed, the absolute value of the recovery constraint power, and the binding torque is shown by way of example in Table 2:

[0076] Table 2 Second preset table

[0077]

[0078] S209: Secondarily constrain the initial target torque using the binding torque to obtain the second requested torque.

[0079] In this embodiment, the larger value of the binding torque and the initial target torque can be selected as the second target torque. The specific selection formula can be:

[0080] TRaw2 = Max[T RawLimit , T CrRaw Equation 1-5

[0081] In Equation 1-5, T Raw2 is the second target torque; Max[x, y] is to select the larger value from x and y; T RawLimit is the binding torque; T CrRaw is the initial target torque.

[0082] Combine the current state of the vehicle and the previous torque parameter adjustment to analyze the constraint factor.

[0083] Optionally, the binding torque can be analyzed through an algorithm model or other means. Or, a two-dimensional table of vehicle speed, previous recovery constraint torque, and constraint factor can be preset, and a look-up table operation can be performed to obtain the binding torque to reduce the calculation burden. Optionally, the constraint factor can be calculated in the same way as the adjustment factor, which is beneficial to simplifying the processing process.

[0084] Use the constraint factor to reduce the second target torque to form the second request torque. Optionally, after correcting the constraint factor, subtract the corrected constraint factor from the second target torque; or, directly subtract the constraint factor from the second target torque. The specific calculation formula can be as follows:

[0085] T Req = T Raw - T St Equation 1-6

[0086] In Equation 1-6, T Req is the second request torque; T Raw is the second target torque; T St is the constraint factor.

[0087] S210: Send the second torque request to the motor control module.

[0088] In this embodiment, use the second request torque to generate the first torque request and send it to the motor control module.

[0089] In an alternative embodiment, the first torque request can also be directly generated using the second target torque in S209.

[0090] S211: Obtain the previous request torque.

[0091] In this embodiment, the request torque in the previous torque request sent to the motor control module can be obtained as the previous request torque.

[0092] Optionally, the adjacent previous one can be selected for acquisition.

[0093] S212: Compare whether the initial target torque and the previous requested torque match.

[0094] In this embodiment, it should be noted that although this step is step S212, it does not necessarily need to be executed after step S211. This step can be executed each time an initial target torque is generated.

[0095] If the initial target torque and the previous requested torque match, then execute step S213; if the initial target torque and the previous requested torque do not match, if the previous requested torque is the first requested torque, then execute step S204, and if the previous requested torque is the second requested torque, then execute step S208. Figure 2 The situation where the requested torque is the second requested torque is shown as an example.

[0096] The initial target torque and the previous requested torque matching can be that the difference between the initial target torque and the previous requested torque is less than the second threshold; or, the difference between the initial target torque and the previous requested torque is less than or equal to the second threshold.

[0097] In other words, the principle formula for executing step S204 or step S208 can be as follows:

[0098] T Reqz -T Raw >B1 Equation 1-7

[0099] In Equation 1-7, T Reqz is the previous requested torque; T Raw is the initial target torque; B1 is the second threshold.

[0100] S213: Determine that torque recovery is completed, and request the initial target torque from the motor control module.

[0101] In this embodiment, the initial target torque and the previous requested torque matching can be that the difference between the two is less than the second threshold.

[0102] Therefore, it can be determined that torque recovery is completed in response to the difference between the initial target torque and the previous requested torque being less than the second threshold, and the initial target torque is requested from the motor control module.

[0103] Optionally, in this embodiment, the requested torque can also be filtered, and a torque request is generated based on the processed requested torque to achieve smoother torque recovery and optimize the ride comfort of the vehicle. Among them, the requested torque can be the first requested torque and / or the second requested torque.

[0104] That is to say, the first requested torque can be filtered; or, the second requested torque can be filtered; or, the first requested torque and the second requested torque can be filtered.

[0105] Specifically, the filtering factor can be analyzed by combining the vehicle speed and the difference between the initial target torque and the previous requested torque.

[0106] Optionally, a two-dimensional table of vehicle speed, binding torque, and filtering factor can be preset. The two-dimensional table of vehicle speed, difference (the difference between the initial target torque and the previous requested torque), and filtering factor is shown by way of example in Table 2:

[0107] Table 3 Third preset table

[0108]

[0109] The second requested torque and the previous requested torque are weighted and fused using the filtering factor and the adjustment factor to obtain the current requested torque. Among them, the filtering factor and the adjustment factor are balance numbers with respect to a preset value, and the second torque request is to request the current requested torque from the motor control module.

[0110] y(t) = K·u(t) + (1 - K)·y(t - 1) Equation 2-1

[0111] In Equation 2-1, y(t) is the filtered requested torque; K is the filtering factor; u(t) is the requested torque; y(t - 1) is the previous requested torque.

[0112] Thus, it can be seen that in this embodiment, by identifying the recovery limit torque and the initial target torque, judging the limit scenario, and adjusting the target torque, adjustment factor, and constraint factor, on the premise of reducing the impact on the normal driving scenario, the impact of low battery power on the overall vehicle driving experience is reduced as much as possible, and problems such as the overall vehicle smoothness at low power are optimized.

[0113] It should be understood that although Figure 1 - Figure 2 the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 - Figure 2 at least a part of the steps in

[0114] In one embodiment, as Figure 3 shown, a torque recovery device is provided. Figure 3 is a schematic structural diagram of an embodiment of the torque recovery device of the present application.

[0115] The torque recovery device includes an acquisition module 31 and a control module 32.

[0116] The acquisition module 31 is used to obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque.

[0117] The control module 32 is connected to the acquisition module 31 and is used to implement the torque recovery method described in any one of the above embodiments. When the vehicle is in a low-power working condition, the recovery constraint torque is calculated based on the recovery constraint power and the motor speed, and the initial target torque is compared with the recovery constraint torque; in response to the initial target torque exceeding the recovery constraint torque, the initial target torque is first constrained by the recovery constraint torque to obtain a first requested torque, and a first torque request is sent to the motor control module 32; in response to the initial target torque not exceeding the recovery constraint torque, the binding torque is analyzed by combining the vehicle speed and the recovery constraint power, and the initial target torque is secondarily constrained by the binding torque to obtain a second requested torque, and a second torque request is sent to the motor control module 32.

[0118] 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 of the present application.

[0119] The vehicle includes a torque recovery device 30, a motor control module 41, and a drive motor 42.

[0120] The torque recovery device 30 is as described in the above embodiments.

[0121] The motor control module 41 is connected to the torque recovery device 30 and the drive motor 42. The motor control module 41 receives the first torque request and the second torque request, and adjusts the torque of the drive motor 42 according to the first torque request and the second torque request.

[0122] For the specific limitations of the torque recovery device 30 and the vehicle, reference can be made to the limitations of the torque recovery method in the above text, which will not be elaborated here. Each module in the above torque recovery device 30 and vehicle can be implemented in whole or in part by software, hardware, and their combinations. 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.

[0123] 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 of the present application.

[0124] The computer device includes a processor 51, a memory 52, and a computer program stored in the memory 52 and executable on the processor 51.

[0125] 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 this application, and does not constitute a limitation on the computer device to which the solution of this 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.

[0126] In one embodiment, when the processor executes the computer program, the following steps are implemented:

[0127] S101: Obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; wherein, the vehicle is in a low-power working condition.

[0128] S102: Calculate the recovery constraint torque based on the recovery constraint power and the motor speed, and compare the initial target torque with the recovery constraint torque.

[0129] S103: In response to the initial target torque exceeding the recovery constraint torque, use the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque, and send a first torque request to the motor control module.

[0130] S104: In response to the initial target torque not exceeding the recovery constraint torque, analyze the binding torque by combining the vehicle speed and the recovery constraint power, use the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque, and send a second torque request to the motor control module.

[0131] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0132] S201: Obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque.

[0133] In this embodiment, the vehicle is in a low-power working condition.

[0134] S202: Calculate the recovery constraint torque based on the recovery constraint power and the motor speed.

[0135] S203: Compare the initial target torque with the recovery constraint torque.

[0136] In this embodiment, it may be to determine whether the initial target torque exceeds the recovery constraint torque.

[0137] In response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be first constrained by the recovery constraint torque, and then step S204 is executed. In response to the initial target torque not exceeding the recovery constraint torque, step S201 is executed.

[0138] Further, the situation where the initial target torque exceeds the recovery constraint torque can be that the difference between the recovery constraint torque and the initial target torque is greater than a first threshold.

[0139] S204: Take the larger value of the recovery constraint torque and the initial target torque as the first target torque.

[0140] S205: Adjust the first target torque in combination with the current state of the vehicle and the previous torque parameter to obtain the first requested torque.

[0141] In this embodiment, the previous torque parameter can be the previous recovery constraint torque.

[0142] Specifically, the vehicle speed and the previous recovery constraint torque can be obtained. The adjustment factor is analyzed in combination with the vehicle speed and the previous recovery constraint torque. Subtract the adjustment factor from the first target torque to obtain the first requested torque.

[0143] S206: Send a first torque request to the motor control module.

[0144] S207: Determine whether the initial target torque exceeds the recovery constraint torque.

[0145] In this embodiment, in response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be secondarily constrained, and then step S204 is executed. In response to the initial target torque not exceeding the recovery constraint torque, step S208 is executed.

[0146] S208: Analyze the binding torque in combination with the vehicle speed and the recovery constraint power.

[0147] S209: Use the binding torque to secondarily constrain the initial target torque to obtain the second requested torque.

[0148] In this embodiment, the larger value of the binding torque and the initial target torque can be selected as the second target torque.

[0149] Analyze and adjust the constraint factor in combination with the current state of the vehicle and the previous torque parameter, and use the constraint factor to reduce the second target torque to form the second requested torque.

[0150] S210: Send a second torque request to the motor control module.

[0151] S211: Obtain the previous requested torque.

[0152] S212: Compare whether the initial target torque and the previous requested torque match.

[0153] In this embodiment, in response to the initial target torque and the previous requested torque matching, step S213 is executed; in response to the initial target torque and the previous requested torque not matching, step S208 is executed.

[0154] S213: Determine that torque recovery is completed, and request the initial target torque from the motor control module.

[0155] In this embodiment, the matching of the initial target torque and the previous requested torque may be that the difference between the two is less than a second threshold.

[0156] Therefore, in response to the difference between the initial target torque and the previous requested torque being less than the second threshold, it is determined that torque recovery is completed, and the initial target torque is requested from the motor control module.

[0157] Optionally, in this embodiment, the requested torque may also be filtered.

[0158] Specifically, the filtering factor may be analyzed in combination with the vehicle speed and the difference between the initial target torque and the previous requested torque.

[0159] The second requested torque and the previous requested torque are weighted and fused using the filtering factor and the adjustment factor to obtain the current requested torque. Among them, the filtering factor and the adjustment factor are balance numbers with respect to a preset value, and the second torque request is to request the current requested torque from the motor control module.

[0160] 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:

[0161] S101: Obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; wherein, the vehicle is in a low-power working condition.

[0162] S102: Calculate the recovery constraint torque based on the recovery constraint power and the motor speed, and compare the initial target torque with the recovery constraint torque.

[0163] S103: In response to the initial target torque exceeding the recovery constraint torque, perform a first constraint on the initial target torque using the recovery constraint torque to obtain a first requested torque, and send a first torque request to the motor control module.

[0164] S104: In response to the initial target torque not exceeding the recovery constraint torque, analyze the binding torque in combination with the vehicle speed and the recovery constraint power, perform a second constraint on the initial target torque using the binding torque to obtain a second requested torque, and send a second torque request to the motor control module.

[0165] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0166] S201: Obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque.

[0167] In this embodiment, the vehicle is in a low-power working condition.

[0168] S202: Calculate the recovery constraint torque based on the recovery constraint power and the motor speed.

[0169] S203: Compare the initial target torque with the recovery constraint torque.

[0170] In this embodiment, it may be to determine whether the initial target torque exceeds the recovery constraint torque.

[0171] In response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be first-constrained by the recovery constraint torque, and then step S204 is executed. In response to the initial target torque not exceeding the recovery constraint torque, step S201 is executed.

[0172] Further, the initial target torque exceeding the recovery constraint torque may be that the difference between the recovery constraint torque and the initial target torque is greater than a first threshold.

[0173] S204: Take the larger of the recovery constraint torque and the initial target torque as the first target torque.

[0174] S205: Adjust the first target torque in combination with the current state of the vehicle and the previous torque parameter to obtain the first requested torque.

[0175] In this embodiment, the previous torque parameter may be the previous recovery constraint torque.

[0176] Specifically, the vehicle speed and the previous recovery constraint torque can be obtained. The adjustment factor is analyzed in combination with the vehicle speed and the previous recovery constraint torque. The adjustment factor is subtracted from the first target torque to obtain the first requested torque.

[0177] S206: Send a first torque request to the motor control module.

[0178] S207: Determine whether the initial target torque exceeds the recovery constraint torque.

[0179] In this embodiment, in response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be second-constrained, and then step S204 is executed. In response to the initial target torque not exceeding the recovery constraint torque, step S208 is executed.

[0180] S208: Analyze the binding torque by combining the vehicle speed and the recovery constraint power.

[0181] S209: Perform a second constraint on the initial target torque using the binding torque to obtain the second requested torque.

[0182] In this embodiment, the larger value of the binding torque and the initial target torque can be selected as the second target torque.

[0183] Analyze the constraint factor by combining the current state of the vehicle and the previous torque parameter adjustment, and use the constraint factor to reduce the second target torque to form the second requested torque.

[0184] S210: Send the second torque request to the motor control module.

[0185] S211: Obtain the previous requested torque.

[0186] S212: Compare whether the initial target torque and the previous requested torque match.

[0187] In this embodiment, in response to the initial target torque and the previous requested torque matching, step S213 is executed; in response to the initial target torque and the previous requested torque not matching, step S208 is executed.

[0188] S213: Determine that torque recovery is completed and request the initial target torque from the motor control module.

[0189] In this embodiment, the matching of the initial target torque and the previous requested torque can be that the difference between the two is less than the second threshold.

[0190] Therefore, in response to the difference between the initial target torque and the previous requested torque being less than the second threshold, it is determined that torque recovery is completed, and the initial target torque is requested from the motor control module.

[0191] Optionally, in this embodiment, the requested torque can also be filtered.

[0192] Specifically, the filtering factor can be analyzed by combining the vehicle speed and the difference between the initial target torque and the previous requested torque.

[0193] Perform weighted fusion on the second requested torque and the previous requested torque using the filtering factor and the adjustment factor to obtain the current requested torque. Among them, the filtering factor and the adjustment factor are balance numbers with respect to a preset value, and the second torque request is to request the current requested torque from the motor control module.

[0194] 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 memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories 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.

[0195] 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.

[0196] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on 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 torque recovery method, characterized in that, The torque recovery method includes: Obtaining the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; wherein, the vehicle is in a low-power working condition; Calculating a recovery constraint torque based on the recovery constraint power and the motor speed, and comparing the initial target torque with the recovery constraint torque; In response to the initial target torque exceeding the recovery constraint torque, using the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque, and sending a first torque request to the motor control module; the values of the recovery constraint torque and the initial target torque are negative; the initial target torque exceeding the recovery constraint torque means that the absolute value of the initial target torque is greater than the absolute value of the recovery constraint torque; In response to the initial target torque not exceeding the recovery constraint torque, parsing a binding torque by combining the vehicle speed and the recovery constraint power, using the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque, and sending a second torque request to the motor control module; The using the binding torque to perform a second constraint on the initial target torque to obtain a second requested torque includes: Selecting the larger one of the binding torque and the initial target torque as the second target torque; Combining the current state of the vehicle and the previous torque parameter adjustment to parse a constraint factor, and using the constraint factor to reduce the second target torque to form the second requested torque.

2. The torque recovery method according to claim 1, wherein The using the recovery constraint torque to perform a first constraint on the initial target torque to obtain a first requested torque includes: Taking the larger one of the recovery constraint torque and the initial target torque as the first target torque; Combining the current state of the vehicle and the previous torque parameter to adjust the first target torque to obtain the first requested torque.

3. The torque recovery method according to claim 2, wherein The previous torque parameter is the previous recovery constraint torque; The combining the current state of the vehicle and the previous torque parameter to adjust the first target torque to obtain the first requested torque includes: Obtaining the vehicle speed and the previous recovery constraint torque; Parsing an adjustment factor by combining the vehicle speed and the previous recovery constraint torque; Subtracting the adjustment factor from the first target torque to obtain the first requested torque.

4. The torque recovery method according to claim 1, wherein The initial target torque exceeding the recovery constraint torque includes: the difference between the recovery constraint torque and the initial target torque is greater than a first threshold.

5. The torque recovery method according to claim 1, characterized in that, The torque recovery method further includes: Obtaining the previous requested torque, and comparing the initial target torque and the previous requested torque; In response to the difference between the initial target torque and the previous requested torque being less than a second threshold, determining that the torque recovery is completed, and requesting the initial target torque from the motor control module.

6. The torque recovery method according to claim 1, wherein The torque recovery method further includes: Parsing a filtering factor by combining the vehicle speed and the difference between the initial target torque and the previous requested torque; The second requested torque and the previous requested torque are weighted and fused using the filtering factor and the adjustment factor to obtain the current requested torque; wherein, the filtering factor and the adjustment factor are balance numbers with respect to a preset value, the second torque request is to request the current requested torque from the motor control module, and the adjustment factor is obtained by analyzing the vehicle speed and the previous recovery constraint torque.

7. A torque recovery device, characterized in that, The torque recovery device includes: An acquisition module, configured to obtain the recovery constraint power of the vehicle, the motor speed of the drive motor, and the initial target torque; A control module, connected to the acquisition module, configured to implement the torque recovery method according to any one of claims 1 to 6.

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

9. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the torque recovery method according to any one of claims 1 to 6 are implemented.

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