A method, device, vehicle, and storage medium for controlling torsional slope.

Abstract

This invention discloses a method, device, vehicle, and storage medium for controlling the torque clearing slope. The torque clearing slope control method includes: when the electric vehicle is currently in the shift torque clearing phase, controlling the motor's required torque to be zero with a first torque clearing slope, acquiring the current motor speed in real time, and determining the corresponding motor speed change rate based on the current motor speed; determining a slope adjustment coefficient based on the motor speed change rate, and determining a second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor's required torque to be zero with the second torque clearing slope. This invention achieves adaptive adjustment of the shift torque clearing slope and automatically corrects the torque clearing slope when an overspeed risk is detected in the motor, improving overall vehicle performance and reducing the failure rate.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle control technology, and in particular to a method, device, vehicle, and storage medium for controlling torque slope. Background Technology

[0002] Electric vehicles (BEVs) are vehicles that use onboard power sources to drive their wheels with electric motors and meet all road traffic and safety regulations. Because they have a relatively smaller environmental impact than traditional cars, their prospects are widely regarded as promising.

[0003] Currently, when an electric vehicle is in the gear shifting and torque clearing phase, the motor torque is cleared to zero at a fixed torque clearing slope. This fixed torque clearing slope is the result of offline calibration by calibration personnel in this field. In order to ensure that the impact of the electric vehicle meets the requirements during this process, this fixed torque clearing slope is relatively gentle. However, the wheel end resistance of the electric vehicle is relatively small under conditions such as no load and downhill. Slow torque clearing can easily cause the motor speed to increase further or even exceed the speed limit, thereby affecting the operation of the electric vehicle. Summary of the Invention

[0004] This invention provides a method, device, vehicle, and storage medium for controlling torque clearing slope, in order to solve the problem that when the electric vehicle is in the gear shifting torque clearing stage, the motor torque is cleared to zero with a fixed torque clearing slope, which cannot be flexibly adjusted according to the current operating conditions of the electric vehicle. At the same time, slow torque clearing can easily cause the motor speed to increase further or even exceed the speed limit.

[0005] According to one aspect of the present invention, a method for controlling the clearing and twisting slope is provided, the method comprising:

[0006] When the electric vehicle is in the shifting and torque clearing stage, the required torque of the motor is controlled to be cleared to zero with the first torque clearing slope, the current motor speed is obtained in real time, and the corresponding motor speed change rate is determined based on the current motor speed.

[0007] The slope adjustment coefficient is determined based on the motor speed change rate, and the second torque clearing slope is determined based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope.

[0008] Optionally, the slope adjustment coefficient is determined based on the rate of change of the motor speed, including:

[0009] If the rate of change of motor speed is greater than the set rate of change of speed threshold, then the slope adjustment coefficient is determined based on the rate of change of motor speed.

[0010] If the rate of change of motor speed is not greater than the set rate of change of speed threshold, then it is determined whether the current electric vehicle has completed torque clearing.

[0011] Optionally, the slope adjustment coefficient is determined based on the rate of change of the motor speed, including:

[0012] The slope adjustment coefficient is determined by consulting a pre-calibrated table of the relationship between the rate of change of motor speed and the slope adjustment.

[0013] Optionally, the clearing and torsion slope control method further includes:

[0014] After the required torque of the control motor is zeroed with the second torque clearing slope, it is determined whether the torque clearing of the current electric vehicle is completed.

[0015] Optionally, determine whether the current electric vehicle has completed torque clearing, including:

[0016] Obtain the actual motor torque of the current electric vehicle;

[0017] If the actual motor torque is less than the set torque threshold, then the current electric vehicle torque clearing is determined to be complete.

[0018] If the actual motor torque is not less than the set torque threshold, then the motor torque demand will continue to be controlled to be zeroed with the first torque clearing slope or the second torque clearing slope.

[0019] Optionally, the clearing and torsion slope control method further includes:

[0020] If the motor torque demand continues to be controlled to be zero with the first torque clearing slope or the second torque clearing slope, the current motor speed change rate is determined in real time, and an updated torque clearing slope is determined based on the current motor speed change rate, so as to control the motor torque demand to be zero with the updated torque clearing slope.

[0021] Optionally, the first clearing and twisting slope is a fixed clearing and twisting slope;

[0022] The method for controlling the tilt rate also includes:

[0023] When the electric vehicle is currently in the gear shifting and torque clearing phase, the torque required by the control motor is cleared to zero for the first time with a fixed torque clearing slope.

[0024] According to another aspect of the present invention, a clearing torsion slope control device is provided, the clearing torsion slope control device comprising:

[0025] The motor speed change rate determination module is used to perform the following actions when the electric vehicle is in the shift torque clearing stage: after controlling the motor torque demand to be cleared to zero with a first torque clearing slope, the current motor speed is obtained in real time, and the corresponding motor speed change rate is determined based on the current motor speed.

[0026] The torque clearing slope update module is used to determine the slope adjustment coefficient based on the motor speed change rate, and determine the second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope.

[0027] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0028] At least one processor; and,

[0029] A memory communicatively connected to the at least one processor; wherein,

[0030] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the clearing and twisting slope control method according to any embodiment of the present invention.

[0031] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the clearing and twisting slope control method according to any embodiment of the present invention.

[0032] The technical solution of this invention, when the electric vehicle is in the shift torque clearing phase, controls the motor's required torque to be zeroed with a first torque clearing slope, acquires the current motor speed in real time, and determines the corresponding motor speed change rate based on the current motor speed; determines a slope adjustment coefficient based on the motor speed change rate, and determines a second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor's required torque to be zeroed with the second torque clearing slope. This invention solves the problem that when the electric vehicle is in the shift torque clearing phase, the motor torque is zeroed with a fixed torque clearing slope, which cannot be flexibly adjusted according to the current operating conditions of the electric vehicle. Furthermore, slow torque clearing can easily cause the motor speed to increase further or even exceed the speed limit. This invention achieves adaptive adjustment of the shift torque clearing slope and automatically corrects the torque clearing slope when an overspeed risk is detected, thereby improving overall vehicle performance and reducing the failure rate.

[0033] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a flowchart of a clearing and torsion slope control method provided in Embodiment 1 of the present invention;

[0036] Figure 2 This is a flowchart of a clearing and torsion slope control method provided in Embodiment 2 of the present invention;

[0037] Figure 3 This is a flowchart of a clearing and torsion slope control method provided in Embodiment 3 of the present invention;

[0038] Figure 4 This is a schematic diagram of the structure of a clearing and twisting slope control device provided in Embodiment 4 of the present invention;

[0039] Figure 5 This is a schematic diagram of the structure of a vehicle that implements the clearing torsion slope control method of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] Example 1

[0043] Figure 1This is a flowchart of a torque clearing slope control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the torque clearing slope is adaptively adjusted when the electric vehicle is in the torque clearing phase of gear shifting. This torque clearing slope control method can be executed by a torque clearing slope control device, which can be implemented in hardware and / or software. This torque clearing slope control device can be configured in vehicles such as electric vehicles. Figure 1 As shown, the method for controlling the torsion slope includes:

[0044] S110. When the electric vehicle is in the gear shifting and torque clearing stage, after the required torque of the control motor is cleared to zero with the first torque clearing slope, the current motor speed is obtained in real time, and the corresponding motor speed change rate is determined based on the current motor speed.

[0045] When the electric vehicle is in the gear shifting and torque clearing stage, the vehicle control unit (VCU) detects that the electric vehicle has entered the gear shifting and torque clearing stage. The specific method by which the VCU determines whether the electric vehicle is in the gear shifting and torque clearing stage can be implemented using existing technologies, and this embodiment does not impose any restrictions on it.

[0046] The first torque clearing slope is the slope at which the required motor torque needs to be controlled to perform a zeroing operation when the electric vehicle is in the gear shifting torque clearing stage. It can be understood that in this embodiment, if the required motor torque is controlled for the first time when the electric vehicle enters the gear shifting torque clearing stage, the first torque clearing slope is a pre-calibrated fixed torque clearing slope. If the required motor torque is not controlled for the first time when the electric vehicle is in the gear shifting torque clearing stage, the first torque clearing slope is an adjusted slope obtained by adaptive adjustment based on the monitored motor speed in real time.

[0047] It is understandable that when the electric vehicle enters the shift and torque clearing stage for the first time, the required torque of the motor is controlled. At this time, the first torque clearing slope is a pre-calibrated fixed torque clearing slope. This fixed torque clearing slope can be calibrated by those skilled in the art when the electric vehicle is offline. In order to ensure that the impact of the electric vehicle in this process meets the requirements, the fixed torque clearing slope is relatively gentle and the fixed torque clearing slope is a fixed value.

[0048] Based on this, when electric vehicles are unloaded or going downhill, the wheel end resistance is relatively small. If a pre-calibrated fixed torque clearing slope is used to control the motor's required torque to zero, the torque clearing will be slow, which may cause the motor speed to increase further or even exceed the speed limit. To solve the above problems, the motor's required torque is controlled for the first time when the electric vehicle enters the shift torque clearing stage. The motor's required torque is controlled to zero with a fixed torque clearing slope for the first time, and the motor speed is further monitored in real time.

[0049] Based on the above, the current motor speed is acquired in real time through the vehicle control unit (VCU), and the corresponding motor speed change rate is determined based on the current motor speed. Further, if the motor speed change rate is greater than a set speed change rate threshold, a slope adjustment coefficient is determined based on the motor speed change rate; if the motor speed change rate is not greater than the set speed change rate threshold, it is determined whether the electric vehicle has completed torque clearing.

[0050] In one embodiment, after the electric vehicle enters the shift torque clearing phase, the non-first-time control motor torque demand is zeroed with a first torque clearing slope. This first torque clearing slope can be either a calculated torque clearing slope based on a fixed torque clearing slope after real-time monitoring of the motor speed, or a calculated torque clearing slope based on the torque clearing slope used for zeroing the motor torque demand in the previous cycle after real-time monitoring of the motor speed. It is understood that the torque clearing slope used for zeroing the motor torque demand in the previous cycle can be either a pre-calibrated fixed torque clearing slope or a newly calculated torque clearing slope.

[0051] S120. Determine the slope adjustment coefficient based on the motor speed change rate, and determine the second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope.

[0052] Specifically, the slope adjustment coefficient is determined by referring to a pre-calibrated table of the relationship between the rate of change of motor speed and the slope adjustment. The principle is that the greater the rate of change of motor speed, the greater the slope adjustment coefficient, and thus the slope adjustment coefficient is greater than 1.

[0053] The second clear torque slope is the clear torque slope adjusted by real-time monitoring of the motor speed. When the electric vehicle enters the shift clear torque stage for the first time, the required torque of the motor is controlled. At this time, the second clear torque slope is calculated by multiplying the pre-calibrated fixed clear torque slope by the slope adjustment coefficient. When the electric vehicle enters the shift clear torque stage for the second time, the required torque of the motor is controlled. At this time, the second clear torque slope is calculated by multiplying the first clear torque slope by the slope adjustment coefficient.

[0054] Based on the above embodiments, after the required torque of the control motor is zeroed with the second torque clearing slope, it is determined whether the current electric vehicle has completed torque clearing.

[0055] The specific steps for determining whether the current electric vehicle has completed torque clearing include: obtaining the actual motor torque of the current electric vehicle; if the actual motor torque is less than a set torque threshold, then determining that the current electric vehicle has completed torque clearing; if the actual motor torque is not less than the set torque threshold, then continuing to control the motor's required torque to be cleared to zero using the first torque clearing slope or the second torque clearing slope.

[0056] Based on the above, when the electric vehicle enters the shift torque clearing stage for the first time, if the motor speed change rate is not greater than the set speed change rate threshold and the actual motor torque is not less than the set torque threshold, that is, the current electric vehicle torque clearing is not completed, then the motor torque demand will continue to be controlled to zero with a fixed torque clearing slope until the current electric vehicle torque clearing is completed.

[0057] If the electric vehicle is not in the shift torque clearing stage for the first time, and the motor speed change rate is not greater than the set speed change rate threshold, and the actual motor torque is not less than the set torque threshold, then the electric vehicle is not in the torque clearing stage. In other words, the electric vehicle is not in the torque clearing stage. Then the motor torque demand will continue to be controlled to zero with the first torque clearing slope until the electric vehicle is in the torque clearing stage.

[0058] Furthermore, if the motor speed change rate is greater than the set speed change rate threshold, and the second torque clearing slope is determined, if it is determined that the actual motor torque is not less than the set torque threshold, that is, the torque clearing of the current electric vehicle is not completed, then the motor demand torque is controlled to be cleared to zero with the second torque clearing slope until the torque clearing of the current electric vehicle is completed.

[0059] Based on the above, if the actual motor torque is not less than the set torque threshold, that is, the current torque clearing of the electric vehicle is not completed, the motor demand torque is controlled to be cleared to zero with the first torque clearing slope or the second torque clearing slope. The current motor speed change rate is determined in real time, and an updated torque clearing slope is determined according to the current motor speed change rate, so as to control the motor demand torque to be cleared to zero with the updated torque clearing slope.

[0060] The technical solution of this invention, when the electric vehicle is in the shift torque clearing phase, controls the motor's required torque to be zeroed with a first torque clearing slope, acquires the current motor speed in real time, and determines the corresponding motor speed change rate based on the current motor speed; determines a slope adjustment coefficient based on the motor speed change rate, and determines a second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor's required torque to be zeroed with the second torque clearing slope. This invention solves the problem that when the electric vehicle is in the shift torque clearing phase, the motor torque is zeroed with a fixed torque clearing slope, which cannot be flexibly adjusted according to the current operating conditions of the electric vehicle. Furthermore, slow torque clearing can easily cause the motor speed to increase further or even exceed the speed limit. This invention achieves adaptive adjustment of the shift torque clearing slope and automatically corrects the torque clearing slope when an overspeed risk is detected, thereby improving overall vehicle performance and reducing the failure rate.

[0061] Example 2

[0062] Figure 2This is a flowchart of a torque clearing slope control method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides an optional implementation method where, after the electric vehicle enters the shift torque clearing stage, the required torque of the motor is cleared to zero using a first torque clearing slope. For example... Figure 2 As shown, the method for controlling the torsion slope includes:

[0063] S210. Determine whether the electric vehicle is currently in the gear shifting and torque clearing stage. If yes, proceed to step S220; otherwise, proceed to step S210.

[0064] S220, control the motor's required torque to be zeroed with the first torque clearing slope.

[0065] S230. Obtain the current motor speed in real time, and determine the corresponding motor speed change rate based on the current motor speed.

[0066] S240. Determine whether the motor speed change rate is greater than the set speed change rate threshold. If yes, proceed to step S250; otherwise, proceed to step S260.

[0067] The threshold for the rate of change of rotational speed can be set by those skilled in the art based on the actual needs of the electric vehicle during the shifting and torque clearing phase, and this embodiment does not impose any special restrictions on this.

[0068] S250: Determine the slope adjustment coefficient by querying the pre-calibrated speed change rate and slope adjustment relationship table according to the motor speed change rate, and determine the second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope, and execute step S260.

[0069] The pre-calibrated relationship table between the rate of change of rotational speed and the slope adjustment can be determined by data in the pre-calibrated two-dimensional coordinate axis, or by other means. This embodiment does not impose any restrictions on this.

[0070] Second clearing slope = First clearing slope * Slope adjustment coefficient.

[0071] S260. Determine whether the actual motor torque of the current electric vehicle is less than the set torque threshold. If yes, proceed to step S270; otherwise, proceed to step S220.

[0072] The actual motor torque of a current electric vehicle can be obtained in real time through the vehicle controller (VCU) or through other means. This embodiment does not impose any special restrictions on this.

[0073] The torque threshold can be set by those skilled in the art based on the actual needs of the electric vehicle during the shifting and torque clearing phase, and this embodiment does not impose any special restrictions on this.

[0074] Based on the above, if the actual motor torque is not less than the set torque threshold, that is, the current electric vehicle torque clearing is not completed, then the control motor torque demand is set to zero with the second torque clearing slope. That is, the second torque clearing slope at this time will be used as the first torque clearing slope in step S220, and subsequent steps will be executed further.

[0075] As can be seen, in continuing to execute subsequent steps, the current motor speed change rate is determined in real time, and an updated torque clearing slope is determined based on the current motor speed change rate to control the motor's required torque to be cleared to zero using the updated torque clearing slope. It can be understood that this updated torque clearing slope serves as the new second torque clearing slope, and steps S220 to S260 are executed sequentially until it is determined that the actual motor torque is less than a set torque threshold, indicating that the current torque clearing of the electric vehicle is complete.

[0076] S270, the current electric vehicle torque clearing is complete.

[0077] The technical solution of this invention involves real-time monitoring of the motor speed during the gear shifting and torque clearing phase of an electric vehicle. When an overspeed risk is detected, the torque clearing slope of the motor is adaptively adjusted based on the real-time monitored rate of change of motor speed, thereby automatically correcting the torque clearing slope of the motor, improving overall vehicle performance, and reducing the failure rate.

[0078] Example 3

[0079] Figure 3 This is a flowchart of a torque clearing slope control method provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment provides an optional implementation method where, when the electric vehicle is in the gear shifting torque clearing phase, the required torque of the motor is initially cleared to zero with a fixed torque clearing slope. For example... Figure 3 As shown, the method for controlling the torsion slope includes:

[0080] S310. Determine whether the electric vehicle is currently in the gear shifting and torque clearing stage. If yes, proceed to step S320; otherwise, proceed to step S310.

[0081] S320, the required torque of the control motor is first zeroed with a fixed torque clearing slope.

[0082] S330. Obtain the current motor speed in real time, and determine the corresponding motor speed change rate based on the current motor speed.

[0083] S340. Determine whether the motor speed change rate is greater than the set speed change rate threshold. If yes, proceed to step S350; otherwise, proceed to step S360.

[0084] S350: Determine the slope adjustment coefficient by querying the pre-calibrated speed change rate and slope adjustment relationship table according to the motor speed change rate, and determine the second torque clearing slope according to the slope adjustment coefficient and the fixed torque clearing slope, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope, and execute step S360.

[0085] Specifically, the second clearing slope = fixed clearing slope * slope adjustment coefficient.

[0086] S360. Determine whether the actual motor torque of the current electric vehicle is less than the set torque threshold. If yes, proceed to step S370; otherwise, proceed to step S320.

[0087] Based on the above, if the actual motor torque is not less than the set torque threshold, that is, the current electric vehicle torque clearing is not completed, then the control motor torque demand is used to clear to zero with the second torque clearing slope. That is, the second torque clearing slope at this time will be used as the fixed torque clearing slope in step S220, and the subsequent steps will be executed further.

[0088] As can be seen, in continuing to execute subsequent steps, the current motor speed change rate is determined in real time, and an updated torque clearing slope is determined based on the current motor speed change rate to control the motor's required torque to be cleared to zero using the updated torque clearing slope. It can be understood that this updated torque clearing slope serves as the new second torque clearing slope, and steps S220 to S260 are executed sequentially until it is determined that the actual motor torque is less than a set torque threshold, indicating that the current torque clearing of the electric vehicle is complete.

[0089] S370, the current electric vehicle torque clearing is complete.

[0090] Example 4

[0091] Figure 4 This is a schematic diagram of a clearing and torsion slope control device provided in Embodiment 4 of the present invention. Figure 4 As shown, the clearing and torsional slope control device includes:

[0092] The motor speed change rate determination module 410 is used to perform the following actions when the electric vehicle is in the shift torque clearing stage: after controlling the motor demand torque to be cleared to zero with a first torque clearing slope, the current motor speed is obtained in real time, and the corresponding motor speed change rate is determined based on the current motor speed.

[0093] The torque clearing slope update module 420 is used to determine the slope adjustment coefficient based on the motor speed change rate, and determine the second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope.

[0094] Optionally, a slope adjustment coefficient is determined based on the rate of change of the motor speed, specifically used for:

[0095] If the rate of change of motor speed is greater than the set rate of change of speed threshold, then the slope adjustment coefficient is determined based on the rate of change of motor speed.

[0096] If the rate of change of motor speed is not greater than the set rate of change of speed threshold, then it is determined whether the current electric vehicle has completed torque clearing.

[0097] Optionally, a slope adjustment coefficient is determined based on the rate of change of the motor speed, specifically used for:

[0098] The slope adjustment coefficient is determined by consulting a pre-calibrated table of the relationship between the rate of change of motor speed and the slope adjustment.

[0099] Optionally, the clearing and torsional slope control device further includes:

[0100] The torque clearing completion judgment module is used to determine whether the current electric vehicle has completed torque clearing after the required torque of the control motor is cleared to zero with the second torque clearing slope.

[0101] Optionally, determine whether the electric vehicle has completed torque clearing, specifically for:

[0102] Obtain the actual motor torque of the current electric vehicle;

[0103] If the actual motor torque is less than the set torque threshold, then the current electric vehicle torque clearing is determined to be complete.

[0104] If the actual motor torque is not less than the set torque threshold, then the motor torque demand will continue to be controlled to be zeroed with the first torque clearing slope or the second torque clearing slope.

[0105] Optionally, the clearing and torsional slope control device further includes:

[0106] The updated torque ramp module is used to execute the following: if the motor demand torque is to be zeroed with the first torque ramp or the second torque ramp, the current motor speed change rate is determined in real time, and the updated torque ramp is determined based on the current motor speed change rate, so as to control the motor demand torque to be zeroed with the updated torque ramp.

[0107] Optionally, the first clearing and twisting slope is a fixed clearing and twisting slope;

[0108] The clearing tilt rate control device also includes:

[0109] The fixed torque clearing slope zeroing module is used to control the motor's required torque to be zeroed for the first time when the electric vehicle is in the gear shifting torque clearing stage.

[0110] The clearing and torsion slope control device provided in the embodiments of the present invention can execute the clearing and torsion slope control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the clearing and torsion slope control method.

[0111] Example 5

[0112] Figure 5 A schematic diagram of a vehicle 510, which can be used to implement embodiments of the present invention, is shown. The vehicle includes various forms of digital computers, such as laptops, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The vehicle may also include various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0113] like Figure 5 As shown, vehicle 510 includes at least one processor 511 and a memory, such as read-only memory (ROM 512) or random access memory (RAM 513), communicatively connected to the at least one processor 511. The memory stores computer programs executable by the at least one processor. The processor 511 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM 512) or loaded from storage unit 518 into the random access memory (RAM 513). The RAM 513 can also store various programs and data required for the operation of vehicle 510. The processor 511, ROM 512, and RAM 513 are interconnected via bus 514. An I / O (input / output) interface 515 is also connected to bus 514.

[0114] Multiple components in vehicle 510 are connected to I / O interface 515, including: input unit 516, such as keyboard, mouse, etc.; output unit 517, such as various types of displays, speakers, etc.; storage unit 518, such as disk, optical disk, etc.; and communication unit 519, such as network card, modem, wireless transceiver, etc. Communication unit 519 allows vehicle 510 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0115] Processor 511 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 511 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 511 performs the various methods and processes described above, such as the torsion slope control method.

[0116] In some embodiments, the torque ramp control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 518. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 510 via ROM 512 and / or communication unit 519. When the computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the torque ramp control method described above may be performed. Alternatively, in other embodiments, processor 511 may be configured to perform the torque ramp control method by any other suitable means (e.g., by means of firmware).

[0117] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0118] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0119] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] To provide interaction with the user, the systems and technologies described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0121] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0122] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0123] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling the torsional slope, characterized in that, include: When the electric vehicle is currently in the gear shifting and torque clearing phase, after the required torque of the control motor is zeroed with a first torque clearing slope, the current motor speed is acquired in real time, and the corresponding motor speed change rate is determined based on the current motor speed. Determining the slope adjustment coefficient based on the motor speed change rate includes: if the motor speed change rate is greater than a set speed change rate threshold, then the slope adjustment coefficient is determined by querying a pre-calibrated speed change rate and slope adjustment relationship table based on the motor speed change rate. The larger the motor speed change rate, the larger the slope adjustment coefficient, and the slope adjustment coefficient is greater than 1. If the motor speed change rate is not greater than the set speed change rate threshold, then it is determined whether the current electric vehicle has completed torque clearing. The slope adjustment coefficient is determined based on the real-time determined rate of change of motor speed, and the second clear torque slope is determined based on the slope adjustment coefficient and the first clear torque slope. The second clear torque slope is calculated by multiplying the first clear torque slope by the slope adjustment coefficient, so as to control the motor to demand torque to be cleared to zero with the second clear torque slope.

2. The method for controlling the tilt rate according to claim 1, characterized in that, The method for controlling the tilt rate also includes: After the required torque of the control motor is zeroed with the second torque clearing slope, it is determined whether the torque clearing of the current electric vehicle is completed.

3. The method for controlling the tilt rate according to claim 1 or 2, characterized in that, Determining whether the electric vehicle has completed torque clearing includes: Obtain the actual motor torque of the current electric vehicle; If the actual motor torque is less than the set torque threshold, then the current electric vehicle torque clearing is determined to be complete. If the actual motor torque is not less than the set torque threshold, then the motor torque demand will continue to be controlled to be zeroed with the first torque clearing slope or the second torque clearing slope.

4. The method for controlling the tilt rate according to claim 3, characterized in that, The method for controlling the tilt rate also includes: If the motor torque demand continues to be controlled to be zero with the first torque clearing slope or the second torque clearing slope, the current motor speed change rate is determined in real time, and an updated torque clearing slope is determined based on the current motor speed change rate, so as to control the motor torque demand to be zero with the updated torque clearing slope.

5. The method for controlling the tilt rate according to claim 1, characterized in that, The first clearing and twisting slope is a fixed clearing and twisting slope; The method for controlling the tilt rate also includes: When the electric vehicle is currently in the gear shifting and torque clearing phase, the torque required by the control motor is cleared to zero for the first time with a fixed torque clearing slope.

6. A clearing and torsional slope control device, characterized in that, include: The motor speed change rate determination module is used to, when the electric vehicle is in the shift torque clearing stage, control the motor's required torque to be zeroed with a first torque clearing slope, acquire the current motor speed in real time, and determine the corresponding motor speed change rate based on the current motor speed. Specifically, determining the slope adjustment coefficient based on the motor speed change rate is used as follows: if the motor speed change rate is greater than a set speed change rate threshold, the slope adjustment coefficient is determined by querying a pre-calibrated speed change rate and slope adjustment relationship table based on the motor speed change rate. The larger the motor speed change rate, the larger the slope adjustment coefficient, and the slope adjustment coefficient is greater than 1. If the motor speed change rate is not greater than the set speed change rate threshold, it is determined whether the current electric vehicle has completed torque clearing. The torque clearing slope update module is used to determine the slope adjustment coefficient based on the real-time determined motor speed change rate, and to determine the second torque clearing slope based on the slope adjustment coefficient and the first torque clearing slope. The second torque clearing slope is calculated by multiplying the first torque clearing slope by the slope adjustment coefficient, so as to control the motor demand torque to be cleared to zero with the second torque clearing slope.

7. A vehicle, characterized in that, The vehicles include: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the clearing and twisting slope control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the clearing and twisting slope control method according to any one of claims 1-5.

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