Wheel end demand torque filtering method and apparatus, vehicle, and storage medium

Abstract

This application relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, and storage medium for filtering wheel-end demand torque. The method includes: acquiring the actual demand torque and actual torque change rate at the vehicle's wheel ends; selecting a corresponding filter based on the actual demand torque to obtain a filtering result; and dynamically limiting the filtering result based on the actual demand torque and actual torque change rate. This solves the problems in related technologies where filtering wheel-end demand torque using fixed torque limits fails to balance torque smoothness and response speed, resulting in poor applicability.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a wheel-end demand torque filtering method, device, vehicle, and storage medium. Background Technology

[0002] Because the torque demand at the wheel ends of a vehicle can change abruptly, and this change in torque can cause vehicle vibration and noise, it is usually necessary to filter the torque demand at the wheel ends in order to suppress vehicle vibration and noise and improve driving comfort.

[0003] In related technologies, filters are used to filter the required torque at the wheel end. Specifically, the filter determines whether the actual required torque at the wheel end is within the torque limit range, such as whether it exceeds the upper or lower limit of the torque. If it exceeds the limit, filtering is performed; otherwise, filtering is not performed.

[0004] However, the torque limiting range of filters is usually a fixed range, that is, the upper limit and lower limit of torque are fixed, which cannot meet the filtering requirements of wheel end torque under different conditions, and cannot take into account both torque smoothing and response speed. Summary of the Invention

[0005] This application provides a wheel-end demand torque filtering method, device, vehicle, and storage medium to solve the problems in related technologies where wheel-end demand torque filtering using fixed torque limits cannot simultaneously achieve torque smoothness and response speed, resulting in poor applicability.

[0006] The first aspect of this application provides a wheel-end demand torque filtering method, comprising the following steps: obtaining the actual demand torque and the actual torque change rate at the vehicle wheel end; selecting a corresponding filter based on the actual demand torque to perform filtering and obtain a filtering result; and dynamically limiting the filtering result based on the actual demand torque and the actual torque change rate.

[0007] Optionally, determining the torque filtering range of the filter based on the actual required torque and the actual torque change rate includes: if the change rate exceeds the rising slope limit of the dynamic limit, determining the lower limit of the dynamic limit of the filtering result based on the rising slope limit, wherein the upper limit of the dynamic limit of the filtering result is the actual required torque; if the change rate exceeds the falling slope limit of the dynamic limit, determining the upper limit of the dynamic limit of the filtering result based on the falling slope limit, wherein the lower limit of the dynamic limit of the filtering result is the actual required torque.

[0008] Optionally, determining the lower limit of torque for dynamic restriction of the filtering result based on the rising slope limit includes: obtaining the lower limit of torque for the previous filtering cycle; calculating the torque difference between the actual required torque and the lower limit of torque for the previous filtering cycle; calculating a first product of the rising slope limit and the filtering cycle; summing the smaller of the first product and the torque difference with the lower limit of torque for the previous filtering cycle to obtain a first summation result; and using the smaller of the first summation result and the actual required torque as the lower limit of torque for dynamic restriction of the filtering result in the current filtering cycle.

[0009] Optionally, determining the upper limit of torque dynamically limited by the filtering result based on the descent slope limit includes: obtaining the upper limit of torque in the previous filtering cycle; calculating the torque difference between the actual required torque and the upper limit of torque in the previous filtering cycle; calculating a second product of the descent slope limit and the filtering cycle; summing the larger of the second product and the torque difference with the upper limit of torque in the previous filtering cycle to obtain a second summation result; and using the larger of the second summation result and the actual required torque as the upper limit of torque dynamically limited by the filtering result in the current filtering cycle.

[0010] Optionally, before dynamically limiting the filtering result based on the actual required torque and the actual torque change rate, the method further includes: if the change rate does not exceed the rising slope limit and the falling slope limit, then outputting the actual required torque.

[0011] Optionally, the step of selecting a corresponding filter based on the actual required torque to obtain a filtering result further includes: obtaining the torque filtering range and filter of the vehicle; switching the corresponding filter according to the torque range in which the actual required torque is located; and filtering the actual required torque through the filter and the torque filtering range to obtain the filtering result.

[0012] Optionally, when switching between different filters, the filtering result of the original filter is used as the input of the new filter.

[0013] A second aspect of this application provides a wheel-end demand torque filtering device, comprising: an acquisition module for acquiring the actual demand torque and the actual torque change rate at the wheel end of a vehicle; a filtering module for selecting a corresponding filter based on the actual demand torque to obtain a filtering result; and a limiting module for dynamically limiting the filtering result based on the actual demand torque and the actual torque change rate.

[0014] Optionally, the limiting module is further configured to: if the rate of change exceeds the rising slope limit, determine the lower limit of the torque dynamically limited by the filtering result based on the rising slope limit, and the upper limit of the torque dynamically limited by the filtering result is the actual required torque; if the rate of change exceeds the falling slope limit of the dynamic limit, determine the upper limit of the torque dynamically limited by the filtering result based on the falling slope limit, and the lower limit of the torque dynamically limited by the filtering result is the actual required torque.

[0015] Optionally, the limiting module is further configured to: obtain the lower limit of torque in the previous filtering cycle; calculate the torque difference between the actual required torque and the lower limit of torque in the previous filtering cycle; calculate the first product of the rising slope limit and the filtering cycle; sum the smaller of the first product and the torque difference with the lower limit of torque in the previous filtering cycle to obtain a first summation result; and use the smaller of the first summation result and the actual required torque as the lower limit of torque dynamically limited by the filtering result in the current filtering cycle.

[0016] Optionally, the limiting module is further configured to: obtain the upper limit value of torque in the previous filtering cycle; calculate the torque difference based on the actual required torque and the upper limit value of torque in the previous filtering cycle; calculate the second product of the descent slope limit and the filtering cycle; sum the larger of the second product and the torque difference with the upper limit value of torque in the previous filtering cycle to obtain a second summation result; and use the larger of the second summation result and the actual required torque as the upper limit value of torque dynamically limited by the filtering result in the current filtering cycle.

[0017] Optionally, it further includes: an output module, configured to output the actual required torque if the rate of change does not exceed the rising slope limit and the falling slope limit before dynamically limiting the filtering result based on the actual required torque and the actual torque change rate.

[0018] Optionally, the filtering module is further configured to: obtain the torque filtering range and filter of the vehicle; switch the corresponding filter according to the torque range in which the actual required torque is located; and filter the actual required torque through the filter and the torque filtering range to obtain the filtering result.

[0019] Optionally, when switching between different filters, the filtering result of the original filter is used as the input of the new filter.

[0020] A third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the wheel-end demand torque filtering method as described in the above embodiments.

[0021] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the wheel-end demand torque filtering method as described in the above embodiments.

[0022] Therefore, this application has at least the following beneficial effects:

[0023] This application embodiment can dynamically adjust the torque filtering range of the filter according to the actual required torque and the actual torque change rate, meeting the filtering requirements of the wheel-end torque under different conditions, improving the applicability of torque filtering. Furthermore, because the torque filtering range is dynamically adjusted according to the actual required torque and the torque filtering output is dynamically limited, it not only ensures smooth torque output but also guarantees a rapid torque response, thus balancing torque smoothness and response speed. This solves the technical problems in related technologies, such as poor torque filtering effect, inability to guarantee smooth torque output, and consequently, poor driving comfort.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 This is a schematic diagram of the required torque segmented filtering in related technologies;

[0027] Figure 2 This is a flowchart of the wheel-end demand torque filtering method provided according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram illustrating the torque range division and classification filtering according to embodiments of this application;

[0029] Figure 4 This is a schematic diagram comparing the amplitude-frequency characteristics of a first-order low-pass filter and a second-order low-pass filter according to embodiments of this application.

[0030] Figure 5 This is a schematic diagram illustrating the dynamic limitation of required torque according to an embodiment of this application;

[0031] Figure 6 This is a schematic diagram illustrating the calculation of the upper and lower torque limits according to the embodiments of this application;

[0032] Figure 7 This is an overall schematic diagram of the wheel-end demand torque filtering method provided according to an embodiment of this application;

[0033] Figure 8 This is an example diagram of a wheel-end demand torque filtering device provided according to an embodiment of this application;

[0034] Figure 9 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0036] like Figure 1 As shown, the related technology employs first-order filtering, dividing the torque region into three segments. The same first-order filter is used in each segment, but different filter coefficients are applied to different torque regions. These coefficients are calculated based on the accelerator pedal opening, vehicle speed, and the required torque after filtering at the previous moment, achieving different filtering effects in different torque regions. Because first-order filtering is inherently coarse, its effectiveness is poor in scenarios requiring high torque filtering accuracy, such as rapid acceleration with high torque and when passing through zero torque. It also has poor suppression of vehicle vibration and noise, thus leaving significant room for improvement in the filtering method.

[0037] The following description, with reference to the accompanying drawings, outlines a wheel-end demand torque filtering method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the problem mentioned in the background art that wheel-end demand torque filtering using fixed torque limits fails to balance torque smoothness and response speed, resulting in poor applicability, this application provides a wheel-end demand torque filtering method. In this method, the torque filtering range of the filter can be dynamically adjusted based on the actual demand torque and the actual torque change rate, satisfying the filtering requirements of wheel-end demand torque under different conditions and improving the applicability of torque filtering. This solves the problems of related technologies that use fixed torque limits for wheel-end demand torque filtering, failing to balance torque smoothness and response speed, and exhibiting poor applicability.

[0038] Specifically, Figure 2 This is a flowchart illustrating a wheel-end demand torque filtering method provided in an embodiment of this application.

[0039] like Figure 2 As shown, the wheel-end demand torque filtering method includes the following steps:

[0040] In step S101, the actual required torque and the actual torque change rate at the vehicle wheel ends are obtained.

[0041] The actual torque change rate can be obtained from the actual torque required at the vehicle wheel ends. The specific calculation formula is the change in required torque / execution cycle, where the execution cycle is the software execution cycle (e.g., 10ms), and the required torque is mainly calculated based on the accelerator pedal.

[0042] In step S102, a corresponding filter is selected based on the actual required torque to obtain the filtering result.

[0043] It is understood that the embodiments of this application can filter according to the actual required torque at the vehicle wheel end and select the appropriate filter to meet different filtering requirements and obtain filtering results.

[0044] In this embodiment of the application, the method of selecting a corresponding filter based on the actual required torque to obtain the filtering result further includes: obtaining the torque filtering range and filter of the vehicle; switching the corresponding filter according to the torque range in which the actual required torque is located; and filtering the actual required torque through the filter and the torque filtering range to obtain the filtering result.

[0045] It is understood that the embodiments of this application can switch the corresponding filter according to the torque range where the actual required torque of the vehicle wheel end is located, so as to meet the filtering accuracy requirements under different conditions, and obtain the filtering result by filtering the actual required torque through the corresponding filter and torque filtering range.

[0046] In the embodiments of this application, when switching between different filters, the filtering result of the original filter is used as the input of the new filter.

[0047] It is understandable that there is a correspondence between filters and torque ranges. Based on this correspondence, the filter corresponding to the torque range can be determined. Furthermore, to ensure seamless output torque transitions when switching between different filters, a common feedback loop is used. When a filter switch occurs, the filtering result of the original filter is stored in the feedback loop, and the newly selected filter will then use this result as a basis for filtering, ensuring a smooth transition. The types of filters can include first-order low-pass filters, second-order low-pass filters, and parabolic filters, among others.

[0048] Since the filtering effect requirements differ depending on whether the torque is positive, negative, or passing zero, this embodiment divides the torque range into six segments according to the positive and negative changes in torque: positive negative torque range (torque is negative and increasing), positive zero-crossing torque range (torque increases from negative to positive), positive positive torque range (torque is positive and increasing), negative positive torque range (torque is positive and decreasing), negative zero-crossing torque range (torque changes from positive to negative), and negative negative torque range (torque is negative and decreasing). For the positive negative torque range, negative positive torque range, and negative negative torque range, a first-order low-pass filter is sufficient. For the positive torque range with higher accuracy requirements, a second-order low-pass filter is used to achieve better filtering effect. For the zero-torque range (positive or negative), a parabolic filter is used. This application embodiment can perform region-based filtering, employing targeted filtering based on different situations to meet varying filtering requirements. Specifically, a second-order low-pass filter is used within the positive torque range and when passing through zero torque. Compared to a first-order low-pass filter, this provides cleaner filtering and smoother torque delivery. When passing through zero torque, a parabolic filter is used to achieve a near-zero slope, preventing transmission vibration caused by gear backlash. As torque moves away from zero, the slope recovers rapidly to ensure a fast torque response. The torque range division and classification filtering are as follows: Figure 3 As shown.

[0049] It should be noted that, taking the filtering of vehicle wheel-end torque demand as an example, which involves first-order low-pass filters, second-order low-pass filters, and parabolic filters, the parameter calculation methods for each filter are similar. Different two-dimensional tables are used based on the driving mode (normal mode, economy mode, sport mode, pure electric mode, etc.). The filter parameters for that mode are obtained by looking up the table using the vehicle's wheel-end torque demand and actual vehicle speed. The parameters for the first-order low-pass and parabolic filters are time constants, while the parameters for the second-order low-pass filter are the time constant and damping coefficient. The second-order low-pass filter has one more adjustable parameter than the first-order low-pass filter. From a time-domain perspective, the filtered waveform has better plasticity and is more likely to achieve the desired effect. From a frequency-domain perspective (the passband is the frequency range of signals that can be passed, the transition band is the frequency range of signals that are attenuated, and the stopband is the frequency range of signals that are filtered out), the second-order low-pass filter has a narrower transition band and is cleaner than the first-order low-pass filter. When passing through zero torque, the parabolic filter, compared to a first-order low-pass filter or ramp function, has a slope closer to 0 the closer it is to zero torque, and the slope can recover quickly when it is far from zero torque. This ensures both a smooth transition to zero torque and a fast torque response.

[0050] The transfer function of a first-order low-pass filter is as follows:

[0051]

[0052] In the above equation, X(z) and Y(z) are the z-transforms of the input and output of the first-order low-pass filter, respectively, dT is the execution period, and T is the filtering time constant.

[0053] The transfer function of a second-order low-pass filter is as follows:

[0054]

[0055] In the above equation, X(z) and Y(z) are the z-transforms of the input and output of the second-order low-pass filter, respectively, dT is the execution period, T is the filtering time constant, and damping coefficient is the damping coefficient.

[0056] The diagram comparing the amplitude-frequency characteristics of first-order and second-order low-pass filters is shown below. Figure 4 As shown.

[0057] In step S103, the filtering results are dynamically limited based on the actual required torque and the actual torque change rate.

[0058] Furthermore, the filtering results are dynamically limited based on the actual required torque and the actual torque change rate, including: if the change rate exceeds the rising slope limit of the dynamic limit, then the lower limit of the dynamic limit of the filtered result is determined based on the rising slope limit, and the upper limit of the dynamic limit of the filtered result is the actual required torque; if the change rate exceeds the falling slope limit of the dynamic limit, then the upper limit of the dynamic limit of the filtered result is determined based on the falling slope limit, and the lower limit of the dynamic limit of the filtered result is the actual required torque.

[0059] Among them, the limits for the upward slope and the limits for the downward slope are calibrated values.

[0060] It is understood that, in the embodiments of this application, when the rate of change exceeds the rising slope limit, the lower limit of the torque dynamically limited by the torque filtering result changes with the rising slope limit, and the upper limit of the torque dynamically limited by the filtering result changes with the actual required torque; when the rate of change exceeds the falling slope limit, the upper limit of the torque dynamically limited by the filtering result changes with the falling slope, and the lower limit of the torque dynamically limited by the filtering result changes with the actual required torque. Therefore, when the required torque changes rapidly, such as when it rises rapidly, the upper limit of the torque is relaxed to follow the change in the input required torque, and the lower limit changes with a given rising slope. In this way, the filtered torque is both smooth and responsive (the minimum rising slope is limited, and the filtered torque cannot be lower than this slope). The dynamic limitation of the required torque is as follows: Figure 5 As shown.

[0061] Specifically, when the actual demand torque change rate is greater than or equal to the rising slope limit, positive segmented filtering can be used; when the change rate is less than or equal to the falling slope limit, negative segmented filtering can be used.

[0062] In this embodiment, determining the lower limit of torque for dynamic limiting of the filtering result based on the rising slope limit includes: obtaining the lower limit of torque in the previous filtering cycle; calculating the torque difference between the actual required torque and the lower limit of torque in the previous filtering cycle; calculating a first product of the rising slope limit and the filtering cycle; summing the smaller of the first product and the torque difference with the lower limit of torque in the previous filtering cycle to obtain a first summation result; and using the smaller of the first summation result and the actual required torque as the lower limit of torque for dynamic limiting of the filtering result in the current filtering cycle.

[0063] It is understandable that, such as Figure 6 As shown in the embodiment of this application, the lower limit of torque can be calculated using the following formula:

[0064] y(z)=min(y(z-1)+min(x(z)-y(z-1),Ramp Inc *dT),x(z)),

[0065] Where y(z) is the lower limit of the output torque, y(z-1) is the torque limit output in the previous filtering cycle, x(z) is the actual torque required at the vehicle wheel end, and Ramp Inc dT is the limit of the torque rise slope, and dT is the execution period.

[0066] Therefore, when the actual torque change rate exceeds the dynamic limit of the rising slope, the lower limit of the torque dynamic limit is determined using the rising slope limit. The upper limit follows the change in demand torque, and the lower limit changes according to the rising slope limit. Thus, when the demand torque changes rapidly, such as when it rises rapidly, the upper limit of torque is relaxed to follow the change in input demand torque, while the lower limit changes with a given rising slope. This filtering avoids vehicle vibration and noise caused by sudden torque changes, ensuring smooth torque filtering. Furthermore, if the filtering results in an overly flat torque, the torque change slope can be increased through the lower limit of torque to ensure a rapid torque response.

[0067] In this embodiment of the application, determining the upper limit of torque dynamically limited by the filtering result based on the descent slope limit includes: obtaining the upper limit of torque in the previous filtering cycle; calculating the torque difference between the actual required torque and the upper limit of torque in the previous filtering cycle; calculating the second product of the descent slope limit and the filtering cycle; summing the larger value of the second product and the torque difference with the upper limit of torque in the previous filtering cycle to obtain a second summation result; and using the larger value of the second summation result and the actual required torque as the upper limit of torque dynamically limited by the filtering result in the current filtering cycle.

[0068] It is understandable that, such as Figure 6 As shown in the embodiment of this application, the upper limit value of torque can be calculated, and the calculation formula is as follows:

[0069] y(z)=max(y(z-1)+max(x(z)-y(z-1),Ramp Dec *dT),x(z)),

[0070] Where y(z) is the upper limit of the output torque, y(z-1) is the torque limit output in the previous filtering cycle, x(z) is the actual torque required at the vehicle wheel end, and Ramp Dec dT is the limit of the torque reduction slope, and dT is the execution period.

[0071] Therefore, when the actual torque change rate exceeds the dynamic limit of the descent slope, the upper limit of the dynamic limit of the filtered torque is determined using the descent slope limit. The upper limit changes according to the descent slope limit, and the lower limit changes according to the demand torque. Thus, when the demand torque changes rapidly, such as during a rapid descent, the upper limit of the torque follows the descent slope limit, and the lower limit follows the demand torque. In this way, the filtered torque avoids vehicle vibration and noise caused by sudden torque changes, ensuring smooth filtering and rapid torque response.

[0072] In this embodiment of the application, before dynamically limiting the filtering result based on the actual required torque and the actual torque change rate, the method further includes: if the change rate does not exceed the rising slope limit and the falling slope limit, then the actual required torque is output.

[0073] It is understood that in the embodiments of this application, when the actual rate of change of torque does not exceed the limits of the rising slope and the falling slope, the upper limit of the torque dynamically limited by the filtering result is equal to the actual required torque. This is because the calculated upper and lower limits of torque are equal (or rapidly approach equal) at this time, and are equal to (or rapidly approach) the required torque at the vehicle wheel end. In other words, when the required torque changes slowly, there is no need for filtering, and it can be directly output to meet the requirements of rapid torque response.

[0074] In summary, the embodiments of this application can adjust the torque filtering range of the filter and the dynamic limitation on the filtering results according to the actual required torque and the actual torque change rate, so as to meet the filtering requirements of the wheel-end required torque under different conditions, improve the applicability of torque filtering, and use a second-order low-pass filter and a parabolic filter with higher accuracy and better effect in the positive torque range and the zero-crossing torque range, respectively, so as to achieve a good filtering effect, effectively prevent vehicle vibration and noise caused by torque change. Moreover, different filters share a feedback loop, so that the current filter is based on the filtering result of the previous filter, ensuring seamless connection of the filtered output signal and preventing drivability problems caused by torque change. The overall scheme diagram of the wheel-end required torque filtering method of this application embodiment is shown in the figure below. Figure 7 As shown.

[0075] According to the wheel-end demand torque filtering method proposed in the embodiments of this application, the torque filtering range of the filter can be adjusted according to the actual demand torque and the actual torque change rate to meet the filtering requirements of the wheel-end demand torque under different conditions, improve the applicability of torque filtering, and since the torque filtering range is dynamically adjusted according to the actual demand torque and the torque filtering output result is dynamically limited, not only can the torque smooth output be guaranteed, but also the torque fast response can be guaranteed, thus taking into account both torque smoothness and response speed.

[0076] Next, the wheel end demand torque filtering device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0077] Figure 8 This is a block diagram of the wheel end demand torque filtering device according to an embodiment of this application.

[0078] like Figure 8 As shown, the wheel end demand torque filtering device 10 includes: an acquisition module 100, a filtering module 200, and a limiting module 300.

[0079] The acquisition module 100 is used to acquire the actual required torque and the actual torque change rate at the vehicle wheel end; the filtering module 200 is used to select the corresponding filter according to the actual required torque to obtain the filtering result; and the limiting module 300 is used to dynamically limit the filtering result according to the actual required torque and the actual torque change rate.

[0080] In this embodiment, the limiting module 300 is further configured to: if the rate of change exceeds the rising slope limit of the dynamic limit, determine the lower limit of the dynamic limit of the filtered result torque based on the rising slope limit, and the upper limit of the dynamic limit of the filtered result torque is the actual required torque; if the rate of change exceeds the falling slope limit of the dynamic limit, determine the upper limit of the dynamic limit of the filtered result torque based on the falling slope limit, and the lower limit of the dynamic limit of the filtered result torque is the actual required torque.

[0081] In this embodiment, the limiting module 300 is further configured to: obtain the lower limit value of torque in the previous filtering cycle; calculate the torque difference between the actual required torque and the lower limit value of torque in the previous filtering cycle; calculate the first product of the rising slope limit and the filtering cycle; sum the smaller value of the first product and the torque difference with the lower limit value of torque in the previous filtering cycle to obtain a first summation result; and use the smaller value of the first summation result and the actual required torque as the lower limit value of torque dynamically limited by the filtering result in the current filtering cycle.

[0082] In this embodiment, the limiting module 300 is further configured to: obtain the upper limit value of torque in the previous filtering cycle; calculate the torque difference between the actual required torque and the upper limit value of torque in the previous filtering cycle; calculate the second product of the descent slope limit and the filtering cycle; sum the larger value of the second product and the torque difference with the upper limit value of torque in the previous filtering cycle to obtain a second summation result; and use the larger value of the second summation result and the actual required torque as the upper limit value of torque dynamically limited by the filtering result of the current filtering cycle.

[0083] In this embodiment of the application, the apparatus 10 further includes an output module.

[0084] The output module is used to output the actual required torque before dynamically limiting the filtering results based on the actual required torque and the actual torque change rate. If the change rate does not exceed the rising slope limit and falling slope limit, then the actual required torque is output.

[0085] In this embodiment, the filtering module 200 is further configured to: acquire the torque filtering range and filter of the vehicle; switch the corresponding filter according to the torque range in which the actual required torque is located; and filter the actual required torque through the filter and the torque filtering range to obtain the filtering result.

[0086] In the embodiments of this application, when switching between different filters, the filtering result of the original filter is used as the input of the new filter.

[0087] It should be noted that the explanation of the aforementioned embodiment of the wheel-end demand torque filtering method also applies to the wheel-end demand torque filtering device of this embodiment, and will not be repeated here.

[0088] According to the wheel-end demand torque filtering device proposed in the embodiments of this application, the torque filtering range of the filter can be dynamically adjusted according to the actual demand torque and the actual torque change rate to meet the filtering requirements of the wheel-end demand torque under different conditions, improve the applicability of torque filtering, and since the torque filtering range is dynamically adjusted according to the actual demand torque and the torque filtering output result is dynamically limited, it can not only ensure smooth torque output, but also ensure fast torque response, thus taking into account both torque smoothness and response speed.

[0089] Figure 9 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0090] The memory 901, the processor 902, and the computer program stored on the memory 901 and capable of running on the processor 902.

[0091] When the processor 902 executes the program, it implements the wheel end demand torque filtering method provided in the above embodiments.

[0092] Furthermore, the vehicle also includes:

[0093] Communication interface 903 is used for communication between memory 901 and processor 902.

[0094] The memory 901 is used to store computer programs that can run on the processor 902.

[0095] The memory 901 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0096] If the memory 901, processor 902, and communication interface 903 are implemented independently, then the communication interface 903, memory 901, and processor 902 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 9 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0097] Optionally, in a specific implementation, if the memory 901, processor 902, and communication interface 903 are integrated on a single chip, then the memory 901, processor 902, and communication interface 903 can communicate with each other through an internal interface.

[0098] The processor 902 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0099] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the wheel-end demand torque filtering method described above.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0103] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0104] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0105] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A wheel-end demand torque filtering method, characterized in that, Includes the following steps: Obtain the actual required torque and actual torque change rate at the vehicle wheel ends; Based on the actual required torque, select the corresponding filter to perform filtering and obtain the filtering result; The step of selecting a corresponding filter based on the actual required torque to obtain a filtering result further includes: obtaining the torque filtering range and filter of the vehicle; switching the corresponding filter according to the torque range in which the actual required torque is located; and filtering the actual required torque using the filter and the torque filtering range to obtain the filtering result. The filtering result is dynamically limited based on the actual required torque and the actual torque change rate. This dynamic limitation includes: if the change rate exceeds a dynamic limit on the upward slope, a lower limit for the dynamically limited torque of the filtering result is determined based on the upward slope limit, and the upper limit for the dynamically limited torque of the filtering result is the actual required torque; if the change rate exceeds a dynamic limit on the downward slope, an upper limit for the dynamically limited torque of the filtering result is determined based on the downward slope limit, and the lower limit for the dynamically limited torque of the filtering result is the actual required torque.

2. The wheel-end demand torque filtering method according to claim 1, characterized in that, The step of determining the lower limit of torque dynamically limited by the filtering result based on the rising slope limit includes: Obtain the lower limit value of torque from the previous filtering cycle; Calculate the torque difference between the actual required torque and the lower limit of the torque in the previous filtering cycle; Calculate the first product of the rising slope limit and the filtering cycle, and sum the smaller of the first product and the torque difference with the lower limit of the torque of the previous filtering cycle to obtain the first summation result; The smaller value between the first summation result and the actual required torque is used as the lower limit of the torque dynamically limited by the filtering result of the current filtering cycle.

3. The wheel-end demand torque filtering method according to claim 1, characterized in that, The step of determining the upper limit of torque dynamically limited by the filtering result based on the descent slope limit includes: Obtain the upper limit value of torque in the previous filtering cycle; Calculate the torque difference between the actual required torque and the upper limit of the torque in the previous filtering cycle; Calculate the second product of the descent slope limit and the filtering cycle, and sum the larger of the second product and the torque difference with the upper limit of the torque of the previous filtering cycle to obtain the second summation result; The larger value between the second summation result and the actual required torque is used as the upper limit of the torque dynamically limited by the filtering result of the current filtering cycle.

4. The wheel-end demand torque filtering method according to claim 1, characterized in that, Before dynamically limiting the filtering result based on the actual required torque and the actual torque change rate, the method further includes: If the rate of change does not exceed the rising slope limit and the falling slope limit, then the actual required torque is output.

5. The wheel-end demand torque filtering method according to claim 1, characterized in that, When switching between different filters, the filtering result of the original filter is used as the input of the new filter.

6. A wheel-end demand torque filtering device, characterized in that, include: The acquisition module is used to acquire the actual required torque and the actual torque change rate at the vehicle wheel ends. The filtering module is used to select the corresponding filter according to the actual torque requirement to obtain the filtering result; The step of selecting a corresponding filter based on the actual required torque to obtain a filtering result further includes: obtaining the torque filtering range and filter of the vehicle; switching the corresponding filter according to the torque range in which the actual required torque is located; and filtering the actual required torque using the filter and the torque filtering range to obtain the filtering result. A limiting module is used to dynamically limit the filtering result based on the actual required torque and the actual torque change rate. The dynamic limiting of the filtering result based on the actual required torque and the actual torque change rate includes: if the change rate exceeds a dynamic limiting upward slope limit, then determining a lower limit value for the dynamically limited torque of the filtering result based on the upward slope limit, and the upper limit value for the dynamically limited torque of the filtering result is the actual required torque; if the change rate exceeds a dynamic limiting downward slope limit, then determining an upper limit value for the dynamically limited torque of the filtering result based on the downward slope limit, and the lower limit value for the dynamically limited torque of the filtering result is the actual required torque.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the wheel-end demand torque filtering method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the wheel-end demand torque filtering method as described in any one of claims 1-5.

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