Vehicle load calibration method based on torque calculation model

Abstract

The application discloses a whole vehicle load calibration method based on a torque calculation model, comprising the following steps: S1) constructing a load torque T load calculation model; S2) selecting a driving torque source; S3) filtering the driving torque until a requirement is reached; S4) correcting the driving torque value until a requirement is reached; S5) matching the resistance torque in driving until a requirement is reached; S6) adjusting the acceleration resistance torque until a requirement is reached; and S7) if a preset condition is not met, returning to the step S2) and continuing to adjust. The application realizes accurate discrimination of vehicle load and a slope, reduces the whole vehicle cost, helps to optimize the vehicle control strategy and improve the driving experience, and improves the economy and power in the vehicle driving process as a whole.

Description

Technical Field

[0001] This invention relates to the field of automatic transmission vehicle control, and more specifically to a method for calibrating vehicle load based on a torque calculation model. Background Technology

[0002] Compared to manual transmission vehicles, automatic transmission vehicles greatly reduce the frequency of manual operation and gear shifting by the driver, significantly reducing the driver's workload. They are characterized by simple, convenient, and quick operation, and therefore, automatic transmission vehicles have been increasingly promoted and used.

[0003] When an automatic transmission vehicle is in motion, the amount and variation of the load on the vehicle, whether it is traveling on a flat road or a slope, and whether it is going uphill or downhill, all fall under the scope of vehicle load assessment. Currently, there are several problems with vehicle load assessment, including incomplete and inaccurate assessment, and high costs. These problems lead to a series of adverse consequences, such as inaccurate gear shifting timing, insufficient power, ineffective use of engine braking, reduced fuel and electricity economy, poor passenger experience, and higher vehicle prices. Therefore, how to economically, effectively, comprehensively, and accurately assess vehicle load is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a vehicle load calibration method based on a torque calculation model for accurately determining vehicle load and slope.

[0005] The technical solutions to the above technical problems are as follows:

[0006] The vehicle load calibration method based on the torque calculation model includes the following steps:

[0007] S1) Construct the load torque T load The computational model;

[0008] S2) Select the source of the drive torque;

[0009] S3) Filter the drive torque until the requirements are met;

[0010] S4) Adjust the value of the drive torque until the requirement is met;

[0011] S5) Match the resisted torque during driving until the requirement is met;

[0012] S6) Adjust the acceleration damping torque until the requirement is met;

[0013] S7) If the preset conditions are not met, return to step S2) above to continue the allocation.

[0014] Furthermore, the load torque calculation model described in step S1) is: T load =T drive -T resistance -T acceleration ;

[0015] Among them, T resistance For the torque that hinders driving, T drive For driving torque, T acceleration To accelerate the deceleration torque, T load This represents the load torque.

[0016] Further, the source of the selected drive torque in step S2) is: to select a torque signal as the input source of the drive torque, that is, to use the engine torque signal from the vehicle CAN network as the drive torque; or, to use the output value obtained by querying the two-dimensional engine torque spectrum with adjustable values ​​from the two inputs of throttle opening and engine speed as the drive torque; or, to select other torques and their combinations as the drive torque.

[0017] Further, in step S3), filtering the drive torque involves filtering the input drive torque signal. The specific steps for filtering the drive torque are as follows:

[0018] 1) On a flat, straight, and long road, with the vehicle unloaded and in manual mode, starting from 1st gear, with the current driving gear in the selected gear, first drive at a medium and fixed throttle opening for a period of time, then quickly increase the throttle opening to another large throttle opening and drive at a fixed throttle opening for a period of time, and then quickly and completely release the throttle to let the whole vehicle glide freely.

[0019] 2) Observe and record the load torque T throughout the entire driving process. load The changes;

[0020] 3) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the range is defined, the following analysis is performed:

[0021] a) During acceleration, if the load torque T load Threshold T pos_lmt If so, the filter coefficient will be too large;

[0022] b) During acceleration, if the load torque T load <threshold T neg_lmt If so, the filter coefficient will be too small;

[0023] c) During deceleration, if the load torque T load Threshold T pos_lmtIf so, the filter coefficient will be too small;

[0024] d) During deceleration, if the load torque T load <threshold T neg_lmt If so, the filter coefficient will be too large;

[0025] 4) After judging the filter coefficients, make the corresponding modifications, and then return to step 1) above to continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range.

[0026] 5) Manually switch to the next higher gear, then skip to step 1) above to continue calibration;

[0027] The above five steps need to be repeated until both the glitches in the signal are filtered out and the authenticity and dynamism of the signal are preserved.

[0028] Further, in step S4), the value of the corrected drive torque is used to check whether the drive torque is normal. If it is not normal, it is corrected. The method for checking whether the drive torque is normal is as follows:

[0029] On a flat, straight, and long road, the vehicle, unloaded, travels at a set and constant speed in different gears while the engine speed traverses the entire speed range from minimum to maximum, and the load torque T is measured. load Does the torque change depending on the gear position? If it does, it indicates that the drive torque needs adjustment. The formula for adjusting the drive torque is: T drive_out =T drive_filtered -T drive_offset , among which, T drive_offset T is the correction amount for the drive torque. drive_filtered T represents the filtered drive torque. drive_out The output of the corrected drive torque;

[0030] Correction amount T of drive torque drive_offset The setup method is as follows: Set and adjust two one-dimensional spectra T, one for acceleration and one for deceleration, with engine speed as input and the other for drive torque correction as output. drive_offset_acc_list and T drive_offset_dec_list , among which, T drive_offset_acc_list To obtain a one-dimensional map of the correction amount of the drive torque under accelerated operating conditions, T drive_offset_dec_list This is a one-dimensional graph of the correction amount of the drive torque under deceleration conditions. The initial value of the correction amount of the drive torque is 0. The above-mentioned drive torque detection and correction process is repeated until the corresponding requirements are met.

[0031] Furthermore, the speed setting rule is as follows: select at least seven speed points at equal intervals from the minimum speed to the maximum speed.

[0032] The rule for setting the engine speed is: select at least eight speed points at equal intervals from the minimum speed to the maximum speed.

[0033] Further, in step S5), matching the obstructed torque during driving involves: detecting whether the obstructed torque is reasonable; if not, adjusting it accordingly. The specific steps for matching the obstructed torque during driving are as follows:

[0034] 1) Select at least seven speed points at equal intervals, from minimum speed to maximum speed;

[0035] 2) Starting from the point of minimum speed, on a flat, straight, and long road, the vehicle is unloaded and travels at a constant speed at the selected speed.

[0036] 3) Observe and record the load torque T throughout the entire driving process. load The changes;

[0037] 4) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the range is defined, the following analysis is performed:

[0038] a) If the load torque T load <threshold T neg_lmt If so, the torque will be too high, causing the vehicle to be unable to move.

[0039] b) If the load torque T load Threshold T pos_lmt If so, the torque will be too low and the driving will be hindered.

[0040] 5) After analysis, modify the driving resistance torque corresponding to the vehicle speed accordingly, then return to step 2) above and continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range.

[0041] 6) Select the next higher speed point, and then jump to step 2) above to continue the calibration;

[0042] The above six steps need to be repeated until the required torque is reached to prevent driving from being obstructed.

[0043] Further, in step S6), the adjustment of acceleration resistance torque involves adjusting and adapting the correspondence between driving gear and acceleration resistance torque, specifically including the following steps:

[0044] 1) On a flat, straight, and long road, with the vehicle unloaded and in manual mode, start from 1st gear and drive at a fixed speed for a period of time while the current driving gear is in the selected gear. Then, accelerate the vehicle at a fixed large throttle opening. When the maximum engine speed is reached and no forced upshift is triggered, completely release the accelerator pedal to let the vehicle coast freely.

[0045] 2) Observe and record the load torque T throughout the entire driving process. load The changes;

[0046] 3) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the range is defined, the following analysis is performed:

[0047] a) During uniform acceleration, if the load torque T load Threshold T pos_lmt If so, the acceleration and deceleration torque will be too small;

[0048] b) During uniform acceleration, if the load torque T load <threshold T neg_lmt If so, the acceleration drag torque will be too large;

[0049] c) During uniform deceleration, if the load torque T load Threshold T pos_lmt If so, the acceleration drag torque will be too large;

[0050] d) During uniform deceleration, if the load torque T load <threshold T neg_lmt If so, the acceleration and deceleration torque will be too small;

[0051] 4) After analysis, modify the acceleration drag torque corresponding to the gear, then return to step 1) above and continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range.

[0052] 5) Manually switch to the next higher gear, then skip to step 1) above to continue calibration;

[0053] The above five steps need to be repeated until the acceleration and deceleration torque reaches the required level.

[0054] Furthermore, the preset condition in step S7) is that the load torque T is constant regardless of whether the vehicle is moving at a constant speed, accelerating, or decelerating. load The values ​​are all in [threshold T] neg_lmt Threshold T pos_lmtWithin the range of ].

[0055] The beneficial effects achieved by adopting the above technical solution are as follows:

[0056] This invention first constructs a load torque calculation model based on driving torque, driving resistance torque, and acceleration lag torque. Then, with the vehicle unloaded on a flat, straight, and long road surface, corresponding driving conditions are set around each component of the model. The process involves repeatedly selecting the source of the driving torque, filtering the driving torque, correcting the driving torque value, matching the driving resistance torque, and adjusting the acceleration lag torque. Finally, the load torque calibration of the vehicle during constant speed, acceleration, or deceleration is achieved. This invention enables accurate identification of vehicle load and slope, reduces overall vehicle cost, helps optimize vehicle control strategies and improve the driving experience, and improves the overall economy and power of the vehicle during operation. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0058] Figure 1 This is a flowchart illustrating the vehicle load calibration method based on a torque calculation model provided in an embodiment of the present invention. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the specific technical solutions of the invention will be further described in detail below with reference to the accompanying drawings of the embodiments of the present invention. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0060] See Figure 1 The steps of the vehicle load calibration method based on the torque calculation model are as follows:

[0061] S1) Construct the load torque T load The computational model;

[0062] S2) Select the source of the drive torque;

[0063] S3) Filter the drive torque until the requirements are met;

[0064] S4) Adjust the value of the drive torque until the requirement is met;

[0065] S5) Match the resisted torque during driving until the requirement is met;

[0066] S6) Adjust the acceleration damping torque until the requirement is met;

[0067] S7) If the preset conditions are not met, return to step S2) above to continue the allocation.

[0068] Specifically, in step S1), the load torque calculation model is: T load =T drive -T resistance -T acceleration , among which, T resistance For the driving-resistance torque (mainly including air-resistance torque and rolling-resistance torque), T drive For driving torque, T acceleration To accelerate the deceleration torque, T load This represents the load torque.

[0069] Specifically, in step S2), the source of the selected drive torque is to select a torque signal as the input source of the drive torque. That is, the engine torque signal from the vehicle CAN network is used as the drive torque, or the output value obtained by querying the two-dimensional engine torque spectrum, which can adjust the values ​​of the throttle opening and engine speed, is used as the drive torque, or other torques (e.g., motor torque, etc.) and their combinations are selected as the drive torque.

[0070] Specifically, in step S3), filtering the drive torque involves filtering the input drive torque signal. The specific steps for filtering the drive torque are as follows:

[0071] 1) On a flat, straight, and long road, with the vehicle unloaded and in manual mode, starting from 1st gear, with the current driving gear in the selected gear, first drive at a medium and fixed throttle opening for a period of time, then quickly increase the throttle opening to another large throttle opening and drive at a fixed throttle opening for a period of time, and then quickly and completely release the throttle to let the whole vehicle glide freely.

[0072] 2) Observe and record the load torque T throughout the entire driving process. load The changes;

[0073] 3) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the range is defined, the following analysis is performed:

[0074] a) During acceleration, if the load torque T load Threshold T pos_lmt If so, the filter coefficient will be too large;

[0075] b) During acceleration, if the load torque T load <threshold T neg_lmt If so, the filter coefficient will be too small;

[0076] c) During deceleration, if the load torque T load Threshold T pos_lmt If so, the filter coefficient will be too small;

[0077] d) During deceleration, if the load torque T load <threshold T neg_lmt If so, the filter coefficient will be too large.

[0078] 4) After judging the filter coefficients, make the corresponding modifications, and then return to step 1) above to continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range.

[0079] 5) Manually switch to the next higher gear, then jump to step 1) above to continue calibration.

[0080] The above five steps need to be repeated until both the glitches in the signal are filtered out and the authenticity and dynamism of the signal are preserved.

[0081] Specifically, in step S4), the value of the corrected drive torque is used to check whether the drive torque is normal. If it is not normal, it is corrected. The method for checking whether the drive torque is normal is as follows: On a flat, straight, and long road, with the vehicle unloaded, drive the vehicle at a set and consistent speed (the speed setting rule is to select at least seven speed points at equal intervals from the minimum speed to the maximum speed) in different gears, while simultaneously allowing the engine speed to traverse all speed ranges from the minimum speed to the maximum speed, and detect the load torque T. load Does it change depending on the gear position? If it changes (i.e., the load torque T) load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the value falls within the range of [T], it indicates that the drive torque needs correction. The formula for correcting the drive torque is: T drive_out =T drive_filtered -T drive_offset , among which, T drive_offset T is the correction amount for the drive torque. drive_filtered T represents the filtered drive torque. drive_out This refers to the output of the corrected drive torque. The correction amount T for the drive torque. drive_offset The setup method is as follows: Set and adjust two one-dimensional spectra T, one for acceleration and one for deceleration, with engine speed as input and the other for drive torque correction as output.drive_offset_acc_list and T drive_offset_dec_list The engine speed setting rule involves selecting at least eight equally spaced speed points from minimum to maximum speed. drive_offset_acc_list To obtain a one-dimensional map of the correction amount of the drive torque under accelerated operating conditions, T drive_offset_dec_list This is a one-dimensional graph of the correction value of the drive torque under deceleration conditions. The initial value of the correction value of the drive torque is 0. The above-described drive torque detection and correction process needs to be repeated until the corresponding requirements are met.

[0082] Specifically, in step S5), matching the obstructed torque during driving involves detecting whether the obstructed torque (mainly including air obstructed torque and rolling obstructed torque) is reasonable. If it is unreasonable, adjustments are made to match it. Matching the obstructed torque during driving specifically includes the following steps:

[0083] 1) Select at least seven speed points at equal intervals, from minimum speed to maximum speed;

[0084] 2) Starting from the point of minimum speed, on a flat, straight, and long road, the vehicle is unloaded and travels at a constant speed at the selected speed.

[0085] 3) Observe and record the load torque T throughout the entire driving process. load The changes;

[0086] 4) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the range is defined, the following analysis is performed:

[0087] a) If the load torque T load <threshold T neg_lmt If so, the torque will be too high, causing the vehicle to be unable to move.

[0088] b) If the load torque T load Threshold T pos_lmt If the torque is too low, the driving will be hindered.

[0089] 5) After analysis, modify the driving resistance torque corresponding to the vehicle speed accordingly, then return to step 2) above and continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range.

[0090] 6) Select the next higher speed point, and then jump to step 2) above to continue the calibration.

[0091] The above six steps need to be repeated until the required torque is reached to prevent driving from being obstructed.

[0092] Specifically, in step S6), adjusting the acceleration resistance torque involves adjusting and adapting the correspondence between the driving gear and the acceleration resistance torque, which includes the following steps:

[0093] 1) On a flat, straight, and long road, with the vehicle unloaded and in manual mode, start from 1st gear and drive at a fixed speed for a period of time while the current driving gear is in the selected gear. Then, accelerate the vehicle at a fixed large throttle opening. When the maximum engine speed is reached and no forced upshift is triggered, completely release the accelerator pedal to let the vehicle coast freely.

[0094] 2) Observe and record the load torque T throughout the entire driving process. load The changes;

[0095] 3) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the range is defined, the following analysis is performed:

[0096] a) During uniform acceleration, if the load torque T load Threshold T pos_lmt If so, the acceleration and deceleration torque will be too small;

[0097] b) During uniform acceleration, if the load torque T load <threshold T neg_lmt If so, the acceleration drag torque will be too large;

[0098] c) During uniform deceleration, if the load torque T load Threshold T pos_lmt If so, the acceleration drag torque will be too large;

[0099] d) During uniform deceleration, if the load torque T load <threshold T neg_lmt If the acceleration and deceleration torque is too small, then the acceleration and deceleration torque will be too small.

[0100] 4) After analysis, modify the acceleration drag torque corresponding to the gear, then return to step 1) above and continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range.

[0101] 5) Manually switch to the next higher gear, then jump to step 1) above to continue calibration.

[0102] The above five steps need to be repeated until the acceleration and deceleration torque reaches the required level.

[0103] Specifically, in step S7), the preset condition is that regardless of whether the vehicle is moving at a constant speed, accelerating, or decelerating, the load torque T load The values ​​are all in [threshold T] neg_lmt Threshold T pos_lmt Within the range of ].

[0104] This method, through calibration of the torque calculation model on a flat, straight, and long road surface with the vehicle unloaded, achieves the same torque T regardless of whether the vehicle is moving at a constant speed, accelerating, or decelerating. load The values ​​are all in [threshold T] neg_lmt Threshold T pos_lmt Within the range of [ ], thus achieving the effect that when the vehicle load changes or (and) travels on an incline, the load torque T load The values ​​can accurately reflect the changes in vehicle load, enabling accurate identification of vehicle load and slope, reducing overall vehicle cost, helping to optimize vehicle control strategies and improve the driving experience, and improving the economy and power of the vehicle during operation.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle load calibration method based on a torque calculation model, characterized in that, Includes the following steps: S1) Constructing the load torque T load The computational model; S2) Select the source of the drive torque; S3) Filter the drive torque until the requirements are met; S4) Adjust the value of the drive torque until the requirement is met; S5) Match the resisted torque during driving until the requirement is met; In step S5), matching the obstructed torque during driving involves: detecting whether the obstructed torque is reasonable; if not, adjusting it accordingly. The specific steps for matching the obstructed torque during driving are as follows: 1) Select at least seven speed points at equal intervals, from minimum speed to maximum speed; 2) Starting from the point of minimum speed, on a flat, straight, and long road, the vehicle is unloaded and travels at a constant speed at the selected speed. 3) Observe and record the load torque T throughout the entire driving process. load The changes; 4) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the scope is defined as follows: a) If the load torque T load < Threshold T neg_lmt If so, the torque will be too high, causing the vehicle to be unable to move. b) If the load torque T load Threshold T pos_lmt If so, the torque will be too low and the driving will be hindered. 5) After analysis, modify the driving resistance torque corresponding to the vehicle speed, then return to step 2) above and continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range. 6) Select the next higher speed point, then jump to step 2) above to continue calibration; The above six steps need to be repeated until the required torque is reached to prevent driving from being obstructed. S6) Adjust the acceleration damping torque until the requirement is met; In step S6), the adjustment of acceleration resistance torque involves adjusting and adapting the correspondence between driving gear and acceleration resistance torque, specifically including the following steps: 1) On a flat, straight, and long road, with the vehicle unloaded and in manual mode, start from 1st gear and drive at a fixed speed for a period of time while the current driving gear is in the selected gear. Then, accelerate the vehicle at a fixed large throttle opening. When the maximum engine speed is reached and no forced upshift is triggered, completely release the accelerator pedal and let the vehicle coast freely. 2) Observe and record the load torque T throughout the entire driving process. load The changes; 3) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the scope is defined as follows: a) During uniform acceleration, if the load torque T load Threshold T pos_lmt If so, the acceleration and deceleration torque will be too small; b) During uniform acceleration, if the load torque T load < Threshold T neg_lmt If so, the acceleration drag torque will be too large; c) During uniform deceleration, if the load torque T load Threshold T pos_lmt If so, the acceleration drag torque will be too large; d) During uniform deceleration, if the load torque T load < Threshold T neg_lmt If so, the acceleration and deceleration torque will be too small; 4) After analysis, modify the acceleration drag torque corresponding to the gear, then return to step 1) above and continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range. 5) Manually shift to the next higher gear, then skip to step 1) above to continue calibration; The above five steps need to be repeated until the acceleration and deceleration torque reaches the required level. S7) If the preset conditions are not met, return to step S2) above to continue the allocation.

2. The vehicle load calibration method based on a torque calculation model according to claim 1, characterized in that: The load torque calculation model mentioned in step S1) is: T load = T drive - T resistance - T acceleration ; Among them, T resistance For the torque that hinders driving, T drive For driving torque, T acceleration To accelerate the deceleration torque, T load This represents the load torque.

3. The vehicle load calibration method based on a torque calculation model according to claim 1, characterized in that: The source of the selected drive torque in step S2) is: select a torque signal as the input source of the drive torque, that is, take the engine torque signal from the vehicle CAN network as the drive torque; or take the output value obtained by querying the two-dimensional engine torque spectrum with adjustable values ​​by the two inputs of throttle opening and engine speed as the drive torque.

4. The vehicle load calibration method based on a torque calculation model according to claim 1, characterized in that: In step S3), filtering the drive torque involves filtering the input drive torque signal. The specific steps for filtering the drive torque are as follows: 1) On a flat, straight, and long road, with the vehicle unloaded and in manual mode, starting from 1st gear, with the current driving gear in the selected gear, first drive at a medium and fixed throttle opening for a period of time, then quickly increase the throttle opening to another large throttle opening and drive at a fixed throttle opening for a period of time, and then quickly and completely release the throttle to let the whole vehicle glide freely. 2) Observe and record the load torque T throughout the entire driving process. load The changes; 3) If the load torque T is found load Exceeding [threshold T] neg_lmt Threshold T pos_lmt If the scope is defined as follows: a) During acceleration, if the load torque T load Threshold T pos_lmt If so, the filter coefficient will be too large; b) During acceleration, if the load torque T load < Threshold T neg_lmt If so, the filter coefficient will be too small; c) During deceleration, if the load torque T load Threshold T pos_lmt If so, the filter coefficient will be too small; d) During deceleration, if the load torque T load < Threshold T neg_lmt If so, the filter coefficient will be too large; 4) After judging the filter coefficients, make the corresponding modifications, and then return to step 1) above to continue until the load torque T is reached. load At [threshold T] neg_lmt Threshold T pos_lmt Proceed to the next step only when the target area is within the specified range. 5) Manually shift to the next higher gear, then skip to step 1) above to continue calibration; The above five steps need to be repeated until both the glitches in the signal are filtered out and the authenticity and dynamism of the signal are preserved.

5. The vehicle load calibration method based on a torque calculation model according to claim 1, characterized in that: In step S4), the value of the calibrated drive torque is used to check if the drive torque is normal. If it is not normal, it is calibrated. The method for checking if the drive torque is normal is as follows: On a flat, straight, and long road, the vehicle, unloaded, travels at a set and constant speed in different gears while the engine speed traverses the entire speed range from minimum to maximum, and the load torque T is measured. load Does the torque change depending on the gear position? If it does, it indicates that the drive torque needs adjustment. The formula for adjusting the drive torque is: T drive_out = T drive_filtered - T drive_offset , among which, T drive_offset T is the correction amount for the drive torque. drive_filtered T represents the filtered drive torque. drive_out The output of the corrected drive torque; Correction amount T of drive torque drive_offset The setup method is as follows: Set and adjust two one-dimensional spectra T, with engine speed as input and the correction amount of drive torque as output, for acceleration and deceleration conditions respectively. drive_offset_acc_list and T drive_offset_dec_list , among which, T drive_offset_acc_list To obtain a one-dimensional map of the correction amount of the drive torque under accelerated operating conditions, T drive_offset_dec_list This is a one-dimensional graph of the correction amount of the drive torque under deceleration conditions. The initial value of the correction amount of the drive torque is 0. The above-mentioned drive torque detection and correction process is repeated until the corresponding requirements are met.

6. The vehicle load calibration method based on the torque calculation model according to claim 5, characterized in that: The speed setting rule is as follows: select at least seven speed points at equal intervals from the minimum speed to the maximum speed. The rule for setting the engine speed is: select at least eight speed points at equal intervals from the minimum speed to the maximum speed.

7. The vehicle load calibration method based on a torque calculation model according to claim 1, characterized in that... The preset condition mentioned in step S7) is: regardless of whether the vehicle is moving at a constant speed, accelerating, or decelerating, the load torque T load The values ​​are all in [threshold T] neg_lmt Threshold T pos_lmt Within the range of ].

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