Vehicle torque control method, device and vehicle

Abstract

The application discloses a vehicle torque control method, device and vehicle, and belongs to the technical field of vehicles.The vehicle torque control method comprises the following steps: acquiring a first actual torque function corresponding to a vehicle under a target compensation mode, a first torque change rate, a second actual torque function and a second torque change rate based on the target compensation mode; the actual torque function is used for representing actual torque at different moments; in the case that the first torque change rate is greater than the second torque change rate, determining a target compensation value based on the second actual torque function and a second target torque function corresponding to the second actual torque function; and adjusting the first actual torque function based on the target compensation value and a first target torque function corresponding to the first actual torque function; the target torque function is used for representing target torque at different moments.The vehicle torque control method prevents the total actual torque of the vehicle from being higher or lower than the total demand torque, and avoids the problem of vehicle shaking caused by torque adjustment again.

Description

Technical Field

[0001] This application belongs to the field of vehicle technology, and in particular relates to a vehicle torque control method, device and vehicle. Background Technology

[0002] For electric vehicles, torque is transferred to improve vehicle handling when the target yaw rate or wheel load changes. In common vehicle torque control methods, during torque transfer, if one or two motors are operating at high torque relative to other motors, the rapid increase or decrease in torque of that motor can cause the vehicle's total actual torque to be higher or lower than the total required torque. Readjusting the torque will then cause uneven torque output, resulting in vehicle vibration. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a vehicle torque control method, apparatus, and vehicle that reduces the rate of change of the first actual torque to prevent the total actual torque of the vehicle from being higher or lower than the total required torque during torque transfer, thus avoiding vehicle vibration problems caused by torque readjustment.

[0004] In a first aspect, this application provides a vehicle torque control method, the method comprising:

[0005] Based on the target compensation mode, the first actual torque function, the first torque change rate, the second actual torque function, and the second torque change rate corresponding to the vehicle under the target compensation mode are obtained; wherein, the target compensation mode includes: front and rear axle compensation mode or coaxial inner and outer wheel compensation mode; the actual torque function includes the actual torque function of the axle in the vehicle or the actual torque function of the wheel in the vehicle; the actual torque function is used to characterize the actual torque at different times; the torque change rate is the absolute value of the slope of the actual torque function at different times;

[0006] When the first torque change rate is greater than the second torque change rate, a target compensation value is determined based on the second actual torque function and the second target torque function corresponding to the second actual torque function.

[0007] Based on the target compensation value and the first target torque function corresponding to the first actual torque function, the first actual torque function is adjusted; the target torque function is used to characterize the target torque at different times.

[0008] According to the vehicle torque control method provided in the embodiments of this application, a target compensation value is obtained based on a second actual torque function that changes slowly and a second target torque function. Based on the target compensation value and the first target torque function corresponding to a first actual torque function that changes rapidly, the first actual torque function is adjusted to reduce the rate of change of the first actual torque function. This prevents the total actual torque of the vehicle from being higher or lower than the total required torque during the torque transfer process, thus avoiding vehicle vibration problems caused by torque readjustment.

[0009] One embodiment of the vehicle torque control method of this application includes obtaining, based on a target compensation mode, a first actual torque function, a first torque change rate, a second actual torque function, and a second torque change rate corresponding to the vehicle under the target compensation mode, comprising:

[0010] In the front and rear axle compensation mode, the actual torque function corresponding to the first axle in the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second axle in the vehicle is determined as the second actual torque function;

[0011] In the coaxial inner and outer wheel compensation mode, the actual torque function corresponding to the first wheel of the target axle among all axles of the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second wheel of the target axle is determined as the second actual torque function.

[0012] One embodiment of the vehicle torque control method of this application includes adjusting the first actual torque function based on the target compensation value and the first target torque function corresponding to the first actual torque function, comprising:

[0013] Obtain first change information corresponding to the first actual torque function and second change information corresponding to the second actual torque function; wherein, the first change information includes an increase or decrease in the first actual torque function, and the second change information includes an increase or decrease in the second actual torque function;

[0014] Based on the first change information, the second change information, the target compensation value, and the first target torque function, the first actual torque function is adjusted.

[0015] One embodiment of the vehicle torque control method of this application includes obtaining first change information corresponding to the first actual torque function and second change information corresponding to the second actual torque function, comprising:

[0016] If the difference between the third target torque corresponding to the first target torque function at the second moment and the first actual torque corresponding to the first actual torque function at the start moment is greater than the target torque threshold, it is determined that the first actual torque function increases; the second moment is the end moment of the torque transfer process;

[0017] If the difference between the first actual torque function corresponding to the first actual torque at the starting time and the third target torque function corresponding to the first target torque function at the second time is greater than the target torque threshold, it is determined that the first actual torque function decreases.

[0018] If the difference between the second target torque function corresponding to the second target torque function at the second time and the third actual torque function corresponding to the second actual torque function at the starting time is greater than the target torque threshold, it is determined that the second actual torque function increases;

[0019] If the difference between the third actual torque corresponding to the second actual torque function at the starting time and the second target torque corresponding to the second target torque function at the second time is greater than the target torque threshold, it is determined that the second actual torque function is reduced.

[0020] One embodiment of the vehicle torque control method of this application includes adjusting the first actual torque function based on the first change information, the second change information, the target compensation value, and the first target torque function, comprising:

[0021] When the first actual torque function increases and the second actual torque function decreases, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment is determined as the maximum target torque corresponding to the first target torque function at the first moment.

[0022] Based on the minimum value between the maximum target torque and the first target torque corresponding to the first target torque function at the first time, the first target torque corresponding to the first time is updated; the first time is the current time of the torque transfer process;

[0023] When the first actual torque function decreases and the second actual torque function increases, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second time is determined as the minimum target torque corresponding to the first target torque function at the first time.

[0024] Based on the maximum value between the minimum target torque and the first target torque corresponding to the first target torque function at the first time, update the first target torque corresponding to the first target torque function at the first time.

[0025] The first actual torque function is adjusted based on the first target torque corresponding to the updated first target torque function at the first moment.

[0026] One embodiment of the vehicle torque control method of this application includes determining a target compensation value based on a second actual torque function and a second target torque function corresponding to the second actual torque function, comprising:

[0027] The target compensation value is calculated based on the difference between the second target torque function at the second time point and the second actual torque function at the first time point; the first time point is the current time of the torque transfer process, and the second time point is the end time of the torque transfer process.

[0028] One embodiment of the vehicle torque control method of this application further includes:

[0029] The first target torque function and the second target torque function are determined based on the corresponding operating state of the vehicle, wherein the operating state includes at least one of vehicle turning, vehicle climbing, and vehicle accelerator pedal opening adjustment.

[0030] Secondly, this application provides a vehicle torque control device, the device comprising:

[0031] The first processing module is used to obtain, based on the target compensation mode, a first actual torque function, a first torque change rate, a second actual torque function, and a second torque change rate corresponding to the vehicle under the target compensation mode; wherein, the target compensation mode includes: a front and rear axle compensation mode or a coaxial inner and outer wheel compensation mode; the actual torque function includes the actual torque function of the axle in the vehicle or the actual torque function of the wheel in the vehicle; the actual torque function is used to characterize the actual torque at different times; the torque change rate is the absolute value of the slope of the actual torque function at different times;

[0032] The second processing module is used to determine a target compensation value based on the second actual torque function and the second target torque function corresponding to the second actual torque function when the first torque change rate is greater than the second torque change rate.

[0033] The third processing module is used to adjust the first actual torque function based on the target compensation value and the first target torque function corresponding to the first actual torque function; the target torque function is used to characterize the target torque at different times.

[0034] According to the vehicle torque control device provided in the embodiments of this application, a target compensation value is obtained based on a second actual torque function that changes slowly and a second target torque function. Based on the target compensation value and a first target torque function corresponding to a first actual torque function that changes rapidly, the first actual torque function is adjusted to reduce the rate of change of the first actual torque function. This prevents the total actual torque of the vehicle from being higher or lower than the total required torque during the torque transfer process, thus avoiding vehicle vibration problems caused by torque readjustment.

[0035] Thirdly, this application provides a vehicle comprising:

[0036] At least one axle;

[0037] At least two wheels, said wheels being disposed at both ends of said axle;

[0038] The vehicle torque control device as described in the second aspect; the vehicle torque control device is electrically connected to the at least one axle and the at least two wheels respectively.

[0039] According to the vehicle provided in the embodiments of this application, during the torque transfer process, the vehicle torque control device controls the rapidly changing torque to compensate for the slowly changing torque, thereby avoiding the total actual torque exceeding the total required torque due to the different rates of torque increase and decrease, and thus avoiding the problem of vehicle vibration caused by readjustment of vehicle torque.

[0040] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle torque control method as described in the first aspect above.

[0041] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle torque control method as described in the first aspect above.

[0042] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects:

[0043] The target compensation value is obtained based on the second actual torque function and the second target torque function, which change slowly. Based on the target compensation value and the first target torque function corresponding to the first actual torque function that changes rapidly, the first actual torque function is adjusted to reduce the rate of change of the first actual torque function. This prevents the total actual torque of the vehicle from being higher or lower than the total required torque during the torque transfer process, thus avoiding vehicle vibration problems caused by torque readjustment.

[0044] Furthermore, when the first actual torque function increases rapidly and the second actual torque function decreases slowly, the first target torque corresponding to the first target torque function at the first moment is updated by the minimum value between the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment, and the first target torque corresponding to the first target torque function at the first moment, ensuring that the total increase in actual torque at the first moment does not exceed the total increase in target torque. Conversely, when the first actual torque function decreases rapidly and the second actual torque function increases slowly, the first target torque corresponding to the first target torque function at the first moment is updated by the maximum value between the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment, and the first target torque corresponding to the first target torque function at the first moment, ensuring that the total decrease in actual torque at the first moment does not exceed the total decrease in target torque. This prevents reverse changes after torque compensation from causing more jitter.

[0045] 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

[0046] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0047] Figure 1 This is a schematic flowchart of the vehicle torque control method provided in the embodiments of this application;

[0048] Figure 2 This is one of the schematic diagrams illustrating the principle of the vehicle torque control method provided in the embodiments of this application;

[0049] Figure 3 This is a second schematic diagram illustrating the principle of the vehicle torque control method provided in this application embodiment;

[0050] Figure 4 This is the third schematic diagram illustrating the principle of the vehicle torque control method provided in this application embodiment;

[0051] Figure 5 This is the fourth schematic diagram illustrating the principle of the vehicle torque control method provided in this application embodiment;

[0052] Figure 6 This is a schematic diagram of the vehicle torque control device provided in the embodiments of this application;

[0053] Figure 7 This is a schematic diagram of the vehicle structure provided in the embodiments of this application;

[0054] Figure 8 This is the fifth schematic diagram of the vehicle torque control method provided in the embodiments of this application. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0056] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0057] The following is combined Figures 1 to 5 This application describes a vehicle torque control method according to an embodiment.

[0058] It should be noted that the executing entity of the vehicle torque control method can be a vehicle, a server electrically connected to the vehicle, a vehicle torque control device installed in the vehicle, or a user terminal that is communicatively connected to the vehicle, including but not limited to mobile terminals and non-mobile terminals.

[0059] For example, mobile terminals include, but are not limited to, mobile phones, PDA smart terminals, tablets, and in-vehicle smart terminals; non-mobile terminals include, but are not limited to, PCs.

[0060] like Figure 1 As shown, the vehicle torque control method includes steps 110, 120 and 130.

[0061] Step 110: Based on the target compensation mode, obtain the first actual torque function, the first torque change rate, the second actual torque function, and the second torque change rate corresponding to the vehicle under the target compensation mode; wherein, the target compensation mode includes: front and rear axle compensation mode or coaxial inner and outer wheel compensation mode; the actual torque function includes the torque of the axle in the vehicle or the torque of the wheel in the vehicle; the actual torque function is used to characterize the actual torque at different times; the torque change rate is the absolute value of the slope of the actual torque function at different times.

[0062] In this step, the target compensation mode includes: front and rear axle compensation mode or coaxial inner and outer wheel compensation mode.

[0063] In the front and rear axle compensation mode, torque compensation is performed between the front and rear axles of the vehicle.

[0064] In front and rear axle compensation mode, the axle that rises faster will compensate for the axle that descends slower, and vice versa.

[0065] In the coaxial inner and outer wheel compensation mode, torque compensation is performed between the wheels at both ends of the same axle of the vehicle.

[0066] In the coaxial inner and outer wheel compensation mode, the wheel that rises faster will compensate for the wheel that descends slower, and the wheel that descends faster will compensate for the wheel that rises slower.

[0067] In actual implementation, the target compensation mode is determined based on the actual torque functions of the vehicle's front and rear axles and wheels.

[0068] The actual torque function includes the actual torque function of the axles in the vehicle or the actual torque function of the wheels in the vehicle.

[0069] The first actual torque function is the current torque of the vehicle. The first actual torque function can be the actual torque function corresponding to the axle of the vehicle, or it can be the actual torque function corresponding to the wheel of the vehicle.

[0070] The first torque change rate is used to characterize the rise and fall of the first actual torque function.

[0071] The first torque change rate can be determined based on the absolute value of the slope of the first actual torque function at each moment.

[0072] The second actual torque function differs from the first actual torque function. The second actual torque function can be the actual torque function corresponding to the vehicle axle, or it can be the actual torque function corresponding to the vehicle wheels.

[0073] If the first actual torque function is the actual torque function of the axle, the second actual torque function can be the actual torque function of the other axle of the vehicle.

[0074] When the first actual torque function is the actual torque function of the wheel, the second actual torque function can be the actual torque function of another wheel that is coaxial with the wheel.

[0075] The second torque change rate is used to characterize the rise and fall of the second actual torque function.

[0076] The second torque change rate can be determined based on the absolute value of the slope of the second actual torque function at each moment.

[0077] In some embodiments, step 110 may include:

[0078] In the front and rear axle compensation mode, the actual torque function corresponding to the first axle in the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second axle in the vehicle is determined as the second actual torque function.

[0079] In the coaxial inner and outer wheel compensation mode, the actual torque function corresponding to the first wheel of the target axle among all axles of the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second wheel of the target axle is determined as the second actual torque function.

[0080] In this embodiment, under the front and rear axle compensation mode, the actual torque function is the actual torque function of the middle axle of the vehicle.

[0081] The first axle and the second axle are different axles in the vehicle.

[0082] The first axle can be either the front or rear axle of the vehicle, and the second axle can be either the rear or front axle of the vehicle.

[0083] In the front and rear axle compensation mode, the actual torque function corresponding to the first axle can be determined as the first actual torque function, and the actual torque function corresponding to the second axle can be determined as the second actual torque function.

[0084] The actual torque corresponding to the first axle is equal to the sum of the torques of the wheels at both ends of the first axle.

[0085] The actual torque corresponding to the second axle is equal to the sum of the torques of the wheels at both ends of the second axle.

[0086] In the coaxial inner and outer wheel compensation mode, the actual torque function is the actual torque function of the wheels in the vehicle.

[0087] The first wheel and the second wheel are different wheels at both ends of the target axle.

[0088] The target axle is any axle among all the axles included in the vehicle. For example, in the case that the vehicle includes a front axle and a rear axle, the target axle can be either the front axle or the rear axle.

[0089] The first wheel can be either the left or right wheel corresponding to the front axle of the vehicle, and the second wheel can be either the right or left wheel corresponding to the front axle of the vehicle; or, the first wheel can be either the left or right wheel corresponding to the rear axle of the vehicle, and the second wheel can be either the right or left wheel corresponding to the rear axle of the vehicle.

[0090] In the coaxial inner and outer wheel compensation mode, the actual torque function corresponding to the first wheel of the target axle can be determined as the first actual torque function, and the actual torque function corresponding to the second wheel of the target axle can be determined as the second actual torque function.

[0091] Step 120: When the first torque change rate is greater than the second torque change rate, determine the target compensation value based on the second actual torque function and the second target torque function corresponding to the second actual torque function.

[0092] In this step, when the first torque change rate is greater than the second torque change rate, the first actual torque function rises or falls faster, while the second actual torque function falls or rises slower.

[0093] The target compensation value can be determined based on the slowly changing torque.

[0094] The second target torque function can be obtained by modifying at least one of the following: vehicle Pedal map or accelerator pedal map, steering wheel angle, wheel load, and yaw rate.

[0095] The second target torque function varies depending on the vehicle's operating state.

[0096] The operating states include at least one of the following: vehicle turning, vehicle climbing, and vehicle accelerator pedal opening adjustment.

[0097] The accelerator pedal opening is adjusted to reduce the accelerator pedal travel.

[0098] The second target torque function corresponds to the second actual torque function.

[0099] The second target torque function is used to characterize the target torque at different times. The second target torque function can include the target torque during the torque transfer process and the target torque at the end of the torque transfer.

[0100] In some embodiments, step 120 may include:

[0101] The target compensation value is calculated based on the difference between the second target torque function at the second time and the second actual torque function at the first time; the first time is the current time of the torque transfer process, and the second time is the end time of the torque transfer process.

[0102] In this embodiment, the target compensation value can be obtained based on the difference between the second target torque corresponding to the second target torque function at the second time and the second actual torque corresponding to the second actual torque function at the first time.

[0103] The target compensation value can be positive or negative.

[0104] For example, if the second target torque function increases slowly, the second target torque at the second moment is greater than the second actual torque at the first moment, and the target compensation value is positive.

[0105] When the second target torque function decreases slowly, the second target torque at the second moment is less than the second actual torque at the first moment, and the target compensation value is negative.

[0106] Step 130: Adjust the first actual torque function based on the target compensation value and the first target torque function corresponding to the first actual torque function; the target torque function is used to characterize the target torque at different times.

[0107] In this step, the target compensation value is used to adjust the first actual torque function.

[0108] After adjusting the first actual torque function based on the target compensation value, the rate at which the first actual torque function increases or decreases can be reduced.

[0109] The first target torque function is used to characterize the target torque at different times. The first target torque function can include the target torque during the torque transfer process and the target torque at the end of the torque transfer.

[0110] In some embodiments, the vehicle torque control method may include:

[0111] The first target torque function and the second target torque function are determined based on the corresponding operating state of the vehicle. The operating state includes at least one of vehicle turning, vehicle climbing, and vehicle accelerator pedal opening adjustment.

[0112] In this embodiment, the first target torque function can be obtained by modifying at least one of the vehicle's Pedal map or accelerator pedal map, steering wheel angle, wheel load, and yaw rate.

[0113] The primary target torque function varies depending on the vehicle's operating state.

[0114] The first target torque function corresponds to the first actual torque function.

[0115] In actual execution, the first actual torque function, the first torque change rate, the second actual torque function, and the second torque change rate can be obtained based on the vehicle's target compensation mode.

[0116] When the first torque change rate is greater than the second torque change rate, the rate at which the first actual torque function increases or decreases is greater than the rate at which the second actual torque function decreases or increases.

[0117] The target compensation value can be obtained based on the second target torque function and the second actual torque function corresponding to the second actual torque function.

[0118] Then, based on the target compensation value and the first target torque function corresponding to the first actual torque function, the first actual torque function is adjusted.

[0119] According to the vehicle torque control method provided in the embodiments of this application, a target compensation value is obtained based on a second actual torque function that changes slowly and a second target torque function. Based on the target compensation value and the first target torque function corresponding to a first actual torque function that changes rapidly, the first actual torque function is adjusted to reduce the rate of change of the first actual torque function. This prevents the total actual torque of the vehicle from being higher or lower than the total required torque during the torque transfer process, thus avoiding vehicle vibration problems caused by torque readjustment.

[0120] In some embodiments, step 130 may include:

[0121] Obtain first change information corresponding to the first actual torque function and second change information corresponding to the second actual torque function; wherein, the first change information includes an increase or decrease in the first actual torque function, and the second change information function includes an increase or decrease in the second actual torque function;

[0122] Based on the first change information, the second change information, the target compensation value, and the first target torque function, the first actual torque function is adjusted.

[0123] In this embodiment, the first change information includes an increase or decrease in the first actual torque function.

[0124] The second change information includes whether the second actual torque function increases or decreases.

[0125] After obtaining the first change information and the second change information, the first actual torque function can be adjusted based on the first change information, the second change information, the target compensation value, and the first target torque function.

[0126] In some embodiments, obtaining first change information corresponding to a first actual torque function and second change information corresponding to a second actual torque function may include:

[0127] If the difference between the third target torque corresponding to the first target torque function at the second time and the first actual torque corresponding to the first actual torque function at the start time is greater than the target torque threshold, the first actual torque function is determined to increase; the second time is the end time of the torque transfer process;

[0128] If the difference between the first actual torque function at the initial moment and the third target torque function at the second moment is greater than the target torque threshold, it is determined that the first actual torque function is reduced.

[0129] If the difference between the second target torque function at the second time point and the third actual torque function at the initial time point is greater than the target torque threshold, the second actual torque function is determined to increase.

[0130] If the difference between the third actual torque corresponding to the second actual torque function at the initial moment and the second target torque corresponding to the second target torque function at the second moment is greater than the target torque threshold, it is determined that the second actual torque function is reduced.

[0131] In this embodiment, the target torque threshold can be determined based on the target compensation mode.

[0132] The target torque threshold differs depending on whether the front and rear axle compensation mode or the coaxial inner and outer wheel compensation mode is used.

[0133] For example, in front and rear axle compensation mode, the target torque threshold can be set to 80 Nm; in coaxial inner and outer wheel compensation mode, the target torque threshold can be set to 40 Nm.

[0134] If the difference between the target torque at the second moment and the actual torque at the initial moment is greater than the target torque threshold, it can be determined that the actual torque function has increased.

[0135] The second moment is the end of the torque transfer process.

[0136] If the difference between the actual torque at the initial moment and the target torque at the second moment is greater than the target torque threshold, it can be determined that the actual torque function has decreased.

[0137] like Figure 2As shown, in some embodiments, in the front and rear axle compensation mode, the first axle can be the front axle and the second axle can be the rear axle. When the difference between the first target torque of the front axle at the second moment and the first actual torque at the starting moment is greater than 80 Nm, and the difference between the third actual torque of the rear axle at the starting moment and the second target torque at the second moment is greater than 80 Nm, it can be determined that the front lift and rear drop is activated.

[0138] like Figure 3 As shown, when the difference between the first actual torque of the front axle at the initial moment and the first target torque at the second moment is greater than 80 Nm, and the difference between the second target torque of the rear axle at the second moment and the third actual torque at the initial moment is greater than 80 Nm, it can be determined that the front-lowering and rear-raising is activated.

[0139] In some embodiments, adjusting the first actual torque function based on the first change information, the second change information, the target compensation value, and the first target torque function may include:

[0140] When the first actual torque function increases and the second actual torque function decreases, and the rate of change of the first torque is greater than the rate of change of the second torque, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment is determined as the maximum target torque corresponding to the first target torque function at the first moment.

[0141] The first target torque corresponding to the first target torque function at the first moment is updated based on the minimum value between the maximum target torque and the first target torque function at the first moment; the first moment is the current moment of the torque transfer process.

[0142] When the first actual torque function decreases and the second actual torque function increases, and the rate of change of the first torque is greater than the rate of change of the second torque, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment is determined as the minimum target torque corresponding to the first target torque function at the first moment.

[0143] Based on the maximum value between the minimum target torque and the first target torque corresponding to the first target torque function at the first time, update the first target torque corresponding to the first target torque function at the first time.

[0144] The first actual torque function is adjusted based on the first target torque corresponding to the updated first target torque function at the first moment.

[0145] In this embodiment, the first target torque is the target torque corresponding to the first target torque function at the first moment.

[0146] The third target torque is the target torque corresponding to the first target torque function at the second time point.

[0147] The second target torque is the target torque corresponding to the second target torque function at the second time point.

[0148] The first moment refers to the current moment in the torque transfer process.

[0149] The second moment is the end of the torque transfer.

[0150] When the first actual torque function increases and the second actual torque decreases, and the rate of change of the first torque is greater than the rate of change of the second torque, the target compensation value is negative. The maximum target torque can be determined based on the sum of the third target torque and the target compensation value.

[0151] During torque adjustment, at the first moment, the target torque corresponding to the first actual torque function cannot exceed the maximum target torque.

[0152] When the first actual torque function decreases and the second actual torque increases, and the rate of change of the first torque is greater than the rate of change of the second torque, the target compensation value is positive, and the minimum target torque can be determined based on the sum of the third target torque and the target compensation value.

[0153] During torque adjustment, at the first moment, the target torque corresponding to the first actual torque function cannot be less than the minimum target torque.

[0154] When the first actual torque function increases and the second actual torque function decreases, and the rate of change of the first torque is greater than the rate of change of the second torque, the first actual torque function increases faster and the second actual torque function decreases slower.

[0155] When the first torque change rate is greater than the second torque change rate, the maximum target torque corresponding to the first target torque function at the first moment can be determined based on the sum of the target compensation value and the third target torque at the second moment.

[0156] And based on the minimum value between the maximum target torque and the first target torque at the first moment, update the first target torque at the first moment.

[0157] When the first actual torque function decreases and the second actual torque function increases, and the rate of change of the first torque is greater than the rate of change of the second torque, the first actual torque function decreases faster and the second actual torque function increases slower.

[0158] When the first torque change rate is greater than the second torque change rate, the minimum target torque corresponding to the first target torque function at the first moment can be determined based on the sum of the target compensation value and the third target torque at the second moment.

[0159] And based on the maximum value between the minimum target torque and the first target torque at the first moment, update the first target torque at the first moment.

[0160] After updating the first target torque at the first moment, the updated first target torque at the first moment is used as the final target value for the first actual torque function to increase or decrease at the first moment.

[0161] According to the vehicle torque control method provided in this application embodiment, when the first actual torque function increases rapidly and the second actual torque function decreases slowly, the maximum target torque corresponding to the first target torque function at the first moment is determined by the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment. Based on the minimum value between the maximum target torque and the first target torque corresponding to the first target torque function at the first moment, the first target torque corresponding to the first target torque function at the first moment is updated, ensuring that the total increase in actual torque at the first moment does not exceed the total increase in target torque. When the first actual torque function decreases rapidly and the second actual torque function increases slowly, the minimum target torque corresponding to the first target torque function at the first moment is determined by the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment. Based on the maximum value between the minimum target torque and the first target torque corresponding to the first target torque function at the first moment, the first target torque corresponding to the first target torque function at the first moment is updated, ensuring that the total decrease in actual torque at the first moment does not exceed the total decrease in target torque. This can prevent reverse changes after torque compensation, which could lead to more vibration.

[0162] The control logic of the vehicle torque control method provided in the embodiments of this application will be described in detail below.

[0163] If the first torque change rate corresponding to the first actual torque function is greater than the second torque change rate corresponding to the second actual torque function, a target compensation value can be determined based on the second actual torque function, and the first actual torque function can be adjusted based on the target compensation value.

[0164] In some embodiments, when the first actual torque function shows an increasing trend and the second actual torque function shows a decreasing trend, and the first actual torque function increases faster and the second actual torque function decreases slower, the target compensation value can be determined based on the difference between the second target torque corresponding to the second target torque function at the second time and the second actual torque corresponding to the second actual torque function at the first time; wherein, the first time can be the current time of the torque transfer process, and the second time can be the end time of the torque transfer process.

[0165] Based on the sum of the third target torque and the target compensation value corresponding to the first target torque function at the second moment, the maximum target torque corresponding to the first actual function at the first moment is determined.

[0166] Based on the minimum value between the maximum target torque and the first target torque corresponding to the first target torque function at the first moment, the first target torque corresponding to the first target torque function at the first moment is updated. Then, based on the updated first target torque at the first moment, the first actual torque is adjusted so that the total increase in actual torque at the first moment does not exceed the total increase in target torque.

[0167] In some embodiments, when the first actual torque function shows a decreasing trend and the second actual torque function shows an increasing trend, and the first actual torque function decreases faster and the second actual torque function increases slower, the target compensation value can be determined based on the difference between the second target torque corresponding to the second target torque function at the second time and the second actual torque corresponding to the second actual torque at the first time.

[0168] Based on the sum of the third target torque and the target compensation value corresponding to the first target torque function at the second moment, the minimum target torque corresponding to the first actual function at the first moment is determined.

[0169] Based on the maximum value between the minimum target torque and the first target torque corresponding to the first target torque function at the first moment, the first target torque at the first moment is updated. Then, based on the updated first target torque at the first moment, the first actual torque function is adjusted so that the total reduction in actual torque at the first moment does not exceed the total reduction in target torque.

[0170] like Figure 2 and Figure 3 As shown, in some embodiments, in the front and rear axle compensation mode, the first axle can be the front axle and the second axle can be the rear axle. When the front lift and rear drop are activated, and the rising slope of the first actual torque function of the front axle is greater than the falling slope of the second actual torque function of the rear axle, the front compensation is activated. In the case of front compensation activation, the front axle needs to compensate the rear axle before increasing the torque.

[0171] Front compensation is activated when the front axle is lowered and the rear axle is raised, and the slope of the decrease in the first actual torque function of the front axle is greater than the slope of the increase in the second actual torque function of the rear axle.

[0172] like Figure 4 As shown, in some embodiments, when front compensation is activated, the target compensation value can be determined based on the difference between the second target torque of the rear axle at the second moment and the second actual torque of the rear axle at the first moment.

[0173] When the front lift and rear lowering are activated, the target compensation value is negative. The maximum target torque corresponding to the front axle at the first moment can be determined based on the sum of the third target torque of the front axle at the second moment and the target compensation value.

[0174] The first target torque at the first moment is updated based on the minimum value between the maximum target torque and the first target torque of the front axle at the first moment.

[0175] like Figure 8 As shown, function 1 is the first target torque function corresponding to the front axle, and function 3 is the second target torque function corresponding to the rear axle.

[0176] For example, if the first actual torque function of the front axle corresponds to the first actual torque at the initial time (denoted as 0s), and the second actual torque function of the rear axle corresponds to the third actual torque at the initial time, both of which are 1000Nm, and at the second time (0.2s), the third target torque corresponding to the front axle is 1300Nm and the second target torque corresponding to the rear axle is 800Nm, then the total torque of the vehicle needs to change from 2000Nm to 2100Nm. During the torque transfer process, the total actual torque of the vehicle cannot exceed 2100Nm or fall below 2000Nm.

[0177] If the first actual torque function of the front axle increases faster than the second actual torque function of the rear axle decreases, it is necessary to compensate the rear axle torque based on the front axle torque in order to adjust the first actual torque function of the front axle, thereby preventing the total actual torque from exceeding 2100 Nm.

[0178] When the second actual torque of the rear axle is 990 Nm at the first moment (0.01 s), the target compensation value is the difference between the second target torque of the rear axle at the second moment (800 Nm) and the second actual torque of the rear axle at the first moment (990 Nm), which is -190 Nm.

[0179] The sum of the third target torque of 1300 Nm at the second moment (0.2 s) and the target compensation value, i.e. 1110 Nm, is determined as the maximum target torque of the front axle at the first moment (0.01 s).

[0180] The target torque of the front axle at the first moment (0.01s) must not exceed the maximum target torque of 1110Nm.

[0181] Based on the maximum target torque of the front axle at multiple times, the maximum target torque function can be obtained, such as... Figure 8 As shown in function 2.

[0182] If the first target torque of the front axle is greater than the maximum target torque of 1110 Nm at the first moment (0.01 s), the first target torque at the first moment (0.01 s) will be updated to 1110 Nm. That is, the actual torque of the front axle needs to be adjusted to 1110 Nm at the first moment (0.01 s).

[0183] If the first target torque of the front axle is less than the maximum target torque of 1110 Nm at the first moment (0.01 s), the first target torque at the first moment (0.01 s) will not be updated. That is, the actual torque of the front axle does not need to be adjusted at the first moment (0.01 s), thus ensuring that the total actual torque of the front axle and the rear axle does not exceed 2100 Nm during the torque transfer process.

[0184] like Figure 5 As shown, when the front-lowering and rear-raising functions are activated, the target compensation value is positive. The minimum target torque corresponding to the front axle at the first moment can be determined based on the sum of the third target torque of the front axle at the second moment and the target compensation value.

[0185] The first target torque at the first moment is updated based on the maximum value between the minimum target torque and the first target torque of the front axle at the first moment.

[0186] In some embodiments, when front compensation is not activated, the front axle torque can be directly output based on the front axle lift slope to determine the actual torque of the front axle.

[0187] In some embodiments, in the front and rear axle compensation mode, the first axle can be the rear axle and the second axle can be the front axle. When the front lift and rear drop are activated, and the decreasing slope of the first actual torque function of the rear axle is greater than the increasing slope of the second actual torque function of the front axle, the rear compensation is activated.

[0188] Rear compensation is activated when the front axle is lowered and the rear axle is raised, and the slope of the first actual torque function of the rear axle is greater than the slope of the second actual torque function of the front axle.

[0189] In some embodiments, when post-compensation is activated, the target compensation value can be determined based on the difference between the second target torque of the front axle at the second moment and the second actual torque of the front axle at the first moment.

[0190] When the front lift and rear lowering are activated, the target compensation value is positive. The sum of the third target torque of the rear axle at the second moment and the target compensation value can be determined as the minimum target torque of the rear axle at the first moment.

[0191] The first target torque at the first moment is updated based on the maximum value between the minimum target torque and the first target torque of the rear axle at the first moment.

[0192] When the front-lowering and rear-raising modes are activated, the target compensation value is negative. The sum of the first target torque of the rear axle at the second moment and the target compensation value can be determined as the maximum target torque of the rear axle at the first moment.

[0193] The first target torque at the first moment is updated based on the minimum value between the maximum target torque and the first target torque of the rear axle at the first moment.

[0194] In some embodiments, when rear compensation is not activated, the rear axle torque can be directly output based on the rear axle lift slope to determine the actual torque of the rear axle.

[0195] In some embodiments, under the coaxial inner and outer wheel compensation mode, the first wheel can be the left wheel of the front axle and the second wheel can be the right wheel of the front axle. When the difference between the third target torque of the left wheel of the front axle at the second moment and the first actual torque at the starting moment is greater than 40 Nm, and the difference between the third actual torque of the right wheel of the front axle at the starting moment and the second target torque at the second moment is greater than 40 Nm, it can be determined that the front axle left rise and right fall is activated.

[0196] If the difference between the first actual torque of the left front axle wheel at the initial moment and the third target torque at the second moment is greater than 40 Nm, and the difference between the second target torque of the right front axle wheel at the second moment and the third actual torque at the initial moment is greater than 40 Nm, it can be determined that the left front axle descends and the right front axle rises is activated.

[0197] When the front axle is activated with left-up and right-down, and the slope of the first actual torque function of the front axle left wheel is greater than the slope of the second actual torque function of the front axle right wheel, front left compensation is activated. When front left compensation is activated, the front axle left wheel needs to compensate the front axle right wheel before increasing torque.

[0198] Front left compensation is activated when the front axle is activated with left-down and right-up, and the slope of the decrease of the first actual torque function of the front axle left wheel is greater than the slope of the increase of the second actual torque function of the front axle right wheel.

[0199] In some embodiments, when the front left compensation is activated, the target compensation value can be determined based on the difference between the second target torque of the right front axle wheel at the second moment and the second actual torque at the first moment.

[0200] When the left-hand lifting and right-hand lowering of the front axle is activated, the target compensation value is negative. The sum of the third target torque of the left front axle wheel at the second moment and the target compensation value can be determined as the maximum target torque of the left front axle wheel at the first moment.

[0201] The first target torque at the first moment is updated based on the minimum value between the maximum target torque and the first target torque of the front axle left wheel at the first moment.

[0202] When the left axle is lowered and the right axle is raised, the target compensation value is positive. The sum of the third target torque of the left axle wheel at the second moment and the target compensation value can be determined as the minimum target torque of the left axle wheel at the first moment.

[0203] The first target torque at the first moment is updated based on the maximum value between the minimum target torque and the first target torque of the front axle left wheel at the first moment.

[0204] In some embodiments, when the front left compensation is not activated, the torque of the front left wheel can be directly output based on the lifting slope of the front left wheel to determine the actual torque of the front left wheel.

[0205] In some embodiments, under the coaxial inner and outer wheel compensation mode, the first wheel can be the right wheel of the front axle and the second wheel can be the left wheel of the front axle. When the left wheel of the front axle rises and the right wheel falls, and the slope of the decrease of the first actual torque function of the right wheel of the front axle is greater than the slope of the increase of the second actual torque function of the left wheel of the front axle, the front right compensation is activated.

[0206] Front right compensation is activated when the front axle is activated with left-down and right-up, and the rising slope of the first actual torque function of the front axle right wheel is greater than the falling slope of the second actual torque function of the front axle left wheel.

[0207] In some embodiments, when front right compensation is activated, the target compensation value can be determined based on the difference between the second target torque of the front axle left wheel at the second moment and the second actual torque at the first moment.

[0208] When the left-hand lifting and right-hand lowering of the front axle is activated, the target compensation value is positive. The sum of the third target torque of the right front axle wheel at the second moment and the target compensation value can be determined as the minimum target torque corresponding to the right front axle wheel at the first moment.

[0209] The maximum value of the minimum target torque and the first target torque of the right front wheel at the first moment is used to update the first target torque at the first moment.

[0210] When the front axle is activated with the left wheel lowering and the right wheel raising, the target compensation value is negative. The sum of the third target torque of the front axle right wheel at the second moment and the target compensation value can be determined as the maximum target torque of the front axle right wheel at the first moment.

[0211] The minimum value between the maximum target torque and the first target torque of the right front wheel at the first moment is used to update the first target torque at the first moment.

[0212] In some embodiments, when the front right compensation is not activated, the torque of the front right wheel can be directly output based on the lifting slope of the front right wheel.

[0213] It is understandable that the compensation logic for the left and right wheels of the rear axle is the same as that for the left and right wheels of the front axle, so it will not be elaborated here.

[0214] The vehicle torque control device provided in this application is described below. The vehicle torque control device described below can be referred to in correspondence with the vehicle torque control method described above.

[0215] The vehicle torque control method provided in this application can be executed by a vehicle torque control device. This application uses the example of a vehicle torque control device executing the vehicle torque control method to illustrate the vehicle torque control device provided in this application.

[0216] This application also provides a vehicle torque control device.

[0217] like Figure 6 As shown, the vehicle torque control device includes: a first processing module 610, a second processing module 620, and a third processing module 630.

[0218] The first processing module 610 is used to obtain, based on the target compensation mode, a first actual torque function, a first torque change rate, a second actual torque function, and a second torque change rate corresponding to the vehicle under the target compensation mode; wherein, the target compensation mode includes: a front and rear axle compensation mode or a coaxial inner and outer wheel compensation mode; the actual torque function includes the actual torque function of the axle in the vehicle or the actual torque function of the wheel in the vehicle; the actual torque function is used to characterize the actual torque at different times; the torque change rate is the absolute value of the slope of the actual torque function at different times;

[0219] The second processing module 620 is used to determine a target compensation value based on the second actual torque function and the second target torque function corresponding to the second actual torque function when the first torque change rate is greater than the second torque change rate.

[0220] The third processing module 630 is used to adjust the first actual torque function based on the target compensation value and the first target torque function corresponding to the first actual torque function; the target torque function is used to characterize the target torque at different times.

[0221] According to the vehicle torque control device provided in the embodiments of this application, a target compensation value is obtained based on a second actual torque function that changes slowly and a second target torque function. Based on the target compensation value and a first target torque function corresponding to a first actual torque function that changes rapidly, the first actual torque function is adjusted to reduce the rate of change of the first actual torque function. This prevents the total actual torque of the vehicle from being higher or lower than the total required torque during the torque transfer process, thus avoiding vehicle vibration problems caused by torque readjustment.

[0222] In some embodiments, the first processing module 610 may also be used for:

[0223] In the front and rear axle compensation mode, the actual torque function corresponding to the first axle in the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second axle in the vehicle is determined as the second actual torque function.

[0224] In the coaxial inner and outer wheel compensation mode, the actual torque function corresponding to the first wheel of the target axle among all axles of the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second wheel of the target axle is determined as the second actual torque function.

[0225] In some embodiments, the third processing module 630 can also be used for:

[0226] Obtain first change information corresponding to the first actual torque function and second change information corresponding to the second actual torque function; wherein, the first change information includes an increase or decrease in the first actual torque function, and the second change information includes an increase or decrease in the second actual torque function;

[0227] Based on the first change information, the second change information, the target compensation value, and the first target torque function, the first actual torque function is adjusted.

[0228] In some embodiments, the third processing module 630 can also be used for:

[0229] If the difference between the third target torque corresponding to the first target torque function at the second time and the first actual torque corresponding to the first actual torque function at the start time is greater than the target torque threshold, the first actual torque function is determined to increase; the second time is the end time of the torque transfer process;

[0230] If the difference between the first actual torque function at the initial moment and the third target torque function at the second moment is greater than the target torque threshold, it is determined that the first actual torque function is reduced.

[0231] If the difference between the second target torque function at the second time point and the third actual torque function at the initial time point is greater than the target torque threshold, the second actual torque function is determined to increase.

[0232] If the difference between the third actual torque corresponding to the second actual torque function at the initial moment and the second target torque corresponding to the second target torque function at the second moment is greater than the target torque threshold, it is determined that the second actual torque function is reduced.

[0233] In some embodiments, the third processing module 630 can also be used for:

[0234] When the first actual torque function increases and the second actual torque function decreases, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment is determined as the maximum target torque corresponding to the first target torque function at the first moment.

[0235] The first target torque corresponding to the first target torque function at the first moment is updated based on the minimum value between the maximum target torque and the first target torque function at the first moment; the first moment is the current moment of the torque transfer process.

[0236] When the first actual torque function decreases and the second actual torque function increases, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second time is determined as the minimum target torque corresponding to the first target torque function at the first time.

[0237] Based on the maximum value between the minimum target torque and the first target torque corresponding to the first target torque function at the first time, update the first target torque corresponding to the first target torque function at the first time.

[0238] The first actual torque function is adjusted based on the first target torque corresponding to the updated first target torque function at the first moment.

[0239] In some embodiments, the second processing module 620 may also be used for:

[0240] The target compensation value is calculated based on the difference between the second target torque function at the second time and the second actual torque function at the first time; the first time is the current time of the torque transfer process, and the second time is the end time of the torque transfer process.

[0241] In some embodiments, the vehicle torque control device may further include a fourth processing module for:

[0242] The first target torque function and the second target torque function are determined based on the corresponding operating state of the vehicle. The operating state includes at least one of vehicle turning, vehicle climbing, and vehicle accelerator pedal opening adjustment.

[0243] The vehicle torque control device in this application embodiment can be an electronic device or a component within an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the electronic device can be a mobile phone, tablet computer, laptop computer, PDA, in-vehicle electronic device, mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), television set (TV), ATM, or self-service machine, etc. This application embodiment does not specifically limit the specific type of device.

[0244] The vehicle torque control device in this embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this embodiment does not specifically limit the specific operating system.

[0245] The vehicle torque control device provided in this application embodiment can achieve... Figures 1 to 5 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0246] This application also provides a vehicle.

[0247] The vehicle includes: at least one axle, at least two wheels, and a vehicle torque control device.

[0248] In this embodiment, wheels are disposed at both ends of the axle.

[0249] The vehicle torque control device is any of the vehicle torque control devices described in the above embodiments.

[0250] The vehicle torque control device is electrically connected to at least one axle and at least two wheels.

[0251] There are several ways to make an electrical connection, including wired electrical connections via cables and wireless connections via wireless transceivers.

[0252] The vehicle torque control device is used to adjust the torque of the vehicle.

[0253] In some embodiments, such as Figure 7 As shown, this application embodiment also provides a vehicle, including a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the program is executed by the processor 701, it implements the various processes of the above-described vehicle torque control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0254] According to the vehicle provided in the embodiments of this application, during the torque transfer process, the vehicle torque control device controls the rapidly changing torque to compensate for the slowly changing torque, thereby avoiding the total actual torque exceeding the total required torque due to the different rates of torque increase and decrease, and thus avoiding the problem of vehicle vibration caused by readjustment of vehicle torque.

[0255] On the other hand, this application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the various processes of the above-described vehicle torque control method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0256] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the various processes of the above-described vehicle torque control method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0257] In another aspect, this application embodiment provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-described vehicle torque control method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0258] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0259] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0260] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0261] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle torque control method, characterized in that, include: Based on the target compensation mode, the first actual torque function, the first torque change rate, the second actual torque function, and the second torque change rate corresponding to the vehicle under the target compensation mode are obtained; wherein, the target compensation mode includes: front and rear axle compensation mode or coaxial inner and outer wheel compensation mode; the actual torque function includes the actual torque function of the axle in the vehicle or the actual torque function of the wheel in the vehicle; the actual torque function is used to characterize the actual torque at different times; the torque change rate is the absolute value of the slope of the actual torque function at different times; When the first torque change rate is greater than the second torque change rate, a target compensation value is determined based on the second actual torque function and the second target torque function corresponding to the second actual torque function. Based on the target compensation value and the first target torque function corresponding to the first actual torque function, the first actual torque function is adjusted; the target torque function is used to characterize the target torque at different times.

2. The vehicle torque control method according to claim 1, characterized in that, The step of obtaining the first actual torque function, the first torque change rate, the second actual torque function, and the second torque change rate corresponding to the vehicle under the target compensation mode includes: In the front and rear axle compensation mode, the actual torque function corresponding to the first axle in the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second axle in the vehicle is determined as the second actual torque function; In the coaxial inner and outer wheel compensation mode, the actual torque function corresponding to the first wheel of the target axle among all axles of the vehicle is determined as the first actual torque function, and the actual torque function corresponding to the second wheel of the target axle is determined as the second actual torque function.

3. The vehicle torque control method according to claim 1, characterized in that, The step of adjusting the first actual torque function based on the target compensation value and the first target torque function corresponding to the first actual torque function includes: Obtain first change information corresponding to the first actual torque function and second change information corresponding to the second actual torque function; wherein, the first change information includes an increase or decrease in the first actual torque function, and the second change information includes an increase or decrease in the second actual torque function; Based on the first change information, the second change information, the target compensation value, and the first target torque function, the first actual torque function is adjusted.

4. The vehicle torque control method according to claim 3, characterized in that, The step of obtaining the first change information corresponding to the first actual torque function and the second change information corresponding to the second actual torque function includes: If the difference between the third target torque corresponding to the first target torque function at the second moment and the first actual torque corresponding to the first actual torque function at the start moment is greater than the target torque threshold, it is determined that the first actual torque function increases; the second moment is the end moment of the torque transfer process; If the difference between the first actual torque function corresponding to the first actual torque at the starting time and the third target torque function corresponding to the first target torque function at the second time is greater than the target torque threshold, it is determined that the first actual torque function decreases. If the difference between the second target torque function corresponding to the second target torque function at the second time and the third actual torque function corresponding to the second actual torque function at the starting time is greater than the target torque threshold, it is determined that the second actual torque function increases; If the difference between the third actual torque corresponding to the second actual torque function at the starting time and the second target torque corresponding to the second target torque function at the second time is greater than the target torque threshold, it is determined that the second actual torque function is reduced.

5. The vehicle torque control method according to claim 4, characterized in that, The step of adjusting the first actual torque function based on the first change information, the second change information, the target compensation value, and the first target torque function includes: When the first actual torque function increases and the second actual torque function decreases, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second moment is determined as the maximum target torque corresponding to the first target torque function at the first moment. Based on the minimum value between the maximum target torque and the first target torque corresponding to the first target torque function at the first time, the first target torque corresponding to the first time is updated; the first time is the current time of the torque transfer process; When the first actual torque function decreases and the second actual torque function increases, the sum of the target compensation value and the third target torque corresponding to the first target torque function at the second time is determined as the minimum target torque corresponding to the first target torque function at the first time. Based on the maximum value between the minimum target torque and the first target torque corresponding to the first target torque function at the first time, update the first target torque corresponding to the first target torque function at the first time. The first actual torque function is adjusted based on the first target torque corresponding to the updated first target torque function at the first moment.

6. The vehicle torque control method according to any one of claims 1-5, characterized in that, The step of determining the target compensation value based on the second actual torque function and the second target torque function corresponding to the second actual torque function includes: The target compensation value is calculated based on the difference between the second target torque function at the second time point and the second actual torque function at the first time point; the first time point is the current time of the torque transfer process, and the second time point is the end time of the torque transfer process.

7. The vehicle torque control method according to any one of claims 1-5, characterized in that, The vehicle torque control method further includes: The first target torque function and the second target torque function are determined based on the corresponding operating state of the vehicle, wherein the operating state includes at least one of vehicle turning, vehicle climbing, and vehicle accelerator pedal opening adjustment.

8. A vehicle torque control device, characterized in that, include: The first processing module is used to obtain, based on the target compensation mode, a first actual torque function, a first torque change rate, a second actual torque function, and a second torque change rate corresponding to the vehicle under the target compensation mode; wherein, the target compensation mode includes: a front and rear axle compensation mode or a coaxial inner and outer wheel compensation mode; the actual torque function includes the actual torque function of the axle in the vehicle or the actual torque function of the wheel in the vehicle; the actual torque function is used to characterize the actual torque at different times; the torque change rate is the absolute value of the slope of the actual torque function at different times; The second processing module is used to determine a target compensation value based on the second actual torque function and the second target torque function corresponding to the second actual torque function when the first torque change rate is greater than the second torque change rate. The third processing module is used to adjust the first actual torque function based on the target compensation value and the first target torque function corresponding to the first actual torque function; the target torque function is used to characterize the target torque at different times.

9. A vehicle, characterized in that, include: At least one axle; At least two wheels, said wheels being disposed at both ends of said axle; The vehicle torque control device as described in claim 8; the vehicle torque control device is electrically connected to the at least one axle and the at least two wheels respectively.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle torque control method as described in any one of claims 1-7.

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