Torque filtering method and device, vehicle, medium and product

Abstract

The application relates to the technical field of whole vehicle control, in particular to a torque filtering method and device, a vehicle, a medium and a product, wherein the method comprises the following steps: acquiring vehicle information; determining a required torque of a driver and a first-order torque filtering parameter according to the vehicle information; determining an upper limit value of torque filtering according to vehicle information corresponding to each sub-stage in a filtering rising stage, and determining a lower limit value of torque filtering according to vehicle information corresponding to each sub-stage in a filtering falling stage; and performing first-order torque filtering on the required torque based on the first-order torque filtering parameter, the upper limit value and the lower limit value. Therefore, the problems that the torque filtering processing in the prior art is insufficient in vehicle state reference, the change region division is simple, the processing logic is complicated and the precision is low are solved.

Description

Technical Field

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

[0002] Driving performance calibration for pure electric vehicles is a core aspect of the overall vehicle technology, playing a crucial role in improving driving smoothness, comfort, and overall performance. Within the powertrain, the handling of the driver's torque demands is particularly critical, requiring precise torque filtering before being output to the motor. This process not only affects the vehicle's acceleration performance but also directly impacts the driving feel and passenger experience.

[0003] In existing technologies, first-order inertial torque filtering is used, combined with the vehicle's current driving mode and other states, to select different torque change rate limits for segmented filtering. However, this method still has shortcomings in practical applications. Its reference vehicle states are relatively limited, leading to an overly simplistic division of the torque change region, failing to fully reflect the torque demand changes of the vehicle under different states. Furthermore, the current processing logic is relatively cumbersome, requiring the integration of multiple parameters such as the current torque output and the filtered torque from the previous cycle to determine the torque change state, which to some extent affects the accuracy and efficiency of the processing. Summary of the Invention

[0004] This application provides a torque filtering method, device, vehicle, medium, and product to solve the problems of insufficient vehicle state reference, simple division of change areas, cumbersome processing logic, and low accuracy in the existing torque filtering process.

[0005] The first aspect of this application provides a torque filtering method, comprising the following steps: acquiring vehicle information; determining the driver's required torque and first-order torque filtering parameters based on the vehicle information; determining an upper limit value for torque filtering based on the vehicle information corresponding to each sub-stage of the filtering rising phase, and determining a lower limit value for torque filtering based on the vehicle information corresponding to each sub-stage of the filtering falling phase; and performing first-order torque filtering on the required torque based on the first-order torque filtering parameters, the upper limit value, and the lower limit value.

[0006] Optionally, the vehicle information includes at least one of the following: vehicle speed, gear position, target torque, accelerator pedal opening, ambient temperature, driving mode, motor speed, actual motor output torque, cruise control status, adaptive cruise control status, autonomous driving status, energy recovery status, and braking status. Determining the driver's required torque and first-order torque filter parameters based on the vehicle information includes: determining the driver's required torque based on the accelerator pedal opening and the driving mode; and using the accelerator pedal opening and the vehicle speed as indexes to look up a throttle filter parameter lookup table to obtain the first-order torque filter parameters.

[0007] Optionally, each sub-stage of the filtering rise phase includes a slow rise phase, a rapid rise phase, and a zero-crossing rise phase. Determining the upper limit of the torque filtering based on the vehicle information corresponding to each sub-stage of the filtering rise phase includes: obtaining a reference table of filtering parameters for each of the slow rise phase, rapid rise phase, and zero-crossing rise phase; determining the filtering parameters for each of the slow rise phase, rapid rise phase, and zero-crossing rise phase based on the reference table of filtering parameters for each of the slow rise phase, rapid rise phase, and zero-crossing rise phase, and different vehicle information; and using the minimum value of the filtering parameters for each of the slow rise phase, rapid rise phase, and zero-crossing rise phase as the upper limit of the torque filtering.

[0008] Optionally, based on the respective filter parameter lookup tables for the slow ascent phase, the rapid ascent phase, and the zero-crossing ascent phase, and different vehicle information, the filter parameters for each of the three phases are determined, including: determining the filter coefficient based on the ambient temperature and the driving mode; obtaining the first filter parameter by querying a first filter parameter lookup table using the difference between the target total torque and the current total torque and the accelerator pedal opening as an index; obtaining the second filter parameter by querying a second filter parameter lookup table using the difference between the first-order filter output torque and the torque feedback and the accelerator pedal opening as an index; determining the filter parameter for the slow ascent phase based on the first filter parameter, the second filter parameter, and the filter coefficient; and using electric... Using the actual rate of change of the engine's output torque and the accelerator pedal opening as indexes, the third filter parameter is obtained by consulting the third filter parameter lookup table; using the difference in the current total torque and the accelerator pedal opening as indexes, the fourth filter parameter is obtained by consulting the fourth filter parameter lookup table; the filter parameters for the rapid ascent phase are determined based on the third filter parameter, the fourth filter parameter, and the filter coefficient; using the vehicle speed and the accelerator pedal opening as indexes, the fifth filter parameter is obtained by consulting the fifth filter parameter lookup table; using the vehicle speed and torque feedback as indexes, the sixth filter parameter is obtained by consulting the sixth filter parameter lookup table; the filter parameters for the rapid ascent phase are determined based on the fifth filter parameter, the sixth filter parameter, and the filter coefficient.

[0009] Optionally, the filtering descent phase includes a slow descent phase, a rapid descent phase, and a zero-crossing descent phase. Determining the lower limit of the torque filter based on the vehicle information corresponding to each sub-phase of the filtering descent phase includes: obtaining a reference table of filtering parameters for each of the slow descent phase, the rapid descent phase, and the zero-crossing descent phase; determining the filtering parameters for each of the slow descent phase, the rapid descent phase, and the zero-crossing descent phase based on the reference table of filtering parameters for each of the slow descent phase, the rapid descent phase, and the zero-crossing descent phase, and different vehicle information; and using the minimum value of the filtering parameters for each of the slow descent phase, the rapid descent phase, and the zero-crossing descent phase as the lower limit of the torque filter.

[0010] Optionally, based on the respective filter parameter lookup tables for the slow descent phase, the rapid descent phase, and the zero-crossing descent phase, and different vehicle information, the filter parameters for each of the three phases are determined, including: determining the filter coefficient based on the ambient temperature and the driving mode; obtaining the seventh filter parameter by looking up the seventh filter parameter lookup table using the difference between the target total torque and the current total torque and the accelerator pedal opening as an index; obtaining the eighth filter parameter by looking up the eighth filter parameter lookup table using the difference between the first-order filter output torque and the torque feedback and the accelerator pedal opening as an index; determining the filter parameter for the slow descent phase based on the seventh filter parameter, the eighth filter parameter, and the filter coefficient; and determining the filter parameter for the actual motor speed. Using the actual rate of change of output torque and accelerator pedal opening as indexes, the ninth filter parameter is obtained by consulting the ninth filter parameter lookup table; using the difference in current total torque and accelerator pedal opening as indexes, the tenth filter parameter is obtained by consulting the tenth filter parameter lookup table; the filter parameters for the rapid descent phase are determined based on the ninth filter parameter, the tenth filter parameter, and the filter coefficient; using vehicle speed and accelerator pedal opening as indexes, the eleventh filter parameter is obtained by consulting the eleventh filter parameter lookup table; using vehicle speed and torque feedback as indexes, the twelfth filter parameter is obtained by consulting the twelfth filter parameter lookup table; the filter parameters for the rapid descent phase are determined based on the eleventh filter parameter, the twelfth filter parameter, and the filter coefficient.

[0011] A second aspect of this application provides a torque filtering device, comprising: an acquisition module for acquiring vehicle information; a first determination module for determining the driver's required torque and first-order torque filtering parameters based on the vehicle information; a second determination module for determining an upper limit value for torque filtering based on vehicle information corresponding to each sub-stage of the filtering rising phase, and a lower limit value for torque filtering based on vehicle information corresponding to each sub-stage of the filtering falling phase; and a processing module for performing first-order torque filtering on the required torque based on the first-order torque filtering parameters, the upper limit value, and the lower limit value.

[0012] A third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the torque filtering method as described in the above embodiments.

[0013] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the torque filtering method as described in the above embodiments.

[0014] A fifth aspect of this application provides a computer program product having a computer program or instructions stored thereon, which, when executed, are used to implement the torque filtering method as described in the above embodiments.

[0015] Therefore, this application has the following beneficial effects:

[0016] This application embodiment effectively determines the driver's required torque and corresponding first-order torque filtering parameters by acquiring vehicle information. Based on the specific state information of the vehicle during the filtering rise and fall phases, upper and lower limits for torque filtering are scientifically set to ensure a reasonable range of torque variation. By using the set parameters and limits to perform first-order torque filtering on the required torque, a smoother and more comfortable torque output is achieved, significantly improving the driving performance and riding experience of pure electric vehicles. It not only fully considers the changes in torque demand under different vehicle states but also simplifies the processing logic, improving processing accuracy and efficiency. Therefore, it solves the technical problems of insufficient vehicle state reference, simplistic division of the variation region, cumbersome processing logic, and low accuracy in existing torque filtering processes.

[0017] 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

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a flowchart of the torque filtering method provided according to an embodiment of this application;

[0020] Figure 2 This is a flowchart of a torque filtering method according to an embodiment of this application;

[0021] Figure 3 This is a filtering effect diagram of a torque filtering method provided according to an embodiment of this application;

[0022] Figure 4 This is an example diagram of a torque filtering device according to an embodiment of this application;

[0023] Figure 5 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] The torque filtering method, apparatus, vehicle, medium, and product of this application are described below with reference to the accompanying drawings. Addressing the issues of special torque variation regions such as torque zero crossing mentioned in the background art, this application provides a torque filtering method. In this method, by acquiring vehicle information, the driver's required torque and the corresponding first-order torque filtering parameters are effectively determined. Based on the specific state information of the vehicle during the filtering rise and fall phases, upper and lower limits of the torque filtering are scientifically set to ensure a reasonable range of torque variation. By using the set parameters and limits to perform first-order torque filtering on the required torque, a smoother and more comfortable torque output is achieved, significantly improving the driving performance and riding experience of pure electric vehicles. This method not only fully considers the torque demand changes of the vehicle under different states but also simplifies the processing logic, improving the accuracy and efficiency of the processing. Therefore, it solves the problems of insufficient vehicle state reference, simple division of variation regions, cumbersome processing logic, and low accuracy in the torque filtering processing of the prior art.

[0026] Specifically, Figure 1 This is a schematic flowchart of a torque filtering method provided in an embodiment of this application.

[0027] like Figure 1 As shown, the torque filtering method includes the following steps:

[0028] In step S101, vehicle information is obtained.

[0029] The vehicle information may include at least one of the following: vehicle speed, gear position, target torque, accelerator pedal opening, ambient temperature, driving mode, motor speed, actual motor output torque, cruise control status, adaptive cruise control status, autonomous driving status, energy recovery status, and braking status.

[0030] It is understood that the embodiments of this application provide strong support for the subsequent torque filtering processing of pure electric vehicles by comprehensively and accurately obtaining vehicle information.

[0031] In step S102, the driver's required torque and first-order torque filter parameters are determined based on the vehicle information.

[0032] Among them, the driver's required torque can be the desired torque output that the driver conveys to the vehicle by operating the accelerator pedal and other devices, and the first-order torque filter parameters can be the parameter settings used for first-order torque filtering processing.

[0033] It is understood that the embodiments of this application determine the driver's required torque and first-order torque filter parameters based on vehicle information, and can analyze the driver's driving intention and the vehicle's power demand, and then set appropriate filter parameters to achieve smooth torque output.

[0034] In this embodiment of the application, determining the driver's required torque and first-order torque filter parameters based on vehicle information includes: determining the driver's required torque based on the accelerator pedal opening and driving mode; and obtaining the first-order torque filter parameters by querying a throttle filter parameter lookup table using the accelerator pedal opening and vehicle speed as indexes.

[0035] Among them, the accelerator pedal opening can be the degree to which the driver presses the accelerator pedal, usually expressed as a percentage. The driving mode can be different driving states or configurations of the vehicle, such as economy mode, sport mode, comfort mode, etc. The throttle filter parameter reference table can be a table that stores the first-order torque filter parameters corresponding to different accelerator pedal openings and vehicle speeds.

[0036] It is understood that the embodiments of this application accurately determine the driver's required torque by comprehensively considering factors such as accelerator pedal opening, driving mode and vehicle speed, and obtain appropriate first-order torque filter parameters by consulting the throttle filter parameter reference table, thereby optimizing the torque output and improving the driving performance and riding experience of pure electric vehicles.

[0037] In step S103, the upper limit of torque filtering is determined based on the vehicle information corresponding to each sub-stage of the filtering rising phase, and the lower limit of torque filtering is determined based on the vehicle information corresponding to each sub-stage of the filtering falling phase.

[0038] The filtering rise phase can include a slow rise phase, a fast rise phase, and a rise-to-zero-crossing phase. The upper limit of the torque filtering can be the maximum value that the torque output can reach. The filtering fall phase can include a slow fall phase, a fast fall phase, and a fall-to-zero-crossing phase. The lower limit of the torque filtering can be the minimum value that the torque output can reach.

[0039] It is understood that in the torque filtering process of this application embodiment, the upper limit and lower limit of torque filtering are determined according to the vehicle information corresponding to each sub-stage of the filtering rise and fall stages. The upper limit of torque filtering can prevent the torque from increasing too fast or too high, ensuring the smoothness and safety of vehicle power output. The lower limit of torque filtering can prevent the torque from decreasing too fast or too low, preventing the vehicle from shaking or lacking power, thereby maintaining driving smoothness and comfort, and realizing fine control of torque output to adapt to the power demand under different driving scenarios.

[0040] In this embodiment of the application, the upper limit of torque filtering is determined based on the vehicle information corresponding to each sub-stage of the filtering rise phase, including: obtaining a reference table of filtering parameters for the slow rise phase, the rapid rise phase, and the rise-to-zero-crossing phase; determining the filtering parameters for the slow rise phase, the rapid rise phase, and the rise-to-zero-crossing phase based on the reference table of filtering parameters for the slow rise phase, the rapid rise phase, and the rise-to-zero-crossing phase, and different vehicle information; and taking the minimum value of the filtering parameters for the slow rise phase, the rapid rise phase, and the rise-to-zero-crossing phase as the upper limit of torque filtering.

[0041] The slow rise phase can be the stage where the vehicle torque starts from a low level and gradually and relatively smoothly increases to a medium level; the rapid rise phase can be the stage where the vehicle torque rapidly increases from a medium level to a high level; and the zero-crossing phase can be the process where the vehicle torque gradually changes from a negative value to a positive value after passing through zero.

[0042] It is understood that the embodiments of this application obtain the filter parameter lookup tables for the slow rise, rapid rise, and zero-crossing rise stages, and determine the filter parameters for each stage from the lookup tables based on real-time vehicle information. The minimum value among the parameters is selected as the upper limit of torque filtering to ensure that the torque output can be effectively controlled even under the most demanding conditions, thereby preventing the vehicle from losing control or over-accelerating. Since the determination of the filter parameters is based on real-time vehicle information and a pre-set lookup table, it can be adaptively adjusted according to different driving scenarios and vehicle states, thereby achieving dynamic optimization of torque output.

[0043] In this embodiment, based on the respective filter parameter lookup tables for the slow ascent phase, the rapid ascent phase, and the zero-crossing ascent phase, and different vehicle information, the filter parameters for each of the three phases are determined, including: determining the filter coefficient based on the ambient temperature and driving mode; obtaining the first filter parameter by querying the first filter parameter lookup table using the difference between the target total torque and the current total torque and the accelerator pedal opening as an index; obtaining the second filter parameter by querying the second filter parameter lookup table using the difference between the first-order filter output torque and the torque feedback and the accelerator pedal opening as an index; and determining the filter parameters for the slow ascent phase based on the first filter parameter, the second filter parameter, and the filter coefficient. The process involves: using the actual rate of change of the motor's actual output torque and the accelerator pedal opening as indexes to look up the third filter parameter reference table to obtain the third filter parameter; using the difference in the current total torque and the accelerator pedal opening as indexes to look up the fourth filter parameter reference table to obtain the fourth filter parameter; determining the filter parameter for the rapid ascent phase based on the third filter parameter, the fourth filter parameter, and the filter coefficient; using the vehicle speed and the accelerator pedal opening as indexes to look up the fifth filter parameter reference table to obtain the fifth filter parameter; using the vehicle speed and torque feedback as indexes to look up the sixth filter parameter reference table to obtain the sixth filter parameter; and determining the filter parameter for the rapid ascent phase based on the fifth filter parameter, the sixth filter parameter, and the filter coefficient.

[0044] Among them, ambient temperature can be the ambient temperature around the vehicle, the filter coefficient can determine the filter's response to the input signal in signal processing, the target total torque can be the total torque value that the vehicle expects to achieve, the current total torque can be the current actual output total torque value of the vehicle, the first-order filter output torque can be the torque output value after processing by the first-order filter, and the torque feedback can be the feedback of the actual torque output value at the previous moment.

[0045] It is understood that the embodiments of this application determine the filtering coefficient based on the ambient temperature and driving mode, and combine the real-time vehicle status information to query the filtering parameter lookup table, so as to accurately determine the filtering parameters suitable for the current situation. The filtering parameter lookup table is indexed by torque difference, accelerator pedal opening, torque change rate, vehicle speed, etc., to ensure that appropriate filtering parameters can be obtained in different driving scenarios, thereby improving driving performance.

[0046] Specifically, when the vehicle is in the torque increase phase, the filtering parameters for the slow increase phase are determined by two filtering parameter lookup tables. One table uses the current total torque minus the current target torque as the reference axis X of a pre-calibrated filtering parameter lookup table, and the current accelerator pedal opening as the other reference axis Y. This is multiplied by the corresponding ambient temperature filtering coefficient and the filtering coefficient corresponding to the current driving mode. The other table uses the first-order filtered output torque minus the torque feedback as the reference axis X, and the current accelerator pedal opening as the other reference axis Y. This is multiplied by the corresponding ambient temperature filtering coefficient and the filtering coefficient corresponding to the current driving mode. Then, based on the torque shift state before and after approaching the target value, the maximum value of the two tables is selected, or the parameter obtained from the parameter lookup table using the first-order filtered output torque minus the torque feedback as the reference axis is selected as one of the possible outputs of the filtering torque parameters for the increase phase.

[0047] The ascent phase also includes a rapid ascent phase, which is also determined by two filter parameter lookup tables. One of these tables uses the actual rate of change of the current motor torque as the reference axis X of a pre-calibrated filter parameter lookup table, with the accelerator pedal opening as the other reference axis Y, and multiplies it by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode. The other table uses the current total torque as the reference axis X, the accelerator pedal as the other reference axis Y, and multiplies it by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode. The maximum value of these two tables is then selected based on the torque shift state before and after approaching the target value, or the parameter obtained by subtracting the torque feedback from the first-order filtered output torque as the reference axis in the parameter lookup table is used as one of the possible outputs of the filter torque parameter for the ascent phase.

[0048] The acceleration phase also includes a torque zero-crossing phase, determined by two filter parameter lookup tables. One table uses the current accelerator pedal opening as the reference axis X of a pre-calibrated filter parameter lookup table, and the current vehicle speed as the other reference axis Y, multiplied by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode. The other table uses torque feedback as the reference axis X, the current vehicle speed as the other reference axis Y, and multiplied by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode.

[0049] The minimum value of the three obtained filtering parameters is taken as the upper limit of the slope change of the first-order torque filter. The differential calibration of different filtering parameters corresponding to the vehicle information in the different filtering parameter comparison table ensures the rationality of the slope change.

[0050] In this embodiment of the application, the lower limit value of torque filtering is determined based on the vehicle information corresponding to each sub-stage of the filtering descent phase, including: obtaining a reference table of filtering parameters for the slow descent phase, the rapid descent phase, and the zero-crossing descent phase; determining the filtering parameters for each of the slow descent phase, the rapid descent phase, and the zero-crossing descent phase based on the reference table of filtering parameters for the slow descent phase, the rapid descent phase, and the zero-crossing descent phase, and different vehicle information; and taking the minimum value of the filtering parameters for each of the slow descent phase, the rapid descent phase, and the zero-crossing descent phase as the lower limit value of torque filtering.

[0051] The slow descent phase can be the process of torque output gradually decreasing at a relatively slow rate, which usually occurs when the vehicle decelerates or the accelerator pedal is released. The rapid descent phase can be the process of torque output decreasing rapidly at a relatively fast rate, which may occur during emergency braking or when the vehicle needs to decelerate quickly. The zero-crossing descent phase can be the process of torque output gradually decreasing from a positive value to a zero value.

[0052] It is understood that the embodiments of this application obtain a reference table of filtering parameters for the slow descent stage, the rapid descent stage, and the zero-crossing descent stage, and determine the filtering parameters for each stage based on the reference table and real-time vehicle information. Finally, the minimum value of the filtering parameters for each stage is used as the lower limit value of torque filtering, which helps to prevent the torque output from being too low and avoid the vehicle from losing control or becoming unstable.

[0053] In this embodiment, based on the respective filter parameter lookup tables for the slow descent phase, the rapid descent phase, and the zero-crossing descent phase, and different vehicle information, the filter parameters for each phase are determined, including: determining the filter coefficient based on ambient temperature and driving mode; using the difference between the target total torque and the current total torque and the accelerator pedal opening as indexes to look up the seventh filter parameter lookup table to obtain the seventh filter parameter; using the difference between the first-order filter output torque and the torque feedback and the accelerator pedal opening as indexes to look up the eighth filter parameter lookup table to obtain the eighth filter parameter; and determining the filter parameter for the slow descent phase based on the seventh filter parameter, the eighth filter parameter, and the filter coefficient. Using the actual rate of change of the motor's actual output torque and the accelerator pedal opening as indexes, the ninth filter parameter is obtained by consulting the ninth filter parameter reference table; using the difference in the current total torque and the accelerator pedal opening as indexes, the tenth filter parameter is obtained by consulting the tenth filter parameter reference table; based on the ninth filter parameter, the tenth filter parameter, and the filter coefficient, the filter parameters for the rapid descent phase are determined; using the vehicle speed and the accelerator pedal opening as indexes, the eleventh filter parameter is obtained by consulting the eleventh filter parameter reference table; using the vehicle speed and torque feedback as indexes, the twelfth filter parameter is obtained by consulting the twelfth filter parameter reference table; based on the eleventh filter parameter, the twelfth filter parameter, and the filter coefficient, the filter parameters for the rapid descent phase are determined.

[0054] It is understood that the embodiments of this application, by comprehensively considering factors such as ambient temperature, driving mode, accelerator pedal opening, torque difference and rate of change, accurately determine the filtering parameters for the slow descent and rapid descent phases, thereby achieving fine control over the vehicle's torque output, improving driving stability, comfort, safety and responsiveness, and enhancing adaptability.

[0055] Specifically, when the vehicle is in the torque reduction phase, the filtering parameters for the slow reduction phase are determined by two filtering parameter lookup tables. One table uses the current total torque minus the current target torque as the reference axis X of a pre-calibrated filtering parameter lookup table, and the current accelerator pedal opening as the other reference axis Y. This is multiplied by the corresponding ambient temperature filtering coefficient and the filtering coefficient corresponding to the current driving mode. The other table uses the first-order filtered output torque minus the torque feedback as the reference axis X, and the current accelerator pedal opening as the other reference axis Y. This is multiplied by the corresponding ambient temperature filtering coefficient and the filtering coefficient corresponding to the current driving mode. Then, based on the state of torque shifting before and after approaching the target value, the minimum value of the two tables is selected, or the parameter obtained from the parameter lookup table using the first-order filtered output torque minus the torque feedback as the reference axis is selected as one of the possible outputs of the filtering torque parameters for the reduction phase.

[0056] The descent phase also includes a rapid descent phase, determined by two filter parameter lookup tables. One table uses the current actual acceleration rate of the motor as the reference axis X of a pre-calibrated filter parameter lookup table, with the accelerator pedal opening as the other reference axis Y. This is obtained by multiplying the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode. The other table uses the current total torque as the reference axis X, the accelerator pedal as the other reference axis Y, and multiplies it by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode. The minimum value of the two tables is selected based on the torque shift state before and after approaching the target value, or the parameter obtained by subtracting the torque feedback from the first-order filtered output torque as the reference axis in the parameter lookup table, which is one of the possible outputs for the descent phase.

[0057] The descent phase also includes a torque zero-crossing phase, determined by two filter parameter lookup tables. One table uses the current accelerator pedal opening as the reference axis X of a pre-calibrated filter parameter lookup table, and the current vehicle speed as the other reference axis Y, multiplied by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode. The other table uses the torque feedback as the reference axis X, the current vehicle speed as the other reference axis Y, and multiplied by the corresponding ambient temperature filter coefficient and the filter coefficient corresponding to the current driving mode.

[0058] The maximum value of the three obtained filtering parameters is taken as the lower limit of the slope change of the first-order torque filter. The differential calibration of different filtering parameters corresponding to the vehicle information in the different filtering parameter comparison table ensures the rationality of the slope change.

[0059] In step S104, the required torque is subjected to first-order torque filtering based on the first-order torque filtering parameters, the upper limit value, and the lower limit value.

[0060] It is understood that the embodiments of this application achieve stable, safe and reliable torque control by setting first-order torque filtering parameters, upper limit and lower limit values ​​to perform precise first-order torque filtering on the required torque.

[0061] The torque filtering method proposed in this application effectively determines the driver's required torque and the corresponding first-order torque filtering parameters by acquiring vehicle information. Based on the specific state information of the vehicle during the filtering rise and fall phases, upper and lower limits for torque filtering are scientifically set to ensure a reasonable range of torque variation. By using the set parameters and limits to perform first-order torque filtering on the required torque, a smoother and more comfortable torque output is achieved, significantly improving the driving performance and riding experience of pure electric vehicles. This method not only fully considers the changes in torque demand under different vehicle states but also simplifies the processing logic, improving processing accuracy and efficiency. Therefore, it solves the problems of insufficient vehicle state reference, simple division of the variation region, cumbersome processing logic, and low accuracy in existing torque filtering technologies.

[0062] The following will combine Figure 2 The torque filtering method is described below, with the specific steps as follows:

[0063] S1: Collect vehicle information, including vehicle speed, gear position, target torque, accelerator pedal opening, ambient temperature, driving mode, motor speed, actual motor output torque, and various special vehicle status switches, such as cruise control, adaptive cruise control, autonomous driving, energy recovery, and braking status, and first calculate the driver's required torque.

[0064] S2: Based on the current gear status and cruise status, determine the creep filter coefficient, the filter coefficient corresponding to P / N gear, and whether to use the throttle filter coefficient as a limit value or not to filter and directly output the torque demand, as shown in Table 1 below.

[0065] Table 1. Throttle Filter Parameter Comparison Table

[0066]

[0067] The filtering parameter is the first derivative limitation of torque change. The smaller the positive value of the filtering parameter, the stronger the filtering effect and the slower the torque response. As shown in the table, the larger the throttle and vehicle speed, the larger the corresponding parameter, and the faster the torque response, which meets the driving needs.

[0068] S3: Perform a five-segment filtering process on the first-order torque filter obtained in the previous stage, where the torque variation region is divided into five segments, such as... Figure 3 As shown, each region references different vehicle information and has a corresponding pre-calibrated filter parameter lookup table. During the torque increase phase, three filter parameter values ​​are obtained at the initial torque change, the end of the torque change (i.e., slow torque increase), the rapid torque increase, and the torque crossing zero. The minimum value among them is taken as the final output as the upper limit of the torque change. Similarly, during the decrease phase, the maximum value among the three is taken as the lower limit of the torque change. Finally, the limited torque filter is used as the motor output torque.

[0069] Specifically, when the torque increases slowly, the filter parameters are shown in Table 2 below.

[0070] Table 2 Slow Rise Filter Parameters

[0071]

[0072] The filtering parameters are shown in Table 3 below during the torque rise phase after crossing zero.

[0073] Table 3 Zero-Crossing Rise Filter Parameters

[0074]

[0075]

[0076] In summary, differentiated calibration was performed for different vehicle information ranges. Due to the minimum value being taken, the effective range in Table 2 for most cases is the filtered torque from 0 to 80. In the torque zero-crossing rise parameter comparison table in Table 3, the effective area is from -50 to 50, and the filtering parameters for other areas have been relaxed. This method avoids the need to predetermine the torque change area of ​​the vehicle. At the same time, it can achieve precise filtering of torque in different change areas when the user makes personalized selections. This simplifies the control logic and solves the problem of poor drivability and comfort caused by the inability to finely adjust the overall vehicle driving performance due to the lack of consideration for user personalized selections and the use of less vehicle information in traditional technology.

[0077] This application embodiment optimizes the system by dynamically adjusting filter parameters for different stages of output torque change, as well as real-time vehicle information and driving modes, significantly improving system efficiency and performance while enhancing intelligence and adaptability. By accurately identifying the torque change stage, the filter parameters are intelligently adjusted to match different vehicle states and driving needs. The control logic is simple and efficient, requiring no pre-judgment; it quickly selects the optimal parameters through information processing and table comparison, effectively controlling torque changes, reducing the controller's burden, preventing vehicle jerking, and ensuring smooth torque output. Furthermore, the differentiated calibration of the filter parameter table addresses the issue of special torque change regions, improving adaptability and stability.

[0078] Next, the torque filtering device proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0079] Figure 4 This is a block diagram of a torque filtering device according to an embodiment of this application.

[0080] like Figure 4 As shown, the torque filtering device 10 includes: an acquisition module 100, a first determination module 200, a second determination module 300, and a processing module 400.

[0081] The acquisition module 100 is used to acquire vehicle information; the first determination module 200 is used to determine the driver's required torque and first-order torque filtering parameters based on the vehicle information; the second determination module 300 is used to determine the upper limit value of torque filtering based on the vehicle information corresponding to each sub-stage of the filtering rising phase, and to determine the lower limit value of torque filtering based on the vehicle information corresponding to each sub-stage of the filtering falling phase; the processing module 400 is used to perform first-order torque filtering on the required torque based on the first-order torque filtering parameters, the upper limit value, and the lower limit value.

[0082] It should be noted that the foregoing explanation of the torque filtering method embodiment also applies to the torque filtering device of this embodiment, and will not be repeated here.

[0083] The torque filtering device proposed in this application effectively determines the driver's required torque and the corresponding first-order torque filtering parameters by acquiring vehicle information. Based on the specific state information of the vehicle during the filtering rise and fall phases, the upper and lower limits of the torque filtering are scientifically set to ensure a reasonable range of torque variation. By using the set parameters and limits to perform first-order torque filtering on the required torque, a smoother and more comfortable torque output is achieved, significantly improving the driving performance and riding experience of pure electric vehicles. It not only fully considers the changes in torque demand under different vehicle states but also simplifies the processing logic, improving the accuracy and efficiency of the processing. Therefore, it solves the problems of insufficient vehicle state reference, simple division of the variation region, cumbersome processing logic, and low accuracy in existing torque filtering technologies.

[0084] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0085] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0086] When processor 502 executes the program, it implements the torque filtering method provided in the above embodiments.

[0087] Furthermore, the vehicle also includes:

[0088] Communication interface 503 is used for communication between memory 501 and processor 502.

[0089] The memory 501 is used to store computer programs that can run on the processor 502.

[0090] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0091] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0092] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0093] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0094] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the torque filtering method described above.

[0095] This application also provides a computer program product that stores a computer program or instructions thereon, which, when executed, implements the torque filtering method described above.

[0096] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0098] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0099] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0100] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0101] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A torque filtering method, characterized by, The method comprises the following steps: obtaining vehicle information; determining a driver's demand torque and a first-order torque filtering parameter according to the vehicle information; determining an upper limit value of torque filtering according to vehicle information corresponding to each sub-stage of a filtering rising stage, and determining a lower limit value of torque filtering according to vehicle information corresponding to each sub-stage of a filtering falling stage; first-order torque filtering the demand torque based on the first-order torque filtering parameter, the upper limit value and the lower limit value; each sub-stage of the filtering rising stage comprises a slow rising stage, a fast rising stage and a rising zero-crossing stage, and the determination of the upper limit value of torque filtering according to vehicle information corresponding to each sub-stage of the filtering rising stage comprises: obtaining a filter parameter table for each of the slow rising stage, the fast rising stage and the rising zero-crossing stage; determining filter parameters for each of the slow rising stage, the fast rising stage and the rising zero-crossing stage based on the filter parameter table for each of the slow rising stage, the fast rising stage and the rising zero-crossing stage and different vehicle information; taking the minimum value of the filter parameters for each of the slow rising stage, the fast rising stage and the rising zero-crossing stage as the upper limit value of torque filtering; each sub-stage of the filtering falling stage comprises a slow falling stage, a fast falling stage and a falling zero-crossing stage, and the determination of the lower limit value of torque filtering according to vehicle information corresponding to each sub-stage of the filtering falling stage comprises: obtaining a filter parameter table for each of the slow falling stage, the fast falling stage and the falling zero-crossing stage; determining filter parameters for each of the slow falling stage, the fast falling stage and the falling zero-crossing stage based on the filter parameter table for each of the slow falling stage, the fast falling stage and the falling zero-crossing stage and different vehicle information; taking the minimum value of the filter parameters for each of the slow falling stage, the fast falling stage and the falling zero-crossing stage as the lower limit value of torque filtering.

2. The torque filtering method of claim 1, wherein, The vehicle information comprises at least one of vehicle speed, gear position, target torque, accelerator pedal opening degree, ambient temperature, driving mode, motor speed, motor actual output torque, constant speed state, adaptive cruise control state, automatic driving state, energy recovery state and braking state, and the determination of the driver's demand torque and the first-order torque filtering parameter according to the vehicle information comprises: determining the driver's demand torque according to the accelerator pedal opening degree and the driving mode; querying a throttle filter parameter table to obtain a first-order torque filtering parameter with the accelerator pedal opening degree and the vehicle speed as indexes.

3. The torque filtering method of claim 1, wherein, The determination of the filter parameters for each of the slow rising stage, the fast rising stage and the rising zero-crossing stage based on the filter parameter table for each of the slow rising stage, the fast rising stage and the rising zero-crossing stage and different vehicle information comprises: determining a filter coefficient according to the ambient temperature and the driving mode; querying a first filter parameter table to obtain a first filter parameter with the difference between the target total torque and the current total torque and the accelerator pedal opening degree as indexes, and querying a second filter parameter table to obtain a second filter parameter with the difference between the first-order filtering output torque and the torque feedback and the accelerator pedal opening degree as indexes; and determining the filter parameter of the slow rising stage according to the first filter parameter, the second filter parameter and the filter coefficient. The third filter parameter is obtained by querying a third filter parameter table with the actual change rate of the actual output torque of the motor and the accelerator pedal opening as indexes; the fourth filter parameter is obtained by querying a fourth filter parameter table with the difference of the current total torque and the accelerator pedal opening as indexes; and the filter parameter of the fast rising stage is determined according to the third filter parameter, the fourth filter parameter and the filter coefficient. The fifth filter parameter is obtained by querying a fifth filter parameter table with the vehicle speed and the accelerator pedal opening as indexes; the sixth filter parameter is obtained by querying a sixth filter parameter table with the vehicle speed and the torque feedback as indexes; and the filter parameter of the fast rising stage is determined according to the fifth filter parameter, the sixth filter parameter and the filter coefficient.

4. The torque filtering method of claim 1, wherein, The filter parameters of the slow descending stage, the fast descending stage and the descending zero-crossing stage are determined based on the filter parameter tables of the slow descending stage, the fast descending stage and the descending zero-crossing stage and different vehicle information, and the filter parameters of the slow descending stage, the fast descending stage and the descending zero-crossing stage are determined based on the filter parameter tables of the slow descending stage, the fast descending stage and the descending zero-crossing stage and different vehicle information, and the filter parameters of the slow descending stage, the fast descending stage and the descending zero-crossing stage are determined based on the filter parameter tables of the slow descending stage, the fast descending stage and the descending zero-crossing stage and different vehicle information. The filter coefficient is determined according to the ambient temperature and the driving mode. The seventh filter parameter is obtained by querying a seventh filter parameter table with the difference between the target total torque and the current total torque and the accelerator pedal opening as indexes; the eighth filter parameter is obtained by querying an eighth filter parameter table with the difference between the first-order filter output torque and the torque feedback and the accelerator pedal opening as indexes; and the filter parameter of the slow descending stage is determined according to the seventh filter parameter, the eighth filter parameter and the filter coefficient. The ninth filter parameter is obtained by querying a ninth filter parameter table with the actual change rate of the actual output torque of the motor and the accelerator pedal opening as indexes; the tenth filter parameter is obtained by querying a tenth filter parameter table with the difference of the current total torque and the accelerator pedal opening as indexes; and the filter parameter of the fast descending stage is determined according to the ninth filter parameter, the tenth filter parameter and the filter coefficient. The eleventh filter parameter is obtained by querying an eleventh filter parameter table with the vehicle speed and the accelerator pedal opening as indexes; the twelfth filter parameter is obtained by querying a twelfth filter parameter table with the vehicle speed and the torque feedback as indexes; and the filter parameter of the fast descending stage is determined according to the eleventh filter parameter, the twelfth filter parameter and the filter coefficient.

5. A torque filter device, characterized by The torque filter device is used to implement the torque filtering method according to any one of claims 1-4, and the torque filter device comprises: an acquisition module configured to acquire vehicle information; a first determination module configured to determine a demand torque of a driver and a first-order torque filter parameter according to the vehicle information; a second determination module configured to determine an upper limit value of torque filtering according to vehicle information corresponding to each sub-stage of a filter rising stage, and determine a lower limit value of torque filtering according to vehicle information corresponding to each sub-stage of a filter descending stage; a processing module configured to perform first-order torque filtering on the demand torque based on the first-order torque filter parameter, the upper limit value and the lower limit value.

6. A vehicle characterized by comprising: The torque filter device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the torque filtering method according to any one of claims 1-4.

7. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, The computer program or instructions, when executed, implement the torque filtering method of any one of claims 1-4.

8. A computer program product having stored thereon a computer program or instructions, characterized in that, The computer program or instructions, when executed, implement the torque filtering method of any one of claims 1-4.

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