Dynamic torque control methods, devices, equipment, media, and programs.

Abstract

This invention provides a dynamic torque control method, apparatus, device, medium, and program product. The method includes: when a vehicle is in a preset driving mode, acquiring the vehicle's current gear, current speed, and steering wheel angle; when the current gear is a first preset gear, the current speed is greater than a first threshold, and the steering wheel angle is greater than a second threshold, acquiring the vehicle's brake pedal state; and when the brake pedal is in a released state, sending a torque command to a motor control unit, the torque command including a first target torque, for instructing the motor control unit to control the vehicle according to the first target torque. Using embodiments of this invention can effectively recover some torque, increase driving control feel, and improve user experience.

Description

Technical Field

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

[0002] With the development of science and technology, vehicles can offer multiple driving modes during operation, such as Sport mode, Comfort mode, and One-Pedal mode. When controlling the vehicle to steer and turn, the difficulty of control varies depending on the mode. For example, One-Pedal mode has a large regenerative torque, which better meets the user's steering expectations when releasing the accelerator and turning the steering wheel, i.e., the need to decelerate when entering a corner. However, Sport mode and Comfort mode have a smaller regenerative torque, requiring the user to apply the brakes to decelerate and turn the steering wheel when releasing the accelerator, which affects the user experience. Summary of the Invention

[0003] The purpose of this invention is to provide a dynamic torque control method, device, equipment, medium, and program product to solve the problem of poor user experience caused by insufficient torque recovery in certain driving modes.

[0004] To address the aforementioned technical problems, embodiments of the present invention provide a dynamic torque control method, comprising:

[0005] When the vehicle is in a preset driving mode, obtain the vehicle's current gear, current speed, and steering wheel angle;

[0006] When the current gear is a first preset gear, the current vehicle speed is greater than a first threshold, and the steering wheel angle is greater than a second threshold, the brake pedal state of the vehicle is obtained.

[0007] When the brake pedal is in the released state, a torque command is sent to the motor control unit. The torque command includes a first target torque, which instructs the motor control unit to control the vehicle according to the first target torque.

[0008] Optionally, after sending the torque command to the motor control unit, the method further includes:

[0009] When the current gear is the second preset gear, the current vehicle speed is less than the third threshold, the steering wheel angle is less than the fourth threshold, or the brake pedal is in the depressed state, the torque command sent to the motor control unit is stopped, wherein the third threshold is less than or equal to the first threshold, and the fourth threshold is less than or equal to the third threshold.

[0010] Optionally, the method further includes:

[0011] When the brake pedal is in the released state, the second target torque corresponding to the torque command sent at the previous moment, as well as the current accelerator pedal opening and lateral acceleration of the vehicle, are obtained.

[0012] The first target torque is obtained by calculating based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque.

[0013] Optionally, the first target torque is obtained by calculating based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque, including:

[0014] Based on the current vehicle speed and the steering wheel angle, the pre-configured first mapping table is consulted to obtain the current torque adjustment coefficient;

[0015] The required torque is obtained by querying a pre-configured second mapping table based on the accelerator pedal opening, the current gear, and the current vehicle speed;

[0016] The compensation torque is obtained by querying a pre-configured third mapping table based on the lateral acceleration and the second target torque;

[0017] The first target torque is obtained by calculating using the required torque, the compensated torque, and the torque adjustment coefficient.

[0018] Optionally, the first target torque is obtained by calculating using the required torque, the compensated torque, and the torque adjustment coefficient, including:

[0019] The first difference is obtained by subtracting the compensation torque from the required torque;

[0020] The first target torque is obtained by subtracting the product of the first difference and the torque adjustment coefficient from the required torque.

[0021] This invention also provides a dynamic torque control device, comprising:

[0022] The first acquisition module is used to acquire the current gear, current speed and steering wheel angle of the vehicle when the vehicle is in a preset driving mode.

[0023] The second acquisition module is used to acquire the brake pedal state of the vehicle when the current gear is a first preset gear, the current vehicle speed is greater than a first threshold, and the steering wheel angle is greater than a second threshold.

[0024] A first transmitting module is configured to send a torque command to a motor control unit when the brake pedal is in a released state. The torque command includes a first target torque, which instructs the motor control unit to control the vehicle according to the first target torque.

[0025] Optionally, the device further includes:

[0026] The first control module is configured to stop sending the torque command to the motor control unit when the current gear is the second preset gear and / or the current vehicle speed is less than a third threshold and / or the steering wheel angle is less than a fourth threshold and / or the brake pedal is in a depressed state, wherein the third threshold is less than or equal to the first threshold and the fourth threshold is less than or equal to the third threshold.

[0027] This invention also provides a network device, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the dynamic torque control method as described in any of the preceding claims.

[0028] This invention also provides a readable storage medium, comprising: a program stored on the readable storage medium, wherein when the program is executed by a processor, it implements the steps of the dynamic torque control method as described in any of the preceding claims.

[0029] This invention also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the dynamic torque control method as described in any of the preceding claims.

[0030] At least one of the above technical solutions of the present invention has the following beneficial effects:

[0031] In the above solution, with a preset driving mode (such as sport mode or comfort mode) in the vehicle, the user's intention can be accurately identified based on the vehicle's current gear, current speed, steering wheel angle, and brake pedal status. When the conditions are met, a torque command is triggered, which can effectively recover some torque. When steering, the user only needs to half-release or fully release the accelerator, which increases the driving control and improves the user experience. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating the dynamic torque control method according to an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the dynamic torque control device according to an embodiment of the present invention. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] 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.

[0037] like Figure 1 As shown, an embodiment of the present invention provides a dynamic torque control method, including:

[0038] Step S101: When the vehicle is in a preset driving mode, obtain the vehicle's current gear, current speed, and steering wheel angle.

[0039] Step S102: When the current gear is the first preset gear, the current vehicle speed is greater than the first threshold, and the steering wheel angle is greater than the second threshold, obtain the brake pedal state of the vehicle.

[0040] Step S103: When the brake pedal is in the released state, a torque command is sent to the motor control unit. The torque command includes a first target torque, which instructs the motor control unit to control the vehicle according to the first target torque.

[0041] In this embodiment of the invention, when the vehicle is in a preset driving mode, the vehicle controller unit (VCU) monitors the vehicle in real time, acquiring the vehicle's current gear, current speed, and steering wheel angle. The preset driving mode includes, but is not limited to, sport mode or comfort mode. Based on the vehicle's current gear, current speed, steering wheel angle, and brake pedal status, the system accurately identifies the user's intention. When all conditions are met, a torque command is triggered, sending a torque command to the front motor control unit (MCU). This allows the MCU to control the vehicle's torque with a first target torque. While ensuring that the motor performance remains unchanged, a portion of the torque can be effectively recovered. During steering operations, the user only needs to partially or fully release the accelerator, increasing the driving control feel and improving the user experience.

[0042] Optionally, after sending the torque command to the motor control unit, the method further includes:

[0043] When the current gear is the second preset gear, the current vehicle speed is less than the third threshold, the steering wheel angle is less than the fourth threshold, or the brake pedal is in the depressed state, the torque command sent to the motor control unit is stopped, wherein the third threshold is less than or equal to the first threshold, and the fourth threshold is less than or equal to the third threshold.

[0044] In this embodiment of the invention, if any one of the following conditions is met: the current gear is the second preset gear, the current vehicle speed is less than a third threshold, the steering wheel angle is less than a fourth threshold, or the brake pedal is in a depressed state, it indicates that the current vehicle condition does not meet the triggering conditions for the torque command. Therefore, the transmission of the torque command to the motor control unit is stopped. The second preset gear is a gear different from the first preset gear. Generally, the first preset gear is D gear, and the second preset gear is any gear other than D gear.

[0045] Optionally, the method further includes:

[0046] When the brake pedal is in the released state, the second target torque corresponding to the torque command sent at the previous moment, as well as the current accelerator pedal opening and lateral acceleration of the vehicle, are obtained.

[0047] The first target torque is obtained by calculating based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque.

[0048] In this embodiment of the invention, the calculation process of the first target torque in the torque command is described. When the triggering conditions of the torque command are met, the first target torque is obtained by calculating based on the current gear, current vehicle speed, steering wheel angle, accelerator pedal opening, lateral acceleration and the second target torque corresponding to the torque command sent at the previous moment.

[0049] Optionally, the first target torque is obtained by calculating based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque, including:

[0050] Based on the current vehicle speed and the steering wheel angle, the pre-configured first mapping table is consulted to obtain the current torque adjustment coefficient;

[0051] The required torque is obtained by querying a pre-configured second mapping table based on the accelerator pedal opening, the current gear, and the current vehicle speed;

[0052] The compensation torque is obtained by querying a pre-configured third mapping table based on the lateral acceleration and the second target torque;

[0053] The first target torque is obtained by calculating using the required torque, the compensated torque, and the torque adjustment coefficient.

[0054] In this embodiment of the invention, as shown in Table 1, the current torque adjustment coefficient is obtained by referring to Table 1 based on the current vehicle speed and steering wheel angle, where X1-X n Indicates the current vehicle speed; Y1-Y n Indicates the steering wheel angle, α 11 -α nn Indicates the torque adjustment coefficient;

[0055]

[0056] Table 1

[0057] As shown in Table 2, Table 2 is a mapping diagram of accelerator pedal opening, current vehicle speed, and required torque in the current gear. The required torque can be obtained by referring to Table 2 based on the accelerator pedal opening and current vehicle speed, where X1-X... n Indicates the current vehicle speed, Y1-Y n Indicates the accelerator pedal opening, Z 11 -Z nn Indicates the required torque;

[0058]

[0059] Table 2

[0060] As shown in Table 3, the compensation torque is obtained by referring to Table 3 based on the lateral acceleration and the second target torque; where M1-M n Indicates the second target torsion, A1-A n T represents lateral acceleration. 11 -T nn Indicates the compensation torque;

[0061]

[0062] Table 3

[0063] Finally, the required torque, compensation torque, and torque adjustment coefficient obtained from the query are used to calculate and correct the required torque to obtain the first target torque, thereby better utilizing the vehicle's torque recovery performance and improving the user experience.

[0064] Optionally, the first target torque is obtained by calculating using the required torque, the compensated torque, and the torque adjustment coefficient, including:

[0065] The first difference is obtained by subtracting the compensation torque from the required torque;

[0066] The first target torque is obtained by subtracting the product of the first difference and the torque adjustment coefficient from the required torque.

[0067] In this embodiment of the invention, the formula for calculating the first target torque is: First target torque = Demand torque - Torque adjustment coefficient x (Demand torque - Compensation torque). The MCU controls the vehicle according to the above formula, which can better utilize the vehicle's torque recovery performance and improve the user experience.

[0068] It should be noted that before actually applying the method provided by this invention, the vehicle can be driven in multiple scenarios to test and continuously correct the torque command. These multiple scenarios include, but are not limited to, U-turn scenarios, single lane change scenarios, double lane change scenarios, and fixed steering wheel turning and circular scenarios.

[0069] It should be noted that this invention applies to pure electric vehicles with permanent magnet synchronous motors, including but not limited to pure electric vehicles, range-extended vehicles, series hybrid vehicles, and fuel cell vehicles.

[0070] like Figure 2 As shown, this embodiment of the invention also provides a dynamic torque control device, comprising:

[0071] The first acquisition module 201 is used to acquire the current gear, current speed and steering wheel angle of the vehicle when the vehicle is in a preset driving mode.

[0072] The second acquisition module 202 is used to acquire the brake pedal state of the vehicle when the current gear is a first preset gear, the current vehicle speed is greater than a first threshold, and the steering wheel angle is greater than a second threshold.

[0073] The first transmitting module 203 is used to send a torque command to the motor control unit when the brake pedal is in the released state. The torque command includes a first target torque, which is used to instruct the motor control unit to control the vehicle according to the first target torque.

[0074] Optionally, the device further includes:

[0075] The first control module is configured to stop sending the torque command to the motor control unit when the current gear is the second preset gear and / or the current vehicle speed is less than a third threshold and / or the steering wheel angle is less than a fourth threshold and / or the brake pedal is in a depressed state, wherein the third threshold is less than or equal to the first threshold and the fourth threshold is less than or equal to the third threshold.

[0076] Optionally, the device further includes:

[0077] The third acquisition module is used to acquire the second target torque corresponding to the torque command sent at the previous moment, as well as the current accelerator pedal opening and lateral acceleration of the vehicle, when the brake pedal is in the released state.

[0078] The first calculation module is used to calculate the first target torque based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque.

[0079] Optionally, the first computing module includes:

[0080] The first query unit is used to query a pre-configured first mapping table based on the current vehicle speed and the steering wheel angle to obtain the current torque adjustment coefficient.

[0081] The second query unit is used to query a pre-configured second mapping table based on the accelerator pedal opening, the current gear, and the current vehicle speed to obtain the required torque;

[0082] The third query unit is used to query a pre-configured third mapping table based on the lateral acceleration and the second target torque to obtain the compensation torque;

[0083] The first calculation unit is used to calculate the first target torque using the required torque, the compensation torque, and the torque adjustment coefficient.

[0084] Optionally, the first computing unit includes:

[0085] The second calculation unit is used to subtract the compensation torque from the required torque to obtain the first difference;

[0086] The third calculation unit is used to obtain the first target torque by subtracting the product of the first difference and the torque adjustment coefficient from the required torque.

[0087] It should be noted that the embodiments of this device are devices corresponding to the embodiments of the above methods. All implementations in the embodiments of the above methods are applicable to the embodiments of this device and can achieve the same technical effect.

[0088] This invention also provides a network device, including: a processor, a memory, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the dynamic torque control method as described above and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0089] This invention also provides a readable storage medium, comprising: a program stored on the readable storage medium, wherein when the program is executed by a processor, it implements the steps of the dynamic torque control method described in any of the preceding claims, and achieves the same technical effect; to avoid repetition, it will not be described again here. The readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0090] This invention also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the steps of the dynamic torque control method described in any of the preceding claims and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0091] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0092] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A dynamic torque control method, characterized in that, include: When the vehicle is in a preset driving mode, obtain the vehicle's current gear, current speed, and steering wheel angle; When the current gear is a first preset gear, the current vehicle speed is greater than a first threshold, and the steering wheel angle is greater than a second threshold, the brake pedal state of the vehicle is obtained. When the brake pedal is in the released state, a torque command is sent to the motor control unit. The torque command includes a first target torque, which instructs the motor control unit to control the vehicle according to the first target torque. When the brake pedal is in the released state, the second target torque corresponding to the torque command sent at the previous moment, as well as the current accelerator pedal opening and lateral acceleration of the vehicle, are obtained. The first target torque is obtained by calculating based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque; The calculation of the first target torque based on the current gear, current vehicle speed, steering wheel angle, accelerator pedal opening, lateral acceleration, and the second target torque includes: Based on the current vehicle speed and the steering wheel angle, the pre-configured first mapping table is consulted to obtain the current torque adjustment coefficient; The required torque is obtained by querying a pre-configured second mapping table based on the accelerator pedal opening, the current gear, and the current vehicle speed. The compensation torque is obtained by querying a pre-configured third mapping table based on the lateral acceleration and the second target torque; The first difference is obtained by subtracting the compensation torque from the required torque; The first target torque is obtained by subtracting the product of the first difference and the torque adjustment coefficient from the required torque.

2. The dynamic torque control method according to claim 1, characterized in that, After sending a torque command to the motor control unit, the method further includes: When the current gear is the second preset gear, the current vehicle speed is less than the third threshold, the steering wheel angle is less than the fourth threshold, or the brake pedal is in the depressed state, the torque command sent to the motor control unit is stopped, wherein the third threshold is less than or equal to the first threshold, and the fourth threshold is less than or equal to the second threshold.

3. A dynamic torque control device, characterized in that, The apparatus is used to implement the dynamic torque control method according to any one of claims 1 to 2, the apparatus comprising: The first acquisition module is used to acquire the current gear, current speed and steering wheel angle of the vehicle when the vehicle is in a preset driving mode. The second acquisition module is used to acquire the brake pedal state of the vehicle when the current gear is a first preset gear, the current vehicle speed is greater than a first threshold, and the steering wheel angle is greater than a second threshold. The first transmitting module is configured to send a torque command to the motor control unit when the brake pedal is in the released state. The torque command includes a first target torque, which instructs the motor control unit to control the vehicle according to the first target torque. The device further includes: The third acquisition module is used to acquire the second target torque corresponding to the torque command sent at the previous moment, as well as the current accelerator pedal opening and lateral acceleration of the vehicle, when the brake pedal is in the released state. The first calculation module is used to calculate the first target torque based on the current gear, the current vehicle speed, the steering wheel angle, the accelerator pedal opening, the lateral acceleration, and the second target torque. The first computing module includes: The first query unit is used to query a pre-configured first mapping table based on the current vehicle speed and the steering wheel angle to obtain the current torque adjustment coefficient. The second query unit is used to query a pre-configured second mapping table based on the accelerator pedal opening, the current gear, and the current vehicle speed to obtain the required torque; The third query unit is used to query a pre-configured third mapping table based on the lateral acceleration and the second target torque to obtain the compensation torque; The second calculation unit is used to subtract the compensation torque from the required torque to obtain the first difference; The third calculation unit is used to obtain the first target torque by subtracting the product of the first difference and the torque adjustment coefficient from the required torque.

4. The dynamic torque control device according to claim 3, characterized in that, The device further includes: The first control module is configured to stop sending the torque command to the motor control unit when the current gear is the second preset gear and / or the current vehicle speed is less than the third threshold and / or the steering wheel angle is less than the fourth threshold and / or the brake pedal is in the depressed state, wherein the third threshold is less than or equal to the first threshold and the fourth threshold is less than or equal to the second threshold.

5. A network device, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, the program implementing the dynamic torque control method as described in any one of claims 1 to 2 when executed by the processor.

6. A readable storage medium, characterized in that, include: The readable storage medium stores a program that, when executed by a processor, implements the steps of the dynamic torque control method as described in any one of claims 1 to 2.

7. A computer program product, characterized in that, It includes computer instructions that, when executed by a processor, implement the steps of the dynamic torque control method as described in any one of claims 1 to 2.

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