A torque step adjustment method and related device

Abstract

The present application discloses a torque step adjustment method and related devices, the method comprising: obtaining the throttle opening, the brake opening and the brake opening threshold. If the torque direction is determined to have changed according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold are obtained. If the speed change rate is greater than the speed change rate threshold, the step adjustment value is reduced for the initial torque step to obtain the target torque step. According to the target torque step, the initial torque is adjusted. After the torque direction is determined to have changed according to the throttle opening and the brake opening, the sharpness of the torque change is determined by comparing the speed change rate with the speed change rate threshold, thereby adjusting the initial torque step, so that the torque change range within the control cycle becomes smaller, the torque change speed is slowed down, the impact between the gears of the gearbox is reduced, and the service life of the gearbox is extended.

Description

Technical Field

[0001] The present application relates to the field of automobile gearboxes, and in particular to a torque step adjustment method and related devices. Background Art

[0002] AMT (Automated Manual Transmission) transmission is a type of transmission that combines the basic structure of a manual transmission with automatic control technology. Based on the traditional manual transmission, the AMT transmission automates the shifting process by adding an electronic control unit and an automatic actuator.

[0003] However, the motor in the AMT transmission will generate positive torque when the vehicle is in the driving state, and negative torque when the vehicle is in the braking state. When switching between the driving state and the braking state, the drastic change in the direction of the torque will cause excessive impact between gears. There are gaps between the gears of the existing AMT transmission. Excessive impact will cause gear wear, thereby affecting the service life of the transmission. Summary of the invention

[0004] In view of this, the present application provides a torque step adjustment method and related devices to solve the problem of excessive impact between gears of the transmission during the driving and braking switching process.

[0005] A first aspect of the present application provides a torque step adjustment method, the method comprising:

[0006] Obtaining the throttle opening, the brake opening and the brake opening threshold, wherein the throttle opening is the amplitude of the accelerator pedal sinking, and the brake opening is the amplitude of the brake pedal sinking;

[0007] If it is determined that the torque direction changes according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold are obtained, wherein the initial torque is the torque value at the beginning of the i-th control cycle, the initial torque step is the difference between the initial torques of adjacent control cycles, and the speed change rate is the change speed of the output shaft speed;

[0008] If the speed change rate is greater than the speed change rate threshold, the initial torque step is reduced by the step adjustment value to obtain a target torque step, where the target torque step is a new torque difference between adjacent control cycles;

[0009] The initial torque is adjusted according to the target torque step.

[0010] Optionally, if it is determined according to the throttle opening and the brake opening that the torque direction changes, obtaining the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold includes:

[0011] If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the target torque, the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold are obtained, wherein the target torque is an expected torque value in response to the change in the torque direction;

[0012] The adjusting the initial torque according to the target torque step size includes:

[0013] Determining a torque difference value according to the initial torque and the target torque, wherein the torque difference value is a numerical variation range corresponding to when the initial torque reaches the target torque;

[0014] Determining a torque step number according to the torque difference and the target torque step number, wherein the torque step number is the number of control cycles for adjusting the torque according to the target torque step number to reach the target torque;

[0015] According to the target torque step length, the target torque is reached after the torque step number control cycles.

[0016] Optionally, the method further comprises:

[0017] According to the initial torque of the i-th control cycle and the target torque step of the i-th control cycle, the initial torque of the i+1-th control cycle is obtained;

[0018] Obtain the speed change rate of the i+1th control cycle;

[0019] If the speed change rate is greater than the speed change rate threshold, reducing the initial torque step by the step adjustment value to obtain a target torque step, comprising:

[0020] If the speed change rate of the i+1th control cycle is greater than the speed change rate threshold, the step adjustment value is reduced for the target torque step size of the i-th control cycle to obtain the target torque step size of the i+1th control cycle;

[0021] The adjusting the initial torque according to the target torque step size includes:

[0022] According to the target torque step size of the (i+1)th control cycle, the initial torque of the (i+1)th control cycle is adjusted to obtain the initial torque of the (i+2)th control cycle.

[0023] Optionally, the method further comprises:

[0024] If it is determined that the torque direction changes according to the throttle opening and the brake opening, then obtaining the target torque;

[0025] For the torque change process in which the initial torque is in a positive direction and the target torque is in a negative direction, if the initial torque of the i+2th control cycle is greater than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are performed until the initial torque of the i+2th control cycle is less than or equal to the target torque;

[0026] For the torque change process in which the initial torque is in the negative direction and the target torque is in the positive direction, if the initial torque of the i+2th control cycle is less than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are executed until the initial torque of the i+2th control cycle is greater than or equal to the target torque.

[0027] Optionally, the method further comprises:

[0028] If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the target torque, the initial transmission ratio and the transmission ratio threshold are obtained, wherein the initial transmission ratio is the ratio of the output shaft speed to the input shaft speed in response to the change in the torque direction, and the transmission ratio threshold is used to reflect the degree of proximity between the transmission ratio of the i-th control cycle and the initial transmission ratio, and the transmission ratio of the i-th control cycle is the ratio of the output shaft speed to the input shaft speed corresponding to the end of the i-th control cycle;

[0029] Obtaining the transmission ratio of the i-th control cycle;

[0030] If the difference between the transmission ratio of the i-th control cycle and the initial transmission ratio is smaller than the transmission ratio threshold, the initial torque is adjusted according to the initial torque step to reach the target torque.

[0031] Optionally, the method is performed by a gearbox. If the gearbox includes a first side motor and a second side motor, the method further includes:

[0032] If the throttle opening is greater than 0 and the brake opening is equal to 0, then according to the optimal efficiency curve, the initial torque of the first side motor is reduced to the minimum value within the optimal efficiency curve, and the initial torque of the second side motor is increased to the maximum value within the optimal efficiency curve;

[0033] If it is determined that the torque direction changes according to the throttle opening and the brake opening, obtaining the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold includes:

[0034] If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the initial torque of the first side motor, the initial torque step of the first side motor, the step adjustment value of the first side motor, the initial torque of the second side motor, the initial torque step of the second side motor, the step adjustment value of the second side motor, the speed change rate and the speed change rate threshold are obtained;

[0035] If the speed change rate is greater than the speed change rate threshold, reducing the initial torque step by the step adjustment value to obtain a target torque step, comprising:

[0036] If the speed change rate is greater than the speed change rate threshold, the initial torque step of the first side motor is reduced by the step adjustment value of the first side motor to obtain a target torque step of the first side motor;

[0037] If the speed change rate is greater than the speed change rate threshold, the initial torque step of the second side motor is reduced by the step adjustment value of the second side motor to obtain a target torque step of the second side motor;

[0038] The adjusting the initial torque according to the target torque step size includes:

[0039] First, adjusting the initial torque of the first-side motor according to the target torque step size of the first-side motor;

[0040] Then, according to the target torque step size of the second side motor, the initial torque of the second side motor is adjusted.

[0041] Optionally, the method further comprises:

[0042] Get target torque;

[0043] If it is determined that the torque direction changes according to the throttle opening and the brake opening, and the brake opening is greater than the brake opening threshold, determining a torque difference according to the initial torque and the target torque;

[0044] Determining the number of torque steps according to the torque difference and the initial torque step length;

[0045] According to the initial torque step length, the target torque is reached after the torque step number control cycles.

[0046] A second aspect of the present application provides a torque step adjustment device, the device comprising: an acquisition unit, a detection unit, a step adjustment unit and a torque adjustment unit;

[0047] The acquisition unit is used to acquire the throttle opening and the brake opening, wherein the throttle opening is the amplitude of the accelerator pedal sinking, and the brake opening is the amplitude of the brake pedal sinking;

[0048] The detection unit is used to obtain the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold if it is determined that the torque direction changes according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, wherein the initial torque is the torque value at the beginning of the i-th control cycle, the initial torque step is the difference between the initial torques of adjacent control cycles, and the speed change rate is the change speed of the output shaft speed;

[0049] The step length adjustment unit is configured to reduce the initial torque step length by the step length adjustment value to obtain a target torque step length if the speed change rate is greater than the speed change rate threshold, wherein the target torque step length is a new torque difference value within adjacent control cycles;

[0050] The torque adjustment unit is used to adjust the initial torque according to the target torque step.

[0051] A third aspect of the present application provides a vehicle controller, the vehicle controller comprising a memory and a processor:

[0052] The memory is used to store program codes and transmit the program codes to the processor;

[0053] The processor is used to execute the method described in the first aspect according to the instructions in the program code.

[0054] A fourth aspect of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method described in the first aspect above.

[0055] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0056] In order to solve the problem of excessive impact between gears caused by rapid change in torque direction, after obtaining the throttle opening and brake opening, it is determined according to the throttle opening and brake opening whether the torque direction changes when the brake opening is less than the brake opening threshold, which is used to determine whether the torque direction change needs to be adjusted in a targeted manner. If it is determined that the torque direction changes, it means that it will bring impact to the gears of the gearbox, and the initial torque step, target torque, speed change rate and speed change rate threshold are obtained. The speed change rate is compared with the speed change rate threshold. When the speed change rate is greater than the speed change rate threshold, it means that the current torque change speed is too fast, and it is determined that the impact between gears belongs to a larger range. The initial torque step is reduced to obtain the target torque step. Compared with the initial torque step, the target torque step is smaller, and the range of torque adjustment within the control cycle is smaller, resulting in a smaller impact on the gears of the gearbox. Therefore, by reducing the initial torque step, it is possible to reduce the range of torque changes in a certain control cycle. According to the target torque step, the torque is adjusted to gradually reach the target torque, so that the impact between the gears in the process of torque direction change is smoother, thereby reducing the loss of the gears and extending the service life of the gearbox. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic diagram of a gearbox gear provided in an embodiment of the present application;

[0058] Figure 2 A method flow chart of a torque step adjustment method provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of a double-sided motor gearbox provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of an optimal efficiency curve provided in an embodiment of the present application;

[0061] Figure 5 A structural schematic diagram of a torque step adjustment method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0063] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0064] Taking new energy vehicles with energy recovery systems as an example, such as pure electric vehicles and hybrid vehicles, there may be a large number of operations that require the direction of the transmission torque to change during driving in non-shifting scenarios, such as emergency braking and releasing the accelerator. Torque is a physical quantity used to describe the measurement of the rotational effect of force on an object. In the vehicle transmission system, torque usually refers to the moment applied to the shaft by the engine or motor when it rotates.

[0065] During the change of torque direction, the force side of the gearbox gear will also change, see Figure 1 , Figure 1 A schematic diagram of a gearbox gear provided in an embodiment of the present application, wherein the motor acts on the sleeve, and the bottom gear is subjected to force together with the gear on the right when generating positive torque, and is subjected to force together with the gear on the left when generating negative torque. Due to the gap between the gears of the gearbox, the sudden change in the direction of the torque may cause a huge impact on the gears, thereby increasing gear wear and reducing the service life of the gearbox.

[0066] In order to solve the above technical problems, the embodiment of the present application provides a torque step adjustment method and a related device. In order to solve the problem of excessive impact between gears caused by a sharp change in torque direction, after obtaining the throttle opening and the brake opening, it is determined according to the throttle opening and the brake opening whether the torque direction changes when the brake opening is less than the brake opening threshold, so as to judge whether it is necessary to make targeted adjustments to the torque direction change. If it is determined that the torque direction changes, it means that it will bring impact to the gears of the gearbox, and the initial torque step, target torque, speed change rate and speed change rate threshold are obtained. The speed change rate is compared with the speed change rate threshold. When the speed change rate is greater than the speed change rate threshold, it means that the current torque change speed is too fast, and it is determined that the impact between gears belongs to a larger range. The initial torque step is reduced to obtain the target torque step. Compared with the initial torque step, the target torque step is smaller, and the range of torque adjustment within the control cycle is smaller. According to the target torque step that is smaller than the initial torque step, the initial torque is adjusted to reduce the impact on the gears of the gearbox. Therefore, by reducing the initial torque step, it is possible to reduce the range of torque variation in a certain control cycle. According to the target torque step, the torque is adjusted to gradually reach the target torque, so that the impact between gears in the process of torque direction changing is smoother, thereby reducing the loss of gears and extending the service life of the gearbox.

[0067] See also Figure 2 , Figure 2 A method flow chart of a torque step adjustment method provided in an embodiment of the present application, the method specifically comprises the following steps:

[0068] S101: Acquire the throttle opening, brake opening and brake opening threshold.

[0069] The throttle opening refers to the extent to which the accelerator pedal sinks, specifically the relative vertical distance that the brake pedal travels from a stationary state to being pressed. The greater the accelerator pedal sinks, the greater the throttle opening, the greater the output power, and the greater the positive torque generated. When the energy recovery function is turned on, negative torque will be generated as the throttle opening decreases, that is, negative torque will be generated as the accelerator pedal is lifted upward, which plays a role in braking and energy recovery.

[0070] Brake opening refers to the extent to which the brake pedal sinks, specifically the relative vertical distance the brake pedal travels from a stationary state to being pressed. The greater the extent to which the brake pedal sinks, the greater the brake opening and the greater the negative torque generated.

[0071] The brake opening threshold is for the brake pedal. When the brake opening is greater than the brake opening threshold, it means that the vehicle driver has stepped on the emergency brake, which is an emergency state.

[0072] By obtaining the throttle opening and the brake opening, it is possible to determine whether the torque direction has changed. By obtaining the brake opening threshold, it is possible to determine whether the vehicle is in an emergency state where the brakes are suddenly applied. How to determine the change in torque direction based on the throttle opening and the brake opening will be described later and will not be repeated here.

[0073] S102: If it is determined that the torque direction has changed according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, obtain the initial torque, initial torque step, step adjustment value, speed change rate and speed change rate threshold.

[0074] The following is an explanation of the process of determining the change in torque direction based on the throttle opening and the brake opening.

[0075] Specifically, when the throttle opening is greater than 0% and the brake opening is equal to 0%, the vehicle is in a driving state and outputs positive torque. At this time, when the brake pedal is pressed, the brake opening is greater than 0% and the torque direction changes.

[0076] During driving, when the throttle opening is equal to 0% and the brake opening is greater than 0%, the vehicle is in a braking state and outputs negative torque. At this time, when the accelerator pedal is pressed, the vehicle is in a driving state and the torque direction changes.

[0077] When the energy recovery function is turned on, when the throttle opening is greater than 0% and the brake opening is equal to 0%, the vehicle is in a driving state and outputs positive torque. At this time, if the accelerator pedal is lifted up, the vehicle is in a braking state and the torque direction changes.

[0078] When the brake opening is less than or equal to the brake opening threshold, it means that the vehicle is not in an emergency state where the brakes are applied suddenly. For example, if the brake opening threshold is 50%, when the brake opening is 30%, it is determined that the braking urgency has not reached the preset brake opening threshold.

[0079] When the torque direction changes and the brake opening is less than or equal to the brake opening threshold, it is determined that the torque change can be adjusted at this time, and the initial torque, initial torque step, step adjustment value, speed change rate and speed change rate threshold are obtained. The initial torque refers to the torque value at the beginning of the i-th control cycle. The control cycle is the time interval when adjusting the vehicle parameters, usually a few milliseconds to tens of milliseconds. The initial torque step refers to the difference between the initial torques of adjacent control cycles. For example, the initial torque of the second control cycle is 300 Newton meters (N∙m), and the initial torque step is 50N∙m. In the process of turning from positive torque to negative torque, the initial torque of the third control cycle reaches 250N∙m after the action of the initial torque step. The speed change rate refers to the speed of change of the output shaft speed. The speed change rate threshold is a preset value used to determine whether the current speed change is too sharp.

[0080] In the automobile transmission system, the input shaft and the output shaft are two important components that play a key role in transmitting power.

[0081] The input shaft is usually the first part that connects the engine (or motor) to the transmission. Its main function is to receive power from the engine (or motor) and transmit it to the inside of the transmission. In modern electric or hybrid vehicles, the input shaft is directly connected to the motor output.

[0082] The output shaft is the part of the transmission that transfers the power adjusted inside the transmission to the drive wheels.

[0083] The relationship between the input shaft and the output shaft is mainly reflected in power transmission and speed change. Inside the transmission, through a series of gear combinations, such as planetary gear sets, bevel gears, etc., the speed and torque of the input shaft will be adjusted to meet the needs of different driving conditions. The function of the gearbox is to adjust the transmission ratio between the input shaft and the output shaft to achieve different driving modes, such as acceleration, deceleration, climbing, etc.

[0084] The input shaft and output shaft play the important roles of receiving power and transmitting adjusted power respectively in the vehicle transmission system. Through the adjustment of the gearbox, the vehicle can maintain good performance under various driving conditions.

[0085] The speed of change of the output shaft speed reflects the rate of change during the power transmission process. When the speed of the output shaft changes quickly, it means that the torque has changed significantly during the power transmission process. Therefore, the speed change rate is a parameter that reflects the sharpness of the torque change. If the current speed change rate is greater than the speed change rate threshold, it means that the torque change in the control cycle is too sharp, which may have a greater impact on the gears. Correspondingly, it indicates that the initial torque step is too large and needs to be adjusted.

[0086] S103: If the speed change rate is greater than the speed change rate threshold, the initial torque step length is reduced by the step length adjustment value to obtain the target torque step length.

[0087] Check whether the current speed change rate is greater than the preset speed change rate threshold. If it is determined that the speed change rate is greater than the speed change rate threshold, it means that the current speed change speed is too fast and the torque change is too drastic, which causes a strong impact between gears. To avoid this situation, adjust the initial torque step.

[0088] The initial torque step is reduced according to the step adjustment value to obtain a new target torque step. The step adjustment value is a preset value used to adjust the torque step. By reducing the initial torque step, a smoother torque change can be achieved within the control cycle.

[0089] For example, when the vehicle is changing its torque direction, the current speed change rate is 1200rpm / s, while the preset speed change rate threshold is 1000rpm / s. Since the speed change rate is greater than the speed change rate threshold, the initial torque step needs to be reduced. Assuming that the initial torque step is 50N∙m and the step adjustment value is 10N∙m, the target torque step will become 40N∙m, which means that within the control cycle, the torque change range will not exceed 40 N∙m, thereby reducing the impact on the gears.

[0090] In another case, the vehicle is in the process of changing torque direction, the current speed change rate is 600rpm / s, and the preset speed change rate threshold is 1000rpm / s. Since the speed change rate is less than the speed change rate threshold at this time, it means that the torque change speed is not drastic, the gear impact is relatively small, and there is no need to reduce the initial torque step.

[0091] The speed change rate reflects the rapid speed of torque change. When the speed change rate exceeds the speed change rate threshold, the initial torque step is reduced to obtain the target torque step. The target torque step means a smaller torque change range within the control cycle.

[0092] S104: Adjusting the initial torque according to the target torque step.

[0093] In S103, by reducing the step adjustment value of the initial torque step, a target torque step smaller than the initial torque step is obtained, thereby determining a smaller torque variation range within the control cycle, and adjusting the initial torque according to the torque variation trend corresponding to the torque direction change based on the target torque step.

[0094] For example, if the target torque step size is 40 N∙m and the initial torque is 300 N∙m, in the process of switching from positive torque to negative torque, the initial torque of the next control cycle is 260 N∙m after adjusting the target torque step size.

[0095] By adjusting the initial torque to a target torque step size with a smaller torque variation range within the control cycle, the torque can be changed more gradually during the directional change, reducing the impact between gears and thus extending the service life of the gearbox.

[0096] It can be seen that the embodiment of the present application provides a torque step adjustment method. In order to solve the problem of excessive impact between gears caused by a sharp change in torque direction, after obtaining the throttle opening and the brake opening, it is determined according to the throttle opening and the brake opening whether the torque direction changes when the brake opening is less than the brake opening threshold, so as to judge whether it is necessary to make targeted adjustments to the torque direction change. If it is determined that the torque direction changes, it means that it will bring impact to the gears of the gearbox, and the initial torque step, target torque, speed change rate and speed change rate threshold are obtained. The speed change rate is compared with the speed change rate threshold. When the speed change rate is greater than the speed change rate threshold, it means that the current torque change speed is too fast, and it is determined that the impact between gears belongs to a larger range. The initial torque step is reduced to obtain the target torque step. Compared with the initial torque step, the target torque step is smaller, and the range of torque adjustment within the control cycle is smaller. According to the target torque step that is smaller than the initial torque step, the initial torque is adjusted to reduce the impact on the gearbox gears. Therefore, by reducing the initial torque step, it is possible to reduce the range of torque variation in a certain control cycle. According to the target torque step, the torque is adjusted to gradually reach the target torque, so that the impact between gears in the process of torque direction changing is smoother, thereby reducing the loss of gears and extending the service life of the gearbox.

[0097] In order to respond to operations such as pressing the brake pedal and lifting the accelerator pedal that cause the torque direction to change, the vehicle is expected to reach a new torque value, which is the target torque. Therefore, considering the actual situation and expecting to achieve the target torque, it is necessary not only to adjust the torque step size of a single control cycle, but also to have a smaller torque variation range within multiple control cycles from the initial torque to the target torque. In a possible implementation, the embodiment of the present application provides a specific implementation method for adjusting the torque step size, see A101-A104:

[0098] A101: If the torque direction is determined to have changed based on the throttle opening and the brake opening, the target torque, initial torque, initial torque step, step adjustment value, speed change rate and speed change rate threshold are obtained. The target torque is the expected torque value in response to the change in torque direction.

[0099] A102: Determine the torque difference according to the initial torque and the target torque. The torque difference is the range of values ​​corresponding to when the initial torque reaches the target torque.

[0100] A103: Determine the number of torque steps according to the torque difference and the target torque step. The number of torque steps is the number of control cycles for adjusting the torque according to the target torque step to reach the target torque.

[0101] A104: According to the target torque step, after the torque step control cycles, the target torque is reached.

[0102] Based on the initial torque and the target torque, the torque difference is determined. The torque difference refers to the difference between the initial torque and the target torque, that is, the change required to reach the target torque from the current torque state. For example, if the initial torque is 300N∙m and the target torque is -300N∙m, then the torque difference is 600Nm.

[0103] The number of torque steps is determined based on the torque difference and the target torque step. The number of torque steps refers to the number of control cycles required to adjust the torque according to the target torque step until the target torque is reached. The number of torque steps = torque difference / target torque step. For example, if the torque difference is 600N∙m and the target torque step is 40N∙m, 15 control cycles are required to reach the target torque.

[0104] According to the target torque step, the target torque is reached after the torque step number of control cycles. This means that the torque will be gradually adjusted according to the adjusted target torque step, one target torque step at a time, until the target torque is finally reached. For example, if the target torque step is 40N∙m, 15 control cycles are required, then 40N∙m will be adjusted in each control cycle until the target torque is finally reached. If the initial torque of the first control cycle is 300N∙m, then the initial torque of the second control cycle is 260N∙m, and the initial torque of the third control cycle is 220N∙m, and so on. The difference between the initial torques of adjacent control cycles is 40N∙m, which is the target torque step.

[0105] In response to the operation that causes the change in torque direction, the target torque step is applied for adjustment in multiple control cycles from the initial torque of the current control cycle to the target torque. Since the target torque step is obtained by reducing the step adjustment value based on the initial torque step, the torque is in a smaller range of change in these multiple control cycles, so that the torque direction change is in a slowing state under the action of the target torque step throughout the process, and the gearbox gear shock lasts longer.

[0106] The method provided in the embodiment of the present application mentions that whether the current torque change is too sharp is determined according to whether the speed change rate of the current control cycle is greater than the speed change rate threshold, and then the initial torque step is adjusted. However, adjusting the torque step only once may not guarantee effective reduction of the impact between gears. In a possible implementation method, the embodiment of the present application also provides a specific implementation method for adjusting the torque step, see B101-B104:

[0107] B101: According to the initial torque of the i-th control cycle and the target torque step of the i-th control cycle, the initial torque of the (i+1)-th control cycle is obtained.

[0108] B102: Get the speed change rate of the i+1th control cycle.

[0109] B103: If the speed change rate of the i+1th control cycle is greater than the speed change rate threshold, the target torque step of the i-th control cycle is reduced by the step adjustment value to obtain the target torque step of the i+1th control cycle.

[0110] B104: According to the target torque step size of the i+1th control cycle, the initial torque of the i+1th control cycle is adjusted to obtain the initial torque of the i+2th control cycle.

[0111] For multiple control cycles, in the ith control cycle, the target torque step of the ith control cycle is obtained by reducing the step adjustment value of the initial torque step, and the initial torque of the i+1th control cycle is determined according to the initial torque of the ith control cycle and the target torque step of the ith control cycle. At the same time, the target torque step of the ith control cycle also becomes the initial torque step of the i+1th control cycle.

[0112] For example, in the first control cycle, the initial torque (260 N∙m) of the second control cycle is obtained according to the initial torque (300 N∙m) of the first control cycle and the target torque step size (40 N∙m) of the first control cycle.

[0113] The same as the i-th control cycle, in the i+1-th control cycle, after obtaining the speed change rate of the i+1-th control cycle, if the speed change rate of the i+1-th control cycle is greater than the speed change rate threshold, the target torque step size of the i-th control cycle is reduced by the step size adjustment value to obtain the target torque step size of the i+1-th control cycle.

[0114] For example, in the second control cycle, the speed change rate of the second control cycle is 1200 rpm / s, the speed change rate threshold is 1000 rpm / s, the speed change rate of the second control cycle is greater than the speed change rate threshold, and the target torque step size (40N∙m) of the first control cycle is reduced by the step adjustment value (10N∙m), so that the target torque step size of the second control cycle is 30N∙m.

[0115] Then, according to the target torque step of the i+1th control cycle, the initial torque of the i+1th control cycle is adjusted to obtain the initial torque of the i+2th control cycle, and so on. The speed change rate corresponding to each control cycle is judged, so as to adjust the target torque step corresponding to the control cycle in real time, until the speed change rate of a certain control cycle is less than or equal to the change rate threshold, and the target torque step is no longer adjusted.

[0116] For example, according to the target torque step size (30 N∙m) of the second control cycle, the initial torque of the second control cycle is adjusted (260 N∙m), and the initial torque of the third control cycle is obtained to be 230 N∙m. Similarly, the target torque step size of the subsequent control cycle is adjusted according to the speed change rate to obtain the initial torque of the subsequent control cycle.

[0117] By comparing the speed change rate of each control cycle with the speed change rate threshold in real time, it is determined whether the torque change range corresponding to each control cycle is a case of excessive impact on the gears, and the target torque step size corresponding to the control cycle is adjusted. In multiple control cycles where the speed change rate is greater than the speed change rate threshold, the torque change range of each control cycle is gradually reduced. This method of adjusting the target torque step size multiple times can more quickly reduce the impact between gearbox gears during the change of torque direction.

[0118] In order to quickly reduce the impact between gears of the transmission within multiple control cycles to achieve the target torque, in a possible implementation, the embodiment of the present application further provides a specific implementation method for adjusting the torque step size, see C101-C103:

[0119] C101: If the torque direction is determined to have changed based on the throttle opening and the brake opening, the target torque is obtained.

[0120] C102: For the torque change process in which the initial torque is in the positive direction and the target torque is in the negative direction, if the initial torque of the i+2th control cycle is greater than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are executed until the initial torque of the i+2th control cycle is less than or equal to the target torque.

[0121] C103: For the torque change process in which the initial torque is in the negative direction and the target torque is in the positive direction, if the initial torque of the i+2th control cycle is less than the target torque, increase the value of i by 1, and execute the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps until the initial torque of the i+2th control cycle is greater than or equal to the target torque.

[0122] When the throttle opening and brake opening are detected, indicating that the torque direction will change, the target torque is obtained, and then a cyclic adjustment process is entered. The corresponding steps of adjusting the target torque step length are performed for each control cycle. This process will continue until the initial torque of the control cycle reaches the target torque. For the two torque direction changes, different methods of determining the target torque are used:

[0123] For a torque variation process in which the initial torque is in a positive direction and the target torque is in a negative direction, when the initial torque of any control cycle is less than or equal to the target torque, it is determined that the target torque is reached;

[0124] For a torque variation process in which the initial torque is in a negative direction and the target torque is in a positive direction, when the initial torque in any control cycle is greater than or equal to the target torque, it is determined that the target torque is reached.

[0125] The following takes the first case, that is, the torque change process when the initial torque is in the positive direction and the target torque is in the negative direction, as an example to illustrate:

[0126] The torque direction changes according to the throttle opening and brake opening, and the target torque is -300 N∙m.

[0127] In the third control cycle, the initial torque is -260N∙m, the speed change rate of the third control cycle is 1100rpm / s, the speed change rate threshold is 1000rpm / s, the speed change rate of the third control cycle is greater than the speed change rate threshold, and the target torque step size (30N∙m) of the second control cycle is reduced by the step adjustment value (10N∙m), and the target torque step size of the third control cycle is 20N∙m. The initial torque of the fourth control cycle is -280N∙m.

[0128] In the fourth control cycle, the speed change rate of the fourth control cycle is 900 rpm / s, the speed change rate threshold is 1000 rpm / s, the speed change rate of the third control cycle is less than the speed change rate threshold, and the target torque step size is no longer adjusted. The target torque step size of the fourth control cycle is still 20N∙m, and the initial torque of the fifth control cycle is -300N∙m. The target torque is reached, and the torque direction change process ends.

[0129] Through the above steps, the impact between gearbox gears in the process of torque direction change can be reduced more quickly within multiple control cycles to achieve the target torque, which not only quickly reduces the sharpness of torque change, but also meets the actual response to operations that cause torque direction changes. The target torque step is adjusted cyclically to make the torque reach the target torque.

[0130] In the process of changing the direction of the torque, the torque will act on both sides of the gear due to different directions. In the process from side A to side B, due to the gap between the gears, the impact between the gears needs to be reduced as much as possible before the force is applied to the side B of the gear. When it is determined that the side B of the gear is subjected to force, it means that the side B of the gear has been tightly engaged with the relevant gear. In order to determine the tight engagement of the side B of the gear, in a possible implementation method, the embodiment of the present application provides a specific implementation method for determining the end timing of the adjustment torque step according to the transmission ratio, see D101-D103:

[0131] D101: If the torque direction changes according to the throttle opening and the brake opening, the target torque, the initial transmission ratio and the transmission ratio threshold are obtained. The initial transmission ratio is the ratio of the output shaft speed to the input shaft speed in response to the change in the torque direction. The transmission ratio threshold is used to reflect the degree of proximity between the transmission ratio of the i-th control cycle and the initial transmission ratio. The transmission ratio of the i-th control cycle is the ratio of the output shaft speed to the input shaft speed corresponding to the end of the i-th control cycle.

[0132] D102: Get the transmission ratio of the i-th control cycle.

[0133] D103: If the difference between the transmission ratio of the i-th control cycle and the initial transmission ratio is less than the transmission ratio threshold, the initial torque is adjusted according to the initial torque step to reach the target torque.

[0134] The transmission ratio threshold is used to reflect the closeness between the transmission ratio of the i-th control cycle and the initial transmission ratio. If the difference between the current transmission ratio and the initial transmission ratio is less than the transmission ratio threshold, it means that the current transmission ratio is very close to the transmission ratio before the change, that is, the gear has moved to the other side and passed the gap process.

[0135] When it is detected that the throttle opening and the brake opening indicate that the torque direction will change, the current transmission ratio is obtained as the initial transmission ratio.

[0136] The initial transmission ratio refers to the ratio of the output shaft speed to the input shaft speed in response to the change in torque direction. The current transmission ratio refers to the ratio of the output shaft speed to the input shaft speed at the beginning of the i-th control cycle.

[0137] The transmission ratio threshold is a preset value used to determine whether the current transmission ratio is close to the initial transmission ratio. For example, if the transmission ratio threshold is set to ±0.05, the difference between the current transmission ratio and the initial transmission ratio must be less than ±0.05.

[0138] When the initial transmission ratio is close to the current transmission ratio, it means that the ratio of the current output shaft speed to the input shaft speed has returned to the state before the torque direction changed, which means that the gear set inside the gearbox has adapted to the new torque direction, and the power distribution between the gears has become balanced, and the gear has moved from side A to side B.

[0139] During the process of torque direction change, the torque step size is continuously adjusted according to the speed change rate. If the speed change rate is greater than the speed change rate threshold, the initial torque step size is reduced to obtain the target torque step size, and the torque is adjusted according to the target torque step size.

[0140] If at the end of a control cycle, the difference between the current transmission ratio and the initial transmission ratio is less than the transmission ratio threshold, it means that the gear has successfully transitioned to a new load state. At this time, the adjustment of the torque step can be stopped and the torque can be adjusted according to the initial torque step until the target torque is reached.

[0141] In a possible implementation, if the transmission ratio of the i-th control cycle is equal to the initial transmission ratio, the initial torque is adjusted according to the initial torque step to reach the target torque.

[0142] When the initial transmission ratio is close to the current transmission ratio, it means that the ratio of the current output shaft speed to the input shaft speed has returned to the state before the torque direction changed. At this time, the initial torque step is used to make the torque quickly reach the target torque. The target torque can be reached faster while reducing the impact between gears, which not only meets safety requirements but also reduces gear wear.

[0143] See also Figure 3 , Figure 3 A schematic diagram of a double-side motor gearbox provided in an embodiment of the present application, TMA represents a first-side motor, and the corresponding TCU-A represents a gearbox control unit of the first-side motor, which controls different gear changes. TMB represents a second-side motor, and the corresponding TCU-B represents a gearbox control unit of the second-side motor, which controls different gear changes. In a possible implementation, the gearbox includes two-side motors, and the target torque is achieved through the common coupling effect of the two-side motors. The embodiment of the present application provides a specific implementation method for the double-side motors of the gearbox, see E101-E106:

[0144] E101: If the throttle opening is greater than 0 and the brake opening is equal to 0, the initial torque of the first side motor is reduced to the minimum value within the optimal efficiency curve according to the optimal efficiency curve, and the initial torque of the second side motor is increased to the maximum value within the optimal efficiency curve;

[0145] E102: If it is determined that the torque direction has changed according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, obtain the initial torque of the first side motor, the initial torque step of the first side motor, the step adjustment value of the first side motor, the initial torque of the second side motor, the initial torque step of the second side motor, the step adjustment value of the second side motor, the speed change rate, and the speed change rate threshold;

[0146] E103: If the speed change rate is greater than the speed change rate threshold, the initial torque step of the first side motor is reduced by the step adjustment value of the first side motor to obtain a target torque step of the first side motor;

[0147] E104: If the speed change rate is greater than the speed change rate threshold, the initial torque step of the second side motor is reduced by the step adjustment value of the second side motor to obtain the target torque step of the second side motor;

[0148] E105: firstly adjust the initial torque of the first side motor according to the target torque step of the first side motor;

[0149] E106: Adjust the initial torque of the second side motor according to the target torque step of the second side motor.

[0150] See also Figure 4 , Figure 4A schematic diagram of an optimal efficiency curve provided in an embodiment of the present application. Figure 4 The horizontal axis represents the rotational speed, and the vertical axis represents the torque. Among the multiple curves, the middle curve is the optimal efficiency curve. When the torque distribution of the motors on both sides is within the optimal efficiency curve, the highest power output efficiency can be obtained, saving energy consumption.

[0151] In the prior art, torque is usually evenly distributed between the motors on both sides. Although this satisfies the optimum efficiency curve, the torque variation range of a single motor is too large when the torque direction changes.

[0152] Therefore, during the driving process of the car, that is, when the throttle opening is greater than 0 and the brake opening is equal to 0, the torque of the first side motor is reduced to the minimum value within the optimal efficiency curve according to the optimal efficiency curve, and the torque of the second side is increased to the maximum value within the optimal efficiency curve. First, according to the target torque step of the first side motor, the initial torque of the first side motor is adjusted, and then according to the target torque step of the second side motor, the initial torque of the second side motor is adjusted.

[0153] For example, according to the torque distribution of the optimal efficiency curve, the initial torque of the first side motor is 200 N∙m, and the initial torque of the second side motor is 400 N∙m. If the torque direction changes according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, the target torque of the first side motor is -300 N∙m, and the initial torque of the second side motor is -300 N∙m. At this time, the torque variation range of the first side motor becomes smaller, and the initial torque of the first side motor is adjusted first, and then the initial torque of the second side motor is adjusted.

[0154] For the gearbox with double-sided motors, when the torque direction changes, the gearbox will reach the target torque under the coupling of the double-sided motors. The torque of the first-side motor, that is, the motor with a smaller torque change range, will be adjusted first. This allows the torque direction to change while ensuring that the output power is not reduced. The torque change range in the early stage of the torque direction change is in a smaller state, thereby reducing the impact between gears and reducing gear losses.

[0155] When the brake opening is less than or equal to the brake opening threshold, the initial torque step will be adjusted to reduce the impact on the gears in the gearbox caused by the sudden change in torque direction. However, when the brake opening is greater than the brake opening threshold, it is considered as a heavy brake. Heavy brake means a critical situation. The first thing to ensure is safety. In order to quickly respond to heavy brakes, in a possible implementation method, the embodiment of the present application provides a specific implementation method under heavy brake conditions, see F101-F104:

[0156] F101: Get target torque.

[0157] F102: If the torque direction changes according to the throttle opening and the brake opening, and the brake opening is greater than the brake opening threshold, the torque difference is determined according to the initial torque and the target torque.

[0158] F103: Determine the torque step number based on the torque difference and the initial torque step.

[0159] F104: According to the initial torque step, after the torque step control cycle, the target torque is reached.

[0160] The brake opening threshold is a reference value that reflects whether the brake opening is a heavy brake situation. When the brake opening is greater than the brake opening threshold, it is determined that the current operation that causes the torque direction to change is a heavy brake, and the torque difference is obtained by subtracting the initial torque from the target torque.

[0161] For example, the brake opening threshold is 50%. During driving, the driver steps on the brake and the brake opening is 70%. Although the torque direction changes according to the throttle opening and the brake opening, the brake opening is greater than the brake opening threshold, which is considered a heavy braking situation. The initial torque (300 N∙m) and the target torque (-300 N∙m) are subtracted to obtain a torque difference of 600 N∙m.

[0162] According to the torque difference and the initial torque step, the torque step number = torque difference / initial torque step number, the torque step number is determined, and according to the initial torque step number, after the torque step number of control cycles, the target torque is reached.

[0163] For example, if the torque difference is 600 N∙m, the initial torque step is 50 N∙m, and the number of torque steps is determined to be 12, the target torque is reached after 12 control cycles according to the initial torque step, thereby responding to the large braking operation at the fastest speed and reaching the target torque.

[0164] When the brake opening is greater than the brake opening threshold, it is determined to be a large brake operation. In order to respond quickly to the large brake operation, the target torque is adjusted as quickly as possible, and the initial torque is acted on with the unadjusted initial target torque. This ensures that the vehicle can decelerate or stop in time in an emergency braking situation, thereby improving driving safety.

[0165] See also Figure 5 , Figure 5 This is a schematic structural diagram of a torque step length adjustment device provided in an embodiment of the present application. The torque step length adjustment device includes: an acquisition unit 201 , a detection unit 202 , a step length adjustment unit 203 and a torque adjustment unit 204 .

[0166] The acquisition unit 201 is used to acquire the throttle opening, the brake opening and the brake opening threshold. The throttle opening is the amplitude of the accelerator pedal sinking, and the brake opening is the amplitude of the brake pedal sinking.

[0167] The detection unit 202 is used to obtain the initial torque, initial torque step, step adjustment value, speed change rate and speed change rate threshold if it is determined that the torque direction has changed based on the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold. The initial torque is the torque value at the beginning of the i-th control cycle, the initial torque step is the difference between the initial torques of adjacent control cycles, and the speed change rate is the changing speed of the output shaft speed.

[0168] The step length adjustment unit 203 is used to reduce the initial torque step length by the step length adjustment value if the speed change rate is greater than the speed change rate threshold, so as to obtain a target torque step length, wherein the target torque step length is a new torque difference value within adjacent control cycles.

[0169] The torque adjustment unit 204 is used to adjust the initial torque according to the target torque step.

[0170] It can be seen that the embodiment of the present application provides a torque step adjustment device. In order to solve the problem of excessive impact between gears caused by a sharp change in torque direction, after the acquisition unit acquires the throttle opening and the brake opening, the detection unit determines whether the torque direction changes when the brake opening is less than the brake opening threshold according to the throttle opening and the brake opening, so as to judge whether it is necessary to make targeted adjustments to the torque direction change. If it is determined that the torque direction changes, it means that it will bring impact to the gears of the gearbox, and the initial torque step, target torque, speed change rate and speed change rate threshold are obtained. The step adjustment unit compares the speed change rate with the speed change rate threshold. When the speed change rate is greater than the speed change rate threshold, it means that the current torque change speed is too fast, and it is determined that the impact between gears belongs to a larger range. The initial torque step is reduced to obtain the target torque step. Compared with the initial torque step, the target torque step is smaller, and the range of torque adjustment within the control period is smaller. The torque adjustment unit adjusts the initial torque according to the target torque step that is smaller than the initial torque step, so that the impact on the gears of the gearbox is reduced. Therefore, by reducing the initial torque step, it is possible to reduce the range of torque variation in a certain control cycle. According to the target torque step, the torque is adjusted to gradually reach the target torque, so that the impact between gears in the process of torque direction changing is smoother, thereby reducing the loss of gears and extending the service life of the gearbox.

[0171] As a possible implementation manner, the detection unit 202 is specifically configured to:

[0172] If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the target torque, the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold are obtained, wherein the target torque is an expected torque value in response to the change in the torque direction;

[0173] The torque adjustment unit 204 is specifically used for:

[0174] Determining a torque difference value according to the initial torque and the target torque, wherein the torque difference value is a numerical variation range corresponding to when the initial torque reaches the target torque;

[0175] Determining a torque step number according to the torque difference and the target torque step number, wherein the torque step number is the number of control cycles for adjusting the torque according to the target torque step number to reach the target torque;

[0176] According to the target torque step length, the target torque is reached after the torque step number control cycles.

[0177] As a possible implementation, the torque step adjustment device further includes an initial torque determination unit and a speed change rate acquisition unit:

[0178] an initial torque determination unit, configured to obtain an initial torque of an (i+1)th control cycle according to an initial torque of an (i)th control cycle and a target torque step size of an (i)th control cycle;

[0179] A speed change rate acquisition unit, used to acquire the speed change rate of the (i+1)th control cycle;

[0180] The step size adjustment unit 203 is specifically used for:

[0181] If the speed change rate of the i+1th control cycle is greater than the speed change rate threshold, the step adjustment value is reduced for the target torque step size of the i-th control cycle to obtain the target torque step size of the i+1th control cycle;

[0182] The torque adjustment unit 204 is specifically used for:

[0183] According to the target torque step size of the (i+1)th control cycle, the initial torque of the (i+1)th control cycle is adjusted to obtain the initial torque of the (i+2)th control cycle.

[0184] As a possible implementation, the torque step adjustment device further includes a target torque acquisition unit, a positive and negative adjustment unit, and a negative and positive adjustment unit:

[0185] a target torque acquisition unit, configured to acquire the target torque if it is determined that the torque direction changes according to the throttle opening and the brake opening;

[0186] A positive and negative adjustment unit is used for the torque change process in which the initial torque is in the positive direction and the target torque is in the negative direction. If the initial torque of the i+2th control cycle is greater than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are executed until the initial torque of the i+2th control cycle is less than or equal to the target torque.

[0187] A negative-positive adjustment unit is used for the torque change process in which the initial torque is in the negative direction and the target torque is in the positive direction. If the initial torque of the i+2th control cycle is less than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are executed until the initial torque of the i+2th control cycle is greater than or equal to the target torque.

[0188] As a possible implementation, the torque step adjustment device further includes an initial transmission ratio acquisition unit, a current transmission ratio acquisition unit and a fast torque adjustment unit:

[0189] an initial transmission ratio acquisition unit, for acquiring a target torque, an initial transmission ratio and a transmission ratio threshold value if it is determined that the torque direction has changed according to the throttle opening and the brake opening, wherein the initial transmission ratio is the ratio of the output shaft speed to the input shaft speed in response to the change in the torque direction, and the transmission ratio threshold value is used to reflect the degree of proximity between the transmission ratio of the ith control cycle and the initial transmission ratio, and the transmission ratio of the ith control cycle is the ratio of the output shaft speed to the input shaft speed corresponding to the end of the ith control cycle;

[0190] A current transmission ratio acquisition unit, used to acquire the transmission ratio of the i-th control cycle;

[0191] The fast torque adjustment unit is used to adjust the initial torque according to the initial torque step to reach the target torque if the difference between the transmission ratio of the i-th control cycle and the initial transmission ratio is less than the transmission ratio threshold.

[0192] As a possible implementation, the torque step adjustment device further includes a torque distribution unit:

[0193] A torque distribution unit, configured to reduce the initial torque of the first-side motor to a minimum value within the optimal efficiency curve and increase the initial torque of the second-side motor to a maximum value within the optimal efficiency curve if the throttle opening is greater than 0 and the brake opening is equal to 0;

[0194] The detection unit 202 is specifically used for:

[0195] If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the initial torque of the first side motor, the initial torque step of the first side motor, the step adjustment value of the first side motor, the initial torque of the second side motor, the initial torque step of the second side motor, the step adjustment value of the second side motor, the speed change rate and the speed change rate threshold are obtained;

[0196] The step size adjustment unit 203 is specifically used for:

[0197] If the speed change rate is greater than the speed change rate threshold, the initial torque step of the first side motor is reduced by the step adjustment value of the first side motor to obtain a target torque step of the first side motor;

[0198] If the speed change rate is greater than the speed change rate threshold, the initial torque step of the second side motor is reduced by the step adjustment value of the second side motor to obtain a target torque step of the second side motor;

[0199] The torque adjustment unit 204 is specifically used for:

[0200] First, adjusting the initial torque of the first-side motor according to the target torque step size of the first-side motor;

[0201] Then, according to the target torque step size of the second side motor, the initial torque of the second side motor is adjusted.

[0202] As a possible implementation, the torque step length adjustment device further includes a large brake target torque acquisition unit, a large brake detection unit, a large brake step number unit and a large brake torque adjustment unit:

[0203] A large brake target torque acquisition unit, used to acquire a target torque;

[0204] a large brake detection unit, configured to determine a torque difference value according to the initial torque and the target torque if it is determined that a torque direction has changed according to the throttle opening and the brake opening, and the brake opening is greater than the brake opening threshold;

[0205] A large brake step number unit, used for determining the torque step number according to the torque difference and the initial torque step length;

[0206] The large brake torque adjustment unit is used to reach the target torque according to the initial torque step length after the torque step number control cycles.

[0207] The names of the messages or information exchanged between multiple devices in the embodiments of the present application are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0208] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0209] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0210] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A torque step adjustment method, characterized in that: The method comprises: Obtaining the throttle opening, the brake opening and the brake opening threshold, wherein the throttle opening is the amplitude of the accelerator pedal sinking, and the brake opening is the amplitude of the brake pedal sinking; If it is determined that the torque direction changes according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold are obtained, wherein the initial torque is the torque value at the beginning of the i-th control cycle, the initial torque step is the difference between the initial torques of adjacent control cycles, and the speed change rate is the change speed of the output shaft speed; If the speed change rate is greater than the speed change rate threshold, the initial torque step is reduced by the step adjustment value to obtain a target torque step, where the target torque step is a new torque difference between adjacent control cycles; The initial torque is adjusted according to the target torque step.

2. The method according to claim 1, characterized in that If it is determined that the torque direction changes according to the throttle opening and the brake opening, obtaining the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold includes: If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the target torque, the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold are obtained, wherein the target torque is an expected torque value in response to the change in the torque direction; The adjusting the initial torque according to the target torque step size includes: Determining a torque difference value according to the initial torque and the target torque, wherein the torque difference value is a numerical variation range corresponding to when the initial torque reaches the target torque; Determining a torque step number according to the torque difference and the target torque step number, wherein the torque step number is the number of control cycles for adjusting the torque according to the target torque step number to reach the target torque; According to the target torque step length, the target torque is reached after the torque step number control cycles.

3. The method according to claim 1, characterized in that The method further comprises: According to the initial torque of the i-th control cycle and the target torque step of the i-th control cycle, the initial torque of the i+1-th control cycle is obtained; Obtain the speed change rate of the i+1th control cycle; If the speed change rate is greater than the speed change rate threshold, reducing the initial torque step by the step adjustment value to obtain a target torque step, comprising: If the speed change rate of the i+1th control cycle is greater than the speed change rate threshold, the step adjustment value is reduced for the target torque step size of the i-th control cycle to obtain the target torque step size of the i+1th control cycle; The adjusting the initial torque according to the target torque step size includes: According to the target torque step size of the (i+1)th control cycle, the initial torque of the (i+1)th control cycle is adjusted to obtain the initial torque of the (i+2)th control cycle.

4. The method according to claim 3, characterized in that The method further comprises: If it is determined that the torque direction changes according to the throttle opening and the brake opening, then obtaining the target torque; For the torque change process in which the initial torque is in a positive direction and the target torque is in a negative direction, if the initial torque of the i+2th control cycle is greater than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are performed until the initial torque of the i+2th control cycle is less than or equal to the target torque; For the torque change process in which the initial torque is in the negative direction and the target torque is in the positive direction, if the initial torque of the i+2th control cycle is less than the target torque, the value of i is increased by 1, and the step of obtaining the speed change rate of the i+1th control cycle and subsequent steps are executed until the initial torque of the i+2th control cycle is greater than or equal to the target torque.

5. The method according to claim 1, characterized in that The method further comprises: If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the target torque, the initial transmission ratio and the transmission ratio threshold are obtained, wherein the initial transmission ratio is the ratio of the output shaft speed to the input shaft speed in response to the change in the torque direction, and the transmission ratio threshold is used to reflect the degree of proximity between the transmission ratio of the i-th control cycle and the initial transmission ratio, and the transmission ratio of the i-th control cycle is the ratio of the output shaft speed to the input shaft speed corresponding to the end of the i-th control cycle; Obtaining the transmission ratio of the i-th control cycle; If the difference between the transmission ratio of the i-th control cycle and the initial transmission ratio is smaller than the transmission ratio threshold, the initial torque is adjusted according to the initial torque step to reach the target torque.

6. The method according to claim 1, characterized in that The method is performed by a gearbox. If the gearbox includes a first-side motor and a second-side motor, the method further includes: If the throttle opening is greater than 0 and the brake opening is equal to 0, then according to the optimal efficiency curve, the initial torque of the first side motor is reduced to the minimum value within the optimal efficiency curve, and the initial torque of the second side motor is increased to the maximum value within the optimal efficiency curve; If it is determined that the torque direction changes according to the throttle opening and the brake opening, obtaining the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold includes: If it is determined that the torque direction has changed according to the throttle opening and the brake opening, the initial torque of the first side motor, the initial torque step of the first side motor, the step adjustment value of the first side motor, the initial torque of the second side motor, the initial torque step of the second side motor, the step adjustment value of the second side motor, the speed change rate and the speed change rate threshold are obtained; If the speed change rate is greater than the speed change rate threshold, reducing the initial torque step by the step adjustment value to obtain a target torque step, comprising: If the speed change rate is greater than the speed change rate threshold, the initial torque step of the first side motor is reduced by the step adjustment value of the first side motor to obtain a target torque step of the first side motor; If the speed change rate is greater than the speed change rate threshold, the initial torque step of the second side motor is reduced by the step adjustment value of the second side motor to obtain a target torque step of the second side motor; The adjusting the initial torque according to the target torque step size includes: First, adjusting the initial torque of the first-side motor according to the target torque step size of the first-side motor; Then, according to the target torque step size of the second side motor, the initial torque of the second side motor is adjusted.

7. The method according to claim 1, characterized in that The method further comprises: Get the target torque; If it is determined that the torque direction changes according to the throttle opening and the brake opening, and the brake opening is greater than the brake opening threshold, determining a torque difference according to the initial torque and the target torque; Determining the number of torque steps according to the torque difference and the initial torque step length; According to the initial torque step length, the target torque is reached after the torque step number control cycles.

8. A torque step adjustment device, characterized in that: The device comprises: an acquisition unit, a detection unit, a step length adjustment unit and a torque adjustment unit; The acquisition unit is used to acquire the throttle opening and the brake opening, wherein the throttle opening is the amplitude of the accelerator pedal sinking, and the brake opening is the amplitude of the brake pedal sinking; The detection unit is used to obtain the initial torque, the initial torque step, the step adjustment value, the speed change rate and the speed change rate threshold if it is determined that the torque direction changes according to the throttle opening and the brake opening, and the brake opening is less than or equal to the brake opening threshold, wherein the initial torque is the torque value at the beginning of the i-th control cycle, the initial torque step is the difference between the initial torques of adjacent control cycles, and the speed change rate is the change speed of the output shaft speed; The step length adjustment unit is configured to reduce the initial torque step length by the step length adjustment value to obtain a target torque step length if the speed change rate is greater than the speed change rate threshold, wherein the target torque step length is a new torque difference value within adjacent control cycles; The torque adjustment unit is used to adjust the initial torque according to the target torque step.

9. A vehicle controller, characterized in that: The vehicle controller includes a memory and a processor: The memory is used to store program codes and transmit the program codes to the processor; The processor is used to execute the method according to any one of claims 1 to 7 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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