Torque control method and device, medium and equipment
The method addresses resource-intensive torque monitoring by comparing actual axle torques to a deviation limit and redistributing based on vehicle state, enhancing system stability and safety in vehicles.
Patent Information
- Application Number
- CN202411326232.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-23
- Publication Date
- 2024-12-27
AI Technical Summary
Existing torque monitoring systems in vehicles require two program processes, consuming resources and reducing stability, and there is a need for improved functional safety in torque distribution systems.
A method and device for torque control that involves acquiring actual torques from front and rear axles, calculating their difference, comparing it to a deviation limit, and redistributing torque based on vehicle body state information to maintain stability, with a single comparison process to enhance system efficiency.
This approach reduces system occupancy and improves software stability by allowing real-time monitoring and adjustment of torque distribution, preventing instability and potential safety issues.
Smart Images
Figure CN119190014A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle technology, and in particular to a torque control method, device, medium and equipment. Background Art
[0002] With the continuous advancement of automobile technology, many vehicles have been equipped with front and rear axle torque distribution systems to improve the vehicle's handling, stability and passability. Functional safety torque monitoring after torque distribution has become a focus of attention in the industry. At present, domestic functional safety regulations are becoming more and more perfect, and the monitoring strategy of functional safety is becoming more and more critical.
[0003] General torque monitoring usually monitors the actual torque of each of the front and rear axles. Torque monitoring is achieved by comparing the actual torque with the expected torque, which requires two program processes. This method of monitoring torque through two program processes takes up more resources and reduces the stability of the software program. Summary of the invention
[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a torque control method, device, medium and equipment to solve at least one problem existing in the prior art.
[0005] To achieve the above objectives and other related objectives, the present application provides a torque control method, the method comprising:
[0006] Acquiring the actual torque of the front axle and the actual torque of the rear axle, and calculating the torque difference between the actual torque of the front axle and the actual torque of the rear axle;
[0007] comparing the torque difference value with a torque deviation limit value;
[0008] When the torque difference is greater than the torque deviation limit, vehicle body state information is acquired and the front axle torque and the rear axle torque are redistributed according to the vehicle body state information.
[0009] In one embodiment of the present application, the step of redistributing the front axle torque and the rear axle torque according to the vehicle body state information includes:
[0010] Determining a correlation between the vehicle body state information and the torque distribution ratio;
[0011] Determining a torque distribution ratio according to the vehicle body state information and the association relationship, wherein the torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle;
[0012] The front axle torque and the rear axle torque are distributed based on the torque distribution ratio.
[0013] In one embodiment of the present application, the method further includes:
[0014] Obtaining a vehicle speed, and comparing the vehicle speed with a preset speed threshold;
[0015] When the vehicle speed exceeds the preset speed threshold, the vehicle torque is controlled to be lower than the maximum torque for maintaining the vehicle running at a constant speed.
[0016] In one embodiment of the present application, the vehicle torque is:
[0017] T v =R f [(1 / 2)CρSv 2 +f s M v g]
[0018] Among them, T v Represents the vehicle torque, R f represents the rolling radius of the tire, C represents the drag coefficient, ρ represents the air density, S represents the frontal area of the vehicle, v represents the vehicle speed, and f s Represents the rolling resistance coefficient, M v represents the unladen curb mass; g represents the acceleration due to gravity.
[0019] In one embodiment of the present application, the torque deviation limit value T g T g1 With T g2 The smaller value between
[0020] T g1 =0.1gM v R f , M v Indicates the unloaded curb weight, R f Indicates the rolling radius of the tire;
[0021] T g2 Expressed as the preset differential lock torque property value.
[0022] In one embodiment of the present application, the torque deviation limit is expressed as:
[0023] T g =[(i-1) / (i+1)]T v +0.1gM v R f
[0024] Wherein, i represents the distribution ratio of the front axle torque to the rear axle torque.
[0025] In one embodiment of the present application, the vehicle body status information includes at least one of the following:
[0026] Driving mode, vehicle speed, steering wheel angle, load mass.
[0027] In order to achieve the above-mentioned purpose and other related purposes, the present application provides a torque control device, the device comprising:
[0028] A torque calculation module, used for obtaining the actual torque of the front axle and the actual torque of the rear axle, and calculating the torque difference between the actual torque of the front axle and the actual torque of the rear axle;
[0029] A comparison module, used for comparing the torque difference with a torque deviation limit;
[0030] The torque distribution module is used to obtain vehicle body status information and redistribute the front axle torque and the rear axle torque according to the vehicle body status information when the torque difference is greater than the torque deviation limit.
[0031] To achieve the above objectives and other related objectives, the present application provides a torque control device, comprising:
[0032] one or more processors; and
[0033] The memory is used to store one or more programs. When the one or more programs are executed by the one or more processors, the memory implements the method described.
[0034] To achieve the above objectives and other related objectives, the present application provides one or more machine-readable media having instructions stored thereon, which, when executed by one or more processors, enable the processors to execute the described methods.
[0035] As described above, the present application provides a torque control method, device, medium and equipment, which have the following features:
[0036] Beneficial effects:
[0037] A torque control method of the present application includes: obtaining the actual torque of the front axle and the actual torque of the rear axle, and calculating the torque difference between the actual torque of the front axle and the actual torque of the rear axle; comparing the torque difference with the torque deviation limit; when the torque difference is greater than the torque deviation limit, obtaining vehicle body status information and reallocating the front axle torque and the rear axle torque according to the vehicle body status information; the present application obtains the difference between the actual torques of the front and rear axles, and then compares it with the torque deviation limit, and decides whether to reallocate the torque according to the comparison result, so that it can be determined whether to reallocate by only comparing once; compared with the prior art of comparing the actual torques of the front and rear axles with the expected torque, this method of comparing twice reduces the system occupancy rate and improves the stability of the software program operation.
[0038] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0040] Figure 1 A flowchart of an exemplary torque control method of the present application;
[0041] Figure 2 A flowchart of torque redistribution after an embodiment of the present application;
[0042] Figure 3 This is a principle block diagram of an exemplary torque control device of the present application;
[0043] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the memory of an embodiment of the present application is shown. DETAILED DESCRIPTION
[0044] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.
[0045] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.
[0046] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.
[0047] See also Figure 1 , Figure 1 This is a flowchart of an exemplary torque control method of the present application. The control method at least includes steps S110 to S130, which are described in detail as follows:
[0048] Step S110, obtaining the actual torque of the front axle and the actual torque of the rear axle, and calculating the torque difference between the actual torque of the front axle and the actual torque of the rear axle;
[0049] It should be noted that the actual torque of the front axle and the actual torque of the rear axle can be collected by a torque sensor. The front axle torque and the rear axle torque collected by the torque sensor are transmitted to the control unit via the CAN bus. The control unit can be the vehicle's electronic control unit (Electronic Control Unit, ECU) or a specific torque distribution controller. The electronic control unit receives the data from the torque sensor and needs to perform E2E verification (end-to-end verification) on the data transmitted by the torque sensor.
[0050] Of course, the vehicle's electronic control unit (ECU) can also be used to obtain the current vehicle's body status information, parse the body status information, identify data related to the front axle torque and rear axle torque, and then calculate the actual front axle torque and rear axle torque according to the torque calculation method.
[0051] In order for the electronic control unit to collect the vehicle body status information in the CAN data, it usually needs a CAN data collector or a CAN interface card and other hardware devices to connect to the vehicle's CAN bus in order to collect the vehicle body status information in the CAN data. It should be noted that the CAN data collected by the electronic control unit based on the CAN data collector or CAN interface card and other hardware devices is usually raw binary data, which needs to be parsed to obtain useful information. CAN analysis software can be used to parse CAN data. By parsing CAN data, you can obtain vehicle body status information, such as power, vehicle speed, angular velocity, etc.
[0052] Step S120, comparing the torque difference with the torque deviation limit;
[0053] Generally speaking, the difference between the actual torque of the front axle and the actual torque of the rear axle cannot exceed a limit, namely the torque deviation limit, otherwise an unexpected yaw rate will be generated when the vehicle turns, causing the whole vehicle to become unstable. In order to solve this problem, the difference between the actual torque of the front axle and the actual torque of the rear axle, namely the torque difference, is compared with the torque deviation limit, and the actual torque of the front axle and the actual torque of the rear axle are adjusted according to the comparison result.
[0054] In the embodiment of the present application, the torque deviation limit value T g T g1With T g2 The smaller value between
[0055] T g1 =0.1gM v R f , M v Indicates the unloaded curb weight, R f Indicates the tire rolling radius; T g2 Expressed as the preset differential lock torque property value.
[0056] Since the torque deviation limit T g1 Cannot be compared with the preset differential lock torque attribute value T g2 No conflict can occur, so T g1 With T g2 The smaller one between the two is taken as the torque deviation limit T g That is, T g1 Less than T g12 , then T g1 As the torque deviation limit, if T g1 Greater than T g12 , then T g2 As torque deviation limit.
[0057] It should be noted that the preset differential lock torque attribute value refers to the corresponding requirements for the front axle torque and the rear axle torque when the differential lock is designed. This requirement is defined as the differential lock torque attribute associated value.
[0058] Furthermore, considering the different ratios of the front and rear axle torque distribution, the torque deviation limit is expressed as:
[0059] T g =[(i-1) / (i+1)]T v +0.1gM v R f
[0060] Wherein, i represents the distribution ratio of the front axle torque to the rear axle torque.
[0061] Step S130, when the torque difference is greater than the torque deviation limit, the vehicle body state information is obtained and the front axle torque and the rear axle torque are redistributed according to the vehicle body state information.
[0062] Since the torque difference cannot exceed the torque deviation limit, the torque difference needs to meet the following conditions:
[0063] T F -T R ≤[(i-1) / (i+1)]T v +0.1gM v R f
[0064] Among them, T F Indicates the actual torque of the front axle, T R Indicates the actual torque of the rear axle, T v Indicates the vehicle torque.
[0065] It should be noted that T F -T R It can be dynamic or static.
[0066] When the difference between the actual torque of the front axle and the actual torque of the rear axle is greater than the torque deviation limit, that is, T F -T R >[(i-1) / (i+1)]T v +0.1gM v R f When the front axle torque and rear axle torque need to be redistributed according to the vehicle body status information.
[0067] See also Figure 2 , Figure 2 This is a flowchart of torque redistribution according to an embodiment of the present application. Figure 2 In the embodiment, the steps of redistributing the front axle torque and the rear axle torque according to the vehicle body state information include:
[0068] Step S210, determining a correlation between the vehicle body state information and the torque distribution ratio, wherein the correlation corresponds to the vehicle body state information;
[0069] In an embodiment of the present application, the vehicle body state information includes at least one of the following: driving mode, vehicle speed, steering wheel angle, and load mass.
[0070] The vehicle speed is collected by the vehicle speed sensor, and the steering wheel angle is collected by the steering angle sensor. The electronic control unit receives data from the vehicle speed sensor and the steering angle sensor, and needs to perform E2E inspection on the data transmitted by the torque sensor.
[0071] For the distribution ratio of front axle torque to rear axle torque, the vehicle can be tested and analyzed to determine the reasonable torque distribution ratio under different driving modes, vehicle speeds, steering wheel angles and load mass. These distribution ratios can be dynamic or static. The specific distribution ratio can be calibrated in combination with driving style and user needs.
[0072] Specifically, a MAP table, i.e., an association relationship, is established between each body state information and the torque distribution ratio, and the MAP table is stored in the storage medium of the vehicle. For example, MAP1 represents the association relationship between the driving mode and the torque distribution ratio, MAP2 represents the association relationship between the vehicle speed and the torque distribution ratio, MAP3 represents the association relationship between the steering wheel angle and the torque distribution ratio, and MAP4 represents the association relationship between the load mass and the torque distribution ratio. In this way, after obtaining the current body state information of the vehicle, the MAP table of the corresponding body state information is obtained from the storage medium, and then after determining the MAP table corresponding to the body state information, the MAP table can be queried according to the body state information to obtain the corresponding torque distribution ratio. In this way, the controller can allocate torque to the front axle and rear axle of the vehicle based on the torque distribution ratio.
[0073] Taking the driving mode as an example, a MAP table between the driving mode and the torque distribution ratio is established, and the MAP table is stored in the storage medium of the vehicle. In this way, after the current driving mode of the vehicle is obtained, the MAP table corresponding to the driving mode is obtained from the storage medium; after the MAP table corresponding to the driving mode is determined, the MAP table can be queried according to the driving mode to obtain the corresponding torque distribution ratio. In this way, the controller can distribute torque to the front axle and the rear axle of the vehicle based on the first torque distribution ratio.
[0074] More specifically, for the MAP table between driving mode and torque distribution ratio: In economic mode, the vehicle usually gives priority to fuel economy. At this time, the torque distribution will tend to be carried out in a more energy-saving way. By reducing the torque output to the rear axle, the purpose of energy saving can be achieved; the comfort mode is designed to provide a smooth and comfortable driving experience. The torque distribution will be more balanced to ensure the smoothness and comfort of the vehicle's driving; the sports mode emphasizes power performance and handling. At this time, the torque distribution will obviously tend to provide stronger acceleration and power output, and the torque distribution of the rear axle will usually be increased to improve the vehicle's acceleration and climbing ability. Please refer to Table 1 for the distribution ratio of front axle torque to rear axle torque in different driving modes.
[0075] Table 1
[0076] Driving Mode economy Comfort sports Allocation ratio 60：40 50：50 40：60
[0077] For the MAP table between vehicle speed and torque distribution ratio: Usually, during the starting and low-speed driving stages, a larger torque is required to overcome the static inertia and road resistance of the vehicle, and more torque is distributed to the rear axle to increase the starting traction of the vehicle, which is suitable for situations that require stronger climbing ability or starting on soft roads; during the medium-speed driving stage, the vehicle needs to balance power and stability. The reasonable distribution of front axle torque and rear axle torque can ensure that the vehicle has a good response in acceleration, overtaking, etc., while maintaining driving stability. A more balanced torque distribution can make the vehicle show better comprehensive performance when driving at medium speeds; when driving at high speeds, the stability of the vehicle is crucial. At this time, appropriately reducing the rear axle torque distribution and increasing the front axle torque distribution can improve the vehicle's driving stability and steering accuracy. Please refer to Table 2 for the distribution ratio of front axle torque and rear axle torque at different vehicle speeds.
[0078] Table 2
[0079] Vehicle speed 30kph 60kph 100kph 150kph 200kph Allocation ratio 40：60 45：55 50：50 55：45 60：40
[0080] Regarding the MAP table between the steering wheel angle and the torque distribution ratio: When driving in a straight line or making slight turns, the vehicle mainly pursues stability and efficient driving. The front and rear axle torque distribution is usually relatively balanced to ensure that the vehicle can drive smoothly in a straight line or make small angle turns; when making regular turns on urban roads, the torque distribution of the front wheels will be appropriately increased; when making sharp turns in narrow spaces or extreme turns when off-roading, the torque distribution will be more inclined to the front wheels. At this time, the front wheels need to bear greater steering and traction tasks, so more torque is needed to provide sufficient power and grip. Please refer to Table 3 for the distribution ratio of front axle torque to rear axle torque at different steering wheel angles.
[0081] Table 3
[0082] Steering wheel angle No Turn 180 degrees 360 degrees 540 degrees 720 degrees Allocation ratio 50：50 52：48 55：45 57：43 60：40
[0083] MAP table of load mass to torque distribution ratio: When the vehicle load is light, the torque distribution of the front and rear axles is usually more balanced. Because the overall weight of the vehicle is small, the demand for power is relatively low; when the vehicle load is heavy, the torque distribution tends to the rear axle. This is because the heavy load will move the center of gravity of the vehicle backward, and the rear axle needs to bear more weight and pressure. Please refer to Table 4 for the distribution ratio of the front axle torque and the rear axle torque under different load masses.
[0084] Table 4
[0085] Load quality 100kg 200kg 300kg 400kg 500kg Allocation ratio 50：50 48：52 45：55 43：57 40：60
[0086] It should be noted that the above embodiments only show the correspondence between a single vehicle body state information and the torque distribution. In other embodiments, those skilled in the art may also adjust the torque distribution ratio according to other vehicle body state information, for example, controlling the torque distribution according to road conditions, such as flat roads and uneven roads.
[0087] It should also be noted that the above embodiments only show the correspondence between a single body state information and the torque distribution ratio. In other instances, technical personnel in this field may also combine multiple body state information and then calibrate the correspondence between multiple body state information and the torque distribution ratio according to actual needs.
[0088] It should also be noted that the above embodiments show the torque distribution ratios corresponding to some situations under each single vehicle body state information, and those skilled in the art can also increase or decrease the torque distribution ratios corresponding to more situations according to actual conditions. For example, taking the load mass and the torque distribution ratio as an example, the torque distribution ratio under a load mass of 150 kg can also be increased.
[0089] Step S220, determining a torque distribution ratio according to the vehicle body state information and the association relationship, the torque distribution ratio being used to distribute torque to the front axle and the rear axle of the vehicle;
[0090] After determining the association relationship associated with the vehicle state information, that is, the corresponding MAP table, according to the vehicle state information, the corresponding torque distribution ratio can be queried in the MAP table according to the specific representation of the vehicle state information. For example, if the vehicle state information includes the driving mode, the MAP table corresponding to the driving mode is determined according to the pre-stored MAP table, such as Table 1, and then the corresponding distribution ratio is queried in Table 1. For example, if the driving mode is the comfort mode, the distribution ratio of the front axle torque to the rear axle torque is 50:50.
[0091] Step S230: distribute the front axle torque and the rear axle torque based on the torque distribution ratio.
[0092] If the torque difference exceeds the torque deviation limit, the control unit will re-issue the output torque request based on the current vehicle state information, and redistribute the front axle torque and rear axle torque to restore them to a reasonable range. It should be noted that before the front axle torque and rear axle torque are redistributed reasonably, the vehicle torque output needs to be limited. If the redistributed front axle torque and rear axle torque are not within a reasonable range, a fault alarm will be issued and a maintenance prompt will be generated.
[0093] In an embodiment of the present application, the torque control method also includes: obtaining the vehicle driving speed and comparing the vehicle driving speed with a preset speed threshold; when the vehicle driving speed exceeds the preset speed threshold, controlling the vehicle torque to be lower than the maximum torque for maintaining the vehicle at a constant speed.
[0094] When the vehicle speed exceeds the preset speed threshold (such as the maximum speed set for vehicle safety or the maximum speed limit set by the user), the vehicle torque cannot exceed the maximum torque to maintain the vehicle's constant speed, that is, the vehicle is not allowed to accelerate.
[0095] In one embodiment, the vehicle torque is:
[0096] T v =R f [(1 / 2)CρSv 2 +f s M v g]
[0097] Among them, T v Represents the vehicle torque, R f represents the rolling radius of the tire, C represents the drag coefficient, ρ represents the air density, S represents the frontal area of the vehicle, v represents the vehicle speed, and f s Represents the rolling resistance coefficient, M v represents the unladen curb mass; g represents the acceleration due to gravity.
[0098] In summary, the present application obtains the actual torque of the front axle and the actual torque of the rear axle, and calculates the torque difference between the actual torque of the front axle and the actual torque of the rear axle; compares the torque difference with the torque deviation limit; when the torque difference is greater than the torque deviation limit, obtains the vehicle body state information and redistributes the front axle torque and the rear axle torque according to the vehicle body state information; the present application obtains the difference between the actual torques of the front and rear axles, and then compares it with the torque deviation limit, and decides whether to redistribute the torque according to the comparison result, so as to realize the monitoring of the safety of the front and rear axle torque distribution function through only one process; compared with the two-time comparison method of comparing the actual torque of the front and rear axles with the expected torque in the prior art, the system occupancy rate is reduced and the stability of the software program operation is improved. At the same time, by real-time monitoring whether the torque distribution of the front and rear axles is abnormal, faults can be discovered and handled in time, the fault expansion can be avoided, the number and cost of vehicle maintenance can be reduced, and safety accidents caused by inaccurate torque distribution or system failure can be avoided, thereby improving the safety and reliability of the vehicle. Furthermore, when the torque distribution is abnormal, the torque distribution ratio is adjusted reasonably to improve the vehicle's handling and stability under different driving conditions, thereby enhancing the driver's driving experience.
[0099] The present application monitors the actual torque of the front axle and the actual torque of the rear axle, and when the difference between the actual torque of the front axle and the actual torque of the rear axle exceeds the torque deviation limit, the front axle torque and the rear axle torque are redistributed, and then the front axle torque and the rear axle torque are monitored again. If the difference between the actual torque of the front axle and the actual torque of the rear axle exceeds the torque deviation limit again, it can be considered that the torque distribution has failed, including the failure of the torque sensor for collecting torque, or the failure of the vehicle speed sensor of the collection vehicle, or the communication failure during the data transmission process, and the failure of the control unit for torque distribution. When a fault occurs, a fault prompt message is generated to detect and troubleshoot the fault. If the fault cannot be eliminated, the vehicle speed is limited by limiting the torque of the entire vehicle to ensure driving safety. For sensor failure or communication failure, the control unit can use redundant sensors or backup communication channels for fault diagnosis and processing.
[0100] When a fault occurs, the control unit can record the vehicle's operating data and fault information and upload it to the cloud server for analysis. The cloud server analyzes the fault data through machine learning algorithms, extracts fault characteristics and patterns, optimizes safety monitoring strategies, and improves the accuracy of fault diagnosis and processing efficiency.
[0101] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
[0102] Figure 2 FIG. 1 is a block diagram of a torque control device according to an exemplary embodiment of the present invention. Figure 2 As shown, a torque control device, the device comprises:
[0103] The torque calculation module 210 is used to obtain the actual torque of the front axle and the actual torque of the rear axle, and calculate the torque difference between the actual torque of the front axle and the actual torque of the rear axle;
[0104] A comparison module 220, configured to compare the torque difference with a torque deviation limit;
[0105] The torque distribution module 230 is configured to redistribute the front axle torque and the rear axle torque when the torque difference is greater than the torque deviation limit, so that the torque difference is less than or equal to the torque deviation limit.
[0106] In one embodiment of the present application, the torque distribution module 230 is used to determine the correlation between the vehicle body status information and the torque distribution ratio, and the correlation corresponds to the vehicle body status information; determine the torque distribution ratio based on the vehicle body status information and the correlation, and the torque distribution ratio is used to distribute torque to the front axle and rear axle of the vehicle; and distribute the front axle torque and the rear axle torque based on the torque distribution ratio.
[0107] In an embodiment of the present application, the torque control device also includes: a speed acquisition module, used to obtain the vehicle driving speed and compare the vehicle driving speed with a preset speed threshold; when the vehicle driving speed exceeds the preset speed threshold, the vehicle torque is controlled to be lower than the maximum torque for maintaining the vehicle's constant speed.
[0108] In the embodiment of the present application, when the vehicle speed exceeds the preset speed threshold and the vehicle maintains a constant speed, the vehicle torque is:
[0109] T v =R f [(1 / 2)CρSv 2 +f s M v g]
[0110] Among them, T v Represents the vehicle torque, R f represents the rolling radius of the tire, C represents the drag coefficient, ρ represents the air density, S represents the frontal area of the vehicle, v represents the vehicle speed, and f s Represents the rolling resistance coefficient, M v represents the unladen curb mass; g represents the acceleration due to gravity.
[0111] In the embodiment of the present application, the torque deviation limit value T g T g1 With T g2 The smaller value between g1 =0.1gM v R f , M v Indicates the unloaded curb weight, R f Indicates the tire rolling radius; T g2 Expressed as the preset differential lock torque property value.
[0112] In the embodiment of the present application, the torque deviation limit is expressed as:
[0113] T g =[(i-1) / (i+1)]T v +0.1gM v R f
[0114] Wherein, i represents the distribution ratio of the front axle torque to the rear axle torque.
[0115] In an embodiment of the present application, the vehicle body state information includes at least one of the following: driving mode, vehicle speed, steering wheel angle, and load mass.
[0116] It should be noted that the torque control device provided in the above embodiment and the torque control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the torque control device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.
[0117] An embodiment of the present application also provides a torque control device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the memory implements the method in the above-mentioned embodiment.
[0118] The embodiments of the present application further provide one or more machine-readable media having instructions stored thereon, which, when executed by one or more processors, enable the processors to execute the methods in the above embodiments.
[0119] Figure 3 The schematic diagram of the structure of a computer system suitable for implementing the memory of the embodiment of the present application is shown. It should be noted that: Figure 3 The computer system of the memory shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
[0120] like Figure 3 As shown, the computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part to the random access memory (RAM), such as executing the method described in the above embodiment. In the RAM, various programs and data required for system operation are also stored. The CPU, ROM and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus.
[0121] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that a computer program read therefrom is installed into the storage part as needed.
[0122] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, the computer program including a computer program for executing the process. Figure 1 A computer program for the torque control method shown. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), various functions defined in the system of the present application are executed.
[0123] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.
[0124] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0125] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not constitute limitations on the units themselves in some cases.
[0126] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the torque control method as described above. The computer-readable storage medium may be included in the memory described in the above embodiment, or may exist independently without being assembled into the memory.
[0127] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the torque control method provided in each of the above embodiments.
[0128] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.
Claims
1. A torque control method, characterized in that: The method comprises: Acquiring the actual torque of the front axle and the actual torque of the rear axle, and calculating the torque difference between the actual torque of the front axle and the actual torque of the rear axle; comparing the torque difference value with a torque deviation limit value; When the torque difference is greater than the torque deviation limit, vehicle body state information is acquired and the front axle torque and the rear axle torque are redistributed according to the vehicle body state information.
2. The torque control method according to claim 1, characterized in that: The step of redistributing the front axle torque and the rear axle torque according to the vehicle body state information comprises: Determining a correlation between the vehicle body state information and the torque distribution ratio; Determining a torque distribution ratio according to the vehicle body state information and the association relationship, wherein the torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle; The front axle torque and the rear axle torque are distributed based on the torque distribution ratio.
3. The torque control method according to claim 1, characterized in that: The method further comprises: Obtaining a vehicle speed, and comparing the vehicle speed with a preset speed threshold; When the vehicle speed exceeds the preset speed threshold, the vehicle torque is controlled to be lower than the maximum torque for maintaining the vehicle running at a constant speed.
4. The torque control method according to claim 3, characterized in that: The vehicle torque is: T v =R f [(1 / 2)CρSv 2 +f s M v g] Among them, T v Represents the vehicle torque, R f represents the rolling radius of the tire, C represents the drag coefficient, ρ represents the air density, S represents the frontal area of the vehicle, v represents the vehicle speed, and f s Represents the rolling resistance coefficient, M v represents the unladen curb mass; g represents the acceleration due to gravity.
5. The torque control method according to claim 1, characterized in that: The torque deviation limit T g T g1 With T g2 The smaller value between T g1 =0.1gM v R f , M v Indicates the unloaded curb weight, R f Indicates the rolling radius of the tire; T g2 Expressed as the preset differential lock torque attribute value.
6. The torque control method according to claim 5, characterized in that: The torque deviation limit is expressed as: T g =[(i-1) / (i+1)]T v +0.1gM v R f Wherein, i represents the distribution ratio of the front axle torque to the rear axle torque.
7. The torque control method according to claim 1, characterized in that: The vehicle body status information includes at least one of the following: Driving mode, vehicle speed, steering wheel angle, load mass.
8. A torque control device, characterized in that: The device comprises: A torque calculation module, used for obtaining the actual torque of the front axle and the actual torque of the rear axle, and calculating the torque difference between the actual torque of the front axle and the actual torque of the rear axle; A comparison module, used for comparing the torque difference with a torque deviation limit; The torque distribution module is used to obtain vehicle body status information and redistribute the front axle torque and the rear axle torque according to the vehicle body status information when the torque difference is greater than the torque deviation limit.
9. An operating mode control device for a dual-motor hybrid vehicle, characterized in that: include: one or more processors; and A memory for storing one or more programs, which, when executed by the one or more processors, enables the memory to implement the method according to one or more of claims 1-7.
10. One or more machine-readable media, characterized in that Instructions are stored thereon, which, when executed by one or more processors, cause the processors to perform the method as claimed in one or more of claims 1-7.