Torque control method, vehicle and computer readable storage medium

Abstract

The invention provides a torque control method, a vehicle and a computer readable storage medium. The torque control method comprises the steps that the total yawing moment of the vehicle is obtained; performing limit value processing on the total yawing moment, and outputting a target yawing moment; and controlling the torque of the vehicle according to the target yawing moment. According to the method, the reasonability of vehicle torque distribution can be improved, the yaw state of the vehicle is corrected, the vehicle handling stability is improved, and the driving fun of a user is enhanced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a torque control method, a vehicle and a computer-readable storage medium. Background Art

[0002] At present, vehicle control technology is becoming increasingly iterative. When a vehicle is driving under different conditions, it may temporarily lose control due to road conditions or other factors that affect driving stability. Therefore, it is very important to control the vehicle to maintain stable driving under different driving conditions and ensure the vehicle experience during the driving process.

[0003] The torque distribution strategy of a vehicle during driving greatly affects the dynamics, stability and comfort of the vehicle. At present, the torque distribution strategy of most vehicles mainly adopts a fixed ratio of torque distribution between the front and rear axles, that is, the front and rear axles of the vehicle adopt a fixed torque distribution. However, the above torque distribution method cannot be flexibly adjusted for different driving conditions, and the correct body response cannot be made in time. The adjustment method is relatively simple, resulting in unreasonable torque distribution under some conditions, affecting the stability of the vehicle, and thus reducing the user's driving experience and riding comfort. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, an object of the present invention is to propose a torque control method, which can improve the rationality of vehicle torque distribution, so as to correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure.

[0006] To this end, a second objective of the present invention is to provide a torque control device.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a torque control method, which includes: obtaining the total yaw moment of the vehicle; limiting the total yaw moment and outputting a target yaw moment; and controlling the torque of the vehicle according to the target yaw moment.

[0010] According to the torque control method of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure and riding comfort.

[0011] In some embodiments, limiting the total yaw moment includes: acquiring the vehicle speed of the vehicle; and performing gradient proportional control on the total yaw moment based on the vehicle speed to limit the total yaw moment.

[0012] In some embodiments, based on the vehicle speed, the total yaw moment is subjected to gradient proportional control, including: calculating a gradient factor according to the vehicle speed; and performing gradient proportional control on the total yaw moment based on the gradient factor.

[0013] In some embodiments, gradient proportional control is performed on the total yaw moment based on the gradient factor, including: outputting the target yaw moment according to the product of the gradient factor and the total yaw moment.

[0014] In some embodiments, calculating the gradient factor according to the vehicle speed includes:

[0015] k=(vv low ) / (v lowend -v low )

[0016] Wherein, k is the gradient factor, v is the vehicle speed, and v low is the lower limit of vehicle speed gradient calibration, v lowend Calibrate the upper limit value for the vehicle speed gradient.

[0017] In some embodiments, before performing gradient proportional control on the total yaw moment based on the gradient factor, the method further includes: performing limit processing on the calculated gradient factor.

[0018] In some embodiments, the calculated gradient factor is subjected to limit processing, including: when the gradient factor exceeds a set threshold, using the set threshold as the gradient factor; when the gradient factor does not exceed the set threshold, outputting the gradient factor.

[0019] In some embodiments, the torque control method further includes: when the gradient factor is greater than zero, determining that the vehicle torque vector control function is activated, and outputting a flag indicating that the torque vector control function is activated.

[0020] In some embodiments, the torque control method further includes: detecting a gear signal of the vehicle; when it is determined that the vehicle is in a preset gear and the gradient factor is greater than zero, controlling the torque vector control function of the vehicle to be turned on, and outputting a flag indicating that the torque vector control function is turned on.

[0021] In some embodiments, obtaining the total yaw moment of the vehicle includes: obtaining a feedforward yaw moment and a feedback yaw moment of the vehicle; and obtaining the total yaw moment according to the feedforward yaw moment and the feedback yaw moment.

[0022] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque control device, which includes: an acquisition module, used to obtain the total yaw moment of the vehicle; a processing module, used to limit the total yaw moment and output a target yaw moment; and a control module, used to control the torque of the vehicle according to the target yaw moment.

[0023] According to the torque control device of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the yaw state of the vehicle itself, improve the vehicle handling stability, and enhance the driving pleasure and riding comfort of the user.

[0024] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, which includes: a torque control device as described in the above-mentioned embodiment; or, the vehicle includes: a processor, a memory, and a torque control program stored in the memory and executable on the processor, and when the torque control program is executed by the processor, the torque control method as described in the above-mentioned embodiment is implemented.

[0025] According to the vehicle of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the yaw state of the vehicle itself, improve the vehicle handling stability, and enhance the driving pleasure and riding comfort of the user.

[0026] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a torque control program is stored. When the torque control program is executed by a processor, the torque control method as described in the above-mentioned embodiment is implemented.

[0027] According to the computer-readable storage medium of an embodiment of the present invention, when the torque control program stored thereon is executed by a processor, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure and riding comfort.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a flow chart of a torque control method according to an embodiment of the present invention;

[0031] Figure 2 is a flow chart of a torque control method according to another embodiment of the present invention;

[0032] Figure 3 is a structural block diagram of a torque control device according to an embodiment of the present invention;

[0033] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0034] Figure 5 is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0035] Reference numerals: torque control device 2 ; acquisition module 21 ; processing module 22 ; control module 23 ; vehicle 3 ; processor 100 ; memory 101 ; torque control program 102 . DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0037] Combine the following Figure 1 and Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0038] like Figure 1 As shown, the torque control method of the embodiment of the present invention at least includes steps S1 to S3.

[0039] Step S1, obtaining the total yaw moment of the vehicle.

[0040] Among them, the total yaw moment is the total torque request of the vehicle, and the total yaw moment is obtained based on the feedforward yaw moment obtained by the vehicle through feedforward torque control and the feedback yaw moment obtained by the vehicle through feedback torque control. It can be understood that the above parameters will change according to the different motion states of the vehicle.

[0041] In an embodiment, the driving state of each wheel of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the feedforward yaw moment obtained by the feedforward torque control of the vehicle and the feedback yaw moment obtained by the feedback torque control of the vehicle, can be obtained. The total yaw moment of the vehicle can be determined after integrating the outputs of the feedforward yaw moment obtained by the feedforward torque control of the vehicle and the feedback yaw moment obtained by the feedback torque control of the vehicle. By obtaining the total yaw moment of the vehicle, the current state information of the vehicle can be determined, and then the corresponding target yaw moment can be determined, and the vehicle torque can be reasonably distributed according to the target yaw moment.

[0042] Step S2, performing limit processing on the total yaw moment and outputting a target yaw moment.

[0043] The target yaw moment is a reasonable torque request for vehicle torque distribution. By limiting the total yaw moment, the problem of large output torque fluctuations affecting vehicle operating stability can be avoided.

[0044] In an embodiment, after the total yaw moment of the vehicle is obtained, the total yaw moment is limited, for example, the total yaw moment is gradient proportionally controlled based on the vehicle speed, so that the torque fluctuation output by the vehicle is reduced or even tends to a stable state, thereby improving the rationality of the vehicle's torque distribution, thereby enhancing the vehicle's driving stability and ride comfort.

[0045] Step S3, controlling the torque of the vehicle according to the target yaw moment.

[0046] In the embodiment, after the target yaw moment is determined, the TVC (Torque Vectoring Control) function of the vehicle, i.e., the vehicle torque vectoring control function, is turned on according to the target yaw moment to control the torque of the vehicle and ensure the rationality of the vehicle torque distribution, so as to correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure and riding comfort.

[0047] The vehicle in the embodiment of the present invention may include three motors or four motors. A three-motor vehicle is a vehicle in which one axle is provided with two motors, which are respectively used to drive the left and right wheels corresponding to the axle, and the other axle is provided with one motor, which is used to drive the left and right wheels corresponding to the axle. A three-motor vehicle includes, for example: a rear axle with two motors and a front axle with a single motor, or a front axle with two motors and a rear axle with a single motor. In other words, the vehicle has three motors, one motor is provided on the front axle for driving the front axle alone, and the other two motors are provided on the rear axle for driving the left and right wheels of the rear axle; or one motor is provided on the rear axle for driving the rear axle alone, and the other two motors are provided on the front axle for driving the left and right wheels of the front axle. A four-motor vehicle is a vehicle in which four motors are provided, each of which drives one wheel respectively, that is, the front axle is provided with two motors to drive the two wheels of the front axle respectively, and the rear axle is provided with two motors to drive the two wheels of the rear axle respectively, thereby realizing independent control of the motors to improve the response speed of the vehicle and make the vehicle more flexible, so that the ground adhesion can be fully utilized and slip control can be realized, which is conducive to improving the power and stability of the vehicle.

[0048] According to the torque control method of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure and riding comfort.

[0049] In some embodiments, limiting the total yaw moment includes: acquiring the vehicle speed; and performing gradient proportional control on the total yaw moment based on the vehicle speed to limit the total yaw moment.

[0050] In an embodiment, the driving status of each wheel of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the vehicle speed v, can be obtained. The total yaw moment can be gradient proportionally controlled based on the vehicle speed v to limit the total yaw moment, so that the torque fluctuation output by the vehicle is reduced or even tends to a stable state, thereby improving the rationality of the vehicle's torque distribution and enhancing the stability of vehicle driving.

[0051] In some embodiments, based on the vehicle speed, the total yaw moment is gradient proportionally controlled, including: calculating a gradient factor according to the vehicle speed; and gradient proportionally controlling the total yaw moment based on the gradient factor.

[0052] In an embodiment, after obtaining the vehicle speed v, the gradient factor is calculated according to the vehicle speed v, and the total yaw moment is gradient proportionally controlled based on the gradient factor. The total yaw moment is limited based on the gradient proportion of the vehicle speed, so that the torque fluctuation output by the vehicle is reduced or even reaches a stable state, thereby improving the rationality of the vehicle torque distribution and enhancing the stability of vehicle driving.

[0053] In some embodiments, performing gradient proportional control on the total yaw moment based on the gradient factor includes: outputting a target yaw moment according to a product of the gradient factor and the total yaw moment.

[0054] In an embodiment, after obtaining the gradient factor, the product of the gradient factor and the total yaw moment is calculated to limit the total yaw moment. The output target yaw moment makes the torque output of the vehicle fluctuate less or even reach a stable state, thereby improving the rationality of the vehicle torque distribution and enhancing the stability of vehicle driving.

[0055] In some embodiments, calculating the gradient factor according to the vehicle speed includes:

[0056] k=(vv low ) / (v lowend -v low )

[0057] Where k is the gradient factor, v is the vehicle speed, and v fow v is the lower limit of the vehicle speed gradient calibration, which is a pre-calibrated value; lowend is the upper limit of the vehicle speed gradient calibration, which is a pre-calibrated value. low and v lowend Defines the limit threshold for the vehicle speed gradient.

[0058] In the embodiment, after obtaining the vehicle speed v, the gradient factor is calculated according to the vehicle speed v, for example, denoted as k, that is, the calculation formula of the gradient factor k is as follows:

[0059] k=(vv low ) / (v lowend -v low )

[0060] Among them, v low is the lower limit of vehicle speed gradient calibration, v lowend An upper limit value is calibrated for the vehicle speed gradient, and a limit threshold value of the vehicle speed gradient is determined based on the above parameters.

[0061] In some embodiments, before performing gradient proportional control on the total yaw moment based on the gradient factor, the method further includes: performing limit processing on the calculated gradient factor.

[0062] In the embodiment, after the calculated gradient factor k is obtained, the gradient factor k is limited to prevent the output torque from fluctuating greatly and affecting the stability of the vehicle operation.

[0063] In some embodiments, the calculated gradient factor is subjected to limit processing, including: when the gradient factor exceeds a set threshold, using the set threshold as the gradient factor; when the gradient factor does not exceed the set threshold, outputting the gradient factor.

[0064] In an embodiment, after obtaining the calculated gradient factor k, the size relationship between the gradient factor k and the set threshold is determined. When the gradient factor k exceeds the set threshold, it is considered that the gradient factor k at this time cannot meet the stability of vehicle operation, and the set threshold is used as the gradient factor to prevent the output torque from fluctuating too much and affecting the stability of vehicle operation; when the gradient factor k does not exceed the set threshold, it is considered that the gradient factor k at this time can meet the requirement of maintaining the stability of vehicle operation, and the gradient factor k is directly output, so that the torque output of the vehicle fluctuates less or even reaches a stable state, thereby improving the rationality of the vehicle torque distribution, and then enhancing the stability and comfort of vehicle driving.

[0065] In some embodiments, the torque control method further includes: when the gradient factor is greater than zero, determining that the vehicle torque vector control function is activated, and outputting a flag indicating that the torque vector control function is activated.

[0066] In the embodiment, after determining the magnitude relationship between the gradient factor k and the set threshold, it is determined whether the gradient factor k is greater than zero. When the gradient factor k is greater than zero, it is determined that the vehicle torque vector control function is activated, and the flag of the torque vector control function activation is output for subsequent determination of whether the function is enabled; when the gradient factor k is equal to zero, that is, k=0, it is determined that the vehicle torque vector control function is turned off. It can be understood that when the gradient factor k is 1, it means that the vehicle torque vector control function is in a fully activated state, that is, the total yaw moment is fully output as the target yaw moment.

[0067] In some embodiments, the torque control method further includes: detecting a gear signal of the vehicle; when it is determined that the vehicle is in a preset gear and the gradient factor is greater than zero, controlling the torque vector control function of the vehicle to be turned on, and outputting a flag indicating that the torque vector control function is turned on.

[0068] In an embodiment, the driving status of each wheel of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the gear signal of the vehicle, can be obtained to determine whether the vehicle is in a preset gear, the preset gear is, for example, D gear. When it is determined that the vehicle is in the preset gear D gear and the gradient factor k is greater than zero, a total yaw moment request is output, the torque vector control function (i.e., TVC) of the vehicle is controlled to be turned on, and a flag bit indicating that the torque vector control function is turned on is output, indicating that the TVC function of the vehicle is turned on at this time.

[0069] In some embodiments, obtaining a total yaw moment of the vehicle includes: obtaining a feedforward yaw moment and a feedback yaw moment of the vehicle; and obtaining a total yaw moment according to the feedforward yaw moment and the feedback yaw moment.

[0070] In an embodiment, the driving state of each wheel of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, for example, including the feedforward yaw moment of the vehicle, for example, M (z，ff) , and the feedback yaw moment is denoted as M (z，fb) After obtaining the above parameters, calculate the vehicle's feedforward yaw moment M (z，ff) and feedback yaw moment M (z，fb) The sum of the two values ​​is used as the total yaw moment, for example, M (z，tae) , that is, the total yaw moment M (z，tae) The calculation formula is as follows:

[0071] M (z，tae) =M (z，ff) +M (z，fb) .

[0072] In a specific embodiment, the feedforward yaw moment and the feedback yaw moment may be obtained by the vehicle controller, and thus, obtaining the feedforward yaw moment and the feedback yaw moment of the vehicle includes: receiving the feedforward yaw moment and the feedback yaw moment sent by the vehicle controller. The feedforward yaw moment is obtained by the vehicle through feedforward torque control, and the feedback yaw moment is obtained by the vehicle through feedback torque control.

[0073] Specifically, the process of feedforward torque control of the vehicle includes: calculating the yaw control amount of the vehicle; calculating the steady-state yaw control torque and the dynamic yaw control torque of the vehicle according to the yaw control amount; obtaining the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; distributing torque to the left and right wheels of the vehicle according to the target yaw control torque, thereby completing the feedforward control of the vehicle, that is, the target yaw control torque is the feedforward yaw moment obtained by the vehicle after feedforward torque control.

[0074] Specifically, the process of the vehicle performing feedback torque control includes: determining the yaw control amount and PID control parameters of the vehicle; inputting the yaw control amount and the PID control parameters into the PID controller to perform PID control on the actual yaw angular velocity of the vehicle, and outputting the feedback yaw torque; performing torque distribution on the left and right wheels of the vehicle according to the feedback yaw torque, thereby completing the feedback control of the vehicle, that is, the output feedback yaw torque is the feedback yaw torque obtained by the vehicle through feedback torque control. Further, in some embodiments, after the feedback yaw torque is output, the anti-saturation control amount can also be obtained; the output feedback yaw torque and the anti-saturation control amount are input into the PID controller to perform anti-saturation feedback control on the feedback yaw torque, and output the corrected feedback yaw torque; performing torque distribution on the left and right wheels of the vehicle according to the corrected feedback yaw torque, thereby, the output corrected feedback yaw torque can also be used as the feedback yaw torque obtained by the vehicle through feedback torque control.

[0075] Reference below Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0076] like Figure 2 As shown, the torque control method of the embodiment of the present invention at least includes steps S11 to S25.

[0077] Step S11, acquiring a feedforward yaw moment and a feedback yaw moment of the vehicle, and obtaining a total yaw moment according to the feedforward yaw moment and the feedback yaw moment.

[0078] Step S12, obtaining the vehicle speed.

[0079] Step S13, calculating the gradient factor according to the vehicle speed.

[0080] Step S14, determining whether the gradient factor exceeds a set threshold, if so, executing step S16; if not, executing step S15.

[0081] Step S15, setting a threshold as a gradient factor.

[0082] Step S16, output the gradient factor.

[0083] Step S17, determine whether the gradient factor is greater than zero, if so, execute step S19; if not, execute step S18.

[0084] Step S18, determining whether the vehicle torque vector control function is turned off.

[0085] Step S19, determining whether the vehicle torque vector control function is activated, and outputting a flag indicating the activation of the torque vector control function.

[0086] Step S20, detecting the gear position signal of the vehicle.

[0087] Step S21, determine whether the vehicle is in a preset gear position, if so, execute step S22; if not, execute step S25.

[0088] Step S22, controlling the torque vector control function of the vehicle to be turned on, and outputting a flag indicating that the torque vector control function is turned on.

[0089] Step S23: output the target yaw moment according to the product of the gradient factor and the total yaw moment.

[0090] Step S24: Control the torque of the vehicle according to the target yaw moment.

[0091] Step S25, determining whether the vehicle torque vector control function is turned off.

[0092] According to the torque control method of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure and riding comfort.

[0093] Reference below Figure 3 The torque control device 2 according to the embodiment of the present invention will be described.

[0094] like Figure 3As shown, the torque control device 2 of the embodiment of the present invention comprises: an acquisition module 21, a processing module 22 and a control module 23, wherein:

[0095] The acquisition module 21 is used to acquire the total yaw moment of the vehicle; the processing module 22 is used to perform limit processing on the total yaw moment and output a target yaw moment; and the control module 23 is used to control the torque of the vehicle according to the target yaw moment.

[0096] In an embodiment, the acquisition module 21 can monitor the driving state of each wheel of the vehicle under different driving conditions in real time through relevant sensors or controllers on the vehicle, and acquire the driving data of the vehicle, such as the feedforward yaw moment obtained by the vehicle through feedforward torque control and the feedback yaw moment obtained by the vehicle through feedback torque control, and determine the total yaw moment of the vehicle after integrating the output of the feedforward yaw moment obtained by the vehicle through feedforward torque control and the feedback yaw moment obtained by the vehicle through feedback torque control, and determine the current state information of the vehicle by acquiring the total yaw moment of the vehicle, and then determine the corresponding target yaw moment, and realize the reasonable distribution of the vehicle torque according to the target yaw moment. Among them, the total yaw moment is the total torque request of the vehicle, and the total yaw moment is obtained based on the feedforward yaw moment obtained by the vehicle through feedforward torque control and the feedback yaw moment obtained by the vehicle through feedback torque control. It can be understood that the above parameters will change according to different motion states of the vehicle.

[0097] The processing module 22 performs a limit process on the total yaw moment, for example, performs a gradient proportional control on the total yaw moment based on the vehicle speed, so that the torque fluctuation output by the vehicle is reduced, or even reaches a stable state, and the rationality of the vehicle torque distribution is improved, thereby enhancing the driving stability and riding comfort of the vehicle. Among them, the target yaw moment is a reasonable torque request for the vehicle torque distribution. By performing a limit process on the total yaw moment, the problem of large output torque fluctuation affecting the vehicle operation stability can be avoided.

[0098] The control module 23 activates the vehicle's TVC function, i.e., the vehicle torque vector control function, according to the target yaw moment, controls the vehicle's torque, ensures the rationality of the vehicle's torque distribution, corrects the vehicle's own yaw state, improves the vehicle's handling stability, and enhances the user's driving pleasure and riding comfort.

[0099] According to the torque control device 2 of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the yaw state of the vehicle itself, improve the vehicle handling stability, and enhance the driving pleasure and riding comfort of the user.

[0100] In some embodiments, when the processing module 22 performs limit processing on the total yaw moment, it is specifically used to: obtain the vehicle speed; and based on the vehicle speed, perform gradient proportional control on the total yaw moment to perform limit processing on the total yaw moment.

[0101] In some embodiments, when the processing module 22 performs gradient proportional control on the total yaw moment based on the vehicle speed, it is specifically used to: calculate a gradient factor according to the vehicle speed; and perform gradient proportional control on the total yaw moment based on the gradient factor.

[0102] In some embodiments, when the processing module 22 performs gradient proportional control on the total yaw moment based on the gradient factor, it is specifically configured to: output the target yaw moment according to the product of the gradient factor and the total yaw moment.

[0103] In some embodiments, the processing module 22 calculates the gradient factor according to the vehicle speed, including:

[0104] k=(vv low ) / (v lowend -v low )

[0105] Where k is the gradient factor, v is the vehicle speed, and v fow is the lower limit of vehicle speed gradient calibration, v lowend Calibrate the upper limit value for the vehicle speed gradient.

[0106] In some embodiments, before performing gradient proportional control on the total yaw moment based on the gradient factor, the processing module 22 is further specifically configured to: perform limit processing on the calculated gradient factor.

[0107] In some embodiments, when the processing module 22 performs limit processing on the calculated gradient factor, it is specifically used to: when the gradient factor exceeds a set threshold, use the set threshold as the gradient factor; when the gradient factor does not exceed the set threshold, output the gradient factor.

[0108] In some embodiments, when the gradient factor is greater than zero, the processing module 22 is specifically configured to: determine that the vehicle torque vector control function is activated, and output a flag indicating that the torque vector control function is activated.

[0109] In some embodiments, the control module 23 is also used to: detect the gear signal of the vehicle; when it is determined that the vehicle is in a preset gear and the gradient factor is greater than zero, control the torque vector control function of the vehicle to be turned on, and output a flag indicating that the torque vector control function is turned on.

[0110] In some embodiments, when the acquisition module 21 acquires the total yaw moment of the vehicle, it is specifically used to: acquire the feedforward yaw moment obtained by the vehicle through feedforward torque control and the feedback yaw moment obtained by the vehicle through feedback torque control; and obtain the total yaw moment according to the feedforward yaw moment and the feedback yaw moment.

[0111] According to the torque control device 2 of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the yaw state of the vehicle itself, improve the vehicle handling stability, and enhance the driving pleasure and riding comfort of the user.

[0112] Reference below Figure 4 and Figure 5 A vehicle 3 according to an embodiment of the present invention will be described.

[0113] In some embodiments, Figure 4 As shown, the vehicle 3 according to the embodiment of the present invention comprises a torque control device 2 as described in any one of the above embodiments of the present invention.

[0114] In other embodiments, Figure 5 As shown, the vehicle 3 of the embodiment of the present invention includes a processor 100, a memory 101, and a torque control program 102 stored in the memory 101 and executable on the processor 100. When the torque control program 102 is executed by the processor 100, the torque control method of the above embodiment is implemented.

[0115] According to the vehicle 3 of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the yaw state of the vehicle itself, improve the vehicle handling stability, and enhance the driving pleasure and riding comfort of the user.

[0116] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0117] A torque control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque control program is executed by a processor, the torque control method described in any one of the above embodiments of the present invention is implemented.

[0118] According to the computer-readable storage medium of an embodiment of the present invention, when the torque control program stored thereon is executed by a processor, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to obtain the total yaw moment of the vehicle according to the relevant driving data of the vehicle, limit the total yaw moment, and output the target yaw moment, so as to activate the TVC function of the vehicle according to the target yaw moment, that is, the vehicle torque vector control function, control the torque of the vehicle, ensure the rationality of the vehicle torque distribution, correct the vehicle's own yaw state, improve the vehicle's handling stability, and enhance the user's driving pleasure and riding comfort.

[0119] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0120] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque control method, characterized in that: The following steps are involved: Get the total yaw moment of the vehicle; performing limit processing on the total yaw moment and outputting a target yaw moment; The torque of the vehicle is controlled according to the target yaw moment.

2. The torque control method according to claim 1, characterized in that: The total yaw moment is subjected to limit processing, including: Obtaining the speed of the vehicle; Based on the vehicle speed, gradient proportional control is performed on the total yaw moment to limit the total yaw moment.

3. The torque control method according to claim 2, characterized in that: Based on the vehicle speed, the total yaw moment is controlled in gradient proportion, including: calculating a gradient factor based on the vehicle speed; The total yaw moment is gradient proportionally controlled based on the gradient factor.

4. The torque control method according to claim 3, characterized in that: Performing gradient proportional control on the total yaw moment based on the gradient factor includes: The target yaw moment is output according to the product of the gradient factor and the total yaw moment.

5. The torque control method according to claim 3, characterized in that: Calculating a gradient factor according to the vehicle speed includes: k=(vv low ) / (v lowend -v low ) Wherein, k is the gradient factor, v is the vehicle speed, and v low is the lower limit of vehicle speed gradient calibration, v lowend Calibrate the upper limit value for the vehicle speed gradient.

6. The torque control method according to claim 3, characterized in that: Before performing gradient proportional control on the total yaw moment based on the gradient factor, the method further includes: The calculated gradient factor is subjected to a limiting process.

7. The torque control method according to claim 6, characterized in that: The calculated gradient factor is subjected to a limit value processing, comprising: When the gradient factor exceeds a set threshold, the set threshold is used as the gradient factor; When the gradient factor does not exceed the set threshold, the gradient factor is output.

8. The torque control method according to claim 5, characterized in that: Also includes: When the gradient factor is greater than zero, it is determined that the vehicle torque vector control function is activated, and a flag indicating the activation of the torque vector control function is output.

9. The torque control method according to claim 8, characterized in that: Also includes: detecting a gear position signal of the vehicle; When it is determined that the vehicle is in a preset gear and the gradient factor is greater than zero, the torque vector control function of the vehicle is controlled to be turned on, and a flag indicating that the torque vector control function is turned on is output.

10. The torque control method according to claim 1, characterized in that: Obtaining the total yaw moment of the vehicle, comprising: Obtaining the feedforward yaw moment and feedback yaw moment of the vehicle; The total yaw moment is obtained according to the feedforward yaw moment and the feedback yaw moment.

11. A vehicle, characterized in that: include: A processor, a memory, and a torque control program stored in the memory and executable on the processor, wherein the torque control program implements the torque control method according to any one of claims 1 to 10 when executed by the processor.

12. A computer-readable storage medium, characterized in that: A vehicle torque control program is stored on a computer-readable storage medium, and when the torque control program is executed by a processor, the torque control method according to any one of claims 1 to 10 is implemented.

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