Torque control method, electronic stabilization system and medium

Abstract

The invention provides a torque control method, an electronic stabilization system and a medium, and the method comprises the steps: obtaining the vehicle speed and the driving wheel speed of a vehicle, and determining the wheel speed slip amount of the vehicle according to the vehicle speed and the driving wheel speed; determining a wheel speed slip amount threshold value; if the wheel speed slip amount is larger than the wheel speed slip amount threshold value, the vehicle is controlled to rise torque according to a preset torque request value and the wheel speed slip amount; if the wheel speed slip amount is smaller than or equal to the wheel speed slip amount threshold value, the lateral acceleration, the steering wheel rotation angle and the steering wheel rotation angle rate of the vehicle are obtained in real time, and the vehicle is controlled to rise and twist according to the lateral acceleration, the steering wheel rotation angle and the steering wheel rotation angle rate in real time, so that the steering stability of the vehicle during sliding or braking is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a torque control method, an electronic stability system and a medium. Background Art

[0002] In the automotive field, electric vehicles use energy recovery systems to recover some energy when coasting or braking. However, when the vehicle makes a large or sharp turn during coasting or braking, the longitudinal grip of the wheel will be weakened due to the lateral force, which can easily cause the wheel to slip and affect the stability of the entire vehicle.

[0003] At present, torque is usually adjusted by detecting wheel speed slip. When the wheel speed slip is detected to be large and exceeds the threshold, a torque increase is quickly requested. However, there is a certain amount of recovered negative torque in the process of adjusting the torque, which causes the vehicle to be unstable when turning. In addition, a rough torque increase can easily produce a sense of loss of deceleration, thereby causing the electric vehicle to lose braking force.

[0004] Therefore, how to improve the stability and safety of electric vehicles under turning conditions during coasting or braking is an issue that needs to be addressed urgently. Summary of the invention

[0005] The purpose of the present application is to provide a torque control method, an electronic stability system and a medium to address the practical needs of the prior art for electric vehicles with low stability and safety in steering conditions during coasting or braking.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a torque control method, the method comprising:

[0008] Acquiring a vehicle speed and a driving wheel speed of the vehicle, and determining a wheel speed slip amount of the vehicle according to the vehicle speed and the driving wheel speed;

[0009] Determining a wheel speed slip threshold;

[0010] If the wheel speed slip is greater than the wheel speed slip threshold, controlling the vehicle to increase torque according to a preset torque request value and the wheel speed slip;

[0011] If the wheel speed slip is less than or equal to the wheel speed slip threshold, the vehicle's lateral acceleration, steering wheel angle and steering wheel angle rate are acquired in real time, and the vehicle torque rise is controlled in real time according to the lateral acceleration, the steering wheel angle and the steering wheel angle rate.

[0012] As an optional implementation manner, determining the wheel speed slip threshold includes:

[0013] The deceleration of the vehicle is acquired, and the wheel speed slip threshold is determined according to the deceleration and the vehicle speed.

[0014] As an optional implementation, controlling the vehicle torque increase according to a preset torque request value and the wheel speed slip amount includes:

[0015] According to the wheel speed slip, a closed-loop torque request value is obtained through proportional-integral closed-loop calculation;

[0016] A larger operation is performed on the torque request value and the closed-loop torque request value to determine a target torque request value, and the current actual torque of the vehicle is adjusted to the target torque request value.

[0017] As an optional implementation, controlling the vehicle torque increase according to the lateral acceleration, the steering wheel angle, and the steering wheel angle rate in real time includes:

[0018] Acquire in real time a first threshold value, a second threshold value, and a third threshold value of the lateral acceleration that are pre-calibrated;

[0019] determining whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold;

[0020] If so, the current actual torque of the vehicle is used as the initial torque request value, and the target torque request value corresponding to the lateral acceleration is determined based on the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold and the third threshold, and the current actual torque of the vehicle is adjusted to the target torque request value.

[0021] As an optional implementation, determining whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold value includes:

[0022] If the lateral acceleration is greater than or equal to the first threshold, it is determined that the vehicle torque increase control is performed; otherwise, it is determined that the vehicle torque increase control is not performed.

[0023] As an optional implementation, determining the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold, and the third threshold includes:

[0024] If the lateral acceleration is equal to the third threshold, determining the target torque request value corresponding to the lateral acceleration to be a first value;

[0025] determining a minimum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the third threshold value;

[0026] determining a maximum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the second threshold value;

[0027] Determining a first torque rise factor according to the steering wheel angle, wherein the first torque rise factor is positively correlated with the steering wheel angle;

[0028] determining a second torque rise factor according to the steering wheel angular rate, wherein the second torque rise factor is positively correlated with the steering wheel angular rate;

[0029] Determining a correction coefficient according to the first torque rise factor, the second torque rise factor and a preset correction coefficient threshold;

[0030] A target torque request value corresponding to the lateral acceleration is determined according to the correction coefficient, the minimum value, and the maximum value.

[0031] As an optional implementation, determining the correction coefficient according to the first torque rise factor, the second torque rise factor and a preset correction coefficient threshold includes:

[0032] determining a first product according to the first torque rise factor and the second torque rise factor;

[0033] The correction coefficient is determined by performing a smaller operation on the first product and the preset correction coefficient threshold.

[0034] As an optional implementation, after adjusting the current actual torque of the vehicle to the target torque request value, the method further includes:

[0035] If the lateral acceleration is less than the first threshold, the target torque request value corresponding to the lateral acceleration is iteratively reduced according to a preset fixed gradient value, so as to reduce the target torque request value corresponding to the lateral acceleration to the motor request torque.

[0036] In a second aspect, an embodiment of the present application provides a torque control device, the device comprising:

[0037] an acquisition module, used to acquire a vehicle speed and a driving wheel speed of the vehicle, and determine a wheel speed slip amount of the vehicle according to the vehicle speed and the driving wheel speed;

[0038] A determination module, used to determine a wheel speed slip threshold;

[0039] a control module, configured to control the vehicle to increase torque according to a preset torque request value and the wheel speed slip if the wheel speed slip is greater than the wheel speed slip threshold;

[0040] The control module is also used to obtain the vehicle's lateral acceleration, steering wheel angle and steering wheel angle rate in real time if the wheel speed slip is less than or equal to the wheel speed slip threshold, and control the vehicle's torque rise in real time according to the lateral acceleration, the steering wheel angle and the steering wheel angle rate.

[0041] As an optional implementation manner, the determining module is specifically used for:

[0042] The deceleration of the vehicle is acquired, and the wheel speed slip threshold is determined according to the deceleration and the vehicle speed.

[0043] As an optional implementation, the control module is specifically used for:

[0044] According to the wheel speed slip, a closed-loop torque request value is obtained through proportional-integral closed-loop calculation;

[0045] A larger operation is performed on the torque request value and the closed-loop torque request value to determine a target torque request value, and the current actual torque of the vehicle is adjusted to the target torque request value.

[0046] As an optional implementation, the control module is specifically used for:

[0047] Acquire in real time a first threshold value, a second threshold value, and a third threshold value of the lateral acceleration that are pre-calibrated;

[0048] determining whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold;

[0049] If so, the current actual torque of the vehicle is used as the initial torque request value, and the target torque request value corresponding to the lateral acceleration is determined based on the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold and the third threshold, and the current actual torque of the vehicle is adjusted to the target torque request value.

[0050] As an optional implementation, the control module is specifically used for:

[0051] If the lateral acceleration is greater than or equal to the first threshold, it is determined that the vehicle torque increase control is performed; otherwise, it is determined that the vehicle torque increase control is not performed.

[0052] As an optional implementation, the control module is specifically used for:

[0053] If the lateral acceleration is equal to the third threshold, determining the target torque request value corresponding to the lateral acceleration to be a first value;

[0054] determining a minimum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the third threshold value;

[0055] determining a maximum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the second threshold value;

[0056] Determining a first torque rise factor according to the steering wheel angle, wherein the first torque rise factor is positively correlated with the steering wheel angle;

[0057] determining a second torque rise factor according to the steering wheel angular rate, wherein the second torque rise factor is positively correlated with the steering wheel angular rate;

[0058] Determining a correction coefficient according to the first torque rise factor, the second torque rise factor and a preset correction coefficient threshold;

[0059] A target torque request value corresponding to the lateral acceleration is determined according to the correction coefficient, the minimum value, and the maximum value.

[0060] As an optional implementation, the control module is specifically used for:

[0061] determining a first product according to the first torque rise factor and the second torque rise factor;

[0062] The correction coefficient is determined by performing a smaller operation on the first product and the preset correction coefficient threshold.

[0063] As an optional implementation, the control module is further used for:

[0064] If the lateral acceleration is less than the first threshold, the target torque request value corresponding to the lateral acceleration is iteratively reduced according to a preset fixed gradient value, so as to reduce the target torque request value corresponding to the lateral acceleration to the motor request torque.

[0065] In a third aspect, an embodiment of the present application provides an electronic stability system, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic stability system is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the torque control method described in the first aspect above.

[0066] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the torque control method described in the first aspect are executed.

[0067] The beneficial effects of this application are:

[0068] The present application provides a torque control method, an electronic stability system and a medium. The electronic stability system obtains the vehicle speed and driving wheel speed of the vehicle under the steering condition during sliding or braking, determines the wheel speed slip of the vehicle according to the vehicle speed and driving wheel speed, and determines the dynamic wheel speed slip threshold in real time based on the vehicle speed under the steering condition during sliding or braking to characterize the minimum threshold for the vehicle to perform advance torque increase control at different vehicle speeds. The advance torque increase control judgment is performed according to the magnitude relationship between the wheel speed slip and the wheel speed slip threshold. If the wheel speed slip is greater than the wheel speed slip threshold, it is determined that the vehicle torque increase needs to be controlled in advance, and the torque request value preset by the user is obtained. According to the preset torque request value and the wheel speed slip, the target torque request value is determined so as to control the vehicle torque increase in advance based on the target torque request value. If the wheel speed slip is less than or equal to the wheel speed slip threshold, the vehicle is subjected to real-time torque increase control. The electronic stability system obtains the lateral acceleration and steering wheel angle of the vehicle in the steering condition when sliding or braking in real time, and calculates the steering wheel angle rate in real time based on the steering wheel angle. According to the lateral acceleration, steering wheel angle and steering wheel angle rate of the vehicle in the steering condition when sliding or braking, the target torque request value corresponding to the lateral acceleration is determined, and the vehicle torque increase is controlled in real time based on the target torque request value corresponding to the lateral acceleration. By performing advance torque increase control or real-time torque increase control on the vehicle in the steering condition when sliding or braking, the flexibility of torque increase control and the stability and safety of steering when the vehicle is sliding or braking are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0070] Figure 1 A schematic diagram of a flow chart of a torque control method provided in an embodiment of the present application;

[0071] Figure 2 A schematic diagram of a process flow of controlling vehicle torque increase of a torque control method provided in an embodiment of the present application;

[0072] Figure 3Another schematic diagram of a process of controlling vehicle torque increase of the torque control method provided in an embodiment of the present application;

[0073] Figure 4 A schematic diagram of a flow chart of determining a target torque request value corresponding to a lateral acceleration in a torque control method provided in an embodiment of the present application;

[0074] Figure 5 A schematic diagram of a linear equation of the maximum and minimum values ​​of a target torque request value corresponding to a lateral acceleration of a torque control method provided in an embodiment of the present application;

[0075] Figure 6 A schematic diagram of a flow chart of determining a correction coefficient of a torque control method provided in an embodiment of the present application;

[0076] Figure 7 A module structure diagram of a torque control device provided in an embodiment of the present application;

[0077] Figure 8 A schematic diagram of the structure of an electronic stability system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0078] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0079] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0080] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0081] At present, when electric vehicles are coasting or braking and turning, the torque is mainly adjusted by detecting the wheel speed slip. When the wheel speed slip is detected to exceed the threshold, a quick request for torque increase is made. However, there is a certain amount of recovered negative torque in the process of adjusting the torque, which causes the vehicle to be unstable when turning, and the rough torque increase can easily produce a sense of loss of deceleration.

[0082] Based on the above problems, the embodiment of the present application proposes a torque control method, which controls the recovery torque under the steering condition when the electric vehicle is coasting or braking based on the lateral acceleration of the vehicle, the steering wheel angle, the steering wheel angle rate and the wheel speed slip, thereby achieving smooth and step-free control of the recovery torque, so that the recovery torque will not have a large sudden change, preventing a rough torque increase when the vehicle slips greatly, avoiding sudden loss of deceleration, and improving the steering stability and safety of the vehicle when coasting or braking.

[0083] Figure 1 This is a schematic diagram of a torque control method provided in an embodiment of the present application. The method may be performed by an electronic stability system in a vehicle. Figure 1 As shown, the method includes:

[0084] S101. Obtain the vehicle speed and driving wheel speed of the vehicle, and determine the wheel speed slip of the vehicle according to the vehicle speed and driving wheel speed.

[0085] Optionally, when the vehicle is turning while sliding or braking, the electronic stability system in the vehicle obtains the vehicle speed and drive wheel speed of the vehicle in real time through the vehicle controller. During the process of turning while the vehicle is sliding or braking, the drive wheel speed will deviate from the vehicle speed. The electronic stability system performs a difference operation based on the vehicle speed and the drive wheel speed to determine the difference between the vehicle speed and the drive wheel speed. The difference between the vehicle speed and the drive wheel speed is used as the wheel speed slip of the vehicle. The wheel speed slip is used to characterize the deviation of the drive wheel speed from the vehicle speed when the vehicle is turning while sliding or braking.

[0086] The electronic stability system can also obtain the vehicle's speed in real time through a speed sensor installed in the vehicle's drive car body or gearbox, and obtain the vehicle's drive wheel speed in real time through a wheel speed sensor installed on the wheel hub.

[0087] S102: Determine a wheel speed slip threshold.

[0088] Optionally, the electronic stability system determines a dynamic wheel speed slip threshold in real time based on the vehicle speed under the steering condition during coasting or braking, and the wheel speed slip threshold is used to characterize the minimum threshold of the vehicle's advance torque control. In other words, the wheel speed slip threshold changes dynamically with the vehicle's speed, and is not a fixed value, so that the wheel speed slip threshold is more in line with the vehicle's current driving condition, and thus the advance torque control is judged more accurately based on the wheel speed slip threshold and the wheel speed slip.

[0089] S103: If the wheel speed slip is greater than the wheel speed slip threshold, the vehicle is controlled to increase torque according to a preset torque request value and the wheel speed slip.

[0090] Optionally, the electronic stability system determines whether to perform early torque increase control according to the magnitude relationship between the wheel speed slip and the wheel speed slip threshold, and determines whether to perform early torque increase control of the vehicle according to the determination result. Specifically, if the wheel speed slip is greater than the wheel speed slip threshold, indicating that the wheel speed slip exceeds the minimum threshold for early vehicle torque increase control, it is determined that the vehicle torque increase needs to be controlled in advance, and the torque request value IncTrqInit preset by the user is obtained, and the target torque request value IncTrq is determined according to the preset torque request value IncTrqInit and the wheel speed slip, so as to control the vehicle torque increase in advance based on the target torque request value IncTrq.

[0091] The torque request value IncTrqInit may be a value pre-calibrated by a user according to the wheel speed slip of the vehicle and a plurality of rated parameters of the vehicle.

[0092] S104: If the wheel speed slip is less than or equal to the wheel speed slip threshold, the lateral acceleration, steering wheel angle and steering wheel angle rate of the vehicle are acquired in real time, and the vehicle torque is controlled in real time according to the lateral acceleration, steering wheel angle and steering wheel angle rate.

[0093] Optionally, if the wheel speed slip is less than or equal to the wheel speed slip threshold, indicating that the wheel speed slip does not exceed the minimum threshold for early vehicle torque increase control, it is determined that there is no need to perform early torque increase control on the vehicle, and the vehicle torque increase can be controlled in real time.

[0094] The electronic stability system obtains the lateral acceleration Ay of the vehicle in the steering condition when the vehicle is sliding or braking in real time through the lateral acceleration sensor of the whole vehicle, obtains the steering wheel angle of the vehicle in the steering condition when the vehicle is sliding or braking in real time through the steering wheel angle speedometer, and calculates the steering wheel angle rate in real time based on the steering wheel angle. The electronic stability system determines the target torque request value IncTrq corresponding to the lateral acceleration Ay based on the lateral acceleration Ay, steering wheel angle and steering wheel angle rate of the vehicle in the steering condition when the vehicle is sliding or braking, so as to control the vehicle torque increase in real time based on the target torque request value IncTrq corresponding to the lateral acceleration Ay.

[0095] In this embodiment, the electronic stability system obtains the vehicle speed and driving wheel speed of the vehicle in the steering condition during coasting or braking, determines the wheel speed slip of the vehicle according to the vehicle speed and driving wheel speed, and determines the dynamic wheel speed slip threshold in real time based on the vehicle speed in the steering condition during coasting or braking to characterize the minimum threshold for the vehicle to perform advance torque increase control at different vehicle speeds. The advance torque increase control is judged according to the magnitude relationship between the wheel speed slip and the wheel speed slip threshold. If the wheel speed slip is greater than the wheel speed slip threshold, it is determined that the vehicle torque increase needs to be controlled in advance, and the torque request value preset by the user is obtained. According to the preset torque request value and the wheel speed slip, the target torque request value is determined so as to control the vehicle torque increase in advance based on the target torque request value. If the wheel speed slip is less than or equal to the wheel speed slip threshold, the vehicle is subjected to real-time torque increase control. The electronic stability system obtains the lateral acceleration and steering wheel angle of the vehicle in the steering condition when sliding or braking in real time, and calculates the steering wheel angle rate in real time based on the steering wheel angle. According to the lateral acceleration, steering wheel angle and steering wheel angle rate of the vehicle in the steering condition when sliding or braking, the target torque request value corresponding to the lateral acceleration is determined, and the vehicle torque increase is controlled in real time based on the target torque request value corresponding to the lateral acceleration. By performing advance torque increase control or real-time torque increase control on the vehicle in the steering condition when sliding or braking, the flexibility of torque increase control and the stability and safety of steering when the vehicle is sliding or braking are improved.

[0096] As an optional implementation manner, the step of determining the wheel speed slip threshold in the above step S102 includes:

[0097] The deceleration of the vehicle is obtained, and the wheel speed slip threshold is determined according to the deceleration and the vehicle speed.

[0098] Optionally, when the vehicle is turning during coasting or braking, the electronic stability system obtains the vehicle's deceleration in real time through the vehicle controller or deceleration sensor, and calibrates the wheel speed slip thresholds corresponding to each deceleration and speed in combination with the vehicle's deceleration and speed during coasting or braking, so as to characterize the minimum threshold for the vehicle to perform advance torque control at the current speed and deceleration. Different decelerations and speeds correspond to different wheel speed slip thresholds, that is, according to the dynamic deceleration and speed, the dynamic wheel speed slip threshold is determined, so that different decelerations and speeds correspond to different minimum thresholds for advance torque control.

[0099] In this embodiment, the electronic stability system obtains the vehicle's deceleration in real time, and considers the impact of the vehicle's deceleration and speed on the wheel speed slip threshold, and calibrates the wheel speed slip threshold corresponding to each deceleration and speed in combination with the vehicle's deceleration and speed in the steering condition when coasting or braking, so as to characterize the lowest threshold for the vehicle to perform early torque control at each speed and deceleration. The dynamic wheel speed slip threshold is determined by the dynamic deceleration and speed, thereby improving the accuracy of the wheel speed slip threshold.

[0100] The following describes in detail the process of controlling the vehicle torque increase according to the preset torque request value and the wheel speed slip.

[0101] Figure 2 A schematic diagram of a process flow of controlling vehicle torque increase of a torque control method provided in an embodiment of the present application, such as Figure 2 As shown, the step of controlling the vehicle torque increase according to the preset torque request value and the wheel speed slip in the above step S103 includes:

[0102] S201. Obtain a closed-loop torque request value through proportional-integral closed-loop calculation according to the wheel speed slip.

[0103] Optionally, the electronic stability system directly adjusts the proportional control amount according to the size of the wheel speed slip, that is, the size of the deviation of the driving wheel speed from the vehicle speed, wherein the wheel speed slip is positively correlated with the proportional control amount, and the larger the wheel speed slip, the larger the proportional control amount. The electronic stability system integrates the wheel speed slip to eliminate static errors. The closed-loop torque request value IncTrq_close is obtained through proportional-integral closed-loop calculation, so that the closed-loop torque request value IncTrq_close is related to the size of the wheel speed slip and the duration of the wheel speed slip.

[0104] S202 : Taking the larger of the torque request value and the closed-loop torque request value to determine a target torque request value, and adjusting the current actual torque of the vehicle to the target torque request value.

[0105] Optionally, the electronic stability system performs a larger operation on the preset torque request value IncTrqInit and the closed-loop torque request value IncTrq_close, takes the larger value between the torque request value IncTrqInit and the closed-loop torque request value IncTrq_close as the target torque request value IncTrq, and generates a torque request signal based on the target torque request value IncTrq and sends it to the vehicle's motor. The motor adjusts the vehicle's current actual torque VCUActTrq to the target torque request value IncTrq in advance based on the target torque request value IncTrq indicated by the torque request signal.

[0106] Specifically, the target torque request value IncTrq is determined based on the following formula:

[0107] IncTrq = max(IncTrqInit, IncTrq_close)

[0108] Wherein, IncTrq is the target torque request value, IncTrqInit is the preset torque request value, and IncTrq_close is the closed-loop torque request value. Exemplarily, if IncTrqInit ≥ IncTrq_close, then IncTrq = IncTrqInit; if IncTrqInit < IncTrq_close, then IncTrq = IncTrq_close.

[0109] In this embodiment, the electronic stability system calculates the closed-loop torque request value through proportional-integral closed-loop calculation according to the magnitude of the wheel speed slip and the duration of the wheel speed slip, eliminates the static error, and improves the accuracy of the closed-loop torque request value. The electronic stability system performs a maximum operation on the torque request value and the closed-loop torque request value, takes the larger value between the torque request value and the closed-loop torque request value as the target torque request value, and generates a torque request signal according to the target torque request value and sends it to the motor of the vehicle, so that the motor adjusts the current actual torque of the vehicle to the target torque request value according to the target torque request value indicated by the torque request signal. Through the maximum operation, the accuracy of the target torque request value is improved, the vehicle's early torque increase control is accurately realized, rapid and rough torque increase is avoided, and the risk of vehicle instability under steering conditions during coasting or braking is reduced.

[0110] Hereinafter, the process of controlling the vehicle's torque increase in real time according to the lateral acceleration, steering wheel angle, and steering wheel angle rate will be described in detail.

[0111] Figure 3 is another schematic flowchart of controlling the vehicle's torque increase for the torque control method provided by the embodiment of the present application. As Figure 3 shown, the step of controlling the vehicle's torque increase in real time according to the lateral acceleration, steering wheel angle, and steering wheel angle rate in the above step S104 includes:

[0112] S301. Real-time obtain the first threshold, second threshold, and third threshold of the pre-calibrated lateral acceleration.

[0113] Optionally, the electronic stability system obtains a first threshold value AyminThr, a second threshold value AymidThr, and a third threshold value AymaxThr of the lateral acceleration Ay pre-calibrated for the whole vehicle. When determining the target torque request value IncTrq corresponding to the lateral acceleration Ay, the first threshold value AyminThr, the second threshold value AymidThr, and the third threshold value AymidThr of the lateral acceleration Ay are used to limit the target torque request value IncTrq corresponding to the lateral acceleration Ay. For example, the first threshold value AyminThr may be 3, the second threshold value AymidThr may be 7, and the third threshold value AymaxThr may be 8.

[0114] S302: Determine whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold.

[0115] Optionally, the electronic stability system determines whether it is necessary to control the vehicle torque increase in real time according to the magnitude relationship between the vehicle's lateral acceleration Ay and a first threshold value AyminThr, wherein the first threshold value AyminThr may be the lowest threshold for controlling the vehicle torque increase in real time.

[0116] S303. If yes, the current actual torque of the vehicle is used as the initial torque request value, and the target torque request value corresponding to the lateral acceleration is determined according to the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold and the third threshold, and the current actual torque of the vehicle is adjusted to the target torque request value.

[0117] Optionally, if the electronic stability system determines that it is necessary to control the vehicle's torque increase in real time, the vehicle's current actual torque VCUActTrq is used as the initial target torque request value IncTrq, that is, the electronic stability system generates a torque request signal according to the initial torque request value and sends it to the vehicle's motor, and the motor adjusts the vehicle's current actual torque VCUActTrq to the initial torque request value according to the initial torque request value indicated by the torque request signal, so that the electronic stability system increases the torque in real time based on the vehicle's current actual torque VCUActTrq, avoiding a torque step feeling when increasing the torque.

[0118] The electronic stability system calculates a maximum value IncTrqMax and a minimum value IncTrqMin of a target torque request value IncTrq corresponding to the lateral acceleration Ay according to a first threshold value AyminThr, a second threshold value AymidThr and a third threshold value AymaxThr of the lateral acceleration Ay, and calculates in real time the target torque request value IncTrq corresponding to the lateral acceleration Ay according to the maximum value IncTrqMax and the minimum value IncTrqMin of the target torque request value IncTrq corresponding to the lateral acceleration Ay, the current actual torque VCUActTrq of the vehicle, the steering wheel angle and the steering wheel angle rate, and generates a torque request signal according to the target torque request value IncTrq corresponding to the lateral acceleration Ay and sends it to the motor, and the motor adjusts the current actual torque VCUActTrq of the vehicle to the target torque request value IncTrq corresponding to the lateral acceleration Ay according to the target torque request value IncTrq corresponding to the lateral acceleration Ay indicated by the torque request signal.

[0119] Among them, the maximum value IncTrqMax and the minimum value IncTrqMin of the target torque request value IncTrq corresponding to the lateral acceleration Ay are used to limit the target torque request value IncTrq corresponding to the lateral acceleration Ay, so as to avoid the deceleration loss caused by the torque mutation caused by the excessive target torque request value IncTrq corresponding to the lateral acceleration Ay, and at the same time avoid the risk of vehicle instability caused by the inadequate vehicle torque control caused by the excessively small target torque request value IncTrq corresponding to the lateral acceleration Ay.

[0120] In this embodiment, the electronic stability system obtains the first threshold, the second threshold and the third threshold of the pre-calibrated lateral acceleration, and determines whether it is necessary to control the vehicle torque increase in real time according to the magnitude relationship between the vehicle's lateral acceleration and the first threshold. If so, the current actual torque of the vehicle is used as the initial torque request value, and the torque is increased in real time based on the current actual torque of the vehicle, so as to control the vehicle torque to increase smoothly without obvious step, and avoid the torque step feeling when the torque is increased. The maximum and minimum values ​​of the target torque request value corresponding to the lateral acceleration are calculated according to the first threshold, the second threshold and the third threshold, so as to limit the target torque request value corresponding to the lateral acceleration. According to the maximum and minimum values ​​of the target torque request value corresponding to the lateral acceleration, the current actual torque of the vehicle, the steering wheel angle and the steering wheel angle rate, the target torque request value corresponding to the lateral acceleration is calculated in real time, and the current actual torque of the vehicle is adjusted to the target torque request value corresponding to the lateral acceleration. This avoids the feeling of deceleration loss caused by the torque mutation due to an excessively large target torque request value corresponding to the lateral acceleration, or the risk of vehicle instability caused by insufficient vehicle torque control due to an excessively small target torque request value corresponding to the lateral acceleration, thereby improving the stability and safety of the vehicle's real-time torque control.

[0121] As an alternative implementation, the step of determining whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold in step S302 above includes:

[0122] If the lateral acceleration is greater than or equal to the first threshold, it is determined to perform vehicle torque increase control; otherwise, it is determined not to perform vehicle torque increase control.

[0123] Optionally, if the lateral acceleration Ay of the vehicle is greater than or equal to the first threshold AyminThr, that is, Ay≥AyminThr, it means that the lateral acceleration Ay of the vehicle exceeds the minimum threshold for real-time control of vehicle torque increase, the lateral force is large, and the vehicle is in an unstable state. Then it is determined that real-time control of vehicle torque increase is required to ensure the stability of the vehicle. If the lateral acceleration Ay of the vehicle is less than the first threshold AyminThr, that is, Ay<AyminThr, it means that the lateral acceleration Ay of the vehicle does not exceed the minimum threshold for real-time control of vehicle torque increase, the lateral force is small, and the vehicle is in a relatively stable state. Then it is determined that there is no need to additionally perform real-time vehicle torque increase control on the vehicle.

[0124] In this embodiment, if the lateral acceleration is greater than or equal to the first threshold, the lateral force is large, and the vehicle is in an unstable state, the electronic stability system determines that real-time control of vehicle torque increase is required to ensure the stability of the vehicle. If the lateral acceleration of the vehicle is less than the first threshold, the lateral force is small, and the vehicle is in a relatively stable state, it is determined that there is no need to additionally perform real-time vehicle torque increase control on the vehicle. According to the magnitude relationship between the lateral acceleration and the first threshold, it is accurately determined whether to perform real-time vehicle torque increase control.

[0125] Next, the process of determining the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold, and the third threshold will be described in detail.

[0126] Figure 4 It is a schematic flow chart of determining the target torque request value corresponding to the lateral acceleration for the torque control method provided in the embodiment of the present application. As Figure 4 shown, the step of determining the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold, and the third threshold in step S303 above includes:

[0127] S401. If the lateral acceleration is equal to the third threshold, it is determined that the target torque request value corresponding to the lateral acceleration is the first value.

[0128] Optionally, when the lateral acceleration Ay reaches the third threshold value AymaxThr, the lateral acceleration Ay is too large, causing the vehicle to be easily in an unstable state. At this time, it is necessary to completely avoid the impact of the recovery negative torque on the vehicle. The electronic stability system needs to assign the target torque request value IncTrq corresponding to the lateral acceleration Ay reaching the third threshold value AymaxThr to a first value, and the first value is 0Nm. In other words, if Ay=AymaxThr, then IncTrq=0.

[0129] S402 : Determine a minimum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the third threshold value.

[0130] Optionally, Figure 5 Schematic diagram of the linear equation of the maximum and minimum values ​​of the target torque request value corresponding to the lateral acceleration of the torque control method provided in the embodiment of the present application, refer to Figure 5 , with the vehicle's lateral acceleration Ay as the horizontal coordinate and the target torque request value IncTrq corresponding to the lateral acceleration Ay as the vertical coordinate, the electronic stability system determines, based on the initial torque request value and the first threshold value AyminThr, that when the vehicle's lateral acceleration Ay=AyminThr, the target torque request value IncTrq corresponding to the lateral acceleration Ay is equal to the vehicle's current actual torque VCUActTrq, that is, IncTrq=VCUActTrq, and the coordinates of the first point F1 are determined to be (AyminThr, VCUActTrq).

[0131] According to the third threshold AymaxThr and the first value, when the lateral acceleration Ay of the vehicle is Ay=AymaxThr, the target torque request value IncTrq corresponding to the lateral acceleration Ay is equal to the first value, ie IncTrq=0 Nm, and the coordinates of the second point F2 are determined to be (AymaxThr, 0).

[0132] Continue to refer to Figure 5 According to the coordinates of the first point F1 (AyminThr, ACUActTrq) and the coordinates of the second point F2 (AymaxThr, 0), a linear equation of the minimum value IncTrqMin of the target torque request value IncTrq corresponding to the lateral acceleration Ay is determined by linear calculation based on the following formula:

[0133] IncTrqMin=C1×Ay+D1

[0134]

[0135] Among them, IncTrqMin is the minimum value of the target torque request value IncTrq corresponding to the lateral acceleration Ay, C1 represents the slope of the linear equation of IncTrqMin, D1 represents the intercept of the linear equation of IncTrqMin, Ay is the lateral acceleration of the vehicle, 0 is the first numerical value, VCUActTrq is the current actual torque of the vehicle, AymaxThr is the third threshold value, and AyminThr is the first threshold value.

[0136] S403 : Determine a maximum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the second threshold value.

[0137] Optionally, continue to refer to Figure 5 , the electronic stability system determines the coordinates of the third point F3 as (AymidThr, 0) based on the second threshold value AymidThr and the first value. When the lateral acceleration Ay of the vehicle is Ay=AymidThr, the target torque request value IncTrq corresponding to the lateral acceleration Ay may also be equal to the first value, that is, IncTrq=0Nm.

[0138] According to the coordinates of the first point F1 (AyminThr, VCUActTrq) and the coordinates of the third point F3 (AymidThr, 0), a linear equation of the maximum value IncTrqMax of the target torque request value InTrq corresponding to the lateral acceleration Ay is determined by linear calculation based on the following formula:

[0139] IncTrqMax=C2×Ay+D2

[0140]

[0141] Among them, IncTrqMax is the maximum value of the target torque request value IncTrq corresponding to the lateral acceleration Ay, C2 represents the slope of the linear equation of IncTrqMax, D2 represents the intercept of the linear equation of IncTrqMax, Ay is the lateral acceleration of the vehicle, 0 is the first numerical value, VCUAcyTrq is the current actual torque of the vehicle, AymidThr is the second threshold value, and AyminThr is the first threshold value.

[0142] S404: Determine a first torque increase factor according to the steering wheel angle, where the first torque increase factor is positively correlated with the steering wheel angle.

[0143] Optionally, the electronic stability system determines a first torque rise factor Factor1 that is positively correlated with the steering wheel angle according to the steering wheel angle, so that a change trend of the first torque rise factor Factor1 is that the larger the steering wheel angle is, the larger the first torque rise factor Factor1 is.

[0144] Exemplarily, if the steering wheel angle is 60°, the first torque factor Factor1 may be 0.95; if the steering wheel angle is 120°, the first torque factor Factor1 may be 1; if the steering wheel angle is 180°, the first torque factor Factor1 may be 1.05; if the steering wheel angle is 360°, the first torque factor Factor1 may be 1.1.

[0145] S405: Determine a second torque increase factor according to the steering wheel angular rate, where the second torque increase factor is positively correlated with the steering wheel angular rate.

[0146] Optionally, the electronic stability system determines a second torque rise factor Factor2 that is positively correlated with the steering wheel angle rate according to the steering wheel angle rate, so that the second torque rise factor Factor2 changes in a trend that the greater the steering wheel angle rate, the greater the second torque rise factor Factor2.

[0147] Exemplarily, if the steering wheel angle rate is 120° / s, the second torque factor Factor2 may be 1; if the steering wheel angle rate is 360° / s, the second torque factor Factor2 may be 1.05; if the steering wheel angle rate is 720° / s, the second torque factor Factor2 may be 1.1; if the steering wheel angle rate is 1440° / s, the second torque factor Factor2 may be 1.3.

[0148] S406: Determine a correction coefficient according to the first torque rise factor, the second torque rise factor, and a preset correction coefficient threshold.

[0149] Optionally, the electronic stability system obtains a correction factor threshold Factor preset by the user B , and according to the first torque factor Factor1, the second torque factor Factor2 and the correction coefficient threshold Factor B , determine the correction factor Factor. Limit the correction factor through the correction factor threshold to prevent the correction factor from being too large and causing torque mutation, thus ensuring the stability of torque control.

[0150] S407: Determine a target torque request value corresponding to the lateral acceleration according to the correction coefficient, the minimum value, and the maximum value.

[0151] Optionally, the electronic stability system determines the target torque request value IncTrq corresponding to the lateral acceleration Ay based on the following formula according to the correction coefficient Factor and the minimum value IncTrqMin of the target torque request value IncTrq corresponding to the lateral acceleration Ay:

[0152] IncTrq=IncTrqMin×Factor

[0153] Among them, IncTrq is the target torque request value corresponding to the lateral acceleration Ay, IncTrqMin is the minimum value of the target torque request value IncTrq corresponding to the lateral acceleration Ay, and Factor is the correction coefficient.

[0154] Continue to refer to Figure 5 According to the dynamically changing lateral acceleration Ay, the target torque request value IncTrq corresponding to the lateral acceleration Ay is limited by the maximum value IncTrqMax and the minimum value IncTrqMin of the target torque request value IncTrq corresponding to each lateral acceleration Ay, so that the target torque request value IncTrq corresponding to the lateral acceleration Ay is in the interval [IncTrqMin, IncTrqMax].

[0155] In this embodiment, the electronic stability system determines the target torque request value corresponding to the lateral acceleration when the lateral acceleration reaches the third threshold as the first value, and determines the minimum value of the target torque request value corresponding to the dynamic lateral acceleration according to the initial torque request value, the first value, the first threshold and the third threshold, and determines the maximum value of the target torque request value corresponding to the dynamic lateral acceleration according to the initial torque request value, the first value, the first threshold and the second threshold. According to the steering wheel angle, a first torque rise factor positively correlated with the steering wheel angle is determined, and according to the steering wheel angle rate, a second torque rise factor positively correlated with the steering wheel angle rate is determined. According to the first torque rise factor, the second torque rise factor and the preset correction coefficient threshold, a correction coefficient is determined, and the correction coefficient is limited by the correction coefficient threshold. According to the correction coefficient and the minimum value of the target torque request value corresponding to the lateral acceleration, the target torque request value corresponding to the lateral acceleration is determined, and the target torque request value corresponding to the lateral acceleration is limited between the minimum value and the maximum value of the target torque request value corresponding to the lateral acceleration, so as to avoid the target torque request value corresponding to the excessive lateral acceleration from generating a torque mutation, and reduce the risk of vehicle instability caused by the target torque request value corresponding to the excessively small lateral acceleration.

[0156] The following describes in detail the process of determining the correction coefficient according to the first torque rise factor, the second torque rise factor and the preset correction coefficient threshold.

[0157] Figure 6 A schematic diagram of a flow chart of determining a correction coefficient of a torque control method provided in an embodiment of the present application, such as Figure 6 As shown, the step of determining the correction coefficient according to the first torque rise factor, the second torque rise factor and the preset correction coefficient threshold in the above step S406 includes:

[0158] S601: Determine a first product according to a first torque-increasing factor and a second torque-increasing factor.

[0159] Optionally, the electronic stability system determines a first product Factor of the first torsion factor Factor1 and the second torsion factor Factor2 according to the first torsion factor Factor1 and the second torsion factor Factor2. A , i.e. Factor A =Factor1×Factor2.

[0160] S602: performing a smaller operation on the first product and a preset correction coefficient threshold to determine the correction coefficient.

[0161] Optionally, the preset correction factor threshold Factor B and the first product Factor A Perform the minimum operation and take the correction coefficient threshold Factor B and the first product Factor A The smaller value between is taken as the correction coefficient Factor. Specifically, the correction coefficient Factor is determined based on the following formula:

[0162] Factor=min(Factor A , Factor B )

[0163] Among them, Factor is the correction coefficient, Factor A is the first product, Factor B is the correction factor threshold. B Can be 1.3, if Factor A ≥Factor B , then Factor=Factor B ; If Factor A <Factor B , then Factor=Factor A .

[0164] In this embodiment, the first product of the first torque rise factor and the second torque rise factor is determined based on the first torque rise factor and the second torque rise factor, and the smaller value between the correction coefficient threshold and the first product is taken as the correction coefficient by performing a smaller operation on the first product and the preset correction coefficient threshold, and the correction coefficient is limited within the correction coefficient threshold to prevent the correction coefficient from being too large and causing a sudden torque change, thereby avoiding a serious sense of deceleration loss.

[0165] As an optional implementation, the steps after adjusting the current actual torque of the vehicle to the target torque request value in the above step S303 further include:

[0166] If the lateral acceleration is less than the first threshold, the target torque request value corresponding to the lateral acceleration is iteratively reduced according to a preset fixed gradient value, and the target torque request value corresponding to the lateral acceleration is reduced to the motor request torque.

[0167] Optionally, after the electronic stability system adjusts the vehicle's current actual torque VCUActTrq to the target torque request value IncTrq corresponding to the lateral acceleration Ay determined in the aforementioned embodiment, it continues to determine whether to end the real-time torque increase control of the vehicle based on the relationship between the lateral acceleration Ay and the first threshold AyminThr.

[0168] Specifically, if the driver turns the steering wheel angle direction when the vehicle is coasting or braking, so that the lateral acceleration Ay is less than the first threshold value AyminThr, the electronic stability system ends the real-time torque increase control of the vehicle, and iteratively reduces the target torque request value IncTrq corresponding to the lateral acceleration Ay according to the preset fixed gradient value, and gradually reduces the target torque request value IncTrq corresponding to the lateral acceleration Ay to the motor request torque VCURequestTq. The motor request torque VCURequestTq is determined according to the throttle size. The larger the throttle, the larger the motor request torque VCURequestTq.

[0169] In this embodiment, after adjusting the current actual torque of the vehicle to the target torque request value, the electronic stability system obtains the lateral acceleration of the vehicle in real time, and determines whether to reduce the target torque request value corresponding to the lateral acceleration according to the lateral acceleration and the first threshold value. If the steering wheel angle direction is restored so that the lateral acceleration is less than the first threshold value, the electronic stability system iteratively reduces the target torque request value corresponding to the lateral acceleration according to a preset fixed gradient value, and gradually reduces the target torque request value corresponding to the lateral acceleration to the motor request torque. By iteratively reducing the target torque request value corresponding to the lateral acceleration according to the preset fixed gradient value, there is no obvious sudden change when reducing the vehicle torque, thereby improving the stability of the torque reduction control.

[0170] Based on the same inventive concept, an embodiment of the present application also provides a device for identifying the initial position of a motor rotor pole corresponding to the method for identifying the initial position of a motor rotor pole. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the method for identifying the initial position of a motor rotor pole mentioned in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0171] Figure 7 The module structure diagram of the torque control device provided in the embodiment of the present application is as follows: Figure 7 As shown, the device comprises:

[0172] The acquisition module 701 is used to acquire the vehicle speed and the driving wheel speed of the vehicle, and determine the wheel speed slip of the vehicle according to the vehicle speed and the driving wheel speed.

[0173] The determination module 702 is used to determine a wheel speed slip threshold.

[0174] The control module 703 is configured to control the vehicle to increase torque according to a preset torque request value and the wheel speed slip if the wheel speed slip is greater than a wheel speed slip threshold.

[0175] The control module 703 is also used to obtain the vehicle's lateral acceleration, steering wheel angle and steering wheel angle rate in real time if the wheel speed slip is less than or equal to the wheel speed slip threshold, and control the vehicle's torque increase in real time according to the lateral acceleration, steering wheel angle and steering wheel angle rate.

[0176] As an optional implementation manner, the determination module 702 is specifically configured to:

[0177] The deceleration of the vehicle is obtained, and the wheel speed slip threshold is determined according to the deceleration and the vehicle speed.

[0178] As an optional implementation manner, the control module 703 is specifically configured to:

[0179] According to the wheel speed slip, the closed-loop torque request value is obtained through proportional-integral closed-loop calculation.

[0180] A larger operation is performed on the torque request value and the closed-loop torque request value to determine a target torque request value, and the current actual torque of the vehicle is adjusted to the target torque request value.

[0181] As an optional implementation manner, the control module 703 is specifically configured to:

[0182] The pre-calibrated first threshold, second threshold and third threshold of the lateral acceleration are acquired in real time.

[0183] Whether to perform vehicle torque increase control is determined according to the lateral acceleration and the first threshold.

[0184] If so, the vehicle's current actual torque is used as the initial torque request value, and the target torque request value corresponding to the lateral acceleration is determined based on the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold and the third threshold, and the vehicle's current actual torque is adjusted to the target torque request value.

[0185] As an optional implementation manner, the control module 703 is specifically configured to:

[0186] If the lateral acceleration is greater than or equal to the first threshold, it is determined that the vehicle torque increase control is performed; otherwise, it is determined that the vehicle torque increase control is not performed.

[0187] As an optional implementation manner, the control module 703 is specifically configured to:

[0188] If the lateral acceleration is equal to the third threshold, the target torque request value corresponding to the lateral acceleration is determined to be a first value.

[0189] A minimum value of the target torque request value corresponding to the lateral acceleration is determined according to the initial torque request value, the first value, the first threshold value, and the third threshold value.

[0190] A maximum value of the target torque request value corresponding to the lateral acceleration is determined according to the initial torque request value, the first value, the first threshold value, and the second threshold value.

[0191] The first torque rise factor is determined according to the steering wheel angle, and the first torque rise factor is positively correlated with the steering wheel angle.

[0192] A second torque rise factor is determined according to the steering wheel angular rate, and the second torque rise factor is positively correlated with the steering wheel angular rate.

[0193] A correction coefficient is determined according to the first torque rise factor, the second torque rise factor and a preset correction coefficient threshold.

[0194] A target torque request value corresponding to the lateral acceleration is determined according to the correction coefficient, the minimum value, and the maximum value.

[0195] As an optional implementation manner, the control module 703 is specifically configured to:

[0196] A first product is determined according to the first torque rise factor and the second torque rise factor.

[0197] The smaller of the first product and the preset correction coefficient threshold is taken to determine the correction coefficient.

[0198] As an optional implementation manner, the control module 703 is further configured to:

[0199] If the lateral acceleration is less than the first threshold, the target torque request value corresponding to the lateral acceleration is iteratively reduced according to a preset fixed gradient value, and the target torque request value corresponding to the lateral acceleration is reduced to the motor request torque.

[0200] The present application also provides an electronic stability system. Figure 8 , which is a schematic diagram of the structure of the electronic stability system provided by the embodiment of the present application, includes: a processor 81, a memory 82 and a bus 83. The memory 82 stores machine-readable instructions executable by the processor 81 (for example, Figure 7In the device, the execution instructions corresponding to the acquisition module 701, the determination module 702 and the control module 703 are obtained, etc. When the electronic stability system is running, the processor 81 and the memory 82 communicate through the bus 83. When the machine-readable instructions are executed by the processor 81, the steps of the torque control method in the above embodiment are executed.

[0201] The embodiment 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, the steps of the torque control method in the above embodiment are executed.

[0202] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0203] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0204] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A torque control method, characterized in that: include: Acquiring a vehicle speed and a driving wheel speed of the vehicle, and determining a wheel speed slip amount of the vehicle according to the vehicle speed and the driving wheel speed; Determining a wheel speed slip threshold; If the wheel speed slip is greater than the wheel speed slip threshold, controlling the vehicle to increase torque according to a preset torque request value and the wheel speed slip; If the wheel speed slip is less than or equal to the wheel speed slip threshold, the vehicle's lateral acceleration, steering wheel angle and steering wheel angle rate are acquired in real time, and the vehicle torque rise is controlled in real time according to the lateral acceleration, the steering wheel angle and the steering wheel angle rate.

2. The method according to claim 1, characterized in that The step of determining the wheel speed slip threshold comprises: The deceleration of the vehicle is acquired, and the wheel speed slip threshold is determined according to the deceleration and the vehicle speed.

3. The method according to claim 1, characterized in that The step of controlling the vehicle torque increase according to the preset torque request value and the wheel speed slip amount includes: According to the wheel speed slip, a closed-loop torque request value is obtained through proportional-integral closed-loop calculation; A larger operation is performed on the torque request value and the closed-loop torque request value to determine a target torque request value, and the current actual torque of the vehicle is adjusted to the target torque request value.

4. The method according to claim 1, characterized in that: The real-time control of the vehicle torque increase according to the lateral acceleration, the steering wheel angle, and the steering wheel angle rate includes: Acquire in real time a first threshold value, a second threshold value, and a third threshold value of the lateral acceleration that are pre-calibrated; determining whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold; If so, the current actual torque of the vehicle is used as the initial torque request value, and the target torque request value corresponding to the lateral acceleration is determined based on the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold and the third threshold, and the current actual torque of the vehicle is adjusted to the target torque request value.

5. The method according to claim 4, characterized in that The determining whether to perform vehicle torque increase control according to the lateral acceleration and the first threshold value includes: If the lateral acceleration is greater than or equal to the first threshold, it is determined that the vehicle torque increase control is performed; otherwise, it is determined that the vehicle torque increase control is not performed.

6. The method according to claim 4, characterized in that The determining, according to the initial torque request value, the steering wheel angle, the steering wheel angle rate, the first threshold, the second threshold, and the third threshold, of the target torque request value corresponding to the lateral acceleration includes: If the lateral acceleration is equal to the third threshold, determining the target torque request value corresponding to the lateral acceleration to be a first value; determining a minimum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the third threshold value; determining a maximum value of the target torque request value corresponding to the lateral acceleration according to the initial torque request value, the first value, the first threshold value, and the second threshold value; Determining a first torque rise factor according to the steering wheel angle, wherein the first torque rise factor is positively correlated with the steering wheel angle; determining a second torque rise factor according to the steering wheel angular rate, wherein the second torque rise factor is positively correlated with the steering wheel angular rate; Determining a correction coefficient according to the first torque rise factor, the second torque rise factor and a preset correction coefficient threshold; A target torque request value corresponding to the lateral acceleration is determined according to the correction coefficient, the minimum value, and the maximum value.

7. The method according to claim 6, characterized in that The determining of the correction coefficient according to the first torque rise factor, the second torque rise factor and a preset correction coefficient threshold comprises: determining a first product according to the first torque rise factor and the second torque rise factor; The correction coefficient is determined by performing a smaller operation on the first product and the preset correction coefficient threshold.

8. The method according to claim 4, characterized in that After adjusting the current actual torque of the vehicle to the target torque request value, the method further includes: If the lateral acceleration is less than the first threshold, the target torque request value corresponding to the lateral acceleration is iteratively reduced according to a preset fixed gradient value, so as to reduce the target torque request value corresponding to the lateral acceleration to the motor request torque.

9. An electronic stability system, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic stability system is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the torque control method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the torque control method according to any one of claims 1 to 8 are executed.

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