Vehicle torque control method and device, vehicle and storage medium

Abstract

The invention provides a torque control method and device of a vehicle, the vehicle and a storage medium, and belongs to the technical field of automobiles. The method comprises the steps that when a torque reduction request is received, based on torque information of the vehicle, a motor request torque original value and a motor compensation request torque of the vehicle are determined, the motor compensation request torque is the torque needing to be output by the motor under the condition that torque assistance is carried out through the motor, and the motor request torque original value is the torque value allowed to be output by the motor at present; determining a target torque compensation mode according to the motor request torque original value and the motor compensation request torque; and controlling the torque output of the vehicle based on the target torque compensation mode. Therefore, the torque reduction requirement is met by compensating the torque, the problem that the vehicle responds to the torque request delay is solved, the torque of the vehicle can be reduced in time, the running stability of the vehicle is guaranteed, and the driving experience is optimized.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular, relates to a vehicle torque control method, device, vehicle and storage medium. Background Art

[0002] In order to comply with the concept of sustainable development, the automotive industry is also paying more and more attention to the development of new energy vehicles. Hybrid vehicles add electric assistance on the basis of retaining the power provided by the engine, which can achieve pure electric drive, pure oil drive and dual-power hybrid drive. The common driving modes in current hybrid vehicles mainly include pure electric mode, series mode and direct drive mode.

[0003] When the vehicle is in direct drive mode, when the accelerator is released or the brakes are applied, the required engine torque is reduced. However, since the engine responds to the torque request with a delay, it is easy to cause unexpected acceleration or shaking of the vehicle, affecting the driving experience. Summary of the invention

[0004] The purpose of the present application is to provide a vehicle torque control method, device, vehicle and storage medium, aiming to solve the problem that in traditional hybrid vehicles, when the accelerator is released or the brakes are applied, the vehicle is easily accelerated or jerked unexpectedly, affecting the driving experience.

[0005] A first aspect of an embodiment of the present application provides a vehicle torque control method, the method comprising:

[0006] When a torque reduction request is received, determining the original value of the motor torque request and the motor compensation request torque of the vehicle based on the torque information of the vehicle, wherein the motor compensation request torque is the torque that the motor needs to output when the motor performs torque assistance, and the original value of the motor torque request is the torque value currently allowed to be output by the motor;

[0007] Determine a target torque compensation method according to the motor request torque original value and the motor compensation request torque;

[0008] Based on the target torque compensation method, the torque output of the vehicle is controlled.

[0009] In some embodiments, determining the target torque compensation method according to the motor request torque original value and the motor compensation request torque includes:

[0010] determining a motor torque difference based on the motor request torque original value and the motor compensation request torque;

[0011] A target torque compensation method is determined according to the motor torque difference.

[0012] In some embodiments, determining the target torque compensation method according to the motor torque difference includes:

[0013] When the motor torque difference is less than a preset value, determining an engine ignition angle based on the motor torque difference;

[0014] An engine output torque is controlled based on the engine ignition angle, and a motor output torque of the vehicle is controlled based on the motor torque difference and the motor compensation request torque.

[0015] In some embodiments, determining the target torque compensation method according to the motor request torque original value and the motor compensation request torque includes:

[0016] When the motor torque difference is not less than a preset value, the motor output torque of the vehicle is controlled based on the motor compensation request torque.

[0017] In some embodiments, determining a motor compensation request torque of the vehicle based on the driving torque information of the vehicle includes:

[0018] determining a motor assist torque according to an engine request torque and an engine actual torque of the vehicle;

[0019] Determining the torque to be distributed to the motor according to the front axle torque request and the engine torque request of the vehicle;

[0020] The motor compensation request torque is determined according to the motor assist torque and the torque required to be distributed to the motor.

[0021] In some embodiments, determining the motor assist torque according to the engine request torque and the actual engine torque of the vehicle includes:

[0022] Determining an original value of the motor assist torque according to a difference between the engine request torque of the vehicle and the actual engine torque;

[0023] According to the driving parameters of the vehicle, the original value of the motor assist torque is limited to obtain the motor assist torque.

[0024] In some embodiments, limiting the original value of the motor assist torque according to the driving parameters of the vehicle to obtain the motor assist torque includes:

[0025] Determining a maximum torque limit and a minimum torque limit of the motor according to the driving parameters of the vehicle;

[0026] The original value of the motor assist torque is limited according to the minimum torque limit and the maximum torque limit.

[0027] A second aspect of an embodiment of the present application provides a torque control device for a vehicle, the device comprising:

[0028] a first determining unit, configured to determine, when receiving a torque reduction request, an original value of a motor request torque and a motor compensation request torque of the vehicle based on torque information of the vehicle, wherein the motor compensation request torque is a torque that the motor needs to output when the motor performs torque assistance, and the original value of the motor request torque is a torque value that the motor is currently allowed to output;

[0029] A second determining unit, configured to determine a target torque compensation method according to the motor request torque original value and the motor compensation request torque;

[0030] A control unit is used to control the torque output of the vehicle based on the target torque compensation method.

[0031] In some embodiments, the second determination unit is used to determine a motor torque difference based on the motor request torque original value and the motor compensation request torque; and determine a target torque compensation method according to the motor torque difference.

[0032] In some embodiments, the second determination unit is used to determine the engine ignition angle based on the motor torque difference when the motor torque difference is less than a preset value; control the engine output torque based on the engine ignition angle; and control the motor output torque of the vehicle based on the motor torque difference and the motor compensation request torque.

[0033] In some embodiments, the second determination unit is configured to control the motor output torque of the vehicle based on the motor compensation request torque when the motor torque difference is not less than a preset value.

[0034] In some embodiments, the first determination unit is used to determine the motor assist torque based on the engine request torque and the engine actual torque of the vehicle; determine the torque that needs to be allocated to the motor based on the front axle request torque and the engine request torque of the vehicle; and determine the motor compensation request torque based on the motor assist torque and the torque that needs to be allocated to the motor.

[0035] In some embodiments, the first determination unit is used to determine the original value of the motor assist torque according to the difference between the engine request torque of the vehicle and the actual engine torque; and to limit the original value of the motor assist torque according to the driving parameters of the vehicle to obtain the motor assist torque.

[0036] In some embodiments, the first determination unit is used to determine the maximum torque limit and the minimum torque limit of the motor according to the driving parameters of the vehicle; and to limit the original value of the motor assist torque according to the minimum torque limit and the maximum torque limit.

[0037] A third aspect of an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the torque control method of the vehicle as described above when executing the computer program.

[0038] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the torque control method for the vehicle as described above is implemented.

[0039] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0040] In an embodiment of the present application, when a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque currently allowed to be output by the motor and the motor compensation request torque that the motor needs to output when performing torque compensation through the motor are determined, and a suitable target torque compensation method is determined according to the original value of the motor request torque and the motor compensation request torque, and based on the target torque compensation method, the vehicle engine is torque compensated, thereby controlling the torque output of the vehicle, so that when torque reduction is required, the motor compensation request torque that the motor needs to output is determined, so that the torque request of the engine delayed response is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or shaking of the vehicle caused by the delayed response to the torque request, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience, and, in combination with the motor compensation request torque that needs to be compensated, a target torque compensation method that matches the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation method, thereby preventing problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed vehicle response to the torque request, allowing the vehicle to reduce torque in time, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram showing a vehicle architecture of a four-wheel drive hybrid vehicle type provided by an exemplary embodiment;

[0042] Figure 2 A schematic diagram showing a system involved in a vehicle torque control method provided by an exemplary embodiment;

[0043] Figure 3 A schematic flow chart of a torque control method for a vehicle provided by an exemplary embodiment is shown;

[0044] Figure 4 A schematic flow chart of a torque control method for a vehicle provided by an exemplary embodiment is shown;

[0045] Figure 5A schematic flow chart of a torque control method for a vehicle provided by an exemplary embodiment is shown;

[0046] Figure 6 A schematic diagram showing a corresponding relationship between a preset value provided by an exemplary embodiment and a front axle torque range of a vehicle and an actual gear position of the front axle;

[0047] Figure 7 A schematic structural diagram of a torque control device for a vehicle provided by an exemplary embodiment is shown;

[0048] Figure 8 It is a schematic diagram of the structure of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] Since traditional energy such as oil is a non-renewable energy, vehicles that use traditional energy such as oil as a power source do not conform to the concept of sustainable development. In order to conform to the concept of sustainable development, the automotive industry pays more and more attention to the development of new energy vehicles. Hybrid vehicles achieve the purpose of oil and electricity by adding a hybrid power system to the original traditional power system, and have become one of the current mainstream models due to their low fuel consumption and high driving performance.

[0052] Hybrid vehicles combine traditional fuel power with electric power by adding a hybrid system to better improve vehicle performance. The engine and vehicle battery jointly provide power for the vehicle, which improves the comfort of the vehicle and enhances the user experience. Figure 1 , which shows a vehicle architecture of a four-wheel drive hybrid vehicle. The front motor is located between the engine and the front axle transmission and is connected to the engine through a clutch. When the engine is not started, the clutch is open and the front motor drives the vehicle through the front axle transmission. When the engine is started, the clutch is closed and the front motor starts the engine.

[0053] Since hybrid vehicles add electric power to the original power transmission system, they can achieve pure electric drive, pure oil drive and dual-power hybrid drive. The current common drive modes mainly include pure electric mode, series mode and direct drive mode. Different drive modes can be selected according to different driving conditions and other conditions, and the drive mode can be switched at the right time.

[0054] In actual applications, when the vehicle is in direct drive mode, the engine directly drives the vehicle, and the engine itself has the characteristic of delayed response to torque requests. Therefore, when the engine requires a reduction in torque, the vehicle cannot respond to the torque reduction request in time, resulting in the vehicle's torque not being reduced in time, causing the vehicle to have unexpected acceleration or shaking problems, affecting the driving experience.

[0055] The present application provides a torque control method, device, vehicle and storage medium for a hybrid vehicle. When a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque currently allowed to be output by the motor and the motor compensation request torque that the motor needs to output when performing torque compensation through the motor are determined. According to the original value of the motor request torque and the motor compensation request torque, a suitable target torque compensation method is determined. Based on the target torque compensation method, torque compensation is performed on the vehicle engine, thereby controlling the torque output of the vehicle. In this way, when torque reduction is required, the motor compensation request torque that the motor needs to output is determined. In this way, the torque request of the engine delayed response is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or shaking of the vehicle caused by the delayed response to the torque request, thereby ensuring the smoothness of the vehicle driving and optimizing the driving experience. In addition, in combination with the motor compensation request torque that needs to be compensated, a target torque compensation method matching the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation method, thereby preventing problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed vehicle response to the torque request, allowing the vehicle to reduce torque in time, thereby ensuring the smoothness of the vehicle driving and optimizing the driving experience.

[0056] See also Figure 2 , which shows a schematic diagram of a system involved in a vehicle torque control method provided by an exemplary embodiment. The system includes: a driving parameter sensing system 10 and a vehicle controller 20. The vehicle controller 20 is connected to the driving parameter sensing system 10.

[0057] The driving parameter perception system 10 is used to obtain the driving parameters of the vehicle and send the driving parameters to the vehicle controller 20. The driving parameter perception system 10 includes a variety of sensors or other devices for obtaining different driving parameters of the vehicle. For example, the driving parameter perception system 10 includes a vehicle speed sensor for detecting the driving speed of the vehicle and sending the driving speed of the vehicle to the vehicle controller. The driving parameter perception system 10 also includes a temperature sensor for detecting the battery temperature or the motor body temperature of the vehicle and sending the battery temperature or the motor body temperature to the vehicle controller 20. The driving parameter perception system 10 also includes a throttle opening sensor for detecting the throttle opening of the vehicle and sending the throttle opening to the vehicle controller 20. In some embodiments, the driving parameter perception system 10 also includes a motor and an engine for sending torque information of the motor and the generator to the vehicle controller 20. The driving parameter perception system 10 may include more or fewer devices, which are not specifically limited in the embodiments of the present application.

[0058] The vehicle controller 20 is used to receive the vehicle's driving parameters and torque information, etc., and determine whether the vehicle needs torque compensation based on the vehicle's driving parameters and torque information. When it is determined that the vehicle needs torque compensation, a suitable target torque compensation method is selected based on the driving parameters and torque information to compensate the vehicle's output torque.

[0059] The vehicle torque control method is described below in conjunction with a specific method embodiment. Figure 3 , which shows a flow chart of a torque control method for a vehicle provided by an exemplary embodiment. As an example and not a limitation, the method is applied in a vehicle.

[0060] S301 , when receiving a torque reduction request, the vehicle determines an original value of a motor request torque and a motor compensation request torque of the vehicle based on torque information of the vehicle.

[0061] The motor compensation request torque is the torque that the motor needs to output when the motor performs torque assistance, and the motor request torque original value is the torque value that the motor is currently allowed to output.

[0062] When the vehicle is in direct drive mode and a torque reduction request is received, the vehicle obtains the torque information of the vehicle. The torque reduction request can be triggered by detecting the throttle opening and the brake pedal state. Accordingly, when the throttle opening is detected to be reduced, the vehicle determines to trigger the torque reduction request. Alternatively, when the brake pedal is detected to be stepped on, the vehicle determines to initiate the torque reduction request.

[0063] The torque information includes information such as the front axle requested torque, the engine requested torque, and the engine actual torque. Different torque information can be obtained in different ways. For example, for the front axle requested torque, the vehicle can read the front axle requested torque through the front axle power system. For the engine requested torque, the vehicle can obtain the throttle opening or other driving parameters and calculate the engine requested torque currently requested by the vehicle. For the engine actual torque, the vehicle can determine the current engine actual torque through the engine controller.

[0064] After the vehicle obtains the torque information of the vehicle, the original value of the motor request torque and the motor compensation request torque of the vehicle are determined according to different torque information.

[0065] S302: The vehicle determines a target torque compensation method according to the original value of the motor request torque and the motor compensation request torque.

[0066] The target torque compensation method can be classified according to the device for performing torque compensation. For example, the target torque compensation method can be torque compensation through a motor, or torque compensation through engine ignition angle release, or torque compensation through both an engine and a generator.

[0067] In this step, the vehicle determines a suitable torque compensation method according to the original value of the motor request torque and the motor compensation request torque. In some embodiments, when it is determined that the maximum torque supported by the motor meets the motor compensation request torque according to the original value of the motor request torque and the motor compensation request torque, torque compensation can be performed by the motor; when it is determined that the maximum torque supported by the motor meets the motor compensation request torque according to the original value of the motor request torque and the motor compensation request torque, torque compensation can be performed by releasing the engine ignition angle, or by performing torque compensation by the engine and the generator at the same time.

[0068] S303: The vehicle controls the torque output of the vehicle based on the target torque compensation method.

[0069] The vehicle controls the torque output of the motor and the engine based on the determined target torque compensation method.

[0070] In an embodiment of the present application, when a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque currently allowed to be output by the motor and the motor compensation request torque that the motor needs to output when performing torque compensation through the motor are determined, and a suitable target torque compensation method is determined according to the original value of the motor request torque and the motor compensation request torque, and based on the target torque compensation method, the vehicle engine is torque compensated, thereby controlling the torque output of the vehicle, so that when torque reduction is required, the motor compensation request torque that the motor needs to output is determined, so that the torque request of the engine delayed response is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or shaking of the vehicle caused by the delayed response to the torque request, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience, and, in combination with the motor compensation request torque that needs to be compensated, a target torque compensation method that matches the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation method, thereby preventing problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed vehicle response to the torque request, allowing the vehicle to reduce torque in time, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience.

[0071] When compensating for torque, it is necessary to first determine the value of the torque to be compensated. In order to obtain a more accurate motor compensation torque, the vehicle can obtain a more accurate motor compensation torque by limiting the motor assist torque. The following is a description of the original value of the motor request torque of the vehicle and the method for compensating the motor request torque in conjunction with a specific embodiment. Figure 4 , which shows a flow chart of a torque control method for a vehicle provided by an exemplary embodiment. As an example and not a limitation, the method is applied to a vehicle.

[0072] S401, when receiving a torque reduction request, the vehicle determines the motor assist torque according to the engine request torque and the engine actual torque of the vehicle.

[0073] The vehicle determines the difference between the engine request torque and the actual engine torque as the torque that the vehicle needs to compensate. In some embodiments, the vehicle determines the motor assist torque based on the torque that needs to be compensated. In some embodiments, the vehicle limits the torque that needs to be compensated and determines the limited torque as the motor assist torque. This process can be implemented by the following steps S4011-S4012, including:

[0074] S4011, the vehicle determines the original value of the motor assist torque according to the difference between the engine request torque of the vehicle and the actual torque of the engine.

[0075] In order to prevent the problem of uneven vehicle driving caused by sudden changes in the engine requested torque, in some embodiments, the engine requested torque is filtered, and the difference between the filtered engine requested torque and the actual engine torque is determined as the original value of the motor assist torque.

[0076] The method for filtering the engine request torque can be set as needed. In the embodiment of the present application, the filtering method is not specifically limited.

[0077] S4012: The vehicle limits the original value of the motor assist torque according to the driving parameters of the vehicle to obtain the motor assist torque.

[0078] In this step, the vehicle determines the maximum torque limit and the minimum torque limit of the motor according to the driving parameters, and limits the original value of the motor assist based on the maximum torque limit and the minimum torque limit. Accordingly, the vehicle determines the maximum torque limit and the minimum torque limit of the motor according to the driving parameters of the vehicle; and limits the original value of the motor assist torque according to the minimum torque limit and the maximum torque limit.

[0079] Among them, the maximum torque limit and the minimum torque limit can be determined according to the current driving parameters of the motor. Take the minimum torque limit as an example. The driving parameters include the motor charging power within the preset time, the motor body temperature, the remaining power of the high-voltage battery, the vehicle speed and the gear. Based on the motor charging power within the preset time, the vehicle calculates the minimum available negative torque of the motor within the preset time, determines the first coefficient based on the motor body temperature, determines the second coefficient based on the remaining power of the high-voltage battery, and determines the third coefficient based on the vehicle speed and gear. Among them, the first coefficient, the second coefficient and the third coefficient can be obtained by looking up the table. The preset time can be set as needed. In the embodiment of the present application, the preset market is not specifically limited. For example, the preset time can be 2 seconds, 3 seconds, etc. Correspondingly, the minimum torque limit = the minimum available negative torque within the preset time * the first coefficient * the second coefficient * the third coefficient.

[0080] The process of determining the maximum torque limit of the vehicle is the same as the process of determining the minimum torque limit, which will not be repeated here.

[0081] After the vehicle determines the maximum torque limit and the minimum torque limit, the original value of the motor assist torque is compared with the maximum torque limit and the minimum torque limit. When the original value of the motor assist torque is greater than the minimum torque limit and less than the maximum torque limit, the original value of the motor assist torque is determined as the motor assist torque; when the original value of the motor assist torque is not greater than the minimum torque limit, the minimum torque limit is determined as the motor assist torque; when the original value of the motor assist torque is not less than the maximum torque limit, the maximum torque limit is determined as the motor assist torque.

[0082] In this implementation, the original torque of the motor assist is limited according to the driving parameters of the motor to prevent the motor assist torque from exceeding the motor capacity range.

[0083] S402: The vehicle determines the torque that needs to be allocated to the motor according to the front axle torque request and the engine torque request of the vehicle.

[0084] The vehicle determines the difference between the front axle request torque and the engine request torque as the torque that needs to be distributed to the motor.

[0085] S403: The vehicle determines the motor compensation request torque according to the motor assist torque and the torque required to be allocated to the motor.

[0086] The vehicle determines the sum of the motor assist torque and the torque required to be distributed to the motor as the motor compensation request torque.

[0087] S404: The vehicle determines an original value of the motor requested torque according to the front axle requested torque and the actual engine torque.

[0088] The vehicle determines the difference between the front axle request torque and the actual engine torque as the motor request torque raw value.

[0089] S405: The vehicle determines a target torque compensation method according to the original value of the motor request torque and the motor compensation request torque.

[0090] The principle of this step is the same as that of step S302 and will not be repeated here.

[0091] S406: The vehicle controls the torque output of the vehicle based on the target torque compensation method.

[0092] The principle of this step is the same as that of step S303 and will not be repeated here.

[0093] In an embodiment of the present application, when a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque currently allowed to be output by the motor and the motor compensation request torque that the motor needs to output when performing torque compensation through the motor are determined, and a suitable target torque compensation method is determined according to the original value of the motor request torque and the motor compensation request torque, and based on the target torque compensation method, the vehicle engine is torque compensated, thereby controlling the torque output of the vehicle, so that when torque reduction is required, the motor compensation request torque that the motor needs to output is determined, so that the torque request of the engine delayed response is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or shaking of the vehicle caused by the delayed response to the torque request, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience, and, in combination with the motor compensation request torque that needs to be compensated, a target torque compensation method that matches the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation method, thereby preventing problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed vehicle response to the torque request, allowing the vehicle to reduce torque in time, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience.

[0094] Furthermore, in an embodiment of the present application, the original torque of the motor assist is limited by the driving parameters of the motor to prevent the motor assist torque from exceeding the motor capacity range, thereby reducing the impact of torque compensation on the motor.

[0095] After determining the original value of the motor request torque and the motor compensation request torque, the vehicle determines whether the motor can currently meet the motor compensation request torque based on the original value of the motor request torque and the motor compensation request torque, thereby selecting an appropriate torque compensation method for torque compensation. The following describes a method for controlling torque based on a target torque compensation method in conjunction with a specific embodiment, see Figure 5 , which shows a flow chart of a torque control method for a hybrid vehicle provided by an exemplary embodiment. As an example and not a limitation, the method is applied to a vehicle.

[0096] S501 : When receiving a torque reduction request, the vehicle determines an original value of a motor torque request and a motor compensation torque request of the vehicle based on torque information of the vehicle.

[0097] The principle of this step is the same as that of step S301 and will not be repeated here.

[0098] S502 : The vehicle determines a motor torque difference based on the original motor request torque value and the motor compensation request torque.

[0099] The vehicle determines a difference between the motor request torque original value and the motor compensation request torque as a motor torque difference value.

[0100] S503: The vehicle determines a target torque compensation method according to the motor torque difference.

[0101] The motor torque difference represents the torque that is not achieved when the motor is used for torque compensation. The vehicle determines the target torque compensation method based on the motor torque difference. When the difference is small, the torque that is not achieved has little effect on the vehicle torque output, so the motor can be used for torque compensation. When the difference is large, the torque that is not achieved has a greater impact on the vehicle torque output, so the motor and engine can be used for torque compensation.

[0102] Accordingly, in some embodiments, the vehicle compares the motor torque difference with a preset value, and when the motor torque difference is less than the preset value, determines the engine ignition angle based on the motor torque difference; controls the engine output torque based on the engine ignition angle, and controls the motor output torque of the vehicle based on the motor torque difference and the motor compensation request torque. When the motor torque difference is not less than the preset value, controls the motor output torque of the vehicle based on the motor compensation request torque.

[0103] The preset value can be determined according to the ignition angle release threshold of the engine. Accordingly, the preset value can be determined by looking up a table according to the front axle torque range of the vehicle and the actual gear position of the front axle. Figure 6 , which shows the corresponding relationship between the preset value provided by an exemplary embodiment and the front axle torque range and the actual gear position of the front axle of the vehicle. Wherein, x represents the front axle torque range, and y represents the actual gear position of the front axle.

[0104] When the motor torque difference is less than a preset value, the engine ignition angle is determined based on the motor torque difference; the engine output torque is controlled based on the engine ignition angle; and the motor output torque of the vehicle is controlled based on the motor torque difference and the motor compensation request torque.

[0105] When the motor torque difference is less than the preset value, the engine output torque = engine actual torque + motor torque difference; the motor output torque = motor assist torque - motor torque difference.

[0106] When the motor torque difference is not less than a preset value, the motor output torque of the vehicle is controlled based on the motor compensation request torque, that is, the engine output torque = the actual engine torque; the motor output torque = the motor assist torque.

[0107] S504: The vehicle controls the torque output of the vehicle based on the target torque compensation method.

[0108] The principle of this step is the same as that of step S303 and will not be repeated here.

[0109] In an embodiment of the present application, when a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque currently allowed to be output by the motor and the motor compensation request torque that the motor needs to output when performing torque compensation through the motor are determined, and a suitable target torque compensation method is determined according to the original value of the motor request torque and the motor compensation request torque, and based on the target torque compensation method, the vehicle engine is torque compensated, thereby controlling the torque output of the vehicle, so that when torque reduction is required, the motor compensation request torque that the motor needs to output is determined, so that the torque request of the engine delayed response is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or shaking of the vehicle caused by the delayed response to the torque request, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience, and, in combination with the motor compensation request torque that needs to be compensated, a target torque compensation method that matches the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation method, thereby preventing problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed vehicle response to the torque request, allowing the vehicle to reduce torque in time, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience.

[0110] Furthermore, the vehicle determines a suitable target torque compensation method based on the torque difference between the original value of the motor requested torque and the motor compensation requested torque, thereby preventing the situation where the motor alone is insufficient to compensate for the reduced torque of the engine during torque compensation. When the torque difference is large, torque compensation is performed by releasing the ignition angle, thereby ensuring the effect of torque reduction through torque compensation.

[0111] Moreover, when the motor is sufficient for torque compensation, the motor is used for torque compensation first, which reduces the frequency of the engine releasing the ignition angle, helps to reduce vehicle fuel consumption and improve engine efficiency.

[0112] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0113] See also Figure 7 , which shows a schematic diagram of the structure of a torque control device for a vehicle provided by the present application, and includes various units for executing various steps in the above-mentioned embodiment, see Figure 7 , the torque control device of the vehicle comprises:

[0114] A first determining unit 701 is used to determine, when receiving a torque reduction request, an original value of a motor request torque and a motor compensation request torque of the vehicle based on the torque information of the vehicle, wherein the motor compensation request torque is a torque that the motor needs to output when the motor performs torque assistance, and the original value of the motor request torque is a torque value that the motor is currently allowed to output;

[0115] A second determining unit 702 is used to determine a target torque compensation method according to the original value of the motor request torque and the motor compensation request torque;

[0116] The control unit 703 is used to control the torque output of the vehicle based on the target torque compensation method.

[0117] In some embodiments, the second determination unit 702 is used to determine the motor torque difference based on the original value of the motor request torque and the motor compensation request torque; and determine the target torque compensation method according to the motor torque difference.

[0118] In some embodiments, the second determination unit 702 is used to determine the engine ignition angle based on the motor torque difference when the motor torque difference is less than a preset value; control the engine output torque based on the engine ignition angle; and control the motor output torque of the vehicle based on the motor torque difference and the motor compensation request torque.

[0119] In some embodiments, the second determination unit 702 is configured to control the motor output torque of the vehicle based on the motor compensation request torque when the motor torque difference is not less than a preset value.

[0120] In some embodiments, the first determination unit 701 is used to determine the motor assist torque based on the engine request torque and the actual engine torque of the vehicle; determine the torque that needs to be allocated to the motor based on the front axle request torque and the engine request torque of the vehicle; and determine the motor compensation request torque based on the motor assist torque and the torque that needs to be allocated to the motor.

[0121] In some embodiments, the first determination unit 701 is used to determine the original value of the motor assist torque based on the difference between the engine request torque of the vehicle and the actual torque of the engine; and to limit the original value of the motor assist torque based on the driving parameters of the vehicle to obtain the motor assist torque.

[0122] In some embodiments, the first determination unit 701 is used to determine the maximum torque limit and the minimum torque limit of the motor according to the driving parameters of the vehicle; and to limit the original value of the motor assist torque according to the minimum torque limit and the maximum torque limit.

[0123] In an embodiment of the present application, when a torque reduction request is received, based on the current torque information of the vehicle, the original value of the motor request torque currently allowed to be output by the motor and the motor compensation request torque that the motor needs to output when performing torque compensation through the motor are determined, and a suitable target torque compensation method is determined according to the original value of the motor request torque and the motor compensation request torque, and based on the target torque compensation method, the vehicle engine is torque compensated, thereby controlling the torque output of the vehicle, so that when torque reduction is required, the motor compensation request torque that the motor needs to output is determined, so that the torque request of the engine delayed response is compensated through the compensation request, thereby reducing the problem of unexpected acceleration or shaking of the vehicle caused by the delayed response to the torque request, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience, and, in combination with the motor compensation request torque that needs to be compensated, a target torque compensation method that matches the motor compensation request torque is determined, and torque compensation is performed through the target torque compensation method, thereby preventing problems such as insufficient motor torque compensation, thereby further preventing the problem of delayed vehicle response to the torque request, allowing the vehicle to reduce torque in time, thereby ensuring the smoothness of the vehicle's driving and optimizing the driving experience.

[0124] Figure 8 FIG. 1 is a schematic diagram of a vehicle provided by an exemplary embodiment of the present application. Figure 8 As shown, the vehicle 8 of this embodiment includes: a processor 80, a memory 81, and a computer program 82 stored in the memory 81 and executable on the processor 80, such as a vehicle torque control program. When the processor 80 executes the computer program 82, the steps of the above-mentioned various vehicle torque control method embodiments are implemented, such as Figure 3 Alternatively, when the processor 80 executes the computer program 82, the functions of each unit in the above-mentioned device embodiments are realized, for example Figure 7 The functions of units 701 to 703 are shown.

[0125] Exemplarily, the computer program 82 may be divided into one or more units, which are stored in the memory 81 and executed by the processor 80 to complete the present application. The one or more units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the vehicle 8. For example, the computer program 82 may be divided into a first determination unit, a second determination unit, and a control unit, and the specific functions of each module are as follows:

[0126] A first determining unit 701 is used to determine, when receiving a torque reduction request, an original value of a motor request torque and a motor compensation request torque of the vehicle based on the torque information of the vehicle, wherein the motor compensation request torque is a torque that the motor needs to output when the motor performs torque assistance, and the original value of the motor request torque is a torque value that the motor is currently allowed to output;

[0127] A second determining unit 702 is used to determine a target torque compensation method according to the original value of the motor request torque and the motor compensation request torque;

[0128] The control unit 703 is used to control the torque output of the vehicle based on the target torque compensation method.

[0129] The vehicle 8 may be any vehicle having a control function. The vehicle 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Figure 8 It is only an example of the vehicle 8 and does not constitute a limitation of the vehicle 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle 8 may also include input and output devices, network access devices, buses, etc.

[0130] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0131] The memory 81 may be an internal storage unit of the vehicle 8, such as a hard disk or memory of the vehicle 8. The memory 81 may also be an external storage device of the vehicle 8, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 8. Further, the memory 81 may also include both an internal storage unit of the vehicle 8 and an external storage device. The memory 81 is used to store the computer program and other programs and data required by the terminal device. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0132] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0133] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0134] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0135] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another 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 interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated module / unit 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 present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0139] The embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0140] The embodiment of the present application also provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0141] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling torque of a vehicle, characterized in that: The method comprises: When a torque reduction request is received, determining the original value of the motor torque request and the motor compensation request torque of the vehicle based on the torque information of the vehicle, wherein the motor compensation request torque is the torque that the motor needs to output when the motor performs torque assistance, and the original value of the motor torque request is the torque value currently allowed to be output by the motor; Determine a target torque compensation method according to the motor request torque original value and the motor compensation request torque; Based on the target torque compensation method, the torque output of the vehicle is controlled.

2. The method according to claim 1, characterized in that The determining of the target torque compensation method according to the motor request torque original value and the motor compensation request torque includes: determining a motor torque difference based on the motor request torque original value and the motor compensation request torque; A target torque compensation method is determined according to the motor torque difference.

3. The method according to claim 2, characterized in that The method of determining a target torque compensation method according to the motor torque difference includes: When the motor torque difference is less than a preset value, determining an engine ignition angle based on the motor torque difference; An engine output torque is controlled based on the engine ignition angle, and a motor output torque of the vehicle is controlled based on the motor torque difference and the motor compensation request torque.

4. The method according to claim 2, characterized in that The determining of the target torque compensation method according to the motor request torque original value and the motor compensation request torque includes: When the motor torque difference is not less than a preset value, the motor output torque of the vehicle is controlled based on the motor compensation request torque.

5. The method according to claim 1, characterized in that Determining a motor compensation request torque of the vehicle based on driving torque information of the vehicle includes: determining a motor assist torque according to an engine request torque and an engine actual torque of the vehicle; Determining the torque to be distributed to the motor according to the front axle torque request and the engine torque request of the vehicle; The motor compensation request torque is determined according to the motor assist torque and the torque required to be distributed to the motor.

6. The method according to claim 5, characterized in that The step of determining the motor assist torque according to the engine request torque and the engine actual torque of the vehicle includes: Determining an original value of the motor assist torque according to a difference between the engine request torque of the vehicle and the actual engine torque; According to the driving parameters of the vehicle, the original value of the motor assist torque is limited to obtain the motor assist torque.

7. The method according to claim 6, characterized in that The step of limiting the original value of the motor assist torque according to the driving parameters of the vehicle to obtain the motor assist torque includes: Determining a maximum torque limit and a minimum torque limit of the motor according to the driving parameters of the vehicle; The original value of the motor assist torque is limited according to the minimum torque limit and the maximum torque limit.

8. A torque control device for a vehicle, characterized in that: The device comprises: a first determining unit, configured to determine, when receiving a torque reduction request, an original value of a motor request torque and a motor compensation request torque of the vehicle based on driving torque information of the vehicle, wherein the motor compensation request torque is a torque that the motor needs to output when the motor performs torque assistance, and the original value of the motor request torque is a torque value that the motor is currently allowed to output; A second determining unit, configured to determine a target torque compensation method according to the motor request torque original value and the motor compensation request torque; A control unit is used to control the torque output of the vehicle based on the target torque compensation method.

9. A vehicle, characterized in that: The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the torque control method of the vehicle according to any one of claims 1 to 7.

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 torque control method of the vehicle as claimed in any one of claims 1 to 7 is implemented.

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