Vehicle torque control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle torque control method, device and equipment and a storage medium, and the method comprises the steps that under the torque zero-crossing working condition, the current torque of a motor is switched into step torque according to the current actual rotating speed of a driving gear and the required torque of the motor; the current relative distance is determined according to the current relative rotating speed of the driving gear relative to the driven gear after torque switching; according to the ratio of the current relative distance to the gear clearance, the current relative rotating speed and the current actual rotating speed, the current torque variable quantity is determined; according to the current torque and the current torque variable quantity, the current target torque of the motor in the process that the driving gear operates to the driven gear is determined. According to the technical scheme, through torque control, the driving gear can pass through the gear clearance and can be rapidly synchronized with the rotating speed of the driven gear, the shaking problem of the torque zero-crossing interval is solved, and meanwhile the dynamic response of the torque zero-crossing interval is guaranteed.

Description

Technical Field

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

[0002] At present, when faced with the motor torque zero-crossing condition, most electric vehicle manufacturers usually adopt the solution of slowing down the torque slope in the torque zero-crossing interval. Although this solution can avoid the jitter problem caused by torque shock, it also has obvious disadvantages, namely, it will lead to slow power response in the torque zero-crossing interval, which will cause the driver to experience non-linear power output and non-follow-up driving experience during driving.

[0003] Based on this, how to solve the jitter problem in the torque zero-crossing interval while ensuring the dynamic response in the torque zero-crossing interval is a problem that needs to be solved urgently in this field. Summary of the invention

[0004] The embodiments of the present application provide a method, device, equipment and storage medium for controlling vehicle torque, which solve the jitter problem in the torque zero-crossing interval while ensuring the dynamic response in the torque zero-crossing interval.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a method for controlling vehicle torque is provided, comprising:

[0007] Under the condition of torque zero, the current torque of the motor is switched to a step torque according to the current actual speed of the driving gear and the required torque of the motor;

[0008] Determine the current relative distance according to the current relative speed of the driving gear relative to the driven gear after the torque switching;

[0009] Determine the current torque change according to the ratio of the current relative distance to the gear gap, the current relative speed and the current actual speed;

[0010] According to the current torque and the current torque change, the current target torque of the motor during the process of the driving gear running to the driven gear is determined.

[0011] In some embodiments, according to the current actual rotation speed of the driving gear and the required torque of the motor, the current torque of the motor is switched to the step torque, including:

[0012] According to the current actual speed and required torque, the waiting step torque and the step torque are determined;

[0013] When the current torque of the motor reaches the step torque to be prepared, the current torque is switched to the step torque.

[0014] In some embodiments, the waiting step torque and the step torque are inverse numbers of each other.

[0015] In some embodiments, the current torque change is determined according to the ratio of the current relative distance to the gear clearance, the current relative speed and the current actual speed, including:

[0016] Determine the current torque gain coefficient according to the ratio of the current relative distance to the gear clearance and the current relative speed;

[0017] Determine the current torque change base according to the current actual speed and the current relative speed;

[0018] Multiply the current torque gain coefficient by the current torque change base to obtain the current torque change.

[0019] In some embodiments, determining the current target torque of the motor during the process of the driving gear running to the driven gear according to the current torque and the current torque change includes:

[0020] When the torque zero-crossing trend is from negative torque to positive torque, the current torque change is subtracted from the current torque to obtain the current target torque of the motor during the process of the driving gear running to the driven gear;

[0021] When the torque zero-crossing trend is from positive torque to negative torque, the current torque is added to the current torque change to obtain the current target torque of the motor during the process of the driving gear running to the driven gear.

[0022] In some embodiments, before determining the current torque change according to the ratio of the current relative distance to the gear clearance, the current relative speed, and the current actual speed, the method further includes:

[0023] When the vehicle is stationary and the gear is in the parking gear, a preset positive torque and a preset negative torque are applied to the motor respectively, so as to obtain a first speed and a second speed of the driving gear correspondingly;

[0024] A gear clearance between the driving gear and the driven gear under a torque zero-crossing condition is determined according to the first speed and the second speed.

[0025] According to a second aspect of an embodiment of the present application, a vehicle torque control device is provided, comprising:

[0026] The torque step module is used to switch the current torque of the motor to a step torque according to the current actual speed of the driving gear and the required torque of the motor under the condition of torque zero;

[0027] A distance determination module, used to determine a current relative distance according to a current relative rotation speed of the driving gear relative to the driven gear after the torque switching;

[0028] The torque change module is used to determine the current torque change according to the ratio of the current relative distance to the gear clearance, the current relative speed and the current actual speed;

[0029] The torque determination module is used to determine the current target torque of the motor during the process of the driving gear running to the driven gear according to the current torque and the current torque change.

[0030] According to a third aspect of an embodiment of the present application, a vehicle torque control device is provided, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of any method of the first aspect described above are implemented.

[0031] According to the fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of any method of the first aspect described above.

[0032] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, including a computer program. When the computer program product is executed by a processor, it prompts the processor to implement the steps of any method of the first aspect described above.

[0033] In the present application, under the condition of torque crossing zero, according to the current actual speed of the driving gear and the required torque of the motor, the current torque of the motor is switched to a step torque; according to the current relative speed of the driving gear relative to the driven gear after the torque switching, the current relative distance is determined; according to the ratio of the current relative distance to the gear gap, the current relative speed and the current actual speed, the current torque change is determined; according to the current torque and the current torque change, the current target torque of the motor in the process of the driving gear running to the driven gear is determined. Among them, the initial relative speed of the driving gear is first given by the step torque, and then the torque change is converted according to the relative distance of the driving gear approaching the driven gear and the gear gap. Through torque control, the driving gear can not only complete the gear gap but also quickly synchronize with the speed of the driven gear. While solving the jitter problem in the torque crossing zero interval, the dynamic response in the torque crossing zero interval is guaranteed.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0036] Figure 1 A diagram showing an application environment of a method for controlling vehicle torque in one embodiment;

[0037] Figure 2 A simplified schematic diagram of gear movement under zero-crossing conditions in one embodiment is shown;

[0038] Figure 3 Another simplified schematic diagram of the gear movement under zero-crossing conditions in one embodiment is shown;

[0039] Figure 4 A schematic diagram showing the comparison of gear speeds under two different torque control methods under zero-crossing conditions is shown;

[0040] Figure 5 A schematic flow chart of a method for controlling vehicle torque in one embodiment is shown;

[0041] Figure 6 A schematic diagram showing vehicle request torque, motor speed and vehicle acceleration in the related art is shown;

[0042] Figure 7 A schematic diagram showing vehicle requested torque, motor speed and vehicle acceleration in one embodiment is shown;

[0043] Figure 8 A block diagram showing a vehicle torque control device in one embodiment;

[0044] Fig. 9 A schematic structural diagram of a vehicle torque control device in one embodiment is shown. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0047] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0048] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0049] It should also be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those shown or described.

[0050] In order to make those skilled in the art better understand the present application, firstly, Figure 1 The application scenarios involved in this application are briefly described.

[0051] Figure 1 FIG. 2 shows an application environment diagram of a method for controlling vehicle torque in an embodiment. Figure 1As shown in the figure, in the transmission system of electric vehicles, the gears are hard-connected, and the gears are not fully meshed, and there is a gear gap as shown in the figure above. The gear on the motor side is usually defined as the driving gear, and the gear on the wheel end is the driven gear. Under the driving condition, the torque of the motor is positive torque, and the driving gear pushes the driven gear forward to accelerate; under the recovery condition, the torque of the motor is negative torque, and the driving gear pulls the driven gear to decelerate. The condition where the torque of the motor changes from negative torque to positive torque or from positive torque to negative torque is called zero-crossing condition. Under the zero-crossing condition, the driving gear and the driven gear will lean against each other. If there is a large speed difference between the two gears at the moment when the master and slave gears lean against each other, there will be an obvious vibration impact. This impact will increase with the increase of the speed difference. Therefore, under the zero-crossing condition, the traditional strategy is to slow down the torque slope, and then reduce the speed difference between the two gears, thereby reducing the impact of vibration and avoiding the jitter problem caused by torque shock. While traditional strategies can solve the vibration problem, they can also lead to slow power response in the torque zero-crossing range, which in turn causes the driver to experience non-linear power output and lack of foot tracking during driving.

[0052] Figure 2 FIG. 2 shows a simplified schematic diagram of the gear movement under zero-crossing conditions in one embodiment. Figure 2 As shown, at time T0 before zero crossing, when the current torque of the motor is negative torque, the driving gear (as shown in the gray square) presses the driven gear (as shown in the black square) to move forward and decelerate, and their speeds are both Va, and the gear gap is S.

[0053] Figure 3 Another simplified schematic diagram of the gear movement under zero-crossing conditions in one embodiment is shown. Figure 3 As shown, at time T1 after the zero crossing is completed, the current torque of the motor is positive torque, and the driving gear (as shown in the gray square) pushes the driven gear (as shown in the black square) to accelerate forward, and their speeds are all Va (the zero crossing process time is fast, and the vehicle resistance and other factors have almost no effect on the speed of the driven gear, so it is assumed that the speed before and after the zero crossing is the same, both are Va). Then it is necessary to solve how to make the driving gear approach the driven gear as quickly as possible under the gear gap S distance, and make the speed at the time of approaching the driven gear equal to or close to the driven gear. The torque control of the embodiment of the present application is mainly divided into two parts, as follows: Figure 4 As shown in ① and ②, ① the initial relative speed of the driving gear is given by the step torque; ② the driving gear and the driven gear synchronize their speeds and complete the gear gap S. Figure 4It can be seen that this control scheme is completely different from the traditional torque slope slowing scheme. The control method of the embodiment of the present application is that the driving gear actively and in advance fits the driven gear. Compared with the traditional scheme, there is no need to slow down the torque slope, which ensures the dynamic response of the torque zero-crossing interval, and can not only significantly improve the time for the driving gear and the driven gear to synchronize their speeds. After experimental comparison, the time can be reduced by more than 100ms, and the vehicle shaking can be significantly reduced.

[0054] Figure 5 FIG. 2 is a flow chart of a method for controlling vehicle torque in one embodiment. Figure 5 As shown, a method for controlling vehicle torque is provided, which may include the following steps 501 to 504 .

[0055] In step 501, under the condition of torque zero, the current torque of the motor is switched to a step torque according to the current actual rotation speed of the driving gear and the required torque of the motor.

[0056] In the implementation process, steps 501 to 504 can be executed by the vehicle controller, and the vehicle controller can send a torque request to the motor controller, and the motor controller will feedback the current actual speed and current actual torque of the motor to the vehicle controller. Because the driving gear is the gear on the motor side, the current actual speed of the driving gear is the same as the current actual speed of the motor.

[0057] It is understandable that by detecting the current torque of the motor, if the current torque is close to 0 and has a trend of changing from positive torque to negative torque, or from negative torque to positive torque, it can be determined that the current working condition is torque zero.

[0058] In an embodiment of the present application, under the condition of torque passing through zero, the wait step torque and the step torque can be determined according to the current actual speed and the required torque; when the current torque of the motor reaches the wait step torque, the current torque is switched to the step torque to give the driving gear an initial relative speed, allowing the driving gear to move forward and catch up with the driven gear.

[0059] In some embodiments, the waiting step torque and the step torque are opposite numbers. For example, if the waiting step torque is -3Nm, the step torque is 3Nm, so as to give the driving gear a higher initial relative speed.

[0060] In some embodiments, both the waiting step torque and the step torque can be obtained by looking up the current actual speed and the required torque in a table.

[0061] Taking the current torque of the motor from negative torque to positive torque as an example, the step torque map can be shown in Table 1 below:

[0062] Table 1

[0063]

[0064] The step torque map can be shown in Table 2 below:

[0065] Table 2

[0066]

[0067] Assuming that the required torque is 300Nm, according to Table 1 and Table 2, it can be found that the step torque is -3Nm as an example, and the step torque is 3Nm. Therefore, when the current torque of the motor reaches -3Nm, the current torque will jump directly to 3Nm at the next moment, and then the speed of the motor will be increased, and the driving gear will obtain the relative initial velocity.

[0068] It is understandable that if the current torque of the motor changes from positive torque to negative torque, Table 2 can be used as the waiting step torque map and Table 1 as the step torque map. Still taking the required torque as 300Nm as an example, according to Table 2 and Table 1, it can be found that the waiting step torque is 3Nm, and the step torque is -3Nm. Therefore, when the current torque of the motor reaches 3Nm, the current torque will jump directly to -3Nm at the next moment, and then the speed of the motor will be increased, and the driving gear will obtain the relative initial speed.

[0069] In step 502, the current relative distance is determined according to the current relative rotation speed of the driving gear relative to the driven gear after the torque switching.

[0070] After the torque is switched, the relative speed of the driving gear relative to the driven gear will decrease with time to gradually synchronize with the speed of the driven gear. The driving gear will also gradually approach the driven gear, so its relative distance relative to the driven gear will also change. The current relative distance can be obtained by integrating the current relative speed and time.

[0071] In step 503, the current torque change is determined according to the ratio of the current relative distance to the gear clearance, the current relative speed and the current actual speed.

[0072] It is understandable that after the torque is switched, the driving gear has a relative rotation speed with respect to the driven gear. In order to reduce the impact, the driving gear needs to synchronize the rotation speed with the driven gear and complete the gear gap S as quickly as possible.

[0073] In some embodiments, when the vehicle is stationary and the gear is in the parking gear, a preset positive torque and a preset negative torque can be loaded to the motor respectively to obtain a first speed and a second speed of the driving gear correspondingly; based on the first speed and the second speed, the gear clearance between the driving gear and the driven gear under the torque zero condition is determined.

[0074] In the implementation process, the absolute values ​​of the preset positive torque and the preset negative torque can be the same, and the gear clearance can be calculated by integrating the speed difference between the first speed and the second speed and time. Based on the running time of the vehicle, the gear clearance can be corrected, self-learned and updated regularly.

[0075] In some embodiments, the current torque gain coefficient can be determined based on the ratio of the current relative distance to the gear clearance and the current relative speed; the current torque change base can be determined based on the current actual speed and the current relative speed; the current torque gain coefficient is multiplied by the current torque change base to obtain the current torque change amount.

[0076] During the implementation process, the current torque gain coefficient can be calculated based on the current relative distance S X The current torque change base can be obtained by looking up the ratio of the gear clearance S and the current relative speed, and the current torque change base can be obtained by looking up the table according to the current actual speed and the current relative speed.

[0077] Current relative distance S X The corresponding relationship between the ratio of the gear clearance S and the current relative speed can be referred to as shown in the following Table 3:

[0078] Table 3

[0079]

[0080] The corresponding relationship between the current actual speed and the current relative speed can be referred to in the following Table 4:

[0081] Table 4

[0082]

[0083] In step 504 , the current target torque of the motor during the process of the driving gear running to the driven gear is determined according to the current torque and the current torque change.

[0084] In some embodiments, when the torque crosses zero and changes in trend from negative torque to positive torque, the current torque is subtracted from the current torque change to obtain the current target torque of the motor during the process of the driving gear running to the driven gear; when the torque crosses zero and changes in trend from positive torque to negative torque, the current torque is added to the current torque change to obtain the current target torque of the motor during the process of the driving gear running to the driven gear.

[0085] Figure 6 FIG. 1 shows a schematic diagram of vehicle request torque, motor speed and vehicle acceleration in the related art. Figure 6 As shown, in the traditional control scheme, the requested torque will be slowed down in the torque zero-crossing range, the acceleration of the whole vehicle will fluctuate greatly, and the vibration will be more obvious.

[0086] Figure 7 FIG. 1 is a schematic diagram showing a vehicle request torque, motor speed and vehicle acceleration in one embodiment. Figure 7 As shown, in the control scheme of the embodiment of the present application, the torque will jump in the torque zero-crossing interval, the acceleration fluctuation of the whole vehicle is relatively stable, and the jitter is significantly reduced.

[0087] The embodiment of the present application switches the current torque of the motor to a step torque according to the current actual speed of the driving gear and the required torque of the motor under the condition of torque zero crossing; determines the current relative distance according to the current relative speed of the driving gear relative to the driven gear after the torque switching; determines the current torque change according to the ratio of the current relative distance to the gear gap, the current relative speed and the current actual speed; determines the current target torque of the motor during the process of the driving gear running to the driven gear according to the current torque and the current torque change. Among them, the initial relative speed of the driving gear is first given by the step torque, and then the torque change is converted according to the relative distance of the driving gear approaching the driven gear and the gear gap. Through torque control, the driving gear can not only complete the gear gap but also quickly synchronize with the speed of the driven gear. While solving the jitter problem in the torque zero crossing interval, the dynamic response in the torque zero crossing interval is guaranteed.

[0088] The following describes an embodiment of the device of the present application, which can be used to execute the vehicle torque control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle torque control method in the above embodiment of the present application.

[0089] Figure 8 FIG. 2 shows a block diagram of a vehicle torque control device in one embodiment. Figure 8 As shown, the vehicle torque control device of the embodiment of the present application includes: a torque step module 801, a distance determination module 802, a torque change module 803 and a torque determination module 804, wherein the torque step module 801 is used to switch the current torque of the motor to a step torque according to the current actual speed of the driving gear and the required torque of the motor under the condition of torque zero; the distance determination module 802 is used to determine the current relative distance according to the current relative speed of the driving gear relative to the driven gear after the torque switching; the torque change module 803 is used to determine the current torque change according to the ratio of the current relative distance to the gear clearance, the current relative speed and the current actual speed; the torque determination module 804 is used to determine the current target torque of the motor during the process of the driving gear running to the driven gear according to the current torque and the current torque change.

[0090] In some embodiments, the torque step module 801 is further used to determine the waiting step torque and the step torque according to the current actual speed and the required torque; when the current torque of the motor reaches the waiting step torque, the current torque is switched to the step torque.

[0091] In some embodiments, the waiting step torque and the step torque are inverse numbers of each other.

[0092] In some embodiments, the torque change module 803 is also used to determine the current torque gain coefficient based on the ratio of the current relative distance to the gear clearance and the current relative speed; determine the current torque change base based on the current actual speed and the current relative speed; and multiply the current torque gain coefficient by the current torque change base to obtain the current torque change.

[0093] In some embodiments, the torque determination module 804 is also used to, when the torque changes from zero through a negative torque to a positive torque, subtract the current torque change from the current torque to obtain the current target torque of the motor during the process of the driving gear running to the driven gear; when the torque changes from zero through a positive torque to a negative torque, add the current torque change to the current torque to obtain the current target torque of the motor during the process of the driving gear running to the driven gear.

[0094] In some embodiments, the torque change module 803 is also used to load a preset positive torque and a preset negative torque to the motor respectively when the vehicle is stationary and the gear is in the parking gear, so as to obtain a first speed and a second speed of the driving gear correspondingly; and determine the gear clearance between the driving gear and the driven gear under the torque zero condition based on the first speed and the second speed.

[0095] Based on the same inventive concept, the embodiment of the present application also provides a vehicle torque control device, Fig. 9 A schematic diagram of the structure of a vehicle torque control device in an embodiment is shown, wherein the vehicle torque control device includes one or more memories 904, one or more processors 902, and at least one computer program (computer program instruction) stored in the memory 904 and executable on the processor 902, and the processor 902 implements the method described above when executing the computer program.

[0096] Among them, Fig. 9In the embodiment of the present invention, a bus architecture (represented by bus 900) is shown, and bus 900 may include any number of interconnected buses and bridges, and bus 900 links various circuits including one or more processors represented by processor 902 and memory represented by memory 904. Bus 900 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 905 provides an interface between bus 900 and receiver 901 and transmitter 903. Receiver 901 and transmitter 903 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 902 is responsible for managing bus 900 and general processing, while memory 904 may be used to store data used by processor 902 when performing operations.

[0097] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor is prompted to implement the steps of the method as described above.

[0098] Based on the same inventive concept, an embodiment of the present application provides a computer program product, including a computer program. When the computer program product is executed by a processor, it prompts the processor to implement the steps of the method as described above.

[0099] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, 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 units or modules, which can be electrical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0102] If the integrated 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 technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for 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, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.

[0103] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for controlling vehicle torque, characterized in that: include: Under the condition of torque zero, according to the current actual speed of the driving gear and the required torque of the motor, the current torque of the motor is switched to a step torque; Determining a current relative distance according to a current relative rotation speed of the driving gear relative to the driven gear after the torque switching; Determining a current torque change according to a ratio of the current relative distance to the gear clearance, the current relative speed, and the current actual speed; The current target torque of the motor during the process of the driving gear running to the driven gear is determined according to the current torque and the current torque change.

2. The vehicle torque control method according to claim 1, characterized in that: The step of switching the current torque of the motor to the step torque according to the current actual rotation speed of the driving gear and the required torque of the motor comprises: Determining the step torque to be prepared and the step torque according to the current actual speed and the required torque; When the current torque of the motor reaches the step torque to be prepared, the current torque is switched to the step torque.

3. The vehicle torque control method according to claim 2, characterized in that: The waiting step torque and the step torque are inverse numbers of each other.

4. The vehicle torque control method according to claim 1, characterized in that: Determining the current torque change according to the ratio of the current relative distance to the gear clearance, the current relative speed and the current actual speed includes: Determining a current torque gain coefficient according to a ratio of the current relative distance to the gear clearance and the current relative speed; Determining a current torque change base according to the current actual speed and the current relative speed; The current torque change amount is obtained by multiplying the current torque gain coefficient by the current torque change base.

5. The vehicle torque control method according to claim 4, characterized in that: The determining, according to the current torque and the current torque variation, the current target torque of the motor during the process of the driving gear running to the driven gear comprises: In the case where the torque zero-crossing trend is from negative torque to positive torque, the current torque change amount is subtracted from the current torque to obtain the current target torque of the motor during the process of the driving gear running to the driven gear; In the case where the torque zero-crossing variation trend is from positive torque to negative torque, the current torque is added to the current torque variation to obtain the current target torque of the motor during the process of the driving gear running to the driven gear.

6. The vehicle torque control method according to claim 1, characterized in that: Before determining the current torque variation according to the ratio of the current relative distance to the gear clearance, the current relative speed, and the current actual speed, the method further includes: When the vehicle is stationary and the gear is in the parking gear, a preset positive torque and a preset negative torque are applied to the motor respectively, so as to obtain a first speed and a second speed of the driving gear correspondingly; The gear clearance between the driving gear and the driven gear under the torque zero condition is determined according to the first speed and the second speed.

7. A vehicle torque control device, characterized in that: include: A torque step module is used to switch the current torque of the motor to a step torque according to the current actual speed of the driving gear and the required torque of the motor under the condition that the torque passes through zero; A distance determination module, used to determine a current relative distance according to a current relative rotation speed of the driving gear relative to the driven gear after the torque switching; a torque variation module, configured to determine a current torque variation according to a ratio of the current relative distance to the gear clearance, the current relative speed and the current actual speed; The torque determination module is used to determine the current target torque of the motor when the driving gear runs to the driven gear according to the current torque and the current torque change.

8. A vehicle torque control device, comprising a processor and a memory, characterized in that: The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which, when executed by a processor, prompt the processor to implement the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program product is executed by a processor, the processor is prompted to implement the steps of the method according to any one of claims 1 to 6.

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