Torque control method and device

Abstract

The invention provides a torque control method and equipment, and the method comprises the steps: responding to the current flag bit information, and determining that a vehicle control unit is reset; state control parameters of the target vehicle are obtained through the preset storage space, the state control parameters comprise the whole vehicle torque requirement and the motor request torque, and data in the storage space are continuously stored in the reset period of the whole vehicle control unit; and the whole vehicle torque demand and the motor request torque are sent to application layer software, so that the application layer software controls the target vehicle according to the whole vehicle torque demand and the motor request torque. According to the method, the risk that application layer software reads the software initialization data for torque control in the torque control process can be avoided, the occurrence probability that torque control of the vehicle is abnormal or the torque drops to zero is reduced, and the vehicle using risk of the target vehicle is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of torque control, and in particular to a torque control method and device. Background Art

[0002] Compared with traditional fuel vehicles, electric vehicles have added many electronic control units. As the number, type and complexity of electronic control units increase, the probability of defects and failures in electronics and software also increases. For example, when the vehicle control unit (VCU) undergoes a short-term software reset or hardware reset, the existing technology often implements torque recovery after reset based on the real-time vehicle status, and the vehicle's torque control function takes a while to recover to the state before the vehicle control unit is reset. During the reset of the vehicle control unit, there is a certain probability that the software initial state data will be read for torque control recovery, resulting in abnormal torque control of the vehicle or torque dropping to zero, causing the vehicle to have a significant loss of power and impact, causing vehicle use risks. Summary of the invention

[0003] The present invention application provides a torque control method and device, which can reduce the probability of abnormalities occurring during the recovery process of the vehicle torque function when the vehicle control unit is reset, thereby reducing the risk of vehicle use.

[0004] In order to solve the above technical problems, the first aspect of the present invention provides a torque control method, which is applied to a vehicle control unit of a target vehicle, comprising:

[0005] In response to the current flag information, it is determined that the vehicle control unit is reset, and the state control parameters of the target vehicle are obtained through a preset storage space, wherein the state control parameters include the vehicle torque demand and the motor request torque, and the data stored in the preset storage space is continuously stored during the reset of the vehicle control unit;

[0006] Sending the vehicle torque requirement and motor request torque to the application layer software of the target vehicle;

[0007] So that the application layer software controls the target vehicle according to the vehicle torque demand and the motor requested torque.

[0008] This aspect determines that the vehicle control unit is reset through the current flag information; the state control parameters of the target vehicle are obtained through the preset storage space. Since the data stored in the storage space is continuously stored during the reset of the vehicle control unit, the data in the storage space will not be lost or overwritten when the vehicle control unit is reset. The state control parameters obtained by this aspect include the vehicle torque demand and the motor request torque. In this way, when the vehicle control unit is reset, the vehicle control unit sends the vehicle torque demand and the motor request torque to the application layer software. The application layer software can control the torque of the target vehicle according to the vehicle torque demand and the motor request torque in the storage space. Compared with the existing technical solutions based on the real-time vehicle status, the present invention performs torque control according to the stored value, avoiding the risk of the application layer software reading the software initialization data for torque control during the torque control process, reducing the probability of abnormal vehicle torque control or torque dropping to zero, and effectively reducing the risk of using the target vehicle; in addition, the present invention specifically controls the torque of the target vehicle based on the vehicle torque demand and motor requested torque in the storage space, thereby simplifying the steps of calculating the vehicle torque demand, motor requested torque and / or drive torque according to the real-time vehicle status, effectively simplifying the process, and achieving a fast and smooth transition of torque control when the vehicle control unit is reset.

[0009] The second aspect of the present invention provides a torque control device, which is applied to a vehicle control unit of a target vehicle. The torque control device includes a first determination module, a state control parameter acquisition module and a first control module; wherein:

[0010] The first determination module is used to respond to the current flag information and determine that the vehicle control unit is reset;

[0011] The state control parameter acquisition module is used to acquire the state control parameters of the target vehicle through a preset storage space, wherein the state control parameters include the vehicle torque demand and the motor request torque, and the data stored in the preset storage space is continuously stored during the reset of the vehicle control unit;

[0012] The first control module is used to send the whole vehicle torque demand and the motor requested torque to the application layer software of the target vehicle, so that the application layer software controls the target vehicle according to the whole vehicle torque demand and the motor requested torque.

[0013] The third aspect of the present application provides a torque control device, including a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the torque control method.

[0014] The fourth aspect of the present application provides a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is executed on a torque control device / apparatus, the torque control device / apparatus performs the operation of the torque control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 : A flow chart of the first embodiment of the torque control method provided by the present invention.

[0016] Figure 2 : A schematic diagram of the architecture of the first embodiment of the torque control method provided by the present invention.

[0017] Figure 3 : A flow chart of a second embodiment of the torque control method provided by the present invention.

[0018] Figure 4 : A flow chart of the third embodiment of the torque control method provided by the present invention.

[0019] Figure 5 : A flow chart of an application example of the torque control method provided by the present invention.

[0020] Figure 6 : A schematic structural diagram of the first embodiment of the torque control device provided by the present invention.

[0021] Figure 7 : A schematic structural diagram of the first embodiment of the torque control device provided by the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Embodiment 1

[0024] Please refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the torque control method provided in the present application.

[0025] The torque control method can be applied to the whole vehicle control unit of the target vehicle. In this embodiment, the whole vehicle control unit, as the whole vehicle dispatching control center, can communicate with the remaining components (opposite components) of the target vehicle through the controller area network (CAN) to realize the functional control of each component. Such as whole vehicle communication network management, whole vehicle working mode control, receiving driver instructions to realize drive system control and whole vehicle energy optimization management, etc., to ensure the safe and stable operation of the target vehicle.

[0026] In this embodiment, the torque control method steps S101 to S103 are described in detail as follows:

[0027] Step S101, responding to the current flag information, determining whether the vehicle control unit is reset.

[0028] In this step, the flag information may be a pre-configured variable stored in the basic software (BSW) of the vehicle control unit, and is used to determine whether the vehicle control unit is reset.

[0029] Exemplarily, the variable can be named VCU_Rst, and its value can be used to determine the current state of the vehicle control unit. For example, when VCU_Rst=1, the flag information indicates that the vehicle control unit is reset. When VCU_Rst=0, the flag information indicates that the vehicle control unit is in a state where no reset has occurred (i.e., a normal operating state), or a state where the reset has been completed.

[0030] Step S102, obtaining the state control parameters of the target vehicle through a preset storage space.

[0031] The state control parameters include at least the vehicle torque demand and the motor requested torque, and the data stored in the preset storage space is continuously stored during the resetting of the vehicle control unit.

[0032] More specifically, the underlying software may have a pre-set storage space, for example, the storage space may be a random access memory (RAM) area in the Noinit state. The data stored in the storage space is continuously stored and will not be lost or overwritten by other data during the reset of the vehicle control unit, thereby ensuring that the data stored in the storage space can be saved until the vehicle control unit completes the reset.

[0033] The vehicle torque demand can be understood as the original driver torque without any restrictions, while the motor request torque mainly refers to the required torque sent to the motor after system capacity restrictions and drivability processing. It can be understood that at the same time of the target vehicle, there may be actual differences between the vehicle torque demand and the motor request torque.

[0034] Step S103, sending the whole vehicle torque demand and the motor requested torque to the application layer software of the target vehicle, so that the application layer software controls the target vehicle according to the whole vehicle torque demand and the motor requested torque.

[0035] like Figure 2 As shown, the vehicle control unit, as a coordination control unit, can communicate with multiple counterparts at the same time, such as the battery management system (BMS), the electronic stability program (ESP), the microcontroller unit (MCU), the adaptive damping system (ADS) and the integrated brake control unit (IBCU), so as to achieve coordinated control of the counterparts. Each counterpart, as an execution unit, can be reflected on the target vehicle to achieve functions including but not limited to power management, torque control and range extension control.

[0036] More specifically, in addition to the above-mentioned underlying software, the vehicle control unit is also equipped with several application layer software (Application Software, abbreviated as ASW), such as ASW1, ASW2, ASW3, ..., ASWn, etc. Each application layer software communicates with each counterpart through the controller area network, thereby realizing the control of the target vehicle.

[0037] In this step, the vehicle torque demand and the motor torque request are sent to the application layer software, so that the application layer software controls the target vehicle according to the vehicle torque demand and the motor torque request.

[0038] The embodiment of the present application determines that the vehicle control unit has been reset through the current flag information; and obtains the state control parameters of the target vehicle through the preset storage space. Since the data stored in the storage space is continuously stored during the reset of the vehicle control unit, the data in the storage space will not be lost or overwritten when the vehicle control unit is reset. The state control parameters obtained by the embodiment of the present application include the vehicle torque demand and the motor request torque. In this way, when the vehicle control unit is reset, the vehicle control unit sends the vehicle torque demand and the motor request torque to the application layer software, and the application layer software can control the torque of the target vehicle according to the vehicle torque demand and the motor request torque in the storage space. Compared with the existing technical solutions based on the real-time vehicle status, the present invention performs torque control according to the stored value, avoiding the risk of the application layer software reading the software initialization data for torque control during the torque control process, reducing the probability of abnormal torque control of the vehicle or torque dropping to zero, and effectively reducing the risk of using the target vehicle; in addition, the embodiment of the present application specifically controls the torque of the target vehicle based on the vehicle torque demand and motor request torque in the storage space, thereby simplifying the steps of calculating the vehicle torque demand, motor request torque and / or drive torque according to the real-time vehicle status, effectively simplifying the process, and realizing a rapid transition of torque control when the vehicle control unit is reset.

[0039] In such Figure 1 Based on the embodiment shown, Figure 3 FIG. 2 is a flow chart showing a second embodiment of the torque control method. Figure 1 The same steps will not be repeated here. Figure 3 As shown, the torque control method shown in this embodiment also includes steps S301 to S303, which are described in detail as follows:

[0040] Step S301, responding to the current flag information, determining whether the vehicle control unit has completed resetting.

[0041] Step S302, acquiring the actual vehicle state of the target vehicle, performing arbitration based on the actual vehicle state, and obtaining the driving torque of the target vehicle, wherein the actual vehicle state includes the current torque.

[0042] Step S303, sending the driving torque to application layer software, so that the application layer software controls the target vehicle according to the current torque and the driving torque, so that the actual torque of the target vehicle smoothly transitions from the current torque to the driving torque.

[0043] As can be seen from the above step S101, the flag information can be a pre-configured variable stored in the underlying software of the vehicle control unit, and the value of the flag information can be used to determine whether the vehicle control unit is reset. For example, when the value is zero, the flag information can be used to determine that the vehicle control unit is in a reset state.

[0044] Exemplarily, the actual vehicle state of the target vehicle, such as the current sideslip angle and the current yaw rate of the target vehicle, is obtained, and the torque difference between the left and right sides of the target vehicle is determined by combining preset parameters such as the expected sideslip angle and the expected yaw rate. Then, the driving torque of the target vehicle can be obtained through arbitration, and the target vehicle is then controlled based on the driving torque.

[0045] In another embodiment, the torque control method further includes: responding to the current flag information to determine whether the vehicle control unit has completed resetting; acquiring the actual vehicle state of the target vehicle, arbitrating based on the actual vehicle state, and obtaining the driving torque of the target vehicle, wherein the actual vehicle state includes the current torque; so that the application layer software controls the torque transition of the target vehicle to the driving torque according to the current torque and the preset torque smoothing method, and controls the target vehicle with the driving torque.

[0046] It can be understood that when it is determined that the vehicle control unit is reset to complete reset, the application layer software changes from control based on the vehicle torque demand and the motor request torque to control based on the driving torque. Specifically, when the application layer software controls the target vehicle based on the vehicle torque demand and the motor request torque, the torque control instruction of the target vehicle can be calculated according to the stored vehicle torque demand and the motor request torque, so as to control based on the torque control instruction, and the current torque of the target vehicle becomes the torque value represented by the torque control instruction; when it is determined that the vehicle control unit is reset, the target vehicle needs to be controlled according to the current torque and the driving torque, and the actual torque of the target vehicle gradually transitions from the above current torque to the driving torque. In order to achieve a smooth transition of the two control logics, so as to reduce the sudden change amplitude of the actual torque of the target vehicle and avoid being perceived by the user, the preset torque smoothing processing method and the application layer software of step S303 can adopt the first-order filtering and gradient limiting method to perform smoothing processing according to the current torque and the driving torque of the target vehicle, so that the actual torque of the target vehicle smoothly transitions from the current torque to the driving torque, reducing the user's perception of the torque difference.

[0047] It can be understood that when the vehicle control unit is reset, the vehicle control unit stops sending messages, and the torque control method described in steps S101 to S103 and the message sending of the vehicle control unit can be controlled to be completed before the vehicle control unit and the opponent resume the controller local area network communication, so as to avoid the opponent identifying the vehicle control unit as "offline state" or "no communication state" and performing degradation processing, so as to reduce the probability of abnormal events such as torque zero. That is, during the period from determining that the vehicle control unit is reset to restoring communication with the opponent, the vehicle control unit stops sending messages; wherein, the time for stopping message sending is less than the controller local area network communication cycle between the vehicle control unit and the opponent, so that the recovery cycle of the vehicle control unit is controlled within the tolerance cycle of the opponent communication degradation. Generally, the communication (tolerance) period of the controller area network between the vehicle control unit and the counterpart is 500 milliseconds, that is, data interaction is performed every 500 milliseconds. Therefore, from the moment the message sending is stopped to the moment the torque control method described in steps S101 to S103 is executed (this embodiment is generally completed within 180 milliseconds), it should be controlled within 500 milliseconds, and a certain amount of redundancy time needs to be guaranteed.

[0048] In such Figure 1 Based on the embodiment shown, Figure 4 FIG. 2 is a flow chart of a third embodiment of a torque control method. Figure 1 The same steps will not be repeated here. Figure 4 As shown, the torque control method shown in this embodiment also includes steps S401 to S403, which are described in detail as follows:

[0049] Step S401, responding to the current flag information, determining whether the vehicle control unit has completed resetting.

[0050] Step S402, obtaining creeping demand, pedal demand and intelligent driving demand.

[0051] Step S403, arbitrating the vehicle demand torque according to the creep demand, pedal demand and intelligent driving demand to obtain an arbitration result; sending the arbitration result to the application layer software so that the application layer software controls the target vehicle according to the arbitration result.

[0052] As can be seen from the above step S101, the flag information can be a pre-configured variable stored in the underlying software of the vehicle control unit, and the value of the flag information can be used to determine whether the vehicle control unit is reset. For example, when the value is zero, the flag information can be used to determine that the vehicle control unit is in a reset state, and it can also be determined that it is not reset, that is, in a normal operation state.

[0053] In addition, it can also be known from the above that the vehicle demand torque is the original torque required by the driver without any restrictions, and the driver's demand includes but is not limited to creeping demand, pedal demand and intelligent driving demand. Therefore, the vehicle demand torque can be determined by considering creeping demand, pedal demand and intelligent driving demand.

[0054] Exemplarily, when it is determined that the vehicle control unit is reset, the vehicle torque demand can use the stored value; when it is determined that the vehicle control unit has completed the reset, the vehicle control unit can arbitrate according to the actual needs of the target vehicle (such as creeping needs, pedal needs, and intelligent driving needs) to obtain an arbitration result, that is, the torque based on the actual needs.

[0055] Furthermore, after step S401, the method may also include: acquiring the actual vehicle state of the target vehicle; determining control parameters of the front drive motor and the rear drive motor of the target vehicle according to the actual vehicle state, and sending the control parameters of the front drive motor and the rear drive motor to the application layer software; so that the application layer software can control the front drive motor and the rear drive motor of the target vehicle according to the control parameters of the front drive motor and the rear drive motor.

[0056] For example, the actual vehicle state can be described by parameters such as the current slip angle and the current yaw rate of the target vehicle, and the torque difference between the left and right sides of the target vehicle can be determined by combining the preset expected slip angle and expected yaw rate and other parameters, thereby determining the control parameters of the front drive motor and the control parameters of the rear drive motor, and realizing the control of the front drive motor and the rear drive motor of the target vehicle. In this way, during the period from the occurrence of the reset to the completion of the reset of the vehicle control unit, the control by the stored value is changed to the determination of the motor parameters by the actual vehicle parameters and control, which can realize the change from the stored value to the motor control based on the actual vehicle state, and quickly restore the motor capacity.

[0057] In some preferred embodiments, the state control parameters also include driving mode data, power limit value and the maximum working torque of the motor at different speeds. After obtaining the state control parameters of the target vehicle through the preset storage space in step S102, the torque control method may further include: sending the driving mode data to each application layer software of the target vehicle so that each application layer software performs a corresponding control operation; sending the power limit value and the first maximum working torque of the motor at different speeds to the application layer software so that the application layer software controls the motor of the target vehicle according to the power limit value and the first maximum working torque.

[0058] In this embodiment, the driving mode data mainly refers to whether the target vehicle is in a ready state. When the target vehicle is in the ready state, the target vehicle is in a drivable mode; otherwise, the target vehicle is in a non-drivable mode, and each application layer software performs corresponding operations for the drivable mode or the non-drivable mode respectively.

[0059] In addition, the power limit value mainly refers to the power of the drive motor, which can be calculated based on the comprehensive capacity of the power battery / range extender minus the power value used for accessories, and the parameters corresponding to the drive motor model itself. Among them, the power values ​​of the power battery, range extender and accessories can be sent to the vehicle control unit through the controller area network communication.

[0060] For the first maximum working torque of the motor at different speeds, the voltage of the motor may be further considered during the configuration process, such as the maximum working torque that the motor can output at different speeds under a specific voltage. It can be understood that the first maximum working torque represents the capacity of the motor to a certain extent, wherein the long-term capacity and short-term capacity of the motor can be sent by the microcontroller unit to the vehicle control unit through the controller area network.

[0061] In some preferred embodiments, after step S401, the torque control method further includes: obtaining a door status, a vehicle speed condition, a driver's position status, a gear status, and a gun plugging status of the target vehicle; when at least one of the door status, the vehicle speed condition, the driver's position status, the gear status, and the gun plugging status is abnormal, or when the target vehicle fails, controlling the target vehicle to exit a drivable mode; when the door status, the vehicle speed condition, the driver's position status, the gear status, and the gun plugging status are normal, and the target vehicle does not fail, controlling the target vehicle to enter a drivable mode.

[0062] As mentioned above, the driving mode data mainly refers to whether the target vehicle is in a ready state. When the target vehicle is in a ready state, the target vehicle is in a drivable mode; otherwise, the target vehicle is in a non-drivable mode. The present embodiment determines whether the target vehicle is in a ready state by the door state, vehicle speed condition, driver presence state, gear state, gun insertion state, and fault state of the target vehicle. When the vehicle controller has been reset, if at least one of the door state, vehicle speed condition, driver presence state, gear state, and gun insertion state is abnormal, or if the target vehicle fails, the vehicle can be controlled to leave the drivable mode. When no abnormality occurs in any state and the target vehicle does not fail, the target vehicle can be controlled to enter the drivable mode.

[0063] In some preferred embodiments, after step S401, the torque control method further includes: obtaining a second maximum working torque from the electric drive; sending the second maximum working torque to the application layer software, so that the application layer software controls the motor of the target vehicle according to the second maximum working torque. In this embodiment, when it is determined that the vehicle control unit is reset, the first maximum working torque of the storage space is used for torque control. When it is determined that the vehicle control unit has been reset, the motor of the target vehicle can be controlled based on the motor capacity information (second maximum working torque) sent by the electric drive, and the motor capacity can be quickly restored during the period from the reset of the vehicle control unit to the completion of the reset.

[0064] In some preferred embodiments, after step S401, the torque control method further includes: acquiring the output power of the power battery and the range extender, and determining the power value of the drive motor according to the output power of the power battery and the range extender; and sending the power value of the drive motor to the application layer software, so that the application layer software controls the drive motor of the target vehicle according to the power value of the drive motor.

[0065] From the above, the power limit value mainly refers to the power of the drive motor, which can be calculated based on the comprehensive capacity of the power battery / range extender minus the power value used for accessories, and the parameters corresponding to the drive motor model itself. Among them, the relevant power values ​​of the power battery, range extender and accessories can be sent to the vehicle control unit through the controller area network communication.

[0066] In this embodiment, the power limit value of the storage space is used for control when the vehicle controller is reset; when the vehicle controller is reset, the power value of the drive motor is determined based on the comprehensive capabilities of the power battery / range extender to control the target vehicle, thereby achieving rapid recovery of the motor power from the time the vehicle controller is reset to the time the reset is completed.

[0067] In addition, the present invention also provides an application example of a torque control method, such as Figure 5 As shown, specifically including:

[0068] (1) When the vehicle is stationary or driving at high speed, the storage space of the underlying software of the vehicle controller should store key data such as driving mode, motor capacity (first maximum working torque), power limit value, vehicle required torque, motor speed and motor torque request in real time; when it is identified that the vehicle controller is reset, the corresponding reset signal is set (the flag signal of the above embodiment, such as VCU_Rst=1).

[0069] (2) The underlying software of the vehicle controller stops sending messages and completes the initialization of related software within 200 milliseconds, including controller self-test, microcontroller drivers group (MCAL) initialization, operating system (OS) startup, protocol stack initialization, and application layer software task scheduling.

[0070] (3) After the bottom-level software is initialized, the functions of the application-layer software are restored based on the stored key data, including the torque control function, so that the torque switching is completed within 300 milliseconds and the torque is finally restored.

[0071] Among them, at the 100th millisecond when the communication of the vehicle controller is lost, the microcontroller unit outputs 0 Nm, at which time the intelligent driving function can be exited.

[0072] like Figure 6 As shown, Figure 6 A schematic structural diagram of an embodiment of a torque control device 600 is shown. The torque control device 600 is applied to a vehicle control unit of a target vehicle. The torque control device 600 includes a first determination module 601, a state control parameter acquisition module 602 and a first control module 603; wherein the first determination module 601 is used to respond to the current flag information to determine that the vehicle control unit is reset; the state control parameter acquisition module 602 is used to obtain the state control parameters of the target vehicle through a preset storage space, the state control parameters include the vehicle torque demand and the motor request torque, and the data stored in the preset storage space is continuously stored during the reset of the vehicle control unit; the first control module 603 is used to send the vehicle torque demand and the motor request torque to the application layer software of the target vehicle, so that the application layer software controls the target vehicle according to the vehicle torque demand and the motor request torque.

[0073] In some preferred embodiments, the torque control device 600 also includes a second control module, which is used to: respond to the current flag information to determine that the vehicle control unit has completed resetting; obtain the actual vehicle state of the target vehicle, arbitrate based on the actual vehicle state, and obtain the driving torque of the target vehicle, wherein the actual vehicle state includes the current torque; send the driving torque to the application layer software, so that the application layer software controls the target vehicle according to the current torque and the driving torque, so that the actual torque of the target vehicle smoothly transitions from the current torque to the driving torque.

[0074] In some preferred embodiments, the torque control device 600 also includes a message control module, which is used to stop sending messages during the period from when it is determined that the vehicle control unit is reset to when communication with the opponent is restored; wherein the time for stopping message sending is less than the controller area network communication cycle between the vehicle control unit and the opponent.

[0075] In some preferred embodiments, the torque control device 600 also includes a third control module, which is used to respond to the current flag information to determine that the vehicle control unit has completed resetting; obtain creep demand, pedal demand and intelligent driving demand; arbitrate the vehicle demand torque according to the creep demand, pedal demand and intelligent driving demand to obtain an arbitration result; send the arbitration result to the application layer software, so that the application layer software controls the target vehicle according to the arbitration result.

[0076] In some preferred embodiments, the torque control device 600 also includes a fourth control module, which is used to respond to the current flag information to determine whether the vehicle control unit has completed resetting; obtain the actual vehicle state of the target vehicle; determine the control parameters of the front drive motor and the control parameters of the rear drive motor of the target vehicle according to the actual vehicle state, and send the control parameters of the front drive motor and the control parameters of the rear drive motor to the application layer software; so that the application layer software can control the front drive motor and the rear drive motor of the target vehicle according to the control parameters of the front drive motor and the control parameters of the rear drive motor.

[0077] In some preferred embodiments, the state control parameters also include driving mode data, a power limit value and a first maximum working torque of the motor at different speeds. The torque control device 600 also includes a fifth control module. The fifth control module is used to send the driving mode data to the application layer software of the target vehicle after the acquisition module 602 acquires the state control parameters of the target vehicle through a preset storage space, so that the application layer software performs the corresponding driving mode control operation; and send the power limit value and the first maximum working torque of the motor at different speeds to the application layer software, so that the application layer software controls the motor of the target vehicle according to the power limit value and the first maximum working torque.

[0078] In some preferred embodiments, the torque control device 600 also includes a sixth control module, which is used to: respond to the current flag information to determine that the vehicle control unit has completed resetting; obtain the door status, vehicle speed condition, driver presence status, gear status and gun insertion status of the target vehicle; when at least one of the door status, vehicle speed condition, driver presence status, gear status and gun insertion status is abnormal, or when the target vehicle fails, control the target vehicle to exit the drivable mode; when the door status, vehicle speed condition, driver presence status, gear status and gun insertion status are normal, and the target vehicle has not failed, control the target vehicle to enter the drivable mode.

[0079] In some preferred embodiments, the torque control device 600 also includes a seventh control module, which is used to: respond to the current flag information to determine that the vehicle control unit has completed resetting; obtain the second maximum working torque from the electric drive; and send the second maximum working torque to the application layer software so that the application layer software controls the motor of the target vehicle according to the second maximum working torque.

[0080] In some preferred embodiments, the torque control device 600 also includes an eighth control module, which is used to: respond to the current flag information to determine that the vehicle control unit has completed resetting; obtain the output power of the power battery and the range extender, and determine the power value of the drive motor based on the output power of the power battery and the range extender; send the power value of the drive motor to the application layer software, so that the application layer software controls the drive motor of the target vehicle based on the power value of the drive motor.

[0081] For the device embodiment, since it is basically similar to the method embodiment, the relevant description can refer to the partial description of the method embodiment.

[0082] Figure 7 A schematic structural diagram of an embodiment of a torque control device of the present invention is shown, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus.

[0083] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the above-mentioned torque control method.

[0084] like Figure 7 As shown, the torque control device may include: a processor (processor) 702 , a communication interface (Communications Interface) 704 , a memory (memory) 706 , and a communication bus 708 .

[0085] The processor 702, the communication interface 704, and the memory 706 communicate with each other via a communication bus 708. The communication interface 704 is used to communicate with other devices such as a client or other server network elements. The processor 702 is used to execute a program 710, which can specifically execute the relevant steps in the above-mentioned torque control method embodiment.

[0086] Specifically, the program 710 may include program code including computer executable instructions.

[0087] The processor 702 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the torque control device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0088] The memory 706 is used to store the program 710. The memory 706 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0089] In addition, the present invention application also provides an embodiment of a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is executed on the torque control device / apparatus, the torque control device / apparatus performs the operation of the torque control method.

[0090] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0091] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0092] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0093] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

[0094] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A torque control method, characterized in that: The vehicle control unit used in the target vehicle includes: In response to the current flag information, determining that the vehicle control unit is reset; Acquiring state control parameters of the target vehicle through a preset storage space, wherein the state control parameters include a vehicle torque demand and a motor request torque, and the data stored in the preset storage space is continuously stored during the reset of the vehicle control unit; The whole vehicle torque demand and the motor requested torque are sent to the application layer software of the target vehicle, so that the application layer software controls the target vehicle according to the whole vehicle torque demand and the motor requested torque.

2. A torque control method according to claim 1, characterized in that: The torque control method further comprises: In response to the current flag information, determining that the vehicle control unit has completed resetting; Acquiring the actual vehicle state of the target vehicle, performing arbitration based on the actual vehicle state, and obtaining the driving torque of the target vehicle, wherein the actual vehicle state includes the current torque; The driving torque is sent to application layer software, so that the application layer software controls the target vehicle according to the current torque and the driving torque, so that the actual torque of the target vehicle smoothly transitions from the current torque to the driving torque.

3. A torque control method according to claim 1, characterized in that: During the period from when it is determined that the vehicle control unit is reset to when the vehicle control unit resumes communication with the counterpart, the sending of messages is stopped.

4. A torque control method according to claim 1, characterized in that: The torque control method further comprises: In response to the current flag information, determining that the vehicle control unit has completed resetting; Get creeping demand, pedal demand and smart driving demand; The vehicle demand torque is arbitrated according to the creep demand, pedal demand and intelligent driving demand to obtain an arbitration result; the arbitration result is sent to the application layer software so that the application layer software controls the target vehicle according to the arbitration result.

5. A torque control method according to claim 1, characterized in that: The torque control method further comprises: In response to the current flag information, determining that the vehicle control unit has completed resetting; Obtaining the actual vehicle status of the target vehicle; According to the actual vehicle state, control parameters of the front drive motor and control parameters of the rear drive motor of the target vehicle are determined, and the control parameters of the front drive motor and the control parameters of the rear drive motor are sent to the application layer software; so that the application layer software can control the front drive motor and the rear drive motor of the target vehicle according to the control parameters of the front drive motor and the control parameters of the rear drive motor.

6. A torque control method as claimed in claim 1, characterized in that: The state control parameters also include driving mode data, power limit value and the first maximum working torque of the motor at different speeds. After acquiring the state control parameters of the target vehicle through the preset storage space, the torque control method also includes: Sending the driving mode data to the application layer software of the target vehicle so that the application layer software performs a corresponding driving mode control operation; The power limit value and the first maximum working torque of the motor at different rotation speeds are sent to the application layer software, so that the application layer software controls the motor of the target vehicle according to the power limit value and the first maximum working torque.

7. A torque control method as claimed in claim 6, characterized in that: The torque control method further comprises: In response to the current flag information, determining that the vehicle control unit has completed resetting; Obtaining the door status, vehicle speed condition, driver's seat status, gear status and gun insertion status of the target vehicle; When at least one of the door state, vehicle speed condition, driver's position state, gear state and gun insertion state is abnormal, or when the target vehicle fails, control the target vehicle to leave the drivable mode; When there are no abnormalities in the door state, vehicle speed condition, driver's seat state, gear state and gun insertion state, and when the target vehicle has no faults, the target vehicle is controlled to enter a drivable mode.

8. A torque control method as claimed in claim 6, characterized in that: The torque control method further comprises: In response to the current flag information, determining that the vehicle control unit has completed resetting; Obtaining a second maximum working torque from the electric drive; The second maximum operating torque is sent to the application layer software, so that the application layer software controls the motor of the target vehicle according to the second maximum operating torque.

9. A torque control method as claimed in claim 6, characterized in that: The torque control method further comprises: In response to the current flag information, determining that the vehicle control unit has completed resetting; Obtain the output power of the power battery and the range extender, and determine the power value of the drive motor according to the output power of the power battery and the range extender; The power value of the driving motor is sent to the application layer software, so that the application layer software controls the driving motor of the target vehicle according to the power value of the driving motor.

10. A torque control device, characterized in that: It includes a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the torque control method as described in any one of claims 1 to 9.

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