Motor torque control method and device under gear shifting working condition of electric vehicle and vehicle

Abstract

The embodiment of the invention provides a motor torque control method and device under the gear shifting working condition of an electric vehicle and the vehicle, relates to the technical field of new energy vehicles, can distinguish the zero-crossing torque interval of the vehicle according to the vehicle running state, the required torque and a gear signal, distinguishes the reverse rotation state and the normal power output state of a transmission system, and improves the reliability of the vehicle. Torque response under different function requirements is realized, and the problems of slow power response and long gear shifting time are effectively avoided; specific torque requirements of dynamic gear shifting working conditions are accurately recognized according to the rapid switching working conditions between the forward gear and the reverse gear, the torque step phenomenon is avoided, and it is ensured that the vehicle runs stably and safely; in addition, a timing mechanism is introduced, the dynamic gear shifting torque acting time is reasonably calibrated, the torque slope in the dynamic gear shifting process is regulated and controlled, and the problem that the speed of the vehicle cannot be reduced due to the long-time acting of the dynamic gear shifting torque is solved.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of new energy vehicle technology, and in particular to a method, device and vehicle for controlling motor torque in a gear shifting condition of an electric vehicle. [Background technology]

[0002] At present, the motors of electric vehicles can be divided into four quadrants according to the torque and speed conditions. The first quadrant is positive speed and positive torque, the second quadrant is negative speed and positive torque, the third quadrant is negative speed and negative torque, and the fourth quadrant is positive speed and negative torque. During normal driving of electric vehicles, the motor will only switch between two adjacent states.

[0003] However, when electric vehicles are shifting gears, rapid gear switching may cause vehicle abnormalities. For example, if the driver quickly switches from D to R or from R to D gear during the warehouse shifting process, the motor torque and speed direction will change, which may cause a motor torque step, resulting in abnormal noise and movement of the entire vehicle, and even traffic accidents, posing a major safety hazard.

[0004] Therefore, in view of the above problems, how to take corresponding measures to prevent the occurrence of motor torque step after rapid gear shifting is an issue that needs to be solved urgently. [Summary of the invention]

[0005] The embodiments of the present application propose a method, device and vehicle for controlling the motor torque in a gear shifting condition of an electric vehicle, which relate to the technical field of new energy vehicles and can...

[0006] In a first aspect, an embodiment of the present application provides a method for controlling motor torque in a gear shifting condition of an electric vehicle, the method comprising:

[0007] After determining that the required torque is a positive value, the gear position signal is collected and the torque reversal calculation is performed to obtain the target torque;

[0008] Based on the target torque, determining whether the motor is in a torque zero-crossing condition;

[0009] After determining that the motor enters a torque zero-crossing condition, identifying whether there is a dynamic gear shift request;

[0010] After determining that there is a dynamic gear shift request, dynamic gear shift timing is performed and the motor torque is regulated according to the timing result.

[0011] In at least one possible implementation, determining whether the motor is in a torque zero-crossing condition includes:

[0012] If the absolute value of the target torque is within the preset torque range, it is determined that the torque zero-crossing condition has been entered;

[0013] If the absolute value of the target torque is outside the torque range, it is determined to be a non-zero-crossing condition, and the target torque is executed according to the first torque slope.

[0014] In at least one possible implementation, identifying whether there is a dynamic gear shift request includes:

[0015] If the forward gear and the reverse gear are detected to be switched at adjacent moments, it is determined that the dynamic shifting condition is entered;

[0016] Otherwise, the target torque is regulated according to a preset second torque slope, where the second torque slope is smaller than the first torque slope.

[0017] In at least one possible implementation, performing dynamic shift timing and regulating the motor torque according to the timing result includes:

[0018] When it is recognized that the current state is zero-crossing and there is a dynamic shift request, the dynamic shift duration timer starts;

[0019] If the dynamic shift duration is less than or equal to the preset delay time, the target torque is regulated according to a preset third torque slope, and the third torque slope is less than the second torque slope;

[0020] If the dynamic shift duration is greater than the delay time, torque control is performed according to the second torque slope.

[0021] In at least one possible implementation, the torque reversal calculation includes: if the current gear signal is a reverse gear, the required torque is taken as a negative value to obtain the target torque; if the current gear signal is a forward gear, the required torque is taken as a positive value to obtain the target torque.

[0022] In at least one possible implementation, the vehicle operating status condition is judged before calculating the target torque, including at least: the current gear is the forward gear, and the motor speed is greater than a preset first speed threshold, and the current vehicle speed is less than the preset first vehicle speed threshold; or, the current gear is the reverse gear, and the motor speed is less than a preset second speed threshold, and the current vehicle speed is less than the preset second vehicle speed threshold.

[0023] The technical effects of this solution can be referenced as follows: the embodiment of the present application can distinguish the vehicle's zero torque interval according to the vehicle's operating status, required torque and gear signal, distinguish the reverse and normal power output states of the transmission system, and realize the torque response when different functional requirements are met, effectively avoiding the problems of slow power response and long gear shifting time; and for the rapid switching conditions between forward gears and reverse gears, accurately identify the specific torque requirements of dynamic gear shifting conditions, avoid torque step phenomena, and ensure stable and safe vehicle driving; in addition, a timing mechanism is introduced, by reasonably calibrating the dynamic gear shift torque action time, regulating the torque slope during the dynamic gear shifting process, and avoiding the problem of the vehicle being unable to slow down due to the long-term action of the dynamic gear shift torque.

[0024] In a second aspect, an embodiment of the present application provides a motor torque control device for an electric vehicle in a gear shifting condition, the device comprising:

[0025] A torque reversal calculation module is used to collect the gear signal and perform torque reversal calculation to obtain the target torque after determining that the required torque is a positive value;

[0026] A zero-crossing condition recognition module, used to determine whether the motor is in a torque zero-crossing condition based on the target torque;

[0027] A dynamic gear shift identification module is used to identify whether there is a dynamic gear shift request after determining that the motor enters a torque zero-crossing condition;

[0028] The gear shift timing control module is used to perform dynamic gear shift timing after determining that there is a dynamic gear switching request and to control the motor torque according to the timing result.

[0029] In a third aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors, a memory, and one or more computer programs, wherein the memory may adopt a non-volatile storage medium, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the device, the electronic device performs the method as described in the first aspect or any possible implementation manner of the first aspect.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer-readable storage medium is run on a computer, the computer executes the method as described in the first aspect or any possible implementation of the first aspect.

[0031] In a fifth aspect, an embodiment of the present application provides a vehicle, comprising the electronic device in the embodiment of the third aspect and the computer-readable storage medium in the embodiment of the fourth aspect.

[0032] It should be understood that the second to fifth aspects of the embodiments of the present application are consistent with the technical solutions of the first aspect of the embodiments of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

Brief Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic flow chart of a method for controlling motor torque in a gear shifting condition of an electric vehicle provided in an embodiment of the present application;

[0035] Figure 2 A schematic structural diagram of a motor torque control device for an electric vehicle in a gear shifting condition provided in an embodiment of the present application. [Specific implementation method]

[0036] In order to better understand the technical solution of this specification, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0037] It should be clear that the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0038] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit this specification. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0039] The embodiment of the present application provides a method for controlling the motor torque of an electric vehicle under gear shifting conditions, in which the vehicle zero torque interval can be distinguished according to the vehicle operating state, required torque and gear position signal, and the transmission system reversal and normal power output states can be distinguished to achieve torque response when different functional requirements are met, and the problems of slow power response and long gear shifting time can be effectively avoided; and for the rapid switching conditions between forward gear and reverse gear, the specific torque requirements of the dynamic gear shifting conditions can be accurately identified to avoid torque step phenomena and ensure stable and safe vehicle driving; in addition, a timing mechanism is introduced to reasonably calibrate the dynamic gear shifting torque action time and regulate the torque slope during the dynamic gear shifting process, thereby avoiding the problem of the vehicle being unable to slow down due to the long-term action of the dynamic gear shifting torque.

[0040] The technical solution protected by the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0041] See also Figure 1 , is a flow chart of a method for controlling the motor torque of an electric vehicle in a gear shifting condition provided by an embodiment of the present application. The flow chart of the method is described as follows:

[0042] Step S1, after determining that the required torque is a positive value, collecting the gear signal and performing torque reversal calculation to obtain the target torque;

[0043] In this embodiment, the electric vehicle uses a positive value as a premise when calculating the required torque, and the vehicle controller combines the gear signal to reverse the required torque output. Specifically, when the required torque TorqueA is positive (that is, the acceleration pedal torque, creep torque, cruise control torque and other controller torque requirements, take the preset maximum value, and then obtain TorqueA characterized by positive values; it is worth noting that the R gear accelerator pedal condition is also positive), the gear controller sends the current gear signal to the torque reversal module of the VCU through the CAN network or hard line, and the torque reversal module combines the current gear signal and the required torque TorqueA to decide and output the target torque TorqueB. The purpose of TorqueB is to be processed by the torque and filtering module of the VCU, and then output to the motor control system of the electric vehicle for execution.

[0044] Regarding the reverse calculation expansion, if the current gear signal is the reverse gear R, the required torque (absolute value) is taken as a negative value to obtain the target torque; if the current gear signal is the forward gear D, the required torque (absolute value) is taken as a positive value to obtain the target torque. P gear and N gear are not within the scope of this embodiment. For example, there is generally no torque demand in P gear, and the target torque TorqueB is 0.

[0045] Furthermore, it can be added that at the beginning of the implementation of the present application, the VCU can also make a prior condition judgment based on the vehicle's operating status, so that subsequent links can more reliably distinguish whether the vehicle has entered the zero torque range.

[0046] For example, in some other embodiments of the present application, the vehicle operating state is required to be that the high voltage of the whole vehicle is normal and there is no fault, and at the same time: the current gear is D gear, and the motor speed is greater than 100 (preset and adjustable first speed threshold), and the current vehicle speed is less than 6Km / h (preset and adjustable first speed threshold), or, the current gear is R gear, and the motor speed is less than -100 (preset and adjustable second speed threshold), and the vehicle speed is less than 4Km / h (preset and adjustable second speed threshold).

[0047] Step S2: based on the target torque, determining whether the motor is in a torque zero-crossing condition;

[0048] For identifying whether the current working condition has entered the zero-crossing condition, the following method can be referred to: if the absolute value of the target torque is within the preset torque range, it is determined to be in the torque zero-crossing condition; if the absolute value of the target torque is outside the torque range, it is determined to be a non-zero-crossing condition, and the target torque is executed according to the first torque slope, that is, the current torque of the control motor is adjusted to the target torque according to a certain slope under normal conditions. Among them, the torque range can generally be slightly larger than the maximum creep torque of the vehicle at a specific speed. For example, a certain vehicle model creeps to a maximum speed of 7km / h on a flat road and the torque is 30Nm, then the torque range can be taken as (7, 30Nm). Those skilled in the art can understand that this torque range value can be selected and calibrated according to the specific conditions of the vehicle.

[0049] Step S3: after determining that the motor enters the torque zero-crossing condition, identifying whether there is a dynamic gear shift request;

[0050] In actual operation, the gear switching request can be detected according to different driving modes. For example, in a local driving mode, by detecting that the brake pedal is pressed and the gear position at the previous moment is ≠ the gear position at the next moment (specifically D gear and R gear), it can be determined that there is a dynamic gear switching request at present; or in automatic parking mode, it can also be detected in APA mode and the gear position at the previous moment is ≠ the gear position at the next moment (specifically D gear and R gear), then similarly, it can be determined that the dynamic gear shifting condition has been entered.

[0051] The purpose of this step is to distinguish between dynamic shift torque and normal shift torque under zero-crossing conditions. During normal shifting (such as DtoN or DtoP), the torque will drop relatively quickly to meet the parking demand. It can be pointed out here that in some embodiments, if it is determined to be in a zero-crossing condition and non-dynamic shifting, the target torque can be regulated according to the preset second torque slope, that is, the motor torque is adjusted to the target torque using the preset filter torque limit value during normal shifting under zero-crossing conditions. The second torque slope here is less than the first torque slope (that is, the torque regulation slope is relatively gentle relative to the non-zero-crossing condition); and when the vehicle switches the D / R gear, the present application believes that the torque needs to drop relatively more slowly to meet the dynamic shifting demand (which will be explained later). Therefore, this link identifies whether the dynamic shifting is performed according to the gear request. Of course, if necessary, the torque changes of the two working conditions of stepping on the accelerator pedal to switch the D / R gear and switching the D / R gear during creeping can also be refined and distinguished.

[0052] Step S4: after determining that there is a dynamic gear shift request, perform dynamic gear shift timing, and dynamically adjust the motor torque according to the timing result.

[0053] That is, when it is recognized that the current working condition is zero-crossing and the gear is in dynamic shifting, the dynamic shifting duration timer starts;

[0054] If the dynamic gear shift duration is less than or equal to the preset delay time, the target torque is regulated according to the preset third torque slope. It can be understood that the third torque slope is less than the aforementioned second torque slope. If the dynamic gear shift duration is greater than the delay time, the dynamic gear shift identification can be exited, and torque control can be performed with the second torque slope corresponding to normal gear shifting under zero-crossing conditions.

[0055] The purpose of this step is to prevent the dynamic shifting function from being continuously activated, causing the motor torque to drop too slowly, so that the vehicle speed cannot be changed as expected, and thus timing is introduced for dynamic torque regulation. Regarding the value of the aforementioned delay time, it can generally be slightly longer than the time it takes for the vehicle to stop naturally after the vehicle is lightly pressed on the brake to shift to N gear at the maximum creeping speed. It can be supplemented that if the calibration value of the delay time is too large, it is easy to cause the torque to fail to drop for a long time when switching between D / R gears on a slope; if the calibration value is too small, it is easy to cause inaccurate identification of the working condition. Therefore, this parameter can be tested and weighed multiple times according to the actual situation in actual operation to take a reasonable optimal value.

[0056] See also Figure 2 Based on the same inventive concept, the embodiment of the present application also provides a motor torque control device for an electric vehicle in a gear shifting condition, the device comprising:

[0057] The torque reversal calculation module 201 is used to collect the gear signal and perform torque reversal calculation to obtain the target torque after determining that the required torque is a positive value;

[0058] A zero-crossing condition identification module 202 is used to determine whether the motor is in a torque zero-crossing condition based on the target torque;

[0059] A dynamic gear shift identification module 203 is used to identify whether there is a dynamic gear shift request after determining that the motor enters a torque zero-crossing condition;

[0060] The gear shift timing control module 204 is used to perform dynamic gear shift timing after determining that there is a dynamic gear shift request and to control the motor torque according to the timing result.

[0061] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including at least one processor, which is used to execute a computer program stored in a memory to implement the flow chart steps of the above-mentioned electric vehicle shifting condition motor torque control method provided in the embodiment of the present application.

[0062] Optionally, the processor may specifically be a central processing unit, a specific ASIC, or one or more integrated circuits for controlling program execution.

[0063] Optionally, the electronic device may further include a memory connected to at least one processor, and the memory may include ROM, RAM, and disk storage. The memory is used to store data required by the processor when it is running, that is, it stores instructions that can be executed by at least one processor, and at least one processor executes the methods mentioned in the above embodiments by executing the instructions stored in the memory. Among them, the number of memories is one or more. Among them, the number of memories is one or more.

[0064] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the methods mentioned in the above embodiments.

[0065] Based on the same inventive concept, the embodiment of the present application further provides a vehicle, comprising at least the above electronic device and / or computer-readable storage medium. The selection of the vehicle can be determined based on the correct understanding and reasonable implementation of the above solution by those skilled in the art.

[0066] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A method for controlling the motor torque in an electric vehicle shifting condition, characterized in that: The method comprises: After determining that the required torque is a positive value, the gear position signal is collected and the torque reversal calculation is performed to obtain the target torque; Based on the target torque, determining whether the motor is in a torque zero-crossing condition; After determining that the motor enters a torque zero-crossing condition, identifying whether there is a dynamic gear shift request; After determining that there is a dynamic gear shift request, dynamic gear shift timing is performed and the motor torque is regulated according to the timing result.

2. The electric vehicle shifting condition motor torque control method according to claim 1 is characterized in that: The step of determining whether the motor is in a torque zero-crossing condition comprises: If the absolute value of the target torque is within the preset torque range, it is determined that the torque zero-crossing condition has been entered; If the absolute value of the target torque is outside the torque range, it is determined to be a non-zero-crossing condition, and the target torque is executed according to the first torque slope.

3. The electric vehicle shifting condition motor torque control method according to claim 2 is characterized in that: The identifying whether there is a dynamic gear shift request includes: If the forward gear and the reverse gear are detected to be switched at adjacent moments, it is determined that the dynamic shifting condition is entered; Otherwise, the target torque is regulated according to a preset second torque slope, where the second torque slope is smaller than the first torque slope.

4. The electric vehicle shifting condition motor torque control method according to claim 3 is characterized in that: The performing of dynamic shift timing and regulating the motor torque according to the timing result comprises: When it is recognized that the current state is zero-crossing and there is a dynamic shift request, the dynamic shift duration timer starts; If the dynamic shift duration is less than or equal to the preset delay time, the target torque is regulated according to a preset third torque slope, and the third torque slope is less than the second torque slope; If the dynamic shift duration is greater than the delay time, torque control is performed according to the second torque slope.

5. The electric vehicle shifting condition motor torque control method according to claim 1, characterized in that: The torque reversal calculation includes: if the current gear signal is a reverse gear, the required torque is taken as a negative value to obtain the target torque; if the current gear signal is a forward gear, the required torque is taken as a positive value to obtain the target torque.

6. The method for controlling the motor torque of an electric vehicle in a gear shifting condition according to any one of claims 1 to 5, characterized in that: Before calculating the target torque, the vehicle operating state conditions are judged, including at least: the current gear is the forward gear, and the motor speed is greater than the preset first speed threshold, and the current vehicle speed is less than the preset first vehicle speed threshold; or, the current gear is the reverse gear, and the motor speed is less than the preset second speed threshold, and the current vehicle speed is less than the preset second vehicle speed threshold.

7. A motor torque control device for electric vehicle shifting condition, characterized in that: The device comprises: A torque reversal calculation module is used to collect the gear signal and perform torque reversal calculation to obtain the target torque after determining that the required torque is a positive value; A zero-crossing condition recognition module, used to determine whether the motor is in a torque zero-crossing condition based on the target torque; A dynamic gear shift identification module is used to identify whether there is a dynamic gear shift request after determining that the motor enters a torque zero-crossing condition; The gear shift timing control module is used to perform dynamic gear shift timing after determining that there is a dynamic gear switching request and to control the motor torque according to the timing result.

8. An electronic device, characterized in that: include: One or more processors, a memory and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the electronic device, the electronic device executes the electric vehicle shifting condition motor torque control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling the motor torque in a gear shifting condition of an electric vehicle according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that: The vehicle is provided with the electronic device of claim 8 or the computer-readable storage medium of claim 9.

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