A motor torque control method, device and vehicle for electric vehicle gear shifting conditions

Abstract

The embodiment of the application provides a motor torque control method, device and vehicle for gear shifting of an electric vehicle, relates to the technical field of new energy vehicles, and can distinguish a vehicle zero-crossing torque range according to a vehicle running state, a required torque and a gear signal, distinguishes a transmission system reverse rotation and a normal power output state, realizes torque response in different functional requirements, effectively avoids the problems of slow power response and long gear shifting time, accurately identifies specific torque requirements of a dynamic gear shifting condition for the rapid switching condition between a forward gear and a reverse gear, avoids torque step phenomenon, ensures that a vehicle travels stably and safely, and further introduces a timing mechanism, reasonably calibrates a dynamic gear shifting torque action time, controls a torque slope in a dynamic gear shifting process, and avoids the problem that a vehicle cannot slow down due to long-time action of the dynamic gear shifting torque.

Description

[Technical Field]

[0001] This application relates to the field of new energy vehicle technology, and in particular to a method, device and vehicle for controlling motor torque during electric vehicle shifting. [Background Technology]

[0002] Currently, electric vehicle motors can be divided into four quadrants according to 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, the electric vehicle motor will only switch between two adjacent states.

[0003] However, when an electric vehicle is shifting gears, rapid gear changes may cause vehicle malfunctions. For example, if the driver quickly shifts from D to R or R to D while moving the vehicle, the direction of motor torque and speed will change, which may cause a step increase in motor torque, resulting in abnormal noises and vibrations throughout the vehicle, or even traffic accidents, posing a significant safety hazard.

[0004] Therefore, in response to the above problems, how to take corresponding measures to prevent a sudden increase in motor torque after rapid gear shifting is an urgent issue that needs to be addressed. [Summary of the Invention]

[0005] This application provides a method, device, and vehicle for controlling motor torque during gear shifting in electric vehicles, relating to the field of new energy vehicle technology, and capable of…

[0006] In a first aspect, embodiments of this application provide a method for controlling motor torque during gear shifting in an electric vehicle, the method comprising:

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

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

[0009] After determining that the motor has entered the zero torque condition, identify whether there is a dynamic gear shifting request;

[0010] After confirming the existence of a dynamic gear shifting request, dynamic gear shifting timing is performed and the motor torque is adjusted based on the timing results.

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

[0012] If the absolute value of the target torque is within the preset torque range, then 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 a dynamic gear shifting request exists includes:

[0015] If a shift between forward and reverse gears is detected at adjacent moments, it is determined that the vehicle has entered dynamic shifting mode.

[0016] Otherwise, the target torque is adjusted according to the preset second torque slope, which is less than the first torque slope.

[0017] In at least one possible implementation, the step of performing dynamic gear shift timing and adjusting the motor torque based on the timing result includes:

[0018] When it is detected that the current zero-crossing condition is in effect and a dynamic shift request exists, the dynamic shift duration timer will begin.

[0019] If the dynamic shift duration is less than or equal to the preset delay time, the target torque is adjusted according to the preset third torque slope, which 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 reverse, then the required torque is negative to obtain the target torque; if the current gear signal is drive, then the required torque is positive to obtain the target torque.

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

[0023] The technical benefits of this solution can be summarized as follows: This embodiment can distinguish the zero-crossing torque range of the vehicle based on its operating status, required torque, and gear position signal, differentiating between the reverse and normal power output states of the transmission system. This enables torque response to different functional requirements, effectively avoiding slow power response and long shift times. Furthermore, for rapid switching between forward and reverse gears, it accurately identifies the specific torque requirements of dynamic shifting conditions, preventing torque abrupt changes and ensuring stable and safe vehicle operation. In addition, a timing mechanism is introduced, which reasonably calibrates the duration of dynamic shifting torque application, controlling the torque slope during dynamic shifting and preventing the vehicle from failing to decelerate due to prolonged dynamic shifting torque application.

[0024] Secondly, embodiments of this application provide a motor torque control device for electric vehicle shifting conditions, the device comprising:

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

[0026] The zero-crossing condition identification module is used to determine whether the motor is in a torque zero-crossing condition based on the target torque.

[0027] The dynamic gear shifting recognition module is used to identify whether there is a dynamic gear shifting request after determining that the motor has entered the torque zero crossing condition;

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

[0029] Thirdly, embodiments of this application provide an electronic device, including: one or more processors, a memory, and one or more computer programs, the memory being 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 that, when executed by the device, cause the electronic device to perform the method as described in the first aspect or any possible implementation thereof.

[0030] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method as described in the first aspect or any possible implementation thereof.

[0031] Fifthly, embodiments of this application provide a vehicle, the vehicle including the electronic device in the third aspect embodiment and the computer-readable storage medium in the fourth aspect embodiment.

[0032] It should be understood that the second to fifth aspects of the embodiments of this application are consistent with the technical solutions of the first aspect of the embodiments of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again. [Attached Image Description]

[0033] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A flowchart illustrating a method for controlling motor torque in a gear-shifting condition for an electric vehicle, provided in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of the structure of a motor torque control device for electric vehicle shifting conditions, provided in an embodiment of this application.

Detailed Implementation Methods

[0036] To better understand the technical solutions in this specification, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0037] It should be understood that the described embodiments are merely some, not all, of the embodiments in this specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0038] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0039] This application provides a method for controlling motor torque during gear shifting in an electric vehicle. This method distinguishes the zero-crossing torque range of the vehicle based on its operating state, required torque, and gear signal, differentiating between reverse and normal power output states of the transmission system. This enables torque response to different functional requirements, effectively avoiding slow power response and long shifting times. Furthermore, for rapid switching between forward and reverse gears, it accurately identifies the specific torque requirements of dynamic shifting, preventing torque abrupt changes and ensuring stable and safe vehicle operation. In addition, a timing mechanism is introduced to reasonably calibrate the duration of dynamic shifting torque application, controlling the torque slope during dynamic shifting and preventing the vehicle from failing to decelerate due to prolonged dynamic shifting torque application.

[0040] The technical solutions protected by the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0041] Please see Figure 1 This is a flowchart illustrating a method for controlling motor torque during gear shifting in an electric vehicle, as provided in an embodiment of this application. The flowchart of this method is described as follows:

[0042] Step S1: After determining that the required torque is positive, the gear position signal is collected and torque reversal calculation is performed 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 position signal to output the required torque in reverse. Specifically, when the required torque TorqueA is positive (that is, the maximum value of the preset value is taken for the accelerator pedal torque, creep torque, cruise torque, and other controller torque requirements, resulting in a TorqueA that is positive; it is worth noting that the value is also positive when the accelerator pedal is pressed in reverse gear), the gear position controller sends the current gear position signal to the torque inversion module of the VCU via the CAN network or hardwire. The torque inversion module combines the current gear position signal and the required torque TorqueA to determine and output the target torque TorqueB. The purpose of TorqueB is to be further processed by the torque and filtering module of the VCU and then output to the electric vehicle's motor control system for execution.

[0044] Regarding the calculation for reversal, if the current gear signal is reverse (R), the absolute value of the required torque is negative to obtain the target torque; if the current gear signal is drive (D), the absolute value of the required torque is positive to obtain the target torque. P and N gears are not within the scope of this embodiment. For example, P gear generally does not have a torque requirement, and the target torque TorqueB is 0.

[0045] Furthermore, it can be added that at the beginning of the implementation of this application scheme, the VCU can also make prior condition judgments in conjunction with the vehicle's operating status, so that subsequent stages can more reliably distinguish whether the vehicle has entered the zero torque range.

[0046] For example, in some other embodiments of this application, the vehicle is required to be in a state where the high voltage of the whole vehicle is normal and without faults, and at the same time: the current gear is D gear, and the motor speed is >100 (a preset and adjustable first speed threshold), and the current vehicle speed is less than 6Km / h (a preset and adjustable first vehicle speed threshold), or the current gear is R gear, and the motor speed is <-100 (a preset and adjustable second speed threshold), and the vehicle speed is less than 4Km / h (a preset and adjustable second vehicle speed threshold).

[0047] Step S2: Based on the target torque, determine whether the motor is in a zero-torque operating condition;

[0048] To identify whether the current operating condition has entered the zero-crossing condition, the following method can be used: If the absolute value of the target torque is within a 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 in the 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. The torque range can generally be slightly larger than the maximum creep torque of the vehicle at a specific speed. For example, if a certain vehicle model creeps to its maximum speed of 7 km / h on a flat road with a torque of 30 Nm, then the torque range can be (7, 30 Nm). Those skilled in the art will 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 has entered the zero torque condition, identify whether there is a dynamic gear shifting request;

[0050] In actual operation, gear shifting requests can be detected according to different driving modes. For example, in a local driving mode, a dynamic gear shifting request can be determined by detecting that the brake pedal is pressed and the previous gear is not the same as the next gear (specifically D and R gears). Similarly, in automatic parking mode, it can also be determined that a dynamic shifting condition has been entered by detecting that the previous gear is not the same as the next gear (specifically D and R gears) in APA mode.

[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 D-to-N or D-to-P), the torque decreases relatively quickly to meet parking requirements. It can be noted that in some embodiments, if it is determined to be under zero-crossing conditions and not dynamic shifting, the target torque can be adjusted according to a preset second torque slope. That is, during normal shifting under zero-crossing conditions, a preset filtered torque limit is used to control the motor torque to adjust to the target torque. Here, the second torque slope is less than the first torque slope (i.e., the torque adjustment slope is relatively gentler compared to non-zero-crossing conditions). When the vehicle switches to D / R gear, this application believes that the torque needs to decrease more slowly to meet dynamic shifting requirements (explained later). Therefore, this step identifies whether dynamic shifting is required based on the gear request. Of course, when necessary, the torque changes during D / R gear switching when pressing the accelerator pedal and during creeping can be further differentiated.

[0052] Step S4: After confirming the existence of a dynamic gear shifting request, perform dynamic gear shifting timing and dynamically adjust the motor torque based on the timing results.

[0053] That is, when it is detected that the current condition is zero crossing and dynamic shifting is in progress, the dynamic shifting duration timer will start.

[0054] If the duration of dynamic shifting is less than or equal to the preset delay time, the target torque is adjusted 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 duration of dynamic shifting is greater than the delay time, dynamic shifting identification can be exited, and torque control can be performed using the second torque slope corresponding to normal shifting under zero-crossing conditions.

[0055] The purpose of this step is to prevent the dynamic shift function from remaining continuously activated, which could cause the motor torque to decrease too slowly, resulting in the vehicle speed failing to change as expected. Therefore, a timing mechanism is introduced for dynamic torque control. Regarding the aforementioned delay time, it can generally be slightly longer than the time it takes for the vehicle to come to a natural stop after lightly applying the brakes and shifting to neutral (N) at its maximum creep speed. It should be noted that if the calibrated value of this delay time is too large, it may cause the torque to fail to decrease for an extended period when shifting between D and R gears on a slope; if the calibrated value is too small, it may lead to inaccurate operating condition identification. Therefore, this parameter should be tested multiple times in actual operation and weighed to determine the optimal value.

[0056] Please see Figure 2 Based on the same inventive concept, this application also provides a motor torque control device for electric vehicle shifting conditions, the device comprising:

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

[0058] The 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] The dynamic gear shifting identification module 203 is used to identify whether there is a dynamic gear shifting request after determining that the motor has entered the torque zero crossing condition;

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

[0061] Based on the same inventive concept, this 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 flowchart steps of the electric vehicle shifting motor torque control method provided in this application.

[0062] Optionally, the processor may be a central processing unit, a specific ASIC, or one or more integrated circuits used to control program execution.

[0063] Optionally, the electronic device may further include a memory connected to at least one processor. The memory may include ROM, RAM, and disk storage. The memory stores data required for processor operation, i.e., it stores instructions executable by at least one processor. The at least one processor executes the methods mentioned in the above embodiments by executing the instructions stored in the memory. The number of memories may be one or more.

[0064] This application also provides a computer storage medium, wherein the computer storage medium stores computer instructions, which, when executed on a computer, cause the computer to perform the methods mentioned in the above embodiments.

[0065] Based on the same inventive concept, embodiments of this application also provide a vehicle, including at least the aforementioned electronic equipment and / or computer-readable storage medium. The selection of this vehicle can be determined based on a person skilled in the art's correct understanding and reasonable implementation of the aforementioned solutions.

[0066] The above description is merely 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 within the scope of protection of this specification.

Claims

1. A method for controlling the torque of an electric vehicle shift schedule motor, characterized by, The method comprises: After determining that the demand torque is positive, a gear signal is collected and torque reversal calculation is performed to obtain a target torque; Based on the target torque, it is determined whether the motor is in a torque zero-crossing condition, including: if the absolute value of the target torque is within a preset torque range, it is determined that the torque zero-crossing condition is entered; After determining that the motor enters the torque zero-crossing condition, it is identified whether there is a dynamic gear shifting request, including: if the forward gear and the reverse gear are switched at the adjacent time, it is determined that the dynamic gear shifting condition is entered; After determining that there is a dynamic gear shifting request, dynamic gear shifting timing is performed and the motor torque is regulated according to the timing result, including: when it is identified that the current is in the zero-crossing condition and there is a dynamic gear shifting request, the dynamic gear shifting duration timing is started; if the dynamic gear shifting duration is less than or equal to a preset delay time, the target torque is regulated according to a preset third torque slope, and the third torque slope is less than a second torque slope; if the dynamic gear shifting duration is greater than the delay time, the torque control is performed according to the second torque slope.

2. The electric vehicle shift schedule motor torque control method of claim 1, wherein, The determination of whether the motor is in the torque zero-crossing condition further comprises: 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 a first torque slope.

3. The electric vehicle shift schedule motor torque control method of claim 2, wherein, The identification of whether there is a dynamic gear shifting request further comprises: If there is no dynamic gear shifting request, the target torque is regulated according to a preset second torque slope, and the second torque slope is less than a first torque slope.

4. The electric vehicle shift schedule motor torque control method of claim 1, wherein, The torque reversal calculation comprises: if the current gear signal is the reverse gear, the demand torque is taken as a negative value to obtain the target torque; if the current gear signal is the forward gear, the demand torque is taken as a positive value to obtain the target torque.

5. The electric vehicle shift schedule motor torque control method of any one of claims 1-4, wherein, Before calculating the target torque, a vehicle operating state condition judgment is performed, at least including: the current gear is the forward gear, the motor speed is greater than a preset first speed threshold, and the current vehicle speed is less than a preset first vehicle speed threshold; or, the current gear is the reverse gear, the motor speed is less than a preset second speed threshold, and the current vehicle speed is less than a preset second vehicle speed threshold.

6. An electric vehicle shifting condition motor torque control device applied to the control method of any one of claims 1 to 5, characterized by, The device comprises: A torque reversal calculation module for collecting a gear signal and performing torque reversal calculation to obtain a target torque after determining that the demand torque is positive; A zero-crossing condition identification module for determining whether the motor is in a torque zero-crossing condition based on the target torque; A dynamic gear shifting identification module for identifying whether there is a dynamic gear shifting request after determining that the motor enters the torque zero-crossing condition; A gear shifting timing regulation module for performing dynamic gear shifting timing and regulating the motor torque according to the timing result after determining that there is a dynamic gear shifting request.

7. An electronic device, comprising: Comprise: One or more processors, memories, and one or more computer programs, wherein the one or more computer programs are stored in the memories, the one or more computer programs comprise instructions, when the instructions are executed by the electronic device, the electronic device executes the electric vehicle gear shifting condition motor torque control method of any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the electric vehicle gear shifting condition motor torque control method in any one of claims 1-5.

9. A vehicle characterized by comprising: The vehicle is configured with the electronic device in claim 7 or the computer readable storage medium in claim 8.

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