Torque control method, device and equipment and storage medium

Abstract

The invention discloses a torque control method and device, equipment and a storage medium, which are used for improving the user experience during torque zero passage. The vehicle is monitored, if it is determined that the torque zero-crossing process is triggered under the working condition that the vehicle steps on the accelerator after sliding, the vehicle speed, the acceleration, the accelerator pedal opening degree and other related parameter information are obtained, and torque control related parameters are obtained by reading values calibrated in advance in a storage; by judging the size of the original required torque and the size of the filtering required torque, it is judged that torque reduction control is started, and the torque rising zero-crossing fitting process is further completed; judging whether repeated zero-crossing knocking treatment near zero torque needs to be carried out or not by judging the magnitude of the filtering required torque after zero crossing; and the process of controlling the torque to coincide with the filtering demand torque is completed by acquiring the time parameter of the transition area. Through the series of torque control processes, the effects of rapid zero crossing and abnormal knocking sound suppression are achieved.

Description

Technical Field

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

[0002] In the power transmission link from the engine / motor to the wheels, there will inevitably be gear matching structures (such as gearboxes, reducers, differentials, etc.). In order to prevent the gears from getting stuck due to friction, heat and expansion, a certain gap needs to be left between the gear pairs. When the vehicle is decelerating and gliding, the accelerator is pressed to drive, and when the driving torque passes through zero to near zero torque in the positive direction, the state of the master and slave gears in the transmission system switches, and the driving gear will hit the driven gear, causing abnormal noise or a sense of frustration in the whole vehicle, affecting the driving experience. Summary of the invention

[0003] In view of this, the present application provides a torque control method, device, equipment and storage medium to facilitate solving the above-mentioned technical problems.

[0004] In a first aspect, an embodiment of the present application provides a torque control method, the method comprising: Obtaining the speed of the vehicle and the degree of opening and closing of the accelerator pedal of the vehicle; Determining an initial required torque of the vehicle based on the vehicle speed and the accelerator pedal opening / closing degree; Performing low-pass filtering on the initial required torque to obtain a filtered required torque; An output torque of the vehicle is controlled based on the initial required torque and the filtered required torque.

[0005] In some possible embodiments, before determining to control the output torque of the vehicle based on the initial required torque and the filtered required torque, the method further includes: Obtaining a preset torque upper limit value; and obtaining the acceleration of the vehicle; determining a torque reduction threshold value according to the acceleration; Determining whether the initial required torque is greater than the preset torque upper limit value, and determining whether the filtered required torque is greater than a torque reduction threshold value; The determining of controlling the output torque of the vehicle based on the initial required torque and the filtered required torque includes: If it is determined that the initial required torque is greater than the preset torque upper limit value, and if it is determined that the filtered required torque is greater than the torque reduction threshold value, the output torque of the vehicle is controlled.

[0006] In some possible embodiments, controlling the output torque of the vehicle includes: determining a torque reduction duration according to the vehicle speed; Obtaining the acceleration of the vehicle; Determining a torque reduction amplitude of the vehicle according to the acceleration and the accelerator pedal opening and closing degree; Determining a torque reduction rate according to the torque reduction duration and the torque reduction amplitude; The output torque of the vehicle is controlled to decrease according to the torque reduction rate and the torque reduction duration.

[0007] In some possible embodiments, after controlling the output torque of the vehicle to decrease according to the torque reduction rate and the torque reduction duration, the method further includes: Determining the torque climbing time of the vehicle according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque climbing rate according to the torque climbing time and the preset torque upper limit value; The output torque is controlled to increase according to the torque increase rate and the torque increase duration.

[0008] In some possible embodiments, after determining to control the output torque of the vehicle based on the initial required torque and the filtered required torque, the method further includes: obtaining a target torque after controlling the output torque of the vehicle; Determining whether the target torque is greater than or equal to a torque reduction threshold and less than or equal to a preset torque upper limit value; If so, the target torque is adjusted to the preset torque upper limit value.

[0009] In some possible embodiments, after determining whether the target torque is greater than a torque reduction threshold and less than a preset torque upper limit value, the method further includes: If it is determined that the target torque is less than the torque reduction threshold or greater than the preset torque upper limit, determining the torque transition duration according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque transition rate according to the torque transition duration and a filtered required torque corresponding to the current initial torque; The target torque is controlled according to the torque transition rate and the torque transition duration.

[0010] In a second aspect, an embodiment of the present application provides a torque control device, the device comprising: An acquisition module, used to acquire the speed of the vehicle and the degree of opening and closing of the accelerator pedal of the vehicle; A torque determination module, configured to determine an initial required torque of the vehicle based on the vehicle speed and the accelerator pedal opening / closing degree; A filtering module, used for performing low-pass filtering on the initial required torque to obtain a filtered required torque; The torque control module is configured to control an output torque of the vehicle based on the initial required torque and the filtered required torque.

[0011] In some possible embodiments, the torque control module is further configured to: Obtaining a preset torque upper limit value; and obtaining the acceleration of the vehicle; determining a torque reduction threshold value according to the acceleration; Determining whether the initial required torque is greater than the preset torque upper limit value, and determining whether the filtered required torque is greater than a torque reduction threshold value; The torque control module is specifically used to control the output torque of the vehicle if it is determined that the initial required torque is greater than the preset torque upper limit value and the filtered required torque is greater than the torque reduction threshold.

[0012] In some possible embodiments, the torque control module is specifically used to: determining a torque reduction duration according to the vehicle speed; obtaining the acceleration of the vehicle; Determining a torque reduction amplitude of the vehicle according to the acceleration and the accelerator pedal opening and closing degree; Determining a torque reduction rate according to the torque reduction duration and the torque reduction amplitude; The output torque of the vehicle is controlled to decrease according to the torque reduction rate and the torque reduction duration.

[0013] In some possible embodiments, the torque control module is further configured to: Determining the torque climbing time of the vehicle according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque climbing rate according to the torque climbing time and the preset torque upper limit value; The output torque is controlled to increase according to the torque increase rate and the torque increase duration.

[0014] In some possible embodiments, the torque control module is further configured to: obtaining a target torque after controlling the output torque of the vehicle; Determining whether the target torque is greater than or equal to a torque reduction threshold and less than or equal to a preset torque upper limit value; If so, the target torque is adjusted to the preset torque upper limit value.

[0015] In some possible embodiments, the torque control module is further configured to: If it is determined that the target torque is less than the torque reduction threshold or greater than the preset torque upper limit, determining the torque transition duration according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque transition rate according to the torque transition duration and a filtered required torque corresponding to the current initial torque; The target torque is controlled according to the torque transition rate and the torque transition duration.

[0016] In the third aspect, another embodiment of the present application also provides an electronic device, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method provided in the embodiment of the first aspect of the present application.

[0017] In a fourth aspect, another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any method provided in the embodiment of the first aspect of the present application.

[0018] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 A schematic diagram of the overall process of a torque control method provided in an embodiment of the present application; Figure 2 A schematic diagram of a flow chart of determining whether a vehicle needs to perform torque control in a torque control method provided in an embodiment of the present application; Figure 3 A schematic diagram of a flow chart of controlling the output torque of a vehicle according to a torque control method provided in an embodiment of the present application; Figure 4 A schematic diagram of a process flow of torque positive zero crossing of a torque control method provided in an embodiment of the present application; Figure 5 A schematic flow chart of a torque control method provided in an embodiment of the present application for avoiding zero-crossing knock caused by repeated zero-crossing of a vehicle; Figure 6A torque control schematic diagram of a torque control method provided in an embodiment of the present application with an initial required torque reduction; Figure 7 A torque control schematic diagram of an initial torque increase of a torque control method provided in an embodiment of the present application; Figure 8 A schematic diagram of controlling torque increase of a torque control method provided in an embodiment of the present application; Fig. 9 A schematic diagram of controlling torque reduction of a torque control method provided in an embodiment of the present application; Fig.10 A schematic diagram of a torque control method provided in an embodiment of the present application; Fig.11 A schematic diagram of an electronic device for a torque control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0022] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0023] 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 the present application. The singular forms "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.

[0024] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0025] The inventors have found that in the power transmission link from the engine / motor to the wheels, there will inevitably be gear matching structures (such as gearboxes, reducers, differentials, etc.). In order to prevent the gears from getting stuck due to friction, heat and expansion, a certain gap needs to be left between the gear pairs. When the vehicle is decelerating and gliding, the accelerator is stepped on to drive, and when the driving torque passes through zero to near zero torque, the state of the master and slave gears in the transmission system switches, and the driving gear will hit the driven gear, causing abnormal noise or a sense of frustration of the whole vehicle, affecting the driving experience.

[0026] In response to the above problems, the embodiments of the present application provide a torque control method, device, equipment and storage medium for solving the above problems. The inventive concept of the present application can be summarized as follows: the present application monitors the vehicle, and if the accelerator is pressed after the vehicle is coasting, it is determined that the torque zero-crossing process is triggered, then the relevant parameter information such as vehicle speed, acceleration, and accelerator pedal opening and closing degree is obtained, and the torque control related parameters are obtained by reading the pre-calibrated values ​​in the memory; by judging the size of the original required torque and the filtered required torque, it is determined to enter the torque reduction control and further complete the torque increase zero-crossing fitting process; by judging the size of the filtered required torque after zero crossing, it is determined whether it is necessary to perform anti-repeated zero-crossing knocking processing near zero torque; by obtaining the transition zone time parameter, the process of controlling the torque to overlap with the filtered required torque is completed. Through this series of torque control processes, the effect of rapid zero crossing and suppression of abnormal knocking noise is achieved.

[0027] For ease of understanding, a torque control method provided by an embodiment of the present application is described in detail below with reference to the accompanying drawings: like Figure 1 FIG. 1 is a schematic diagram of the overall process of a torque control method provided in an embodiment of the present application, wherein: In step 101: the vehicle speed and the degree of opening and closing of the accelerator pedal of the vehicle are obtained.

[0028] In the embodiment of the present application, the vehicle speed can be obtained by a vehicle speed sensor in the vehicle, and the accelerator pedal opening degree can be obtained by an accelerator pedal sensor.

[0029] In step 102 : the initial required torque of the vehicle is determined based on the vehicle speed and the accelerator pedal opening and closing degree.

[0030] In the embodiment of the present application, the accelerator pedal opening degree affects the vehicle's required torque, and the vehicle speed also affects the vehicle's required torque. The higher the vehicle speed, the greater the corresponding vehicle required torque. Therefore, after obtaining the vehicle speed and the accelerator pedal opening degree, the initial required torque of the vehicle can be determined based on the vehicle speed and the accelerator pedal opening degree. The initial required torque can be recorded as .

[0031] In step 103: the initial required torque is subjected to low-pass filtering to obtain a filtered required torque.

[0032] During the driving process of the vehicle, the vehicle may be braked or driven frequently in a short period of time, which will cause the initial required torque to change greatly in a short period of time. In order to avoid the driving experience being affected by the frequent adjustment of the vehicle's torque in a short period of time, the initial torque of the vehicle will be low-pass filtered after the initial torque is obtained, and then the filtered required torque can be obtained. The filtered required torque has a small fluctuation in a short period of time, so it can ensure the smooth driving of the vehicle. Among them, the filtered required torque can be recorded as .

[0033] In some possible embodiments, a first-order low-pass filter may be used when low-pass filtering the initial demand torque. By low-pass filtering the initial demand torque, high-frequency components in the initial demand torque can be filtered out, making the obtained filtered demand torque smoother and more stable, and reducing the impact of noise and interference on the vehicle.

[0034] In step 104 , the output torque of the vehicle is controlled based on the initial required torque and the filtered required torque.

[0035] In some possible embodiments, before implementing step 104, it is necessary to determine whether the vehicle needs to perform torque control, and if it is determined that the vehicle needs to perform torque control, step 104 is implemented. Figure 2 The steps shown are to determine whether the vehicle requires torque control, wherein: In step 201: a preset torque upper limit value is obtained; and the acceleration of the vehicle is determined.

[0036] In the embodiment of the present application, in order to prevent the torque from hovering near zero torque and causing repeated zero-crossing knocks during the torque climbing stage after the torque reduction when the driver's required torque is small, a preset torque upper limit value is set to ensure that the zero-crossing process can be completed and repeated zero-crossing knocks are avoided. In the embodiment of the present application, the acceleration of the vehicle can be obtained by: obtaining the acceleration of the vehicle through the vehicle local area network according to the vehicle electronic stability control system.

[0037] In step 202: a torque reduction threshold is determined according to acceleration.

[0038] In the embodiment of the present application, a torque reduction threshold is set, which represents the torque value when the torque loaded by the engine and / or motor on the driving gear is equal to the inertia torque of the driven gear and the two begin to separate. The inertia torque of the driven gear is recorded as , ,in is the moment of inertia of the driven gear, is the angular acceleration of the driven gear; since the driven gear is connected to the vehicle end, the moment of inertia of the driven gear is related to the weight of the vehicle, that is, when the weight of the vehicle remains unchanged, the inertia torque of the driven gear can be set to a constant value according to the weight of the vehicle. The angular acceleration of the driven gear is related to the acceleration of the vehicle, so the torque reduction threshold is only related to the acceleration of the vehicle. In order to solve the problem of different zero-crossing tapping sensations when the accelerator is tipped in at the same depth when gliding to the same speed, calibration can be performed multiple times on different slopes to construct a curve relationship between acceleration and torque reduction threshold.

[0039] In some possible embodiments, the torque reduction threshold is less than zero.

[0040] In a specific implementation, the curve relationship between acceleration and torque reduction threshold can be stored in a memory in the vehicle. After the acceleration of the vehicle is determined, the torque reduction threshold of the vehicle can be determined based on the acceleration and the curve relationship pre-stored in the vehicle memory.

[0041] In step 203: determine whether the initial required torque is greater than the preset torque upper limit value, and determine whether the filtered required torque is greater than the torque reduction threshold; if it is determined that the initial required torque is greater than the preset torque upper limit value, and it is determined that the filtered required torque is greater than the torque reduction threshold, then enter step 204, otherwise enter step 205.

[0042] In an embodiment of the present application, when the user steps on the accelerator pedal, the initial required torque of the vehicle will suddenly increase. Since the filtered required torque will gradually increase, when the initial required torque is greater than the preset torque upper limit value, it indicates that the vehicle may have a zero crossing at this time. When the filtered required torque is greater than the torque reduction threshold, it indicates that torque control of the vehicle is required.

[0043] In step 204: the output torque of the vehicle is controlled.

[0044] In step 205: it is determined that torque control of the vehicle is not required, and the process ends.

[0045] In the embodiment of the present application, the specific implementation of the above step 104 is the same as that of step 204, and is described together here: In some possible embodiments, the output torque of the vehicle is controlled, which can be specifically implemented as follows: Figure 3 The steps shown, where: In step 301: the torque reduction duration is determined according to the vehicle speed.

[0046] In the embodiment of the present application, the torque reduction time represents the shortest time required for the driving gear and the driven gear to separate and re-fit.

[0047] The torque reduction time is related to the width of the gap between the driving gear and the driven gear and the speed of the gear. Since the width of the gap between the gears is fixed and the speed of the gear is proportional to the vehicle speed, the torque reduction time can construct a curve relationship between the vehicle speed and the torque reduction time. That is, the torque reduction time is a one-dimensional calibration curve with the vehicle speed as the variable. The overall trend of the curve is that as the vehicle speed increases, the torque reduction time will decrease.

[0048] In some possible embodiments, in order to ensure that the fitting process between the driving gear and the driven gear occurs within the torque reduction time, the torque reduction time may be appropriately increased when calibrating the curve of vehicle speed and torque reduction time.

[0049] In step 302: the acceleration of the vehicle is obtained.

[0050] The specific implementation of this step is the same as the process of obtaining the vehicle acceleration in step 201, and will not be repeated here.

[0051] In step 303: the torque reduction amplitude of the vehicle is determined according to the acceleration and the degree of opening and closing of the accelerator pedal.

[0052] In the embodiment of the present application, considering that the driven gear is still in the deceleration process when crossing zero, the driving gear also needs to be decelerated by a certain torque reduction after separation, thereby ensuring that the driving gear and the driven gear remain synchronized, so that the fitting process between the driving gear and the driven gear is smoother.

[0053] Among them, the torque reduction amplitude is a parameter related to the accelerator pedal opening degree and the vehicle's acceleration. The accelerator pedal opening degree and acceleration can be used as variables to construct a two-dimensional calibration curve corresponding to the torque reduction amplitude. The overall trend of the two-dimensional calibration curve is: it increases with the increase of the pedal opening degree and the absolute value of the acceleration.

[0054] In step 304: the torque reduction rate is determined according to the torque reduction duration and the torque reduction amplitude.

[0055] In the embodiment of the present application, the ratio of the torque reduction duration to the torque reduction amplitude can be used as the torque reduction rate. Controlling the output torque of the vehicle based on the torque reduction rate can make the vehicle's torque decrease at a uniform speed, thereby ensuring the stability of the vehicle.

[0056] In step 305: the output torque of the vehicle is controlled to decrease according to the torque reduction rate and the torque reduction duration.

[0057] In the embodiment of the present application, after the torque reduction rate is obtained, it is necessary to reduce the output torque of the vehicle according to the torque reduction rate within the torque reduction time, thereby completing the fitting process.

[0058] For example: record the torque reduction time as , the torque reduction amplitude is recorded as , then you need to The output torque of the vehicle is reduced .

[0059] In some other possible embodiments, after the output torque of the vehicle is controlled to decrease according to the torque reduction rate and the torque reduction duration, that is, after the fitting process is completed, the following steps may be implemented: Figure 4 The steps shown are used to complete the positive torque zero crossing, where: In step 401: the torque ramp-up time of the vehicle is determined according to the vehicle speed and the degree of opening and closing of the accelerator pedal.

[0060] In the embodiment of the present application, in order to ensure the smoothness of driving, a torque climbing time is set, and the output torque is controlled to rise within the torque climbing time. The torque climbing time is associated with the pedal opening and closing degree and the vehicle speed, that is, the pedal opening and closing degree and the vehicle speed can be used as variables to construct a two-dimensional calibration curve corresponding to the torque climbing time. After obtaining the vehicle speed and the accelerator pedal opening and closing degree, the torque climbing time corresponding to the vehicle can be determined based on the two-dimensional calibration curve.

[0061] In step 402: the torque climbing rate is determined according to the torque climbing time and the preset torque upper limit value.

[0062] In the embodiment of the present application, the ratio of the torque climbing time to the preset torque upper limit value can be used as the torque climbing rate.

[0063] In step 403: the output torque is controlled to increase according to the torque increase rate and the torque increase duration.

[0064] In the embodiment of the present application, after the torque climbing rate is obtained, it is necessary to improve the output process of the vehicle within the torque climbing time, so as to achieve the positive zero crossing of the torque.

[0065] For example: record the torque ramp-up time as , the preset torque upper limit is recorded as , then you need to Increase the vehicle's output torque to .

[0066] In some possible embodiments, after the zero crossing is completed, in order to avoid the zero crossing knock caused by repeated zero crossing of the vehicle, the following method can be used: Figure 5 The steps shown, where: In step 501: the target torque after controlling the output torque of the vehicle is obtained.

[0067] In the embodiment of the present application, the target torque is the output torque of the vehicle after the torque reduction is performed. Figure 4 The torque after the process.

[0068] In step 502 : determine whether the target torque is greater than or equal to the torque reduction threshold and less than or equal to the preset torque upper limit value; if so, proceed to step 503 , otherwise proceed to step 504 .

[0069] In an embodiment of the present application, if it is determined that the target torque is greater than or equal to the torque reduction threshold and less than or equal to the preset torque upper limit value, it means that the required torque of the vehicle after zero crossing is near zero torque, so the torque needs to be controlled to avoid repeated zero crossing of the vehicle.

[0070] In step 503: the target torque is adjusted to a preset torque upper limit value.

[0071] In an embodiment of the present application, when the target torque is near zero torque, the target torque can be adjusted to a preset torque upper limit value, that is, a small positive torque is given to the vehicle to maintain positive drive of the driving gear and the driven gear of the vehicle. Since the preset torque upper limit value is small, the adjusted torque will not deviate too much from the user's required torque, thereby avoiding repeated zero knocking while ensuring user experience.

[0072] In some possible embodiments, if the driver's initial required torque changes, so that the filtered required torque corresponding to the initial required torque is less than the torque reduction threshold, it is necessary to determine the torque transition duration based on the vehicle speed and the degree of accelerator pedal opening, and then within the torque transition duration, transition the vehicle's output torque from the preset torque upper limit value to the filtered required torque corresponding to the current initial required torque.

[0073] For example: Figure 6 As shown, the vehicle speed and accelerator pedal opening and closing degree are obtained in real time, and the initial required torque of the vehicle at time t1 is determined as , determine the filtering required torque as Before time t1, the actual output torque is equal to the filtered demand torque, and the preset torque upper limit is determined to be The torque reduction threshold is ,Sure Greater than And confirm Greater than , it is determined that the vehicle has entered the contact area and needs to control the output torque of the vehicle. First, the torque reduction time is determined according to the vehicle speed. , determine the torque reduction amplitude , then you need to The output torque of the vehicle is reduced Then, in the zero-crossing area, the vehicle torque climbing time is determined according to the vehicle speed and the accelerator pedal opening and closing degree. , then in Increase the vehicle's output torque to After the zero-crossing zone ends, it is necessary to determine whether the vehicle's output torque is within and If the output torque is between and The output torque of the vehicle is not controlled during this period. At time t2, it is determined that the filtered demand torque corresponding to the current initial demand torque of the vehicle has changed. Then, the torque transition time is determined according to the vehicle speed and the accelerator pedal opening and closing degree as ,exist The output torque is transitioned to the filtered required torque corresponding to the current initial required torque. , even if the actual output torque coincides with the filtered demand torque.

[0074] In other possible embodiments, if the driver's initial required torque changes, so that the filtered required torque corresponding to the initial required torque is greater than the preset torque upper limit value, it is necessary to determine the torque transition duration based on the vehicle speed and the accelerator pedal opening degree, and then within the torque transition duration, transition the vehicle's output torque from the preset torque upper limit value to the filtered required torque corresponding to the current initial required torque.

[0075] For example: Figure 7 As shown, the vehicle speed and accelerator pedal opening and closing degree are obtained in real time, and the initial required torque of the vehicle at time t1 is determined as , determine the filtering required torque as Before time t1, the actual output torque is equal to the filtered demand torque, and the preset torque upper limit is determined to be The torque reduction threshold is ,Sure Greater than And confirm Greater than , it is determined that the vehicle has entered the contact area and needs to control the output torque of the vehicle. First, the torque reduction time is determined according to the vehicle speed. , determine the torque reduction amplitude , you need to The output torque of the vehicle is reduced Then, in the zero-crossing area, the vehicle torque climbing time is determined according to the vehicle speed and the accelerator pedal opening and closing degree. , then in Increase the vehicle's output torque to After the zero-crossing zone ends, it is necessary to determine whether the vehicle's output torque is within and If the output torque is between and The output torque of the vehicle is not controlled during this period. At time t2, it is determined that the filtered demand torque corresponding to the current initial demand torque of the vehicle has changed. Then, the torque transition time is determined according to the vehicle speed and the accelerator pedal opening and closing degree as ,exist The output torque is transitioned to the filtered required torque corresponding to the current initial required torque. , even if the actual output torque coincides with the filtered demand torque.

[0076] In step 504: the torque transition duration is determined according to the vehicle speed and the accelerator pedal opening and closing degree.

[0077] In the embodiment of the present application, when the required torque after the vehicle passes zero is not near zero torque, the torque can be increased or decreased to allow for a smooth transition of the torque.

[0078] In some possible embodiments, the torque transition time represents the transition of the vehicle output torque to the filtered demand torque. In order to ensure the smoothness of driving, the slope of torque change needs to be taken into account. Therefore, the torque transition duration is associated with the accelerator pedal opening and closing degree and the vehicle speed. That is, the accelerator pedal opening and closing degree and the vehicle speed can be used as variables to construct a two-dimensional calibration curve corresponding to the torque transition duration. The torque transition duration can be obtained based on the acquired vehicle speed, accelerator pedal opening and closing degree and the constructed two-dimensional calibration curve.

[0079] In step 505 : the torque transition rate is determined according to the torque transition duration and the filtered required torque corresponding to the current initial torque.

[0080] In the embodiment of the present application, the ratio of the torque transition duration to the filtered required torque corresponding to the current initial torque may be used as the torque transition rate.

[0081] In step 506: the target torque is controlled according to the torque transition rate and the torque transition duration.

[0082] In the embodiment of the present application, the output torque of the vehicle is adjusted to the filtered required torque according to the torque transition rate within the torque transition duration.

[0083] Take the control of torque increase as an example, for example: Figure 8 As shown, the vehicle speed and accelerator pedal opening and closing degree are obtained in real time, and the initial required torque of the vehicle at time t1 is determined as , determine the filtering required torque as , determine the preset torque upper limit value is The torque reduction threshold is ,Sure Greater than And confirm Greater than , it is determined that the vehicle has entered the contact area and needs to control the output torque of the vehicle. First, the torque reduction time is determined according to the vehicle speed. , determine the torque reduction amplitude , you need to The output torque of the vehicle is reduced Then, in the zero-crossing area, the vehicle torque climbing time is determined according to the vehicle speed and the accelerator pedal opening and closing degree. , then in Increase the vehicle's output torque to After the zero-crossing zone ends, it is necessary to determine whether the vehicle's output torque is within and If it is determined that the output torque is not between and The torque transition time is determined according to the vehicle speed and the accelerator pedal opening and closing degree. ,exist The torque transition value is converted to the filtered required torque corresponding to the current initial required torque. .

[0084] Take the example of controlling the torque drop, or for example: Fig. 9 As shown, the vehicle speed and accelerator pedal opening and closing degree are obtained in real time, and the initial required torque of the vehicle at time t1 is determined as , determine the filtering required torque as , determine the preset torque upper limit value is The torque reduction threshold is ,Sure Greater than And confirm Greater than , it is determined that the vehicle has entered the contact area and needs to control the output torque of the vehicle. First, the torque reduction time is determined according to the vehicle speed. , determine the torque reduction amplitude , you need to The output torque of the vehicle is reduced Then, in the zero-crossing area, the vehicle torque climbing time is determined according to the vehicle speed and the accelerator pedal opening and closing degree. , then in Increase the vehicle's output torque to After the zero-crossing zone ends, it is necessary to determine whether the vehicle's output torque is within and If it is determined that the output torque is not between and The torque transition time is determined according to the vehicle speed and the accelerator pedal opening and closing degree. ,exist The torque transition value is converted to the filtered required torque corresponding to the current initial required torque. .

[0085] Compared with the traditional zero-crossing control of slowly increasing torque, the torque control method provided in the embodiment of the present application is more in line with the fitting process of the driving gear when the driven gear is decelerating, and can effectively reduce the zero-crossing knock; secondly, the torque when the master and driven gears are separated is judged by the vehicle acceleration, so the moment of entering the torque zero-crossing control can be judged more accurately; by calibrating the torque slope of the transition zone, the torque slope after zero crossing can be kept consistent, effectively reducing the driving feel of the acceleration segment; when the driver's required torque is near zero torque after zero crossing, repeated zero-crossing knocks can be effectively prevented by applying positive torque.

[0086] Based on the same inventive concept, after introducing a torque control method provided by an embodiment of the present application, as shown in FIG. Fig.10 As shown, a torque control device 1000 provided in an embodiment of the present application is described below, and the device includes: The acquisition module 10001 is used to acquire the vehicle speed and the accelerator pedal opening and closing degree of the vehicle; The torque determination module 10002 is used to determine the initial required torque of the vehicle based on the vehicle speed and the accelerator pedal opening and closing degree; A filtering module 10003 is used to perform low-pass filtering on the initial required torque to obtain a filtered required torque; The torque control module 10004 is used to determine and control the output torque of the vehicle based on the initial required torque and the filtered required torque.

[0087] In some possible embodiments, the torque control module 10004 is further configured to: Obtaining a preset torque upper limit value; and obtaining the acceleration of the vehicle; determining a torque reduction threshold value according to the acceleration; Determining whether the initial required torque is greater than the preset torque upper limit value, and determining whether the filtered required torque is greater than a torque reduction threshold value; The torque control module 10004 is specifically used to: if it is determined that the initial required torque is greater than the preset torque upper limit value, and it is determined that the filtered required torque is greater than the torque reduction threshold, then control the output torque of the vehicle.

[0088] In some possible embodiments, the torque control module 10004 is specifically used to: determining a torque reduction duration according to the vehicle speed; obtaining the acceleration of the vehicle; Determining a torque reduction amplitude of the vehicle according to the acceleration and the accelerator pedal opening and closing degree; Determining a torque reduction rate according to the torque reduction duration and the torque reduction amplitude; The output torque of the vehicle is controlled to decrease according to the torque reduction rate and the torque reduction duration.

[0089] In some possible embodiments, the torque control module 10004 is further configured to: Determining the torque climbing time of the vehicle according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque climbing rate according to the torque climbing time and the preset torque upper limit value; The output torque is controlled to increase according to the torque increase rate and the torque increase duration.

[0090] In some possible embodiments, the torque control module 10004 is further configured to: obtaining a target torque after controlling the output torque of the vehicle; Determining whether the target torque is greater than or equal to a torque reduction threshold and less than or equal to a preset torque upper limit value; If so, the target torque is adjusted to the preset torque upper limit value.

[0091] In some possible embodiments, the torque control module 10004 is further configured to: If it is determined that the target torque is less than the torque reduction threshold or greater than the preset torque upper limit, determining the torque transition duration according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque transition rate according to the torque transition duration and a filtered required torque corresponding to the current initial torque; The target torque is controlled according to the torque transition rate and the torque transition duration.

[0092] Corresponding to the above embodiments, the present application also provides an electronic device. Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, the electronic device 1100 may include: a processor 1101, a memory 1102 and a communication unit 1103. These components communicate through one or more buses. Those skilled in the art can understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiment of the present invention, it can be a bus structure or a star structure, and can also include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0093] The communication unit 1103 is used to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0094] The processor 1101 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 1102, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 1101 can only include a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0095] The memory 1102 is used to store the execution instructions of the processor 1101. The memory 1102 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0096] When the execution instructions in the memory 1102 are executed by the processor 1101, the electronic device 1100 can execute Figure 1 Some or all of the steps in the illustrated embodiments.

[0097] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the torque control method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0098] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention or certain parts of the embodiments.

[0099] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A torque control method, characterized in that: Applied to a vehicle, the method comprises: Obtaining the speed of the vehicle and the degree of opening and closing of the accelerator pedal of the vehicle; Determining an initial required torque of the vehicle based on the vehicle speed and the accelerator pedal opening / closing degree; Performing low-pass filtering on the initial required torque to obtain a filtered required torque; An output torque of the vehicle is controlled based on the initial required torque and the filtered required torque.

2. The method according to claim 1, characterized in that Before determining to control the output torque of the vehicle based on the initial required torque and the filtered required torque, the method further includes: Obtaining a preset torque upper limit value; and obtaining the acceleration of the vehicle; determining a torque reduction threshold value according to the acceleration; Determining whether the initial required torque is greater than the preset torque upper limit value, and determining whether the filtered required torque is greater than a torque reduction threshold value; The determining of controlling the output torque of the vehicle based on the initial required torque and the filtered required torque includes: If it is determined that the initial required torque is greater than the preset torque upper limit value, and if it is determined that the filtered required torque is greater than the torque reduction threshold value, the output torque of the vehicle is controlled.

3. The method according to claim 2, characterized in that The controlling of the output torque of the vehicle comprises: determining a torque reduction duration according to the vehicle speed; obtaining the acceleration of the vehicle; Determining a torque reduction amplitude of the vehicle according to the acceleration and the accelerator pedal opening and closing degree; Determining a torque reduction rate according to the torque reduction duration and the torque reduction amplitude; The output torque of the vehicle is controlled to decrease according to the torque reduction rate and the torque reduction duration.

4. The method according to claim 3, characterized in that: After controlling the output torque of the vehicle to decrease according to the torque reduction rate and the torque reduction duration, the method further includes: Determining the torque climbing time of the vehicle according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque climbing rate according to the torque climbing time and the preset torque upper limit value; The output torque is controlled to increase according to the torque increase rate and the torque increase duration.

5. The method according to claim 1, characterized in that After determining to control the output torque of the vehicle based on the initial required torque and the filtered required torque, the method further includes: obtaining a target torque after controlling the output torque of the vehicle; Determining whether the target torque is greater than or equal to a torque reduction threshold and less than or equal to a preset torque upper limit value; If so, the target torque is adjusted to the preset torque upper limit value.

6. The method according to claim 5, characterized in that After determining whether the target torque is greater than the torque reduction threshold and less than a preset torque upper limit value, the method further includes: If it is determined that the target torque is less than the torque reduction threshold or greater than the preset torque upper limit, determining the torque transition duration according to the vehicle speed and the accelerator pedal opening and closing degree; Determining a torque transition rate according to the torque transition duration and a filtered required torque corresponding to the current initial torque; The target torque is controlled according to the torque transition rate and the torque transition duration.

7. A torque control device, characterized in that: Applied to a vehicle, the device comprises: An acquisition module, used to acquire the speed of the vehicle and the degree of opening and closing of the accelerator pedal of the vehicle; A torque determination module, configured to determine an initial required torque of the vehicle based on the vehicle speed and the accelerator pedal opening / closing degree; A filtering module, used for performing low-pass filtering on the initial required torque to obtain a filtered required torque; A torque control module is configured to control an output torque of the vehicle based on the initial required torque and the filtered required torque.

8. The device according to claim 7, characterized in that The torque control module is also used for: Obtaining a preset torque upper limit value; and obtaining the acceleration of the vehicle; determining a torque reduction threshold value according to the acceleration; Determining whether the initial required torque is greater than the preset torque upper limit value, and determining whether the filtered required torque is greater than a torque reduction threshold value; The torque control module is specifically used to control the output torque of the vehicle if it is determined that the initial required torque is greater than the preset torque upper limit value and the filtered required torque is greater than the torque reduction threshold.

9. An electronic device, characterized in that: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

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